CN107901267B - A kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system - Google Patents
A kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system Download PDFInfo
- Publication number
- CN107901267B CN107901267B CN201711130627.9A CN201711130627A CN107901267B CN 107901267 B CN107901267 B CN 107901267B CN 201711130627 A CN201711130627 A CN 201711130627A CN 107901267 B CN107901267 B CN 107901267B
- Authority
- CN
- China
- Prior art keywords
- cylinder
- cutter head
- thrust
- control system
- cutting machine
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B9/00—Making granules
- B29B9/02—Making granules by dividing preformed material
- B29B9/06—Making granules by dividing preformed material in the form of filamentary material, e.g. combined with extrusion
- B29B9/065—Making granules by dividing preformed material in the form of filamentary material, e.g. combined with extrusion under-water, e.g. underwater pelletizers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
Abstract
A kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system of the present invention, the control system includes main control module, ratio adjusting valve, cylinder, cutter head and dynamometer, the ratio adjusting valve, cylinder, cutter head, dynamometer are connected to the main control module respectively, and the ratio adjusting valve is connect with the cylinder；Control System Design of the present invention is novel, is simple and efficient, and is improved well on the basis of existing hot-cutting machine, replaces fluid pressure type using gas circuit formula, applies thrust to the cutter head of hot-cutting machine in pelletizing thrust, and completion cutter head is bonded with die head, realizes pelletizing；The control method controls precision height, is adjusted using single order closed feedback, is capable of the contact force of accurate regulation and control blade and die head, guarantee that blade can pelletizing, it is again minimum with the frictional force of die head, it is minimum to the damage of blade, it is also possible that the control system is more stable.
Description
Technical field
The present invention relates to hot-cutting machine control technology fields, more specifically to a kind of gas circuit formula hot-cutting machine pelletizing thrust
The control method of control system.
Background technique
It is well known that underwater pelletizer, is a kind of novel high molecular polymer semi-finished product processing equipment, due to cutting for it
The process of cutting is to carry out in water, is thus gained the name.It is cooling to tape due to not needed during pelletizing, in order to be cut with underwater tie rod formula
Grain machine is distinguished, we are called hot-cutting machine again or flour milling is cut.Current such equipment is mainly used in polypropylene (PP), nylon 6
(PA6), the production of the products such as elastomer.It is mainly characterized by equipment and its auxiliary device takes up little area, grain in process of producing product
Son does not need sub-cooled, it can be achieved that 90 degree of high temperature pelletizings, save energy consumption for subsequent heating process.It leads in the world now
The hot-cutting machine manufacturer wanted has: CAMA, BKG, MAAG(mug(unit of measure)), Nanjing writing brush easily etc..
But there is also areas for improvement for existing hot-cutting machine:
First, existing hot-cutting machine pelletizing thrust mainly use hydraulic system provide thrust support, effect be not very well,
Cost is relatively high；And existing hot-cutting machine attempts the substitution using air-channel system to hydraulic system not yet, therefore has one
Fixed limitation；
Second, the control system of existing hot-cutting machine pelletizing thrust is not perfect, control method is not excellent enough, and control precision is not
Height, so that higher requirement, and waste of resource and cost, intelligent and automation journey is not achieved in the material particles being cut into
It spends low, is not suitable for a wide range of universal.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of gas circuit formula is fervent to solve above-mentioned the deficiencies in the prior art
The control method of machine-cut grain thrust control system, Control System Design is novel, is simple and efficient, on the basis of existing hot-cutting machine into
It has gone and has improved well, fluid pressure type is replaced using gas circuit formula, thrust is applied to the cutter head of hot-cutting machine in pelletizing thrust, completes knife
Head is bonded with die head, realizes pelletizing；The control method controls precision height, is adjusted using single order closed feedback, can be accurate
The contact force of regulation and control blade and die head, guarantee blade can pelletizing and die head frictional force it is minimum, to the damage of blade
Wound is minimum, it is also possible that the control system is more stable, can be monitored in real time and adjusts hot-cutting machine pelletizing thrust, preferably reach
Pelletizing requirement has been arrived, equipment operation power consumption and maintenance cost has been greatly reduced, is more suitable for promoting.
To achieve the above object, the technical scheme adopted by the invention is that:
A kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system, the control system include main control module,
Ratio adjusting valve, cylinder, cutter head and dynamometer, the ratio adjusting valve, cylinder, cutter head, dynamometer respectively with the master control mould
Block connection, the ratio adjusting valve are connect with the cylinder；
The side of the cylinder is communicated with gas circuit cabinet, and the other side of the cylinder connects thrust axis, and the thrust axis connects
It is connected to the cutter hub vertical with the thrust axis, the front end of the cutter hub is arranged the cutter head, on the outer circumference surface of the cutter head
Even several blades of distribution, the edge of the blade is all in the same horizontal plane and is bonded setting with die head；
The following steps are included:
Step 1: the control system is opened, the gas circuit cabinet is cylinder gas supply, into normal operating conditions；
Step 2: the number for defining the blade is n, the die head is F1 for the reaction force of the single blade,
The active force that then cutter head is subject to is nF1, and the cutter head, which is fed back by thrust axis to the reaction force on the cylinder, is
nF1；
Step 3: defining cylinder output force value is x(k), the gas pressure intensity of cylinder be u(k), control gain be K, ratio tune
Save valve proportion adjustment parameter be R, equation coefficient a, then the control system first-order equation formula indicate are as follows: x(k+1)=ax(k)
+ Ku(k), the feedback control equation of the control system indicates are as follows: u(k)=x(k)-x(k-1)+Ru(k), wherein control gain K
> 0；Theoretically, power suffered by cutter head are as follows: x (k)-nF1, x (k)-nF1> 0；
Step 4: according to the equation of root-locus technique solution procedure three, it is known that: K and R is adjusted by the main control module,
So that power x (k)-nF suffered by cutter head1It is fluctuated in a small range, so that the control system asymptotically stability, so that
The cylinder provides the cutter head stable thrust；
Step 5: the dynamometer sends collected pressure signal to main control module and handles, the master control
By treated, execution signal sends the ratio adjusting valve to module, and then the proportion adjustment valve regulation reaches the cylinder
Gas pressure intensity, the cylinder exports certain thrust according to gas pressure intensity, and is acted on the cutter head by thrust axis, into
And the blade on cutter head acts on certain pressure on die head, and then blade and die head carry out contact friction and the object to melting
Material is cut, and graininess pelletizing is obtained.
Further, the main control module is DCS or PLC.
Further, the ratio adjusting valve is VPPM type.
Further, the main control module is connect with the ratio adjusting valve, cylinder respectively by two-position five-way valve.
Further, the main control module is connect by PID controller with the cutter head.
Further, the cutter head, single blade, the dynamometer is respectively set on cylinder.
The beneficial effects of the present invention are:
In the present invention, hot-cutting machine pelletizing thrust control system includes main control module, ratio adjusting valve, cylinder, cutter head and survey
Power instrument, novel design are simple and efficient, and are improved well on the basis of existing hot-cutting machine, replace liquid using gas circuit formula
Pressure type, by the gas pressure intensity of proportion adjustment valve regulation cylinder, and then the cutter head of hot-cutting machine is applied when adjusting pelletizing thrust
Thrust, completion blade are bonded with die head, realize pelletizing；In addition, blade is bonded with die head, reaction of the blade by die head
Power, and then cutter head is fed back reaction force to cylinder by thrust axis, is greatly reduced equipment operation power consumption, is also ensured simultaneously
The stability of thrust guarantees the pelletizing function of cutter head；
In the present invention, which controls precision height, is adjusted using single order closed feedback, accurately can adjust and control
The contact force of blade and die head processed, guarantee blade can pelletizing and die head frictional force it is minimum, it is minimum to the damage of blade,
It is also possible that the control system is more stable, it can be monitored in real time and adjust hot-cutting machine pelletizing thrust, preferably reached and cut
Grain requires, and greatly reduces equipment operation power consumption and maintenance cost, is more suitable for promoting.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of cutter head and die head；
Fig. 3 is control block diagram of the invention；
Marked in the figure: 1, main control module, 2, ratio adjusting valve, 3, cylinder, 4, cutter head, 5, gas circuit cabinet, 6, thrust axis, 7,
Cutter hub, 8, blade, 9, die head.
Specific embodiment
Specific embodiment is provided with reference to the accompanying drawing, technical solution of the present invention is made further clear, complete, in detail
Explanation.The present embodiment is most preferred embodiment based on the technical solution of the present invention, but protection scope of the present invention is not limited to down
The embodiment stated.
As shown in Figure 1-3, a kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system, the control system packet
Include main control module 1, ratio adjusting valve 2, cylinder 3, cutter head 4 and dynamometer, the ratio adjusting valve 2, cylinder 3, cutter head 4, dynamometry
Instrument is connect with the main control module 1 respectively, and the ratio adjusting valve 2 is connect with the cylinder 3；
The side of the cylinder 3 is communicated with gas circuit cabinet 5, and the other side of the cylinder 3 connects thrust axis 6, the thrust
Axis 6 is connected with the cutter hub 7 vertical with the thrust axis 6, and the front end of the cutter hub 7 is arranged the cutter head 4, the cutter head 4 it is outer
Several blades 8 are uniformly distributed on periphery, the edge of the blade 8 is all in the same horizontal plane and is bonded setting with die head 9；
It is characterized by comprising following steps:
Step 1: the control system is opened, the gas circuit cabinet 5 is the gas supply of cylinder 3, into normal operating conditions；
Step 2: the number for defining the blade 8 is n, the die head 9 is for the reaction force of the single blade 8
F1, the then active force that the cutter head 4 is subject to are nF1, and the cutter head 4 is fed back by thrust axis 6 to the reaction on the cylinder 3
Power is nF1；
Step 3: defining 3 output force value of cylinder is x(k), the gas pressure intensity of cylinder 3 be u(k), control gain be K, ratio
The proportion adjustment parameter of regulating valve 2 is R, equation coefficient a, then the first-order equation formula of the control system indicates are as follows: x(k+1)=ax
(k)+Ku(k), the feedback control equation of the control system indicates are as follows: u(k)=x(k)-x(k-1)+Ru(k), wherein control increases
Beneficial K > 0；Theoretically, power suffered by cutter head 4 are as follows: x (k)-nF1, x (k)-nF1> 0；
Step 4: according to the equation of root-locus technique solution procedure three, it is known that: K and R is adjusted by the main control module 1,
So that power x (k)-nF suffered by cutter head 41It is fluctuated in a small range, so that the control system asymptotically stability, and then make
It obtains cylinder 3 and stable thrust is provided for cutter head 4；
Step 5: the dynamometer sends collected pressure signal to main control module 1 and handles, the master control
By treated, execution signal sends the ratio adjusting valve 2 to module 1, and then the ratio adjusting valve 2 is adjusted described in arrival
The gas pressure intensity of cylinder 3, the cylinder 3 exports certain thrust according to gas pressure intensity, and acts on the knife by thrust axis 6
Blade 8 on first 4, and then on cutter head 4 acts on certain pressure on die head 9, and then blade 8 contact rubbing with die head 9
It wipes and the material of melting is cut, obtain graininess pelletizing.
Further, main control module 1 is DCS or PLC.
Further, ratio adjusting valve 2 is VPPM type.
Further, main control module 1 is connect with the ratio adjusting valve 2, cylinder 3 respectively by two-position five-way valve.
Further, main control module 1 is connect by PID controller with cutter head 4, and the execution that main control module 1 controls cutter head 4 is dynamic
Make.
Further, cutter head 4, single blade 8, dynamometer, effect of the dynamometer to each place is respectively set on cylinder 3
Power carries out real-time monitoring, and timely feedbacks to main control module 1.
In conclusion hot-cutting machine pelletizing thrust control system includes main control module 1, ratio adjusting valve 2, gas in the present invention
Cylinder 3, cutter head 4 and dynamometer, novel design are simple and efficient, and are improved well on the basis of existing hot-cutting machine, are used
Gas circuit formula replaces fluid pressure type, to fervent when adjusting the gas pressure intensity of cylinder 3 by ratio adjusting valve 2, and then adjusting pelletizing thrust
The thrust that the cutter head 4 of machine applies, completion blade 8 are bonded with die head 9, realize pelletizing；In addition, blade 8 is bonded with die head 9, knife
Reaction force of the piece 8 by die head 9, and then cutter head 4 is fed back reaction force to cylinder 3 by thrust axis 6, is greatly reduced and is set
Received shipment row power consumption, while also ensuring the stability of thrust, guarantee the pelletizing function of cutter head；
In the present invention, which controls precision height, is adjusted using single order closed feedback, accurately can adjust and control
The contact force of blade processed 8 and die head 9, guarantee blade 8 can pelletizing and die head 9 frictional force it is minimum, the damage to blade 8
Minimum can be monitored in real time and adjust hot-cutting machine pelletizing thrust it is also possible that the control system is more stable, preferably reach
Pelletizing requirement greatly reduces equipment operation power consumption and maintenance cost, is more suitable for promoting.
Main feature of the invention, basic principle and advantages of the present invention has been shown and described above.Industry technology
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, the present invention can also have various change according to the actual situation
And improvement, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended
Claims and its equivalent thereof.
Claims (6)
1. a kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system, the control system include main control module (1),
Ratio adjusting valve (2), cylinder (3), cutter head (4) and dynamometer, the ratio adjusting valve (2), cylinder (3), cutter head (4), dynamometry
Instrument is connect with the main control module (1) respectively, and the ratio adjusting valve (2) connect with the cylinder (3)；
The side of the cylinder (3) is communicated with gas circuit cabinet (5), and the other side of the cylinder (3) connects thrust axis (6), described
Thrust axis (6) is connected with the cutter hub vertical with the thrust axis (6) (7), and the cutter head (4) is arranged in the front end of the cutter hub (7),
It is uniformly distributed several blades (8) on the outer circumference surface of the cutter head (4), the edge of the blade (8) is all in the same horizontal plane
Above and with die head (9) it is bonded setting；
It is characterized by comprising following steps:
Step 1: the control system is opened, the gas circuit cabinet (5) is cylinder (3) gas supply, into normal operating conditions；
Step 2: the number for defining the blade (8) is n, the die head (9) for the single blade (8) reaction force
For F1, then the active force that the cutter head (4) is subject to is nF1, the cutter head (4) is by thrust axis (6) feedback to the cylinder (3)
On reaction force be nF1；
Step 3: defining cylinder (3) output force value is x(k), the gas pressure intensity of cylinder (3) be u(k), control gain be K, ratio
The proportion adjustment parameter of regulating valve (2) is R, equation coefficient a, then the first-order equation formula of the control system indicates are as follows: x(k+1)=
Ax(k)+Ku(k), the feedback control equation of the control system indicates are as follows: u(k)=x(k)-x(k-1)+Ru(k), wherein controlling
Gain K > 0；Theoretically, power suffered by cutter head (4) are as follows: x (k)-nF1, x (k)-nF1> 0；
Step 4: according to the equation of root-locus technique solution procedure three, it is known that: K and R is adjusted by the main control module (1), is made
Obtain power x (k)-nF suffered by cutter head (4)1It fluctuates in a small range, so that the control system tends towards stability, and then makes
It obtains the cylinder (3) and the cutter head (4) is provided with stable thrust；
Step 5: the dynamometer sends collected pressure signal to main control module (1) and handles, the master control mould
By treated, execution signal sends the ratio adjusting valve (2) to block (1), and then the ratio adjusting valve (2) is adjusted and reached
The gas pressure intensity of the cylinder (3), the cylinder (3) exports certain thrust according to gas pressure intensity, and is made by thrust axis (6)
Blade (8) for the cutter head (4), and then on cutter head (4) acts on certain pressure on die head (9), and then blade
(8) contact friction is carried out with die head (9) and the material of melting is cut, and obtains graininess pelletizing.
2. a kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system according to claim 1, feature exist
In: the main control module (1) is DCS or PLC.
3. a kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system according to claim 1, feature exist
In: the ratio adjusting valve (2) is VPPM type.
4. a kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system according to claim 1, feature exist
In: the main control module (1) is connect with the ratio adjusting valve (2), cylinder (3) respectively by two-position five-way valve.
5. a kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system according to claim 1, feature exist
In: the main control module (1) is connect by PID controller with the cutter head (4).
6. a kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system according to claim 1, feature exist
In: the dynamometer is respectively set on (3) in the cutter head (4), single blade (8), cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711130627.9A CN107901267B (en) | 2017-11-15 | 2017-11-15 | A kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711130627.9A CN107901267B (en) | 2017-11-15 | 2017-11-15 | A kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107901267A CN107901267A (en) | 2018-04-13 |
| CN107901267B true CN107901267B (en) | 2019-11-26 |
Family
ID=61844227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711130627.9A Active CN107901267B (en) | 2017-11-15 | 2017-11-15 | A kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107901267B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112059293B (en) * | 2020-08-17 | 2023-01-13 | 中咨数据有限公司 | Steel cutting device for bridge construction |
| CN112318691A (en) * | 2020-12-04 | 2021-02-05 | 禹州市国粹钧窑有限责任公司 | Jun porcelain bottle mouth processing method and device |
| CN112454610A (en) * | 2020-12-04 | 2021-03-09 | 禹州市国粹钧窑有限责任公司 | Manufacturing method of Jun porcelain bottle mouth meeting various shapes |
| CN112497449A (en) * | 2020-12-04 | 2021-03-16 | 禹州市国粹钧窑有限责任公司 | System for processing Jun porcelain bottle mouth with various shapes |
| CN112454613A (en) * | 2020-12-04 | 2021-03-09 | 禹州市华龙钧窑有限公司 | Method for manufacturing Jun porcelain bottle mouth |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB819428A (en) * | 1955-02-17 | 1959-09-02 | United Aircraft Corp | Water separators |
| CN102658517B (en) * | 2012-05-07 | 2014-07-02 | 浙江工业大学 | Contact force real-time control system for airbag polishing |
| CN103148063B (en) * | 2013-03-22 | 2015-11-25 | 太原科技大学 | Valve-controlled cylinder Hydrauservo System position and pressure master-slave control method |
| CN103286801A (en) * | 2013-05-30 | 2013-09-11 | 广东联塑机器制造有限公司 | Scrap-free section bar and trunking hot cutting machine |
| CN203541830U (en) * | 2013-09-23 | 2014-04-16 | 无锡精工焊接设备有限公司 | Inverter air plasma cutting machine |
| CN106527518B (en) * | 2016-12-08 | 2019-12-06 | 东旭科技集团有限公司 | device and method for controlling cutting pressure of cutting machine |
-
2017
- 2017-11-15 CN CN201711130627.9A patent/CN107901267B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107901267A (en) | 2018-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107901267B (en) | A kind of control method of gas circuit formula hot-cutting machine pelletizing thrust control system | |
| CN109590619A (en) | A kind of cutting head height control method and laser cutting machine | |
| CN107657681A (en) | Production equipment parameter regulation means and device, computer installation and readable memory | |
| CN111108982A (en) | Air conditioning system for regulating plant growth environment and control method thereof | |
| CN107526346A (en) | Corrugated paper board production line adhesive bands control system | |
| CN114510098A (en) | Production environment regulation and control method and system | |
| CN111058511A (en) | Constant pressure water supply system | |
| CN204178169U (en) | The device that a kind of strap production of intelligent controls | |
| CN101923338B (en) | Chocolate crystallization production line control method and device thereof | |
| CN205950867U (en) | Multifunctional splitting machine | |
| CN108445854A (en) | A kind of intelligent workshop based on big data | |
| CN104786347A (en) | Compact type control system for vacuum brick extruding machine | |
| CN104802288B (en) | A kind of control system of two-stage vacuum extruder for blocks | |
| CN204883446U (en) | Permanent magnetism AC motor's inside dehydrating unit | |
| CN203092254U (en) | Automatic speed adjusting control system of cutting machine | |
| CN102233620A (en) | Method for controlling multi-wire cutting load | |
| CN207352452U (en) | Corrugated paper board production line adhesive bands control system | |
| CN106814773A (en) | For the control method and control system of stretch yarn machine | |
| CN209070356U (en) | A kind of variable corner cut formula lathe cutter saddle intelligence control system | |
| CN207239210U (en) | Valve plate full-automatic processing lathe | |
| CN205158087U (en) | Eat material sculpture control system | |
| CN114861421B (en) | Intelligent optimization control system and method for air flow mill classifying wheel | |
| CN107526377A (en) | Isosorbide-5-Nitrae butylene glycol hydrogenation reaction thermostatic control system | |
| CN208289133U (en) | A kind of irregular product inner plane groove processing apparatus | |
| CN118348861A (en) | Automatic control system of carbon fiber material processing equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |