CN208132998U - Clamping device and unmanned plane - Google Patents
Clamping device and unmanned plane Download PDFInfo
- Publication number
- CN208132998U CN208132998U CN201820638480.8U CN201820638480U CN208132998U CN 208132998 U CN208132998 U CN 208132998U CN 201820638480 U CN201820638480 U CN 201820638480U CN 208132998 U CN208132998 U CN 208132998U
- Authority
- CN
- China
- Prior art keywords
- clamping
- unmanned plane
- main body
- clamping piece
- steering engine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a kind of clamping device and unmanned plane, it is related to unmanned plane technical field of operation, follow-on mission is needed in operation to solve common unmanned plane, most of electric energy is all used to provide its flying power, cause its activity duration of short duration, the technical issues of to make unmanned plane cannot be guaranteed the sufficient activity duration in the more obstinate defect of processing.It is related to a kind of clamping device, including：Clamping piece, clamping piece include first clamping member and the second clamping piece, and first clamping member is hinged by the first articulated shaft and the face of shelving, and the second clamping piece is hinged by the second articulated shaft and the face of shelving；First clamping member and the second clamping piece are separately connected the driving assembly that both drivings clamping is moved back and forth along clamping direction.A kind of unmanned plane is further related to, including：Above-mentioned clamping device.The clamping device and unmanned plane have many advantages, such as that at low cost, noise is small, practical.
Description
Technical field
The utility model relates to unmanned plane technical field of operation, more particularly, to a kind of clamping device and unmanned plane.
Background technique
In current field operation, when for equipment such as replacement insulator, porcelain pole arm, conducting wires, if power failure operation, it is all made of
The method of manpower pole ascending operation carries out operation, and operation process is more complex；It is needed before carrying out operation according to livewire work
It makes a report on livewire work plan and notice livewire work construction team handles livewire work work ticket, just when Live working Aerial Device arrives
It can start operation, it is well known that the condition of Live working Aerial Device operation is extremely limited, and price is also very expensive.
In above-mentioned effect, since operation height is higher, it might have electric pole during manpower steps on bar and fracture, is unexpected
The danger such as fall, get an electric shock；It is also very high to the physical fitness requirement of construction personnel in operation process, it is small-sized on on-line treatment conducting wire
It floats when hanging object, sundries, because route charges, handles extremely dangerous using bar is manually stepped on, operating efficiency is also relatively low.
However, on process circuit, cross-arm it is small-sized float hang object, sundries and line walking when, some place using unmanned plane make
Industry.Wherein, unmanned plane is many kinds of, selection trouble, ununified model, all-round unmanned plane, and price is also sufficiently expensive；
Secondly, common unmanned plane needs follow-on mission in operation, most of electric energy all is used to provide the flying power of unmanned plane, leads to
The activity duration of normal such unmanned plane is all very of short duration, in the more obstinate defect of processing, unmanned plane is caused to cannot be guaranteed to fill
The activity duration of foot.
Utility model content
The first of the utility model is designed to provide a kind of clamping device, needs to solve common unmanned plane in operation
Follow-on mission, most of electric energy are all used to provide its flying power, cause its activity duration of short duration, thus more obstinate in processing
Defect when, the technical issues of making unmanned plane cannot be guaranteed the sufficient activity duration.
Clamping device provided by the utility model, including：For the clamping piece of clamping operation object, the clamping piece packet
First clamping member and the second clamping piece are included, described first clamping member is hinged by the first articulated shaft and the face of shelving, second folder
Gripping member is hinged by the second articulated shaft and the face of shelving.
Described first clamping member and second clamping piece are separately connected both drivings clamping and back and forth transport along clamping direction
Dynamic driving assembly.
Further, the driving component includes the first driving assembly and the second driving assembly.
First driving assembly includes first connecting rod and the first steering engine, one end of the first connecting rod and described the
One clamping piece is hinged, and the other end and first steering engine are hinged.
Second driving assembly includes the second connecting rod and the second steering engine, one end of second connecting rod and described the
Two clamping pieces are hinged, and the other end and second steering engine are hinged.
Two hinge joints in described first clamping member are not conllinear, and two hinge joints on second clamping piece are not also total
Line.
Further, described first clamping member includes the first clamping part, and second clamping piece includes the second clamping part, institute
State the accommodation space for being formed between the first clamping part and second clamping part and capable of clamping the operative goals object.
The beneficial effect of clamping device provided by the utility model：
It is introduced for by clamping device application on utility poles operation.
In the clamping device, clamping piece includes first clamping member and the second clamping piece, and first clamping member passes through first
Articulated shaft is hinged with the face of shelving, and the second clamping piece is hinged by the second articulated shaft and the face of shelving, and first clamping member and the second folder
Gripping member is separately connected the driving assembly that both drivings clamping is moved back and forth along clamping direction, i.e.,：Driving assembly can drive respectively
Dynamic first clamping member and the opposite or counter motion simultaneously of the second clamping piece, to clamp or unclamp electric pole；Using this kind of structure,
In use, first clamping member and the second clamping piece can be moved toward one another simultaneously until clamping on utility poles, when clamping operation target
It, can be by the motivation mechanism of clamping device (such as after object：Motor adds propeller mechanism) it closes, operation is carried out in this case, by
It for actual job rather than continues a journey in most of energy of the device, because of the energy excessive without consuming, to extend
The activity duration of the device has allowed the operator to the sufficient time to carry out relevant Job Operations；In addition, using clamping dress
It sets and replaces manual work, reduce the risk of manual work, operating efficiency also greatly improves；In addition, the clamping device is also
Have many advantages, such as that at low cost, noise is small, practical.
The second of the utility model is designed to provide a kind of unmanned plane, needs to hold in operation to solve common unmanned plane
Continuous flight, most of electric energy are all used to provide its flying power, cause its activity duration of short duration, thus more obstinate in processing
When defect, the technical issues of making unmanned plane cannot be guaranteed the sufficient activity duration.
Unmanned plane provided by the utility model, including：Fuselage main body and above-mentioned clamping device.
Described first clamping member is connected in the fuselage main body by first articulated shaft, and second clamping piece is logical
Second articulated shaft is crossed also to be connected in the fuselage main body.
It further, further include the first weight linear meter and the second weight linear meter.
One end of first weight linear meter and first steering engine are hinged, one end of second weight linear meter and described second
Steering engine is hinged, and the other end of first weight linear meter and second weight linear meter is all connected with same counterweight, the counterweight position
In end of the fuselage main body far from operative goals object.
First steering engine and second steering engine rotation can drive the counterweight to close to or far from operative goals
The direction of object is mobile.
Further, it is equipped with slide construction between the counterweight and the fuselage main body, makes the counterweight to close
Or the direction far from operative goals object is mobile.
Further, the slide construction include the sliding rail being located in the fuselage main body and be located on the counterweight with
Its sliding slot being slidably matched.
Either, the slide construction includes the sliding rail being located on the counterweight and is located in the fuselage main body and it
The sliding slot being slidably matched.
Further, the counterweight uses the block structure with constant weight.
It further, further include development platform, the development platform is located in the fuselage main body.
The development platform over-assemble, which has, carries one of manipulator, camera, flame gun, giant, electroscope
Or it is a variety of.
Further, the fuselage main body uses carbon fibre materials.
The beneficial effect of unmanned plane provided by the utility model：
Above-mentioned clamping device is set in the unmanned plane, wherein the specific structure of the clamping device, connection relationship and
Beneficial effect etc. is described in detail in above-mentioned text, and details are not described herein.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the attachment structure schematic diagram of clamping device provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram of unmanned plane provided by the embodiment of the utility model, wherein development platform is not shown；
Fig. 3 is the structural schematic diagram at A shown in Fig. 2；
Fig. 4 is the schematic perspective view of unmanned plane provided by the embodiment of the utility model.
Icon：100- first clamping member；The second clamping piece of 200-；300- fuselage main body；The first weight linear meter of 400-；500-
Two weight linear meters；600- counterweight；700- development platform；
The first articulated shaft of 110-；The first driving assembly of 120-；The second articulated shaft of 210-；The second driving assembly of 220-；
121- first connecting rod；The first steering engine of 122-；The second connecting rod of 221-；The second steering engine of 222-；
2221- intermediate bar.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill all other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the mechanism of indication or suggestion meaning or element must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Embodiment one
As shown in Figures 1 to 4, the present embodiment one provides a kind of clamping device, including：For clamping operation object
Clamping piece, clamping piece include first clamping member 100 and the second clamping piece 200, and first clamping member 100 passes through the first articulated shaft 110
Hinged with the face of shelving, the second clamping piece 200 is hinged by the second articulated shaft 210 and the face of shelving；First clamping member 100 and the second folder
Gripping member 200 is separately connected the driving assembly that both drivings clamping is moved back and forth along clamping direction.
It is introduced for by clamping device application on utility poles operation.
In the clamping device, clamping piece includes first clamping member 100 and the second clamping piece 200, and first clamping member 100
Hinged by the first articulated shaft 110 and the face of shelving, the second clamping piece 200 is hinged by the second articulated shaft 210 and the face of shelving, and the
One clamping piece 100 and the second clamping piece 200 are separately connected the driving assembly that both drivings clamping is moved back and forth along clamping direction,
I.e.：Driving assembly can respectively drive first clamping member 100 and the second opposite or counter motion simultaneously of clamping piece 200, with clamping
Or unclamp electric pole；Using this kind of structure, when in use, first clamping member 100 and the second clamping piece 200 can move toward one another simultaneously
Until clamp on utility poles, it, can be by the motivation mechanism of clamping device (such as after clamping operation object：Motor adds propeller
Mechanism) it closes, operation is carried out in this case, since most of energy of the device for actual job rather than is continued a journey,
Because to extend the activity duration of the device, it is next to have allowed the operator to the sufficient time without expending excessive energy
Carry out relevant Job Operations；In addition, replacing manual work using clamping device, reduce the risk of manual work, makees
Industry efficiency also greatly improves；In addition, the clamping device also has many advantages, such as that at low cost, noise is small, practical.
Please continue to refer to Fig. 1, driving assembly includes the first driving assembly 120 and the second driving assembly 220；First driving group
Part 120 includes first connecting rod 121 and the first steering engine 122, and one end of first connecting rod 121 and first clamping member 100 are hinged, separately
One end and the first steering engine 122 are hinged；Second driving assembly 220 includes the second connecting rod 221 and the second steering engine 222, the second connection
One end of bar 221 and the second clamping piece 200 are hinged, and the other end and the second steering engine 222 are hinged；Two in first clamping member 100
Hinge joint is not conllinear, and two hinge joints on the second clamping piece 200 are not also conllinear.
Specifically, first clamping member 100 includes the first clamping part, and the second clamping piece 200 includes the second clamping part, the first folder
Hold between portion and the second clamping part formed can clamping operation object (such as：Electric pole) accommodation space.
Its course of work is：The rotation of first steering engine 122, drives first connecting rod 121 to rotate, and then drives first clamping member
100 rotate around the first articulated shaft 110；Meanwhile second steering engine 222 rotate, drive the rotation of the second connecting rod 221, and then drive the
Two clamping pieces 200 are rotated around the second articulated shaft 210, when first clamping member 100 and the second clamping piece 200 move toward one another, are realized
Pinching action.
Embodiment two
The present embodiment two provides a kind of unmanned plane, including：Clamping dress in fuselage main body 300 and above-described embodiment one
It sets；First clamping member 100 is connected in fuselage main body 300 by the first articulated shaft 110, and the second clamping piece 200 passes through the second hinge
Spindle 210 is also connected in fuselage main body 300.
Above-mentioned clamping device is set in the unmanned plane, wherein the specific structure of the clamping device, connection relationship, work
Make process and beneficial effect etc. to be described in detail in above-mentioned text, details are not described herein.
It as shown in Figure 1 to Figure 3, further include the first weight linear meter 400 and the second weight linear meter 500；One end of first weight linear meter 400
Hinged with the first steering engine 122, one end of the second weight linear meter 500 and the second steering engine 222 are hinged, and the first weight linear meter 400 and second is matched
The other end of weight bar 500 is all connected with same counterweight 600, and counterweight 600 is located at end of the fuselage main body 300 far from operative goals object
Portion；First steering engine 122 and the rotation of the second steering engine 222 can drive counterweight 600 to the direction close to or far from operative goals object
It is mobile.
Please continue to refer to Fig. 3, it is rotatably connected to intermediate bar 2221 on the second steering engine 222, one end of intermediate bar 2221 and the
The connection of two connecting rods 221, the other end are connect with the second weight linear meter 500, and the rotation of the second steering engine 222 drives intermediate bar 2221 to rotate,
To make the second connecting rod 221 and the second weight linear meter 500 rotate.
In the embodiment, slide construction is equipped between counterweight 600 and fuselage main body 300, make counterweight 600 to close or
Direction far from operative goals object is mobile.
Specifically, slide construction includes the sliding rail being located in fuselage main body 300 and is located to slide on counterweight 600 with it and matches
The sliding slot of conjunction
Either, slide construction includes the sliding rail being located on counterweight 600 and is located to slide in fuselage main body 300 with it and matches
The sliding slot of conjunction.
Wherein, above-mentioned counterweight 600 is using the block structure with constant weight.
On the basis of the above embodiments, if any shown in Fig. 4, which further includes development platform 700, development platform 700
It is located in fuselage main body 300；Wherein, 700 over-assemble of development platform have carry manipulator, camera, flame gun, giant,
One of electroscope is a variety of.
In the embodiment, fuselage main body 300 uses carbon fibre materials.
Wherein, the wide notch of unmanned plane both ends live wire bar, can stick into electric pole in flight, and diameter is about 300mm.
In the embodiment, multi-mode operation can be carried out according to freely arranging in pairs or groups, no replacement is required a variety of unmanned planes only need to change difference
Power tool, save the spending for making a big purchase unmanned plane in large quantities；Unmanned machine equipment has been used to replace artificial climbing electric wire
Bar carries out operation, greatly reduces the work risk of construction personnel, by carrying different power tools, is handling small-sized float
On extension object, sundries, efficiency is very high, while grid automation degree can be improved；The unmanned plane can not only be continued
Flight operation, it can also be stopped on utility poles by clamping device, and motor can stall after clamping, so as to by big portion
Battery power is divided to be used for actual job rather than unmanned plane during flying, the activity duration is very long；Propeller does not rotate when due to operation
Power is provided, also solves the problems such as unmanned plane noise is big, risk is high；The position for changing center of gravity is cooperated using clamping device
Unmanned plane can be greatly prolonged the cruise duration of unmanned plane in the method for clamping on utility poles, operator is allowed to have sufficiently
Time carry out relevant operation.
The course of work of the unmanned plane is：When unmanned plane during flying is to suitable operation height, by the clamping part of unmanned plane with
After electric pole of the diameter less than or equal to 190mm substantially cooperates stabilization, the first steering engine 122 and the second steering engine 222 are started turning,
Drive first clamping member 100, the second connecting rod 221 that the second clamping piece 200 is driven to rotate by first connecting rod 121, meanwhile, first
Weight linear meter 400 and the second weight linear meter 500 also drive counterweight 600 to start to move backward, when clamping part reaches maximum limit
It waits, can slowly reduce the power of unmanned plane, unmanned plane at this time can be firmly backward since the movement of counterweight 600 leads to center of gravity
It hangs on utility poles, at this point, can start to carry out operation.
Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the utility model, rather than limits it
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand：It is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of clamping device, which is characterized in that including：For the clamping piece of clamping operation object, the clamping piece includes
First clamping member (100) and the second clamping piece (200), the first clamping member (100) pass through the first articulated shaft (110) and shelve
Face is hinged, and second clamping piece (200) is hinged by the second articulated shaft (210) and the face of shelving；
The first clamping member (100) and second clamping piece (200) are separately connected both drivings clamping along clamping direction
The driving assembly of reciprocating motion.
2. clamping device according to claim 1, which is characterized in that the driving component includes the first driving assembly
(120) and the second driving assembly (220)；
First driving assembly (120) includes first connecting rod (121) and the first steering engine (122), the first connecting rod
(121) hingedly, the other end and first steering engine (122) are hinged for one end and described first clamping member (100)；
Second driving assembly (220) includes the second connecting rod (221) and the second steering engine (222), second connecting rod
(221) hingedly with second clamping piece (200), the other end and second steering engine (222) are hinged for one end；
Two hinge joints on the first clamping member (100) are not conllinear, two hinge joints on second clamping piece (200)
Also not conllinear.
3. clamping device according to claim 2, which is characterized in that the first clamping member (100) includes the first clamping
Portion, second clamping piece (200) include the second clamping part, form energy between first clamping part and second clamping part
Enough clamp the accommodation space of the operative goals object.
4. a kind of unmanned plane, which is characterized in that including：The dress of clamping described in fuselage main body (300) and the claims 2 or 3
It sets；
The first clamping member (100) is connected on the fuselage main body (300) by first articulated shaft (110), described
Second clamping piece (200) is also connected on the fuselage main body (300) by second articulated shaft (210).
5. unmanned plane according to claim 4, which is characterized in that further include the first weight linear meter (400) and the second weight linear meter
(500)；
One end of first weight linear meter (400) and first steering engine (122) hingedly, the one of second weight linear meter (500)
Hingedly with second steering engine (222), the other end of first weight linear meter (400) and second weight linear meter (500) is equal at end
It connects same counterweight (600), the counterweight (600) is located at end of the fuselage main body (300) far from operative goals object；
First steering engine (122) and second steering engine (222) rotation can drive the counterweight (600) to close or remote
Direction from operative goals object is mobile.
6. unmanned plane according to claim 5, which is characterized in that the counterweight (600) and the fuselage main body (300)
Between be equipped with slide construction.
7. unmanned plane according to claim 6, which is characterized in that the slide construction includes being located at the fuselage main body
(300) sliding rail on and it is located at the sliding slot being slidably matched on the counterweight (600) with it；
Either, the slide construction includes the sliding rail being located on the counterweight (600) and is located at the fuselage main body (300)
Upper and its sliding slot for being slidably matched.
8. according to the described in any item unmanned planes of claim 5-7, which is characterized in that the counterweight (600) is using with one
Determine the block structure of weight.
9. unmanned plane according to claim 4, which is characterized in that further include development platform (700), the development platform
(700) it is located on the fuselage main body (300)；
Development platform (700) over-assemble, which has, carries one of manipulator, camera, flame gun, giant, electroscope
Or it is a variety of.
10. unmanned plane according to claim 4, which is characterized in that the fuselage main body (300) uses carbon fibre materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820638480.8U CN208132998U (en) | 2018-04-28 | 2018-04-28 | Clamping device and unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820638480.8U CN208132998U (en) | 2018-04-28 | 2018-04-28 | Clamping device and unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208132998U true CN208132998U (en) | 2018-11-23 |
Family
ID=64311784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820638480.8U Active CN208132998U (en) | 2018-04-28 | 2018-04-28 | Clamping device and unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208132998U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110635402A (en) * | 2019-09-30 | 2019-12-31 | 广州供电局有限公司 | Cable auxiliary swing device and method |
| CN111483605A (en) * | 2020-04-26 | 2020-08-04 | 重庆大学 | Grabbing device suitable for flying perching robot |
| CN112057771A (en) * | 2020-08-24 | 2020-12-11 | 九江职业技术学院 | Intelligent communication wire and cable fire extinguishing unmanned aerial vehicle |
-
2018
- 2018-04-28 CN CN201820638480.8U patent/CN208132998U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110635402A (en) * | 2019-09-30 | 2019-12-31 | 广州供电局有限公司 | Cable auxiliary swing device and method |
| CN111483605A (en) * | 2020-04-26 | 2020-08-04 | 重庆大学 | Grabbing device suitable for flying perching robot |
| CN111483605B (en) * | 2020-04-26 | 2023-09-08 | 重庆大学 | Grabbing device suitable for flight is at and is attached robot |
| CN112057771A (en) * | 2020-08-24 | 2020-12-11 | 九江职业技术学院 | Intelligent communication wire and cable fire extinguishing unmanned aerial vehicle |
| CN112057771B (en) * | 2020-08-24 | 2021-06-08 | 九江职业技术学院 | Intelligent communication wire and cable fire extinguishing unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208132998U (en) | Clamping device and unmanned plane | |
| CN106003084B (en) | A kind of substation's maintenance service robot | |
| CN208326970U (en) | Cable winding apparatus and electric power first-aid equipment | |
| CN208470762U (en) | A kind of logistics transporting device for oil drum | |
| CN108092179A (en) | A kind of power circuit Bird's Nest sweep-out method | |
| CN106184706A (en) | A kind of H type structure can double-deformation unmanned plane | |
| CN107416060B (en) | A kind of automation bar class climbing robot | |
| CN113844563B (en) | Continuous mobile pole climbing device with obstacle crossing function | |
| CN207649603U (en) | A kind of project cost survey tool | |
| CN109873363A (en) | Extra high voltage direct current transmission line method for inspecting | |
| CN206676764U (en) | A kind of light intelligent sorting equipment | |
| CN208915446U (en) | A kind of power overhead network defect elimination unmanned plane body | |
| CN106781924B (en) | Live working training device for extra-high voltage line | |
| CN213846064U (en) | Inspection robot | |
| CN114172071A (en) | Foreign matter removing device for ground potential overhead line | |
| CN115825123A (en) | Overhead transmission line helicopter live joint detection device and method | |
| CN108515509A (en) | A kind of sliceable climbing robot | |
| CN108927811A (en) | Robot and method are detected in a kind of linear motor type substation room | |
| CN205319610U (en) | Novel 500KV transmission line testing platform | |
| CN109941928A (en) | Lifting device is used in a kind of construction of communication engineering | |
| CN107947022A (en) | Electrical power distribution electric line Bird's Nest removes UAV system | |
| CN208797468U (en) | A kind of obstacle removing robot | |
| CN107508191B (en) | Intelligent wire outgoing method for tension-resistant rod of power transmission line | |
| CN208162987U (en) | A kind of assembly device of handle | |
| CN205232794U (en) | Adjustable angle's portable harvester |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |