CN208992382U - Complex-curved adaptive workpiece polishing mechanism - Google Patents
Complex-curved adaptive workpiece polishing mechanism Download PDFInfo
- Publication number
- CN208992382U CN208992382U CN201821444725.XU CN201821444725U CN208992382U CN 208992382 U CN208992382 U CN 208992382U CN 201821444725 U CN201821444725 U CN 201821444725U CN 208992382 U CN208992382 U CN 208992382U
- Authority
- CN
- China
- Prior art keywords
- axial
- slide unit
- complex
- shaft
- polishing mechanism
- 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
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The utility model provides complex-curved adaptive workpiece polishing mechanism, is related to grinding apparatus technical field.It is related to complex-curved adaptive workpiece polishing mechanism, including shaft, the mill at the top of shaft, the axial slide unit for driving the shaft axial movement, the counter weight device for balancing the mechanism gravity on the axial direction slide unit and the axial slide unit, the axial hoistable platform for adjusting the mill adjustable height, the alternating current generator for driving the shaft rotation and the controller started for controlling the axial hoistable platform, the axial slide unit, the alternating current generator；The weighing sensor for measuring polishing power is provided between the shaft and the axial hoistable platform, the weighing sensor connects the controller.Using the technical solution of the utility model, the polishing of higher efficiency, the polishing of higher precision can be realized.
Description
Technical field
The utility model relates to grinding apparatus technical fields, and in particular to complex-curved adaptive workpiece polishing mechanism, especially
A kind of high quality fine grinding mechanism for complex curved surface part.
Background technique
With the continuous development of robot technology, automatic technology and computer technology, the polishing of high efficiency and high quality
Processing has become the target of polishing industry device component.Existing sander includes fixed sander and portable grinder, is fixed
The distance between workpiece and grinding wheel can not adjust in sander, of poor quality, narrow application range of polishing；Portable grinder is manually will
It polishes during its is hand held workpiece, grinding efficiency is low.In face of curved surface and various irregular scope of freedom work pieces process, root is needed
According to curvature of curved surface and surface size adjustment polishing power to obtain better effects, both modes can not be well matched with machine
It is artificial to make, realize high-efficient homework and high quality requirement.
In consideration of it, can be realized high-efficient homework there is an urgent need to a kind of complex-curved adaptive workpiece polishing mechanism.
The information disclosed in the background technology section is intended only to deepen the reason to the general background technology of the utility model
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Utility model content
The purpose of this utility model is to provide a kind of complex-curved adaptive workpiece polishing mechanisms, to solve to deposit in the prior art
Existing workpiece polishing mechanism can not float be bonded workpiece surface and have polishing power regulatory function workpiece polishing mechanism, it can be achieved that constant force
Polishing or the technical issues of for refining.
The complex-curved adaptive workpiece polishing mechanism of one kind provided by the utility model, the mill including shaft, at the top of shaft
Disk, the axial slide unit for driving shaft axial movement, for balancing on the axial slide unit and the axial slide unit
The counter weight device of mechanism gravity, the axial hoistable platform for adjusting the mill adjustable height, for drive the shaft turn
Dynamic alternating current generator and the control started for controlling the axial hoistable platform, the axial slide unit, the alternating current generator
Device；
The weighing sensor for measuring polishing power, the title are provided between the shaft and the axial hoistable platform
It retransmits sensor and connects the controller.
It further include pedestal further in a upper technical solution, the shaft, the axial slide unit, the weighing pass
Sensor and the axial hoistable platform are arranged in the pedestal.
In any of the above-described technical solution, further, it is provided in the pedestal and is used to support the axial slide unit shifting
Dynamic linear guide.
In any of the above-described technical solution, further, the axial direction slide unit is described with refitting by the connection of soft rope
It sets, the counter weight device is hung on the base outer wall；The weight for the workpiece that can be installed on balancing axial slide unit guarantees axial
Hoistable platform degree of regulation.
In any of the above-described technical solution, further, the alternating current generator is arranged in the chassis outer side.
In any of the above-described technical solution, further, the alternating current generator drives described turn by synchronous pulley component
The bottom end of axis rotation, the synchronous pulley component and the shaft is sequentially connected.
In any of the above-described technical solution, further, the synchronous pulley component is arranged for adjusting belt tightness degree
Automatic tensioner.
In any of the above-described technical solution, further, it is provided on the axial direction slide unit and is used to support the shaft
Air bearing.
In any of the above-described technical solution, further, the alternating current generator is mounted on motor mount, the motor
Mounting base and the pedestal are separately positioned, avoid in alternating current generator operational process since vibration influences polishing quality.
In any of the above-described technical solution, further, it is provided in the pedestal real for measuring the axial slide unit
The grating scale of border position.
In any of the above-described technical solution, further, the complex-curved adaptive workpiece polishing mechanism can be realized constant force
It polishes or for refining.
In any of the above-described technical solution, further, the pedestal uses integrally formed metal structure, to guarantee to make
The intensity and hardness of industry.
In any of the above-described technical solution, further, the shaft lower end passes through two-direction thrust bearing and the weighing
Axial polishing power is transmitted on the weighing sensor by sensor connection by the support of bearing of two-direction thrust bearing, thus
The axial polishing power of measurement.
In any of the above-described technical solution, further, the weighing sensor and the support of bearing, the axial liter
Be connected by screw between drop platform, change the position of the mill by the movement of axial hoistable platform, so as to adjust workpiece with
Pressure between the mill.
The beneficial effects of the utility model are as follows:
Mill, use using the complex-curved adaptive workpiece polishing mechanism of the utility model, including shaft, at the top of shaft
In the axial slide unit for driving the shaft to move axially, for balancing the mechanism weight on the axial slide unit and the axial slide unit
The counter weight device of power, the axial hoistable platform for adjusting the mill adjustable height, the friendship for driving the shaft rotation
Galvanic electricity machine and the controller started for controlling the axial hoistable platform, the axial slide unit, the alternating current generator；It is described
The weighing sensor for measuring polishing power, the weighing sensor connection are provided between shaft and the axial hoistable platform
The controller；Using the complex-curved adaptive workpiece polishing mechanism of the technical program, can polish well path in robot planning
On the basis of, it is translated by the high precision micro of mill in the axial direction, variation adjustment polishing power or polishing amount is shown according to workpiece,
Robot manipulating task can be cooperated to realize that high quality is refined, specifically, alternating current generator drives shaft rotation, to rotate with movable grinding disc
Polish workpiece, the installation site of the main setting balancing axial slide unit by counter weight device, predominantly axial slide unit and
The gravitational equilibrium of mechanism on axial slide unit, axial hoistable platform can adjust the adjustable height of shaft, wherein be located at shaft with
Weighing sensor between axial hoistable platform can measure the polishing power of mill, rise according to the polishing power adjustment surveyed is axial
The height of platform is dropped, to translate the plane of mill, adjusts the pressure between workpiece and mill, whole process is real by automatically controlling
It is existing, to reach floating fitting workpiece surface and have the workpiece polishing mechanism of polishing power regulatory function, it can be achieved that constant force is polished or is used for
The requirement of fine grinding.Production capacity is further increased, cost is saved.
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 is also possible to obtain other drawings based on these drawings.
Fig. 1 is the complete machine structure schematic diagram of complex-curved adaptive workpiece polishing mechanism provided by the embodiment of the utility model；
The front view structure signal that Fig. 2 is Fig. 1 of complex-curved adaptive workpiece polishing mechanism provided by the embodiment of the utility model
Figure；
Fig. 3 is the left view structural representation of Fig. 2 of complex-curved adaptive workpiece polishing mechanism provided by the embodiment of the utility model
Figure；
Fig. 4 is cross-section structure at A-A in Fig. 3 of complex-curved adaptive workpiece polishing mechanism provided by the embodiment of the utility model
Schematic diagram；
Fig. 5 is that enlarged structure is shown at B in Fig. 4 of complex-curved adaptive workpiece polishing mechanism provided by the embodiment of the utility model
It is intended to.
Appended drawing reference:
1- mill；2- shaft；3- counter weight device；4- axial direction slide unit；5- axial direction hoistable platform；6- alternating current generator；7- pedestal；
8- motor mount；9- weighing sensor；10- grating scale；11- belt pulley；12- belt；13- thrust bearing；14- thrust pad
Piece；15- cooperates axle sleeve；16- retaining ring；The first screw of 17-；The upper thrust washer of 18-；Thrust washer under 19-；20- shell；In 21-
Shell；The second screw of 22-；23- third screw；The soft rope of 24-；25- pulley；26- linear guide.
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 every 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 device or element of indication or suggestion meaning 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.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection.For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood with concrete condition
Body meaning.
The technical solution of the complex-curved adaptive workpiece polishing mechanism of the present embodiment is described in detail below with reference to Fig. 1-Fig. 5.
Embodiment
The specific embodiment of the present embodiment is as follows:
It as Figure 1-Figure 5, is the corresponding construction schematic diagram of complex-curved adaptive workpiece polishing mechanism provided in this embodiment；
Specifically, complex-curved adaptive workpiece polishing mechanism provided in this embodiment, including shaft 2, the mill 1 positioned at 2 top of shaft, use
In the axial slide unit 4 for driving shaft 2 to move axially, the gravity of mechanism on 4 slide unit of balancing axial slide unit and axial slide unit 4
Counter weight device 3, the axial hoistable platform 5 for adjusting 1 adjustable height of mill, for drive shaft 2 rotate alternating current generator 6
And the controller started for controlling axial hoistable platform 5, axial slide unit 4, alternating current generator 6；Shaft 2 and axial hoistable platform
The weighing sensor 9 for measuring polishing power is provided between 5, weighing sensor 9 connects controller.
Specifically, complex-curved adaptive workpiece polishing mechanism provided in this embodiment further includes pedestal 7, shaft 2, axial slide unit
4, weighing sensor 9 and axial hoistable platform 5 are arranged in pedestal 7；It is provided in pedestal 7 and is used to support the axial shifting of slide unit 4
Dynamic linear guide 26.
It should be pointed out that axial slide unit 4 connects counter weight device 3 by soft rope 24, counter weight device 3 is hung on pedestal
7 outer walls；The weight for the equipment that can be installed on balancing axial slide unit 4 guarantees 5 degree of regulation of axial hoistable platform.
Preferably, the setting of alternating current generator 6 is in 7 outside of pedestal, that is, separates alternating current generator 6 and pedestal 7, avoids exchanging
Stablize polishing due to 7 part-structure of flutter effect pedestal when motor 6 works.
It should be pointed out that alternating current generator 6 by synchronous pulley component drive shaft 2 rotate, synchronous pulley component with turn
The bottom end of axis 2 is sequentially connected；Synchronous pulley component is provided with the automatic tensioner for adjusting 12 elasticity of belt.
Specifically, synchronous pulley component includes setting in pairs in complex-curved adaptive workpiece polishing mechanism provided in this embodiment
The belt pulley 11 set and the belt 12 along belt pulley 11 around transmission.
Preferably, the automatic tensioner that elasticity is rotated for adjusting belt 12 is set on belt pulley 11, in favor of handing over
6 Synchronous Transmission of galvanic electricity machine stablizes output.
In addition, being provided with the air bearing for being used to support shaft 2 on axial slide unit 4.
Preferably, alternating current generator 6 is mounted on motor mount 8, and motor mount 8 and pedestal 7 are separately positioned, avoids handing over
Since vibration influences polishing quality in 6 operational process of galvanic electricity machine.
It should be pointed out that being provided with and being used in pedestal 7 in complex-curved adaptive workpiece polishing mechanism provided in this embodiment
The grating scale 10 of 4 physical location of axial slide unit is measured, the setting of grating scale 10 can be convenient for raising grinding accuracy.
It is pointed out that complex-curved adaptive workpiece polishing mechanism provided in this embodiment, complex-curved adaptive polishing
Mechanism can be realized constant force polishing or for refining.
It is further noted that pedestal 7 uses integrally formed metal structure, to guarantee the intensity of operation and hard
Degree.
The optional technical solution of the present embodiment is that 2 lower end of shaft is connected by two-direction thrust bearing 13 and weighing sensor 9
It connects, axial polishing power is transmitted on weighing sensor 9 by the support of bearing of two-direction thrust bearing 13, to measure axial beat
Grind power.
Specifically, being connected by screw between weighing sensor 9 and the support of bearing, axial hoistable platform 5, pass through axial lifting
The movement of platform 5 changes the position of mill 1, so as to adjust the pressure between workpiece and mill 1.
Using the complex-curved adaptive workpiece polishing mechanism of the present embodiment, the basis in the path that can polish well in robot planning
On, it is translated by the high precision micro of mill 1 in the axial direction, adjustment polishing power or polishing amount is changed according to workpiece surface, can be matched
Robot manipulating task is closed to realize that high quality is refined, specifically, alternating current generator 6 drives shaft 2 to rotate, to rotate with movable grinding disc 1
It polishes workpiece, the position of the main setting balancing axial slide unit 4 by counter weight device 3, counter weight device 3 is axial slide unit
4 and the mechanism on axial slide unit 4 gravitational equilibrium, axial hoistable platform 5 can adjust the adjustable height of mill 1, wherein be located at
Weighing sensor 9 between shaft 2 and axial hoistable platform 5, can measure the polishing power of mill 1, according to the polishing power surveyed
The height of axial hoistable platform 5 is adjusted, to translate the plane of mill 1, adjusts the pressure between workpiece and mill 1, entire mistake
Journey is realized by automatically controlling, to reach the requirement of higher precision operation, faster efficiency operation；Further increase production capacity, save at
This.
In order to better understand the technical solution of the present embodiment, following statement is done:
As Figure 1-Figure 5, the complex-curved adaptive workpiece polishing mechanism of one kind provided in this embodiment, mainly include mill 1,
Shaft 2, counter weight device 3, axial slide unit 4, axial hoistable platform 5, alternating current generator 6, pedestal 7, motor mount 8, weighing and sensing
Device 9 and grating scale 10；Wherein, mill 1 is mounted in shaft 2, is connect with shaft 2, and shaft 2 passes through air bearings support, shaft 2
End is fixedly connected with belt pulley 11；Alternating current generator 6 is mounted on motor mount 8, drives belt pulley 11 to revolve by belt 12
Turn, to be rotated with movable grinding disc 1；The 2 end shaft shoulder of shaft and the intermediate thrust washer 14 of thrust bearing 13 contact, and cooperate 15 He of axle sleeve
Retaining ring 16 is fastenedly connected by the first screw 17.The upper thrust washer 18 of thrust bearing and lower thrust washer 19 respectively with bearing
Mounting bracket shell 20 and inner casing 21 contact, and are fastened and are installed by the second screw 22, guarantee 13 smooth rotation of thrust bearing；Bearing
21 lower end of mounting bracket inner casing is connect with 9 upper surface of weighing sensor by third screw 23；9 lower end surface of weighing sensor and axis
It is connected to hoistable platform 5, axial hoistable platform 5 can axially carry out high precision translational, so that mechanism axially transports thereon for promotion
It is dynamic.
Wherein, shaft 2 is mounted on axial slide unit 4 by air bearings support, and axial slide unit 4 passes through soft rope 24
It is connect with counter weight device 3, soft rope 24 is supported by pulley 25；Weight of equipment in the weight of counter weight device 3 and axial slide unit 4
It is identical, it can steadily be moved on pulley 25；Axial slide unit 4 is mounted in pedestal 7 by linear guide 26, and pedestal 7 is using one
Molding metal structure.
When polishing, alternating current generator 6 is rotated, and mill 1 rotates, and turning for mill 1 can be changed by adjusting the revolving speed of alternating current generator 6
Speed, axial slide unit 4 are in middle position, and workpiece is fixed on the fixture of robot end, execute polishing by robot drive
Movement, workpiece are contacted with mill 1, and polishing axial force is transmitted to weighing sensor 9, and the polishing force value that will be measured by shaft 2
Compared with preset value, when measured value is greater than preset value, axial hoistable platform 5 is moved down, and pushes mechanism overall movement thereon,
Band movable grinding disc 1 declines, and reduces polishing power；When measured value is less than preset value, axial hoistable platform 5 is moved up, and is pushed thereon
Mechanism moves integrally, and band movable grinding disc 1 rises, and increases polishing power；Meanwhile the actual feedback translational movement of axial slide unit 4 passes through grating
Ruler 10 measures, reference of the numerical value as polishing compensation.
To sum up, complex-curved adaptive workpiece polishing mechanism provided in this embodiment can be realized higher precision, faster efficiency
Polishing.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
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 complex-curved adaptive workpiece polishing mechanism, which is characterized in that mill including shaft, at the top of shaft is used for
Drive the axial slide unit of the shaft axial movement, for balancing the mechanism gravity on the axial slide unit and the axial slide unit
Counter weight device, the axial hoistable platform for adjusting the mill adjustable height, the exchange for driving shaft rotation
Motor and the controller started for controlling the axial hoistable platform, the axial slide unit, the alternating current generator；
The weighing sensor for measuring polishing power is provided between the shaft and the axial hoistable platform, the weighing passes
Sensor connects the controller.
2. complex-curved adaptive workpiece polishing mechanism according to claim 1, which is characterized in that it further include pedestal, described turn
Axis, the axial slide unit, the weighing sensor and the axial hoistable platform are arranged in the pedestal.
3. complex-curved adaptive workpiece polishing mechanism according to claim 2, which is characterized in that setting is useful in the pedestal
In the linear guide for supporting the axial slide unit mobile.
4. complex-curved adaptive workpiece polishing mechanism according to claim 2, which is characterized in that the axial direction slide unit passes through soft
Matter rope connects the counter weight device, and the counter weight device is hung on the base outer wall.
5. complex-curved adaptive workpiece polishing mechanism according to claim 2, which is characterized in that the alternating current generator setting exists
The chassis outer side.
6. complex-curved adaptive workpiece polishing mechanism according to claim 5, which is characterized in that the alternating current generator passes through same
It walks pulley assemblies and drives the shaft rotation, the bottom end transmission connection of the synchronous pulley component and the shaft.
7. complex-curved adaptive workpiece polishing mechanism according to claim 6, which is characterized in that the synchronous pulley component is set
Set the automatic tensioner for adjusting belt tightness degree.
8. complex-curved adaptive workpiece polishing mechanism according to claim 1, which is characterized in that be arranged on the axial direction slide unit
There is the air bearing for being used to support the shaft.
9. complex-curved adaptive workpiece polishing mechanism according to claim 2, which is characterized in that the alternating current generator is mounted on
On motor mount, the motor mount and the pedestal are separately positioned.
10. complex-curved adaptive workpiece polishing mechanism according to claim 4, which is characterized in that be provided in the pedestal
For measuring the grating scale of the axial slide unit physical location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821444725.XU CN208992382U (en) | 2018-09-03 | 2018-09-03 | Complex-curved adaptive workpiece polishing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821444725.XU CN208992382U (en) | 2018-09-03 | 2018-09-03 | Complex-curved adaptive workpiece polishing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208992382U true CN208992382U (en) | 2019-06-18 |
Family
ID=66800029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821444725.XU Active CN208992382U (en) | 2018-09-03 | 2018-09-03 | Complex-curved adaptive workpiece polishing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208992382U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789042A (en) * | 2018-09-03 | 2018-11-13 | 国机智能科技有限公司 | Complex-curved adaptive workpiece polishing mechanism |
-
2018
- 2018-09-03 CN CN201821444725.XU patent/CN208992382U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789042A (en) * | 2018-09-03 | 2018-11-13 | 国机智能科技有限公司 | Complex-curved adaptive workpiece polishing mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108789042A (en) | Complex-curved adaptive workpiece polishing mechanism | |
| CN102615556B (en) | A kind of five axle cutter sharpeners | |
| CN210550116U (en) | Intelligent ring polishing machine tool | |
| CN208304624U (en) | Numerical control rolling linear guide grinding machine | |
| CN100493846C (en) | Finishing controlled ultra-precise polisher | |
| CN103991018A (en) | High-accuracy sphere machining device based on eccentric variable-curvature V-shaped grooved disc | |
| CN111975481B (en) | Steel construction pipe fitting equipment of polishing | |
| CN208992382U (en) | Complex-curved adaptive workpiece polishing mechanism | |
| CN107414632A (en) | The burnishing device and method of surface figure accuracy amendment and Ultra-smooth machining are carried out to tubular optical element | |
| CN108673293A (en) | A kind of intelligence grinder | |
| CN201115929Y (en) | Dressing controllable type ultraprecise polishing machine | |
| CN104019785A (en) | Measuring instrument for measuring circularity of large-size bearing assembly | |
| CN206500985U (en) | A kind of laboratory automation metal material sander | |
| CN101148026A (en) | Trimming ring type intelligent super precision polishing machine | |
| CN114046935B (en) | Unmanned aerial vehicle screw dynamic balance testing arrangement | |
| CN212030500U (en) | Full-automatic verticality measuring instrument | |
| CN110948301A (en) | Automatic thickness measuring and feeding polisher | |
| CN110076696A (en) | A kind of auxiliary device and method for glass polishing machine polishing die face shape leveling reparation | |
| CN206296754U (en) | A kind of crankshaft regrinding equipment | |
| CN212641133U (en) | Ground leveling device for surveying and mapping | |
| CN209978860U (en) | Grinding size measuring tool | |
| CN203918689U (en) | Based on the high-precision sphere process equipment of centering type variable curvature V-groove dish | |
| CN208818424U (en) | A kind of electromagnetic type on-line dynamic balancing system | |
| CN209305594U (en) | A kind of hand-held type multifunctional detection ruler | |
| CN106475860A (en) | A kind of crankshaft regrinding equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |