CN104860058A - Adjusting mechanism of hand grab device in laminated base plate centralized transferring machine - Google Patents
Adjusting mechanism of hand grab device in laminated base plate centralized transferring machine Download PDFInfo
- Publication number
- CN104860058A CN104860058A CN201510201180.4A CN201510201180A CN104860058A CN 104860058 A CN104860058 A CN 104860058A CN 201510201180 A CN201510201180 A CN 201510201180A CN 104860058 A CN104860058 A CN 104860058A
- Authority
- CN
- China
- Prior art keywords
- cantilever
- gripper equipment
- backing plate
- sent out
- regulating 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention discloses an adjusting mechanism of a hand grab device in a laminated base plate centralized transferring machine. The adjusting mechanism includes a horizontal cantilever, wherein the rear end of the cantilever is movably supported on a mounting base; a rotary driving device for driving the cantilever to rotate back and forth within a horizontal plane is arranged on the mounting base; a hand grab device is mounted at the front end of the cantilever; a connection structure between the hand grab device and the cantilever is that: the hand grab device is mounted on a circular mounting plate, the circular mounting plate is fixedly connected with the lower end part of a compensating rotary shaft, the compensating rotary shaft is perpendicular to the circular mounting plate, the upper end part of the compensating rotary shaft is vertically supported in a bearing pedestal of the front end of the cantilever, and a compensating rotary driving device used for driving the compensating rotary shaft to rotate is also arranged on the cantilever. The adjusting mechanism has the advantage that the placing accuracy of a laminated base plate is greatly improved.
Description
Technical field
The present invention relates to a layer backing plate collection and send out machine technology field.
Background technology
Often a layer backing plate can be used in fields such as packaging, pilings.The bottom of the every one deck goods at multiple-level stack put by layer backing plate pad, thus guarantees the planeness of every one deck goods.The effect that machine sent out by layer backing plate collection is: layer backing plate is transported to another station from a station.The structure that machine sent out by layer backing plate collection mainly comprises: horizontally disposed cantilever, the rear end freely-movable bearing of cantilever is on mount pad, mount pad is provided with rotating driving device, the lifting drive driving cantilever elevation is provided with between mount pad and column guide rail, the front end of cantilever is provided with gripper equipment, lifting drive for driving the upper and lower lifting of cantilever, thus adjusts the crawl of gripper equipment height and placing height; Rotating driving device for driving cantilever to come in the horizontal direction, back rotation, thus the crawl angle of gripper equipment and placed angle to be adjusted.
The defect that machine sent out by above-mentioned layer backing plate collection is: gripper equipment is in the process of placed layer backing plate, and placement location angular adjustment is dumb, thus causes the precision of placement not high.
Summary of the invention
The present invention needs the problem solved: the regulating mechanism of gripper equipment in machine sent out by the layer backing plate collection providing a kind of precision of placement greatly to improve.
For solving the problem, the technical solution used in the present invention is: the regulating mechanism of gripper equipment in machine sent out by layer backing plate collection, comprise: the cantilever that horizontal direction is arranged, the rear end freely-movable bearing of cantilever is on mount pad, mount pad is provided with the rotating driving device for driving cantilever to carry out back rotation in horizontal surface, the front end of cantilever is provided with gripper equipment, connection structure between gripper equipment and cantilever comprises: gripper equipment is arranged on circular mounting plate, circular mounting plate is fixedly connected with the bottom compensating S. A., described compensation rotational axis vertical is arranged in circular mounting plate, the upper end compensating S. A. is vertically bearing in the bearing seat of cantilever front end, cantilever is also provided with for driving the compensation rotating driving device compensating S. A. and rotate.
Further, the regulating mechanism of gripper equipment in machine sent out by aforesaid layer backing plate collection, wherein, the structure compensating rotating driving device comprises: be arranged on the compensation servomotor on cantilever, compensate servomotor to be driven by synchronous pulley and Timing Belt driver train and compensate S. A. and rotate, be provided with between the front end of cantilever and adapter plate with compensate servomotor with the use of exists from offset zero detector.
Further, the regulating mechanism of gripper equipment in machine sent out by aforesaid layer backing plate collection, wherein, the structure of described rotating driving device comprises: be arranged on the servomotor on mount pad, driven by servomotor S. A. rotates, described S. A. is movably arranged in the bearing seat on mount pad, and the upper end of S. A. is fixedly connected with the rear end of cantilever, be provided with between mount pad and cantilever with servomotor with the use of zero detector.
Further, the regulating mechanism of gripper equipment in machine sent out by aforesaid layer backing plate collection, wherein, described cantilever comprises the first cantilever and the second cantilever, the rear end of the second cantilever is bearing on mount pad, the rear end of the first cantilever is connected with the front end of the second cantilever, connection structure between first cantilever and the second cantilever makes the first cantilever level be bearing on the second cantilever, and when cantilever moves downward that in process, the first cantilever runs into obstacle, the front end of the first cantilever can be upturned and dodge, after obstacle releasing, the first cantilever is swung down to initial level attitude under gravity, the connecting portion place of the first cantilever and the second cantilever is also provided with detector switch, and detector switch can detect that the first cantilever is upturned and the signal detected can be sent to control setup, impels control setup to give the alarm and halt instruction, described gripper equipment is arranged on the position, front end of the first cantilever, and described compensation rotating driving device is also arranged on the position, front end of the first cantilever.
Further, the regulating mechanism of gripper equipment in machine sent out by aforesaid layer backing plate collection, wherein, connection structure between first cantilever and the second cantilever is: the front end of the second cantilever is fixedly connected with the grooved Connection Block of opening upwards, the holding of grooved Connection Block is in the bottom at the position, rear end of the first cantilever, the center of gravity of the first cantilever is positioned at the front end outer side of grooved Connection Block, is hinged between grooved Connection Block and the first cantilever by jointed shaft.
Again further, the regulating mechanism of gripper equipment in machine sent out by aforesaid layer backing plate collection, wherein, the grooved Connection Block bottom the first cantilever is provided with soft rubber pad.
Again further, the regulating mechanism of gripper equipment in machine sent out by aforesaid layer backing plate collection, and wherein, the thickness of soft rubber pad is 3 ~ 10mm.
Further, the regulating mechanism of gripper equipment in machine sent out by aforesaid layer backing plate collection, wherein, the structure of adapter plate and gripper equipment comprises: circular mounting plate is fixedly connected with some pipe links, every root pipe link is all arranged along the radial direction of circular mounting plate, the outer end of every root pipe link is provided with the vacuum cup for adsorbed layer backing plate, and all vacuum cups are all positioned to compensate S. A., and to be the center of circle circumferentially same.
Again further, the regulating mechanism of gripper equipment in machine sent out by aforesaid layer backing plate collection, wherein, circular mounting plate offers some deep-slotted chip breakers, and described pipe link is removably fixedly mounted in deep-slotted chip breaker respectively.
Again further, the regulating mechanism of gripper equipment in machine sent out by aforesaid layer backing plate collection, wherein, every root pipe link is provided with some for regulating the adjustment hole of vacuum cup installation site.
Advantage of the present invention is: driven by servomotor cantilever carrys out back rotation in horizontal surface, thus make cantilever drive gripper equipment turn to be positioned at required placed layer backing plate station above, compensating rotating driving device drives compensation S. A. to rotate, thus the angle of the layer backing plate that the gripper equipment be positioned at above station captures is adjusted further, namely adjustment is compensated to the placement location of layer backing plate, thus make the layer backing plate on gripper equipment accurately can be placed on corresponding station place; The precision of the placement of above-mentioned layer backing plate is greatly enhanced, and the position in put procedure and angular adjustment are more flexibly, conveniently.
Accompanying drawing explanation
Fig. 1 is the structural representation that the regulating mechanism of gripper equipment in machine sent out by layer backing plate collection of the present invention.
Fig. 2 is the structural representation that Fig. 1 overlooks direction.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, the present invention is described in further detail.
As Fig. 1, shown in Fig. 2, the regulating mechanism of gripper equipment in machine sent out by layer backing plate collection, comprise: the cantilever 1 that horizontal direction is arranged, the rear end freely-movable bearing of cantilever 1 is on mount pad 2, mount pad 2 is provided with the rotating driving device for driving cantilever 1 to carry out back rotation in horizontal surface, in the present embodiment, the structure of rotating driving device comprises: be arranged on the servomotor 6 on mount pad 2, servomotor 6 drives S. A. 7 to rotate, described S. A. 7 is movably arranged in the bearing seat on mount pad 2, the upper end of S. A. 7 is fixedly connected with the rear end of cantilever 1, be provided with between mount pad 2 and cantilever with servomotor 6 with the use of zero detector 61, zero detector 61 is for defining the reference position of cantilever 1 at horizontal rotation in surface, thus be convenient to the rotational angle of the driving lower cantalever 1 controlled at servomotor 6.The front end of cantilever 1 is provided with gripper equipment, connection structure between gripper equipment and cantilever 1 comprises: gripper equipment is arranged on circular mounting plate 3, circular mounting plate 3 is fixedly connected with the bottom compensating S. A. 4, compensate S. A. 4 to arrange perpendicular to circular mounting plate 3, and its upper end is vertically bearing in the bearing seat of cantilever 1 front end, the structure of described gripper equipment comprises: circular mounting plate 3 is fixedly connected with some pipe links 14, every root pipe link 14 is all arranged along the radial direction of circular mounting plate 3, the outer end of every root pipe link 14 is provided with the vacuum cup 15 for adsorbed layer backing plate 16, all vacuum cups 15 are all positioned to compensate S. A. 4, and to be the center of circle circumferentially same, every root pipe link 14 is provided with some for regulating the adjustment hole 141 of vacuum cup 15 installation site, for the ease of the adjustment of pipe link 14 installation site, circular mounting plate 3 offers some deep-slotted chip breakers 31, the inner end of each pipe link 14 is all removably fixedly mounted in corresponding deep-slotted chip breaker 31.Cantilever 1 is also provided with for driving the compensation rotating driving device compensating S. A. 4 and rotate, the structure of the compensation rotating driving device described in the present embodiment comprises: be arranged on the compensation servomotor 5 on cantilever 1, compensating servomotor 5 drives compensation S. A. 4 to rotate by synchronous pulley and Timing Belt driver train, and synchronous pulley, synchronous pulley driver train comprise as shown in Figure 1: active synchronization belt wheel 41, driven synchronous pulley 42 and synchronous 43.Be provided with between the front end of cantilever 1 and circular mounting plate 3 with compensate servomotor 5 with the use of exists from offset zero detector 51, exists from offset zero detector 51 is for defining the initial zero position compensating S. A. 4 and rotate, thus the layer backing plate being convenient to control gripper equipment crawl is compensating the angle of rotating under servomotor 5 drives.In the present embodiment, cantilever 1 comprises the first cantilever 11 and the second cantilever 12, the rear end of the second cantilever 12 is bearing on mount pad 2, the rear end of the first cantilever 11 is connected with the front end of the second cantilever 12, connection structure between first cantilever 11 and the second cantilever 12 the first cantilever 11 is horizontally supported on the second cantilever 12 and cantilever 1 move downward run into obstacle when the first cantilever 11 in process time, the front end of the first cantilever 11 can be upturned and dodge, and after obstacle releasing, the first cantilever 11 is swung down to initial level attitude under gravity; The connecting portion place of the first cantilever 11 and the second cantilever 12 is also provided with detector switch 8, and detector switch 8 can detect that the first cantilever 11 can be gone up and tilts and the signal detected can be sent to control setup, impels control setup to give the alarm and halt instruction; Described gripper equipment is arranged on the position, front end of the first cantilever 11, described compensation rotating driving device is also arranged on the first cantilever 11, concrete, connection structure between first cantilever 11 and the second cantilever 12 is: the front end of the second cantilever 12 is fixedly connected with the grooved Connection Block 9 of opening upwards, grooved Connection Block 9 holding is in the bottom at the position, rear end of the first cantilever 11, the center of gravity of the first cantilever 11 is positioned at the front end outer side of grooved Connection Block 9, is hinged between grooved Connection Block 9 and the first cantilever 11 by jointed shaft 10.Grooved Connection Block 9 bottom first cantilever 11 is provided with soft rubber pad 13, and the thickness of soft rubber pad 13 is 3 ~ 10mm, and described detector switch 8 is arranged on the bottom of grooved Connection Block 9.
Servomotor 6 drives cantilever 1 to carry out back rotation in horizontal surface, thus above the station making cantilever 1 drive gripper equipment to turn to be positioned at required placed layer backing plate, compensating servomotor 5 drives compensation S. A. 4 to rotate, its role is to: the angle of the layer backing plate turned to above station is adjusted further, namely adjustment is compensated to the placement location of layer backing plate 16, thus make the layer backing plate on gripper equipment accurately can be placed on corresponding station place; After above-mentioned twice adjustment, the precision that layer backing plate 16 is placed improves greatly, and the angular adjustment of gripper equipment more flexibly, conveniently.Because the inner end of the pipe link 14 installing vacuum cup 15 is removably fixedly mounted in the deep-slotted chip breaker 31 on circular mounting plate 3, and pipe link 14 is also provided with some adjustment holes 141 for adjusting vacuum cup 15 installation site, therefore by the installation site of the every root pipe link 14 of adjustment in deep-slotted chip breaker 31 and the adjustment installation site of vacuum cup 15 on pipe link 14, crawl and the placement of the layer backing plate 16 of different specification size can just be adapted to.In order to improve gripper equipment Applicable scope further, some mounting holes 111 can also be offered along the longitudinal direction of the first cantilever 11, gripper equipment, circular mounting plate 3 can be needed to be arranged in mounting holes 111 different on the first cantilever 11 from compensation S. A. 4 according to the crawl of reality.
In the present embodiment, once cantilever 1 runs into obstacle in the process of downward placed layer backing plate, obstacle produces resistance upwards to the layer backing plate 16 that the gripper equipment on cantilever 1 captures, under the effect of resistance upwards, the front end of the first cantilever 11 is upturned around jointed shaft 10 and dodges, now detector switch 8 detects that the first cantilever 11 is upturned, this signal is sent to control setup by detector switch 8, control setup is impelled at once to give the alarm and halt instruction, halt instruction one sends, whole equipment quits work, cantilever 1 also would not continue to move downward, so just effectively can avoid layer backing plate and obstacle generation rigid collision, thus also just effectively can avoid the damage causing layer backing plate because of rigid collision.Alarm one sends, staff will check at once, after obstacle is removed by staff, first cantilever 11 can be swung down to initial level attitude again under gravity, due to grooved Connection Block 9 being lined with soft rubber pad 13, soft rubber pad 13 can effectively prevent from, between the first cantilever 11 and grooved Connection Block 9, rigid collision occurs, and this can not only prevent the first cantilever 11 and grooved Connection Block 9 from deforming, and effectively can also reduce noise.
Claims (10)
1. the regulating mechanism of gripper equipment in machine sent out by layer backing plate collection, comprise: the cantilever that horizontal direction is arranged, the rear end freely-movable bearing of cantilever is on mount pad, mount pad is provided with the rotating driving device for driving cantilever to carry out back rotation in horizontal surface, the front end of cantilever is provided with gripper equipment, it is characterized in that: the connection structure between gripper equipment and cantilever comprises: gripper equipment is arranged on circular mounting plate, circular mounting plate is fixedly connected with the bottom compensating S. A., described compensation rotational axis vertical is arranged in circular mounting plate, the upper end compensating S. A. is vertically bearing in the bearing seat of cantilever front end, cantilever is also provided with for driving the compensation rotating driving device compensating S. A. and rotate.
2. the regulating mechanism of gripper equipment in machine sent out by according to claim 1 layer of backing plate collection, it is characterized in that: the structure compensating rotating driving device comprises: be arranged on the compensation servomotor on cantilever, compensate servomotor to be driven by synchronous pulley and Timing Belt driver train and compensate S. A. and rotate, be provided with between the front end of cantilever and adapter plate with compensate servomotor with the use of exists from offset zero detector.
3. the regulating mechanism of gripper equipment in machine sent out by according to claim 1 and 2 layer of backing plate collection, it is characterized in that: the structure of described rotating driving device comprises: be arranged on the servomotor on mount pad, driven by servomotor S. A. rotates, described S. A. is movably arranged in the bearing seat on mount pad, the upper end of S. A. is fixedly connected with the rear end of cantilever, be provided with between mount pad and cantilever with servomotor with the use of zero detector.
4. the regulating mechanism of gripper equipment in machine sent out by according to claim 1 and 2 layer of backing plate collection, it is characterized in that: described cantilever comprises the first cantilever and the second cantilever, the rear end of the second cantilever is bearing on mount pad, the rear end of the first cantilever is connected with the front end of the second cantilever, connection structure between first cantilever and the second cantilever makes the first cantilever level be bearing on the second cantilever, and when cantilever moves downward that in process, the first cantilever runs into obstacle, the front end of the first cantilever can be upturned and dodge, after obstacle releasing, the first cantilever is swung down to initial level attitude under gravity, the connecting portion place of the first cantilever and the second cantilever is also provided with detector switch, and detector switch can detect that the first cantilever is upturned and the signal detected can be sent to control setup, impels control setup to give the alarm and halt instruction, described gripper equipment is arranged on the position, front end of the first cantilever, and described compensation rotating driving device is also arranged on the position, front end of the first cantilever.
5. the regulating mechanism of gripper equipment in machine sent out by according to claim 4 layer of backing plate collection, it is characterized in that: the connection structure between the first cantilever and the second cantilever is: the front end of the second cantilever is fixedly connected with the grooved Connection Block of opening upwards, the holding of grooved Connection Block is in the bottom at the position, rear end of the first cantilever, the center of gravity of the first cantilever is positioned at the front end outer side of grooved Connection Block, is hinged between grooved Connection Block and the first cantilever by jointed shaft.
6. the regulating mechanism of gripper equipment in machine sent out by according to claim 5 layer of backing plate collection, it is characterized in that: the grooved Connection Block bottom the first cantilever is provided with soft rubber pad.
7. the regulating mechanism of gripper equipment in machine sent out by according to claim 5 layer of backing plate collection, it is characterized in that: the thickness of soft rubber pad is 3 ~ 10mm.
8. the regulating mechanism of gripper equipment in machine sent out by according to claim 1 and 2 layer of backing plate collection, it is characterized in that: the structure of adapter plate and gripper equipment comprises: circular mounting plate is fixedly connected with some pipe links, every root pipe link is all arranged along the radial direction of circular mounting plate, the outer end of every root pipe link is provided with the vacuum cup for adsorbed layer backing plate, and all vacuum cups are all positioned to compensate S. A., and to be the center of circle circumferentially same.
9. the regulating mechanism of gripper equipment in machine sent out by according to claim 8 layer of backing plate collection, and it is characterized in that: circular mounting plate offers some deep-slotted chip breakers, described pipe link is removably fixedly mounted in deep-slotted chip breaker respectively.
10. the regulating mechanism of gripper equipment in machine sent out by according to claim 8 layer of backing plate collection, it is characterized in that: every root pipe link is provided with some for regulating the adjustment hole of vacuum cup installation site.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510201180.4A CN104860058B (en) | 2015-04-27 | 2015-04-27 | The governor motion of gripper equipment in layer backing plate collection hair machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510201180.4A CN104860058B (en) | 2015-04-27 | 2015-04-27 | The governor motion of gripper equipment in layer backing plate collection hair machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104860058A true CN104860058A (en) | 2015-08-26 |
| CN104860058B CN104860058B (en) | 2017-07-21 |
Family
ID=53906318
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510201180.4A Active CN104860058B (en) | 2015-04-27 | 2015-04-27 | The governor motion of gripper equipment in layer backing plate collection hair machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104860058B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000190273A (en) * | 1998-12-25 | 2000-07-11 | Fanuc Ltd | Tilting mechanism of end effector |
| CN103010757A (en) * | 2012-11-30 | 2013-04-03 | 扬州润明轻工机械有限公司 | Backing plate catching-releasing mechanism of stacker crane |
| CN203612633U (en) * | 2013-11-07 | 2014-05-28 | 合肥京东方光电科技有限公司 | Carrying tool and carrying system |
| CN103963071A (en) * | 2014-05-27 | 2014-08-06 | 广州大正新材料科技有限公司 | Mechanical arm |
| CN104354161A (en) * | 2014-10-25 | 2015-02-18 | 东莞市三润田自动化设备有限公司 | Five-shaft manipulator |
| CN204714042U (en) * | 2015-04-27 | 2015-10-21 | 江苏新美星包装机械股份有限公司 | The regulating mechanism of gripper equipment in machine sent out by layer backing plate collection |
-
2015
- 2015-04-27 CN CN201510201180.4A patent/CN104860058B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000190273A (en) * | 1998-12-25 | 2000-07-11 | Fanuc Ltd | Tilting mechanism of end effector |
| CN103010757A (en) * | 2012-11-30 | 2013-04-03 | 扬州润明轻工机械有限公司 | Backing plate catching-releasing mechanism of stacker crane |
| CN203612633U (en) * | 2013-11-07 | 2014-05-28 | 合肥京东方光电科技有限公司 | Carrying tool and carrying system |
| CN103963071A (en) * | 2014-05-27 | 2014-08-06 | 广州大正新材料科技有限公司 | Mechanical arm |
| CN104354161A (en) * | 2014-10-25 | 2015-02-18 | 东莞市三润田自动化设备有限公司 | Five-shaft manipulator |
| CN204714042U (en) * | 2015-04-27 | 2015-10-21 | 江苏新美星包装机械股份有限公司 | The regulating mechanism of gripper equipment in machine sent out by layer backing plate collection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104860058B (en) | 2017-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110540035B (en) | Intelligent production line product transmission code arranging device | |
| CN104343831B (en) | Joint shaft bearing assembling automatic production line | |
| MXPA06011873A (en) | Tire balancing apparatus. | |
| CN103569644A (en) | Tire overturning device | |
| CN105449939A (en) | Assembly mechanism for motor production | |
| CN104786031B (en) | A kind of pair of rotating disk mechanism | |
| CN204714042U (en) | The regulating mechanism of gripper equipment in machine sent out by layer backing plate collection | |
| KR101480525B1 (en) | Tripod fixing apparatus for geodetic surveying instrument | |
| CN208234107U (en) | Transferring system | |
| CN203558517U (en) | Tire turnover device | |
| CN109585609A (en) | A kind of solar battery sheet laser ablation and printing integrative apparatus | |
| CN204256144U (en) | LED lamp bar photo electric testing agency | |
| CN204713966U (en) | The safety protection mechanism in machine on cantilever sent out by layer backing plate collection | |
| AU2019260283B2 (en) | A lifting tool | |
| CN104860058A (en) | Adjusting mechanism of hand grab device in laminated base plate centralized transferring machine | |
| CN104860027A (en) | Safety protection mechanism on cantilever in laminated base plate centralized transferring machine | |
| CN205266627U (en) | Birds, beasts and eggs spout a yard device | |
| CN105710860A (en) | Two-degree-of-freedom mechanical arm for transferring | |
| CN203667849U (en) | Plate taking and placing device | |
| JP5150003B1 (en) | Roll body handling system, roll body supply method, and roll body transport apparatus | |
| CN102363516A (en) | Rocker arm type vehicle detection table lifting device | |
| CN209312787U (en) | A kind of solar battery sheet laser ablation and printing integrative apparatus | |
| CN104441049A (en) | Decoration material cutting system | |
| CN204140672U (en) | Joint shaft bearing assembling automatic production line | |
| CN211828690U (en) | High-speed solar silicon wafer double-side detection machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |