CN216399650U - Primary side blocking plate dismounting robot auxiliary positioning device - Google Patents
Primary side blocking plate dismounting robot auxiliary positioning device Download PDFInfo
- Publication number
- CN216399650U CN216399650U CN202121786352.6U CN202121786352U CN216399650U CN 216399650 U CN216399650 U CN 216399650U CN 202121786352 U CN202121786352 U CN 202121786352U CN 216399650 U CN216399650 U CN 216399650U
- Authority
- CN
- China
- Prior art keywords
- primary side
- ranging sensor
- laser ranging
- plugging plate
- positioning device
- 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
Images
Landscapes
- Manipulator (AREA)
Abstract
The robot auxiliary positioning device for disassembling and assembling the primary side plugging plate comprises a base, a rotary table, a guide rail, a sliding seat, an angle adjusting piece and a distance measuring assembly; the turntable is arranged on the base and can rotate on the horizontal plane; the guide rail is fixedly arranged on the rotary table and is horizontally arranged, and the sliding seat is slidably arranged on the guide rail and can do reciprocating linear movement along the guide rail; the distance measuring assembly is rotatably connected to the upper end of the sliding seat through the angle adjusting piece and can rotate on a vertical plane. The working position of the primary side plugging plate dismounting robot during plugging plate operation can be calibrated conveniently, quickly and accurately, the primary side plugging plate dismounting robot can obtain a relatively larger moving range and operation space when the primary side plugging plate dismounting robot performs plugging plate operation at the working position, the operation difficulty of the primary side plugging plate dismounting robot is effectively reduced, and the universality of the primary side plugging plate dismounting robot is improved.
Description
Technical Field
The utility model relates to the technical field of automatic maintenance of nuclear power stations, in particular to an auxiliary positioning device of a primary side blocking plate dismounting robot.
Background
Nuclear power is a safe, reliable, clean and efficient electric power energy and is a strategic key point of energy development in China. With the rapid development of the nuclear power industry and the expansion of the nuclear power market in China, the safety and the reliability of nuclear facilities are improved, the radiation dose of operators is reduced as much as possible, the working environment of the operators is improved, and the method is a subject to be solved urgently in the nuclear power industry in China. Because many maintenance areas in the nuclear power station belong to a special high-radioactivity environment or personnel in many areas can not reach due to intensive arrangement of components, a large number of intelligent, automatic and personnel remote control high-end special robot tools are developed for inspection, maintenance, cleaning and defect repair work of high-radioactivity equipment of the nuclear power station in countries in the world, the nuclear power robot industry is formed, and the operation reliability and economy of the nuclear power station are greatly improved.
During the overhaul of the nuclear power plant, the interior of the steam generator needs to be overhauled. Because steam generator passes through the trunk line and directly links to each other with reactor pressure vessel, in order to prevent that steam generator from once side foreign matter from getting into pressure vessel through the trunk line and producing destruction to reactor core fuel, need carry out interim shutoff to a return circuit trunk line, the closure plate that is used for the shutoff under this operating mode is called low water level closure plate. During nuclear power station overhaul and overhaul for the first time, steam generator's maintenance work is gone on when the reactor water storage, on the one hand, for preventing that steam generator from once inclining the foreign matter and getting into pressure vessel through the trunk line and producing the destruction to reactor core fuel, on the other hand, in order to bear water pressure and sealed needs, on the one hand again, for preventing that a return water from overflowing from steam generator's manhole, need carry out interim shutoff to a return water trunk line, the closure plate that is used for the shutoff under this operating mode is called high water level closure plate. The low water level blocking plate and the high water level blocking plate are called as a primary side blocking plate.
Patent document No. CN210677611 discloses a primary side blocking plate attaching and detaching robot for performing a blocking plate operation. The plugging plate operation comprises the following two types: 1. the primary side plugging plate dismounting robot clamps the primary side plugging plate and sends the primary side plugging plate into the water chamber through a manhole at the lower end of the water chamber (the water chamber is positioned at the lower end of the steam generator), installs the primary side plugging plate on a corresponding hole position and finally exits the water chamber through the manhole; 2. And the primary side plugging plate dismounting robot stretches into the inside of the water chamber through a manhole at the lower end of the water chamber, removes the primary side plugging plate on a corresponding hole site, and finally clamps the primary side plugging plate to exit from the inside of the water chamber through the manhole. The primary side plugging plate dismounting robot comprises a moving trolley, a first moving mechanism, a vertical lifting mechanism, a swing driving mechanism, a second moving mechanism and a tail end executing mechanism. The first moving mechanism is arranged on the moving trolley. The vertical lifting mechanism is associated with the first moving mechanism and is driven by the first moving mechanism to do horizontal reciprocating linear motion. The swing driving mechanism is respectively associated with the vertical lifting mechanism and the second moving mechanism, is driven by the vertical lifting mechanism to do vertical lifting motion, and drives the second moving mechanism to do arc-shaped track swing. The tail end executing mechanism is associated with the second moving mechanism and is driven by the second moving mechanism to do reciprocating linear motion.
When the primary side plugging plate dismounting robot works, the dismounting and mounting of the primary side plugging plate can be realized by the action of operating personnel controlling the dismounting and mounting robot outside the water chamber, the operation in the water chamber is not needed to be drilled, the labor intensity of the operating personnel is reduced, and the nuclear radiation of the operating personnel is effectively avoided.
When the primary side plugging plate dismounting robot is used for mounting/dismounting the low water level combined plugging plate, the mobile trolley needs to be controlled to move the dismounting robot to the lower part of the manhole of the water chamber, and then subsequent operation is executed. When the primary side plugging plate dismounting robot is used for mounting/dismounting the high water level plugging plate, the moving trolley needs to be controlled to move the dismounting robot to the position below the second manhole of the water chamber, and then subsequent operation is executed.
When the primary side plugging plate dismounting robot executes plugging plate operation (the plugging plate operation comprises mounting/dismounting of a low water level combined plugging plate and mounting/dismounting of a high water level combined plugging plate), the tail end execution mechanism needs to completely extend into a manhole or a second manhole. However, since the size of the end actuator is only slightly smaller than the manhole aperture and the second manhole aperture of the steam generator, the requirement for the working position of the primary side plugging plate dismounting robot is high, and only when the working position of the primary side plugging plate dismounting robot for plugging plate operation is determined, the subsequent operation can be facilitated. Further, since the steam generators of the nuclear power plant are different in size and shape, a high demand is placed on the general usability of the primary side blocking plate attaching and detaching robot.
In summary, it is necessary to design a corresponding positioning device and method so that the primary side plugging plate dismounting robot can calibrate the working position conveniently, quickly and accurately when the primary side plugging plate dismounting robot performs plugging plate operation for steam generators of different sizes and shapes.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provide an auxiliary positioning device of a primary side plugging plate dismounting robot, which solves the problem that the working position cannot be effectively determined when the primary side plugging plate dismounting robot executes plugging plate operation.
The technical scheme of the utility model is as follows: the robot auxiliary positioning device for disassembling and assembling the primary side plugging plate comprises a base, a rotary table, a guide rail, a sliding seat, an angle adjusting piece and a distance measuring assembly; electric wheels are arranged at four corners of the lower end of the base, and each electric wheel comprises a motor and a roller connected to a shaft of the motor; the turntable is arranged on the base and can rotate on the horizontal plane; the guide rail is fixedly arranged on the rotary table and is horizontally arranged, and the sliding seat is slidably arranged on the guide rail and can do reciprocating linear movement along the guide rail; the distance measuring assembly is rotatably connected to the upper end of the sliding seat through the angle adjusting piece and can rotate on a vertical plane.
The further technical scheme of the utility model is as follows: the included angle between any two adjacent rollers is 90 degrees.
The further technical scheme of the utility model is as follows: the distance measuring assembly comprises a rotating plate, a laser distance measuring sensor A and a laser distance measuring sensor B; the rotating plate is rotatably connected to the upper end of the sliding seat through an angle adjusting piece; the laser ranging sensor A and the laser ranging sensor B are arranged at equal height and are arranged at two ends of the upper surface of the rotating plate at intervals.
The further technical scheme of the utility model is as follows: setting the position of a laser ranging sensor A as a point a, the position of a laser ranging sensor B as a point B, and the line segment formed by connecting the points a and B as a point labThe laser beam emitted by the laser ranging sensor A is a ray m, and the laser beam emitted by the laser ranging sensor B is a ray n;
then m is always parallel to n and m is always perpendicular to labN is always perpendicular to lab。
The further technical scheme of the utility model is as follows: the distance between the laser ranging sensor A and the laser ranging sensor B is the line segment labLength of (l)abThe length of (2) is 299-301 mm.
The further technical scheme of the utility model is as follows: the angle adjustment member comprises a hinge; one side of the hinge is connected with the upper end of the sliding seat, the other side of the hinge is connected with the lower surface of the rotating plate, and the rotating resistance of the hinge is not less than three times of the weight of the ranging assembly; when the rotating plate rotates through the hinge, the included angle formed by the light emitting direction of the laser ranging sensor A and the light emitting direction of the laser ranging sensor B and the horizontal plane changes.
The further technical scheme of the utility model is as follows: the angle adjusting piece also comprises an electric push rod; the shell of the electric push rod is hinged at the upper end of the sliding seat, and the piston rod of the electric push rod is hinged at the center of the lower surface of the rotating plate; the piston rod of the electric push rod stretches and retracts to drive the rotating plate to rotate through the hinge, so that the included angle formed by the light emitting direction of the laser ranging sensor A and the light emitting direction of the laser ranging sensor B and the horizontal plane changes.
Compared with the prior art, the utility model has the following advantages: the calibration device can calibrate the working position of the primary side plugging plate dismounting robot when the plugging plate operation is executed conveniently, quickly and accurately, the primary side plugging plate dismounting robot can obtain a relatively larger moving range and an operation space when the plugging plate operation is executed at the working position, the operation difficulty of the primary side plugging plate dismounting robot is effectively reduced, and the universality of the primary side plugging plate dismounting robot is improved.
The utility model is further described below with reference to the figures and examples.
Drawings
FIG. 1 is a schematic diagram of the present invention from one perspective;
FIG. 2 is a schematic view of the present invention from another perspective;
FIG. 3 is a diagram illustrating the positioning method S01 when step a ends;
FIG. 4 is a diagram illustrating the positioning method S01 at the end of step c;
FIG. 5 is a diagram illustrating the positioning method S02 when step a ends;
FIG. 6 is a diagram illustrating the positioning method S02 at the end of substep b;
FIG. 7 is a diagram illustrating the positioning method S02 at the end of step c;
FIG. 8 is a diagram illustrating the positioning method S02 at the end of step d;
FIG. 9 is a diagram illustrating the positioning method S02 at the end of substep e;
fig. 10 is a diagram illustrating the positioning method S02 at the end of substep f.
Detailed Description
Example 1:
as shown in fig. 1-2, the auxiliary positioning device for the primary side closure plate dismounting robot comprises a base 1, a turntable 2, a guide rail 3, a sliding seat 4, an angle adjusting part and a distance measuring component.
Four corners of the lower end of the base 1 are provided with electric wheels 11, and each electric wheel 11 comprises a motor and a roller connected to the shaft of the motor. The rotary table 2 is arranged on the base 1, can rotate on a horizontal plane and can accurately control the rotation angle. The guide rail 3 is fixedly arranged on the rotary table 2 and is horizontally arranged. The slide 4 is slidably mounted on the guide rail 3 and can reciprocate linearly along the guide rail 3.
The distance measuring component is rotatably connected to the upper end of the sliding seat 4 through an angle adjusting part and can be a vertical planeAnd (3) upward. The ranging assembly includes a rotating plate 61, a laser ranging sensor a62, and a laser ranging sensor B63. The rotating plate 61 is rotatably connected to the upper end of the slide 4 through an angle adjusting member and can rotate in a vertical plane. The laser ranging sensor A62 and the laser ranging sensor B63 are arranged at the same height and are arranged at two ends of the upper surface of the rotating plate 61 at intervals. Setting the position of the laser ranging sensor A62 as a point a, the position of the laser ranging sensor B63 as a point B, and the line segment formed by connecting the points a and B as a point labThe laser beam emitted by the laser ranging sensor a62 is ray m, and the laser beam emitted by the laser ranging sensor B63 is ray n. Then m is always parallel to n and m is always perpendicular to labN is always perpendicular to lab。
Preferably, the included angle between any two adjacent rollers is 90 °. Two 90 contained angles that become of four gyro wheels, compare traditional front wheel rear wheel parallel arrangement's mode, the auto-lock of base 1 under quiescent condition can be realized on the one hand to this structure, avoids base 1 to appear sliding when static, and on the other hand can realize base 1's omnidirectional free movement through the rotational speed of every gyro wheel of independent control.
Preferably, the turntable 2 is a disc motor.
Preferably, the distance between the laser ranging sensor A62 and the laser ranging sensor B63 is the line segment labLength of (l)abHas a length of 300 mm.
Preferably, the angle adjustment member comprises a hinge 51. One side of the hinge 51 is connected with the upper end of the sliding seat 4, the other side of the hinge 51 is connected with the lower surface of the rotating plate 61, and the rotating resistance of the hinge 51 is not lower than three times of the weight of the distance measuring assembly, so that the effect of stopping immediately after rotating is achieved. When the rotating plate 61 rotates through the hinge 51, the included angle between the light emitting direction of the laser ranging sensor a62 and the light emitting direction of the laser ranging sensor B63 and the horizontal plane changes.
Preferably, the angle adjusting member further includes an electric push rod (not shown in the drawings). The shell of the electric push rod is hinged at the upper end of the sliding seat 4, and the piston rod of the electric push rod is hinged at the center of the lower surface of the rotating plate 61. The piston rod of the electric push rod stretches and retracts to drive the rotating plate 61 to rotate, so that the included angle formed by the light outgoing directions of the laser ranging sensor A62 and the laser ranging sensor B63 and the horizontal plane is changed.
Briefly describing the working principle of the utility model: as shown in fig. 3 to 10, the auxiliary positioning device of the primary-side plugging plate dismounting robot is used to calibrate a working position of the primary-side plugging plate dismounting robot when the plugging plate operation is performed, and when the primary-side plugging plate dismounting robot is in the working position, the primary-side plugging plate dismounting robot has a larger moving range and a larger operation space than when the primary-side plugging plate dismounting robot is in the non-working position.
The plugging plate operation comprises the following two types: 1. the primary side plugging plate dismounting robot clamps the primary side plugging plate, sends the primary side plugging plate into the water chamber through a manhole at the lower end of the water chamber, installs the primary side plugging plate on a corresponding hole position, and finally exits the water chamber through the manhole; 2. and the primary side plugging plate dismounting robot stretches into the inside of the water chamber through a manhole at the lower end of the water chamber, removes the primary side plugging plate on a corresponding hole site, and finally clamps the primary side plugging plate to exit from the inside of the water chamber through the manhole.
The water chamber comprises a shell; an inner cavity is arranged inside the shell; the lower end of the shell is provided with a manhole communicated to the inner cavity, and the manhole is provided with an annular plane at a hole opening close to one end of the outer side of the shell.
The positioning method comprises the following steps:
s01, determining the placing direction:
a. placing an auxiliary positioning device on the ground outside the water chamber, opening a laser ranging sensor A and a laser ranging sensor B, and preliminarily adjusting the orientation of the auxiliary positioning device and the angle of a rotating plate to enable rays m and n to strike an annular plane to form light spots p and q respectively;
b. setting the distance from a point a where the laser ranging sensor A is located to a light point p on the annular plane as x, and setting the distance from a point B where the laser ranging sensor B is located to a light point q on the annular plane as y; respectively reading a laser ranging sensor A and a laser ranging sensor B to obtain the values of x and y; if x is y, the process proceeds to step S02; if x is not equal to y, entering a step c;
c. setting the difference between x and y as z, and the straight line passing through points a and b as l1The straight line through the spots p, q is l2Straight line l1、l2Coplanar and forming an included angle beta; calculating an included angle beta according to the formula 1; formula 1：
Then, the turntable is driven to rotate by an angle beta to make a straight line l1、l2Parallel to each other, and let x be y.
And S02, determining a moving path:
a. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n are both hit on the ground, and two light spots formed on the ground after passing the rays m and n form a straight line l3；
b. Driving the rotating plate to rotate upwards for a certain angle, so that the rays m and n are irradiated on the annular plane; then, the sliding seat is pushed to move towards one end of the guide rail, so that the light spot formed by the ray m on the annular plane moves to the edge of the annular plane; then, marking the position of a light spot formed by the ray m as c;
c. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n hit the ground again, and two light spots formed by the rays m and n on the ground are ensured to fall on a straight line l3The above step (1); then, marking the spot position formed by the ray m as d;
d. driving the rotating plate to rotate upwards for a certain angle, so that the rays m and n strike the annular plane again, and ensuring that a light spot formed by the rays m is superposed with the position c; then, the sliding seat is pushed to move to the other end of the guide rail, so that the light spot formed by the ray n on the annular plane moves to the edge of the annular plane; then, marking the position of a light spot formed by the ray n as e;
e. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n hit the ground again, and two light spots formed by the rays m and n on the ground are ensured to fall on a straight line l3The above step (1); then, marking the position of a light spot formed by the ray n as f;
f. the line segment formed by the connection line of the positions d and f is ldfMaking line segment l on the grounddfPerpendicular bisector l4Perpendicular bisector l4Namely the projection line of the center line of the manhole on the ground, and the working position of the primary side plugging plate dismounting robot is positioned along the perpendicular bisector l of the primary side plugging plate dismounting robot4Move along the formed path.
In this step, "edges" in the sub-steps b and d are both the outer edges of the annular plane, or both the inner edges of the annular plane.
S03, determining the working position:
drive auxiliary positioning device along perpendicular bisector l4And moving the water chamber in the direction close to the water chamber, adjusting the angle of the rotating plate in real time in the moving process to enable the rays m and n to always hit on the annular plane, simultaneously reading the distance s from the laser ranging sensor A or the laser ranging sensor B to the annular plane, and marking the distance s on the ground when the distance s is 1450mm, wherein the marked position is the working position of the primary side plugging plate dismounting robot.
Claims (7)
1. Side stifled board dismouting robot auxiliary positioning device once, characterized by: the device comprises a base, a rotary table, a guide rail, a sliding seat, an angle adjusting piece and a distance measuring assembly; electric wheels are arranged at four corners of the lower end of the base, and each electric wheel comprises a motor and a roller connected to a shaft of the motor; the turntable is arranged on the base and can rotate on the horizontal plane; the guide rail is fixedly arranged on the rotary table and is horizontally arranged, and the sliding seat is slidably arranged on the guide rail and can do reciprocating linear movement along the guide rail; the distance measuring assembly is rotatably connected to the upper end of the sliding seat through the angle adjusting piece and can rotate on a vertical plane.
2. The primary side closure panel disassembly and assembly robot-assisted positioning device of claim 1, wherein: the included angle between any two adjacent rollers is 90 degrees.
3. The primary side closure panel disassembly and assembly robot-assisted positioning device of claim 2, wherein: the distance measuring assembly comprises a rotating plate, a laser distance measuring sensor A and a laser distance measuring sensor B; the rotating plate is rotatably connected to the upper end of the sliding seat through an angle adjusting piece; the laser ranging sensor A and the laser ranging sensor B are arranged at equal height and are arranged at two ends of the upper surface of the rotating plate at intervals.
4. The primary side closure panel disassembly and assembly robot-assisted positioning device of claim 3, wherein: setting laser range findingThe position of the sensor A is a point a, the position of the laser ranging sensor B is a point B, and a line segment formed by connecting the points a and B is a line segment labThe laser beam emitted by the laser ranging sensor A is a ray m, and the laser beam emitted by the laser ranging sensor B is a ray n;
then m is always parallel to n and m is always perpendicular to labN is always perpendicular to lab。
5. The primary side closure panel disassembly and assembly robot-assisted positioning device of claim 4, wherein: the distance between the laser ranging sensor A and the laser ranging sensor B is the line segment labLength of (l)abThe length of (2) is 299-301 mm.
6. The primary side closure panel disassembly and assembly robot-assisted positioning device of claim 5, wherein: the angle adjustment member comprises a hinge; one side of the hinge is connected with the upper end of the sliding seat, the other side of the hinge is connected with the lower surface of the rotating plate, and the rotating resistance of the hinge is not less than three times of the weight of the ranging assembly; when the rotating plate rotates through the hinge, the included angle formed by the light emitting direction of the laser ranging sensor A and the light emitting direction of the laser ranging sensor B and the horizontal plane changes.
7. The primary side closure panel disassembly and assembly robot-assisted positioning device of claim 6, wherein: the angle adjusting piece also comprises an electric push rod; the shell of the electric push rod is hinged at the upper end of the sliding seat, and the piston rod of the electric push rod is hinged at the center of the lower surface of the rotating plate; the piston rod of the electric push rod stretches and retracts to drive the rotating plate to rotate through the hinge, so that the included angle formed by the light emitting direction of the laser ranging sensor A and the light emitting direction of the laser ranging sensor B and the horizontal plane changes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121786352.6U CN216399650U (en) | 2021-08-02 | 2021-08-02 | Primary side blocking plate dismounting robot auxiliary positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121786352.6U CN216399650U (en) | 2021-08-02 | 2021-08-02 | Primary side blocking plate dismounting robot auxiliary positioning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216399650U true CN216399650U (en) | 2022-04-29 |
Family
ID=81288250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121786352.6U Active CN216399650U (en) | 2021-08-02 | 2021-08-02 | Primary side blocking plate dismounting robot auxiliary positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216399650U (en) |
-
2021
- 2021-08-02 CN CN202121786352.6U patent/CN216399650U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6293948B2 (en) | Mobile maintenance warehouse | |
| CN113696193B (en) | Primary side blocking plate dismounting and mounting robot auxiliary positioning device and positioning method | |
| CN108257693B (en) | Reactor pressure vessel surface scanning device | |
| KR101955165B1 (en) | Moving mobile manipulator | |
| CN210937656U (en) | Lithium cell module electricity core connection piece welding equipment | |
| CN100449262C (en) | Flatness measuring device | |
| CN216399650U (en) | Primary side blocking plate dismounting robot auxiliary positioning device | |
| US20140034418A1 (en) | Repair/cleaning scaffolding tower for wind turbines | |
| JP2017115787A (en) | Maintenance method for wind turbine generator system and unmanned airplane | |
| CN209296617U (en) | It is a kind of for detecting the X-ray DR image-forming detecting system of aluminium casting casting flaw | |
| CN210677611U (en) | Primary side blocking plate dismounting robot | |
| CN115095767A (en) | Bridge load test detection equipment | |
| CN210802807U (en) | Transformer oil leakage oil detection inspection tour device | |
| CN208772690U (en) | A kind of double-station Plane Rotation positioner with safeguard function | |
| CA1107026A (en) | Rotational molding apparatus and process | |
| CN106363300A (en) | Laser rust removing equipment and control method thereof | |
| CN114310232B (en) | Primary side blocking plate assembling and disassembling robot auxiliary positioning device and method | |
| CN112935554B (en) | Laser surface treatment device and method for key structure of ice skate of port icebreaker | |
| CN113375598A (en) | Self-datum plane-based high-precision matching method for three-dimensional profile of blade | |
| CN220647226U (en) | Multi-axis movement device | |
| KR20110072078A (en) | Manway cover closer of primary steam generaor | |
| CN212241018U (en) | Photovoltaic power plant operation and maintenance passageway and photovoltaic power plant | |
| JP4634865B2 (en) | Furnace bottom inspection repair device and method | |
| CN111266822B (en) | Remote self-positioning installation equipment and method for vacuum box of waste beam station | |
| CN111152195A (en) | Multi-axis robot arm and machining process thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |