CN110000810B - Application method of zero gravity manipulator fatigue testing device - Google Patents
Application method of zero gravity manipulator fatigue testing device Download PDFInfo
- Publication number
- CN110000810B CN110000810B CN201811549680.7A CN201811549680A CN110000810B CN 110000810 B CN110000810 B CN 110000810B CN 201811549680 A CN201811549680 A CN 201811549680A CN 110000810 B CN110000810 B CN 110000810B
- Authority
- CN
- China
- Prior art keywords
- handle
- electromagnetic valve
- fixed
- strain gauge
- ring
- 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
- 238000009661 fatigue test Methods 0.000 title claims abstract description 22
- 230000005484 gravity Effects 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 title claims description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 36
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 36
- 238000005303 weighing Methods 0.000 claims abstract description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 7
- 239000004033 plastic Substances 0.000 claims abstract description 6
- 229920003023 plastic Polymers 0.000 claims abstract description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052802 copper Inorganic materials 0.000 claims description 4
- 239000010949 copper Substances 0.000 claims description 4
- 239000011888 foil Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a zero gravity manipulator fatigue testing device, which is structurally characterized in that: the iron ring and the rotary hanging ring are fixed on the weighing sensor, the screw and the weighing sensor are fixed on the aluminum plate, the handle shaft penetrates through the whole aluminum shell, the top of the handle shaft is locked by the gasket, the aluminum plate and the nut, the pin is embedded on the handle shaft, the panel is arranged in the aluminum shell, the plastic part is arranged below the panel, the handle ring is fixed on the handle shaft through uniformly distributed top fixing screws, the strain gauge fixing plate is arranged on the handle ring, the handle is arranged at the upper bottom of the handle ring, the stud is arranged between the strain gauge fixing plate and the handle ring, the adapter and the hook are fixed on the bottom of the handle shaft through the screw and fixed on the aluminum shell through the rubber gasket locking screw and the second screw, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the fourth electromagnetic valve are respectively fixed on the left second aluminum plate and the right second aluminum plate, and the two clamps are fixed on the handle.
Description
Technical Field
The invention belongs to the technical field of mechanical device testing, and particularly relates to a zero gravity manipulator fatigue testing device.
Background
The zero gravity manipulator is also called a power-assisted manipulator, and is novel power-assisted equipment which is used for saving labor in material carrying and installation. The balance principle of force is skillfully applied, so that an operator can correspondingly push and pull the weight, and balance, move and position in space. When the weight is lifted or lowered, a floating state is formed, and zero operating force (the operating force takes less than 3kg as a judgment standard in the actual situation because of the control of the processing technology and the design cost) is ensured by the gas path, so that the operating force is influenced by the weight of the workpiece. The weight can be correctly placed at any position in the space by pushing and pulling the weight by an operator without skilled inching operation, and the device is widely applied to occasions such as material transfer, high-frequency carrying, accurate positioning, component assembly and the like in the modern industry.
Through fatigue test, the service life of the parts can be known, and for some parts with short service life, the design scheme is changed or the materials are changed; according to the fatigue test result, after-sales service can maintain or replace certain parts regularly, so that the fatigue test of the zero gravity manipulator is necessary. At present, people can hold the handle to complete the set of actions and can also perform fatigue test, but the time and the energy are wasted; the fatigue test can also be completed by a linear module, a servo motor and a set of control system, but the cost is relatively high.
Disclosure of Invention
The invention aims to solve the technical problem of providing a zero-gravity manipulator fatigue testing device which is used for controlling the motion of a servo motor through voltage difference when a strain sensor at a zero-gravity manipulator is subjected to external slight pressure, and the resistance of a strain gauge in the strain sensor is changed, so that the device is simple in structure and high in detection precision.
In order to solve the technical problems, the invention adopts the following technical scheme:
a zero gravity manipulator fatigue testing device, comprising: the device comprises an iron ring, a rotary lifting ring, a first screw, a weighing sensor, a nut, a gasket, a first aluminum plate, a handle shaft, a pin, an aluminum shell, a panel, a plastic piece, a rubber gasket locking screw, a strain gauge fixing plate, copper studs, a second screw, a handle ring, a clamp, a handle, an adapter, a hook, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve, a fourth electromagnetic valve and a second aluminum plate, wherein the iron ring and the rotary lifting ring are fixed on the weighing sensor, the first screw and the weighing sensor are fixed on the first aluminum plate, the handle shaft penetrates through the whole aluminum shell, the top of the handle shaft is locked by the gasket, the aluminum plate and the nut, the pin is embedded on the handle shaft, the panel is arranged in the aluminum shell, the plastic piece is arranged below, the handle ring is fixed on the handle shaft by uniformly distributed jacking screws, the strain gauge fixing plate is arranged on the handle ring, the handle is arranged at the bottom of the handle ring, the stud is arranged between the strain gauge fixing plate and the handle ring, the locking screw and the second electromagnetic valve are fixed by the rubber gasket locking screw and the screw, the adapter and the hook are fixed on the bottom of the handle shaft, the aluminum strip is fixed on the aluminum shell, the first electromagnetic valve and the second electromagnetic valve and the handle ring are fixed on the two electromagnetic valves.
Preferably, the end face of the handle ring is provided as uneven.
Preferably, the first electromagnetic valve and the second electromagnetic valve are electrified and touch the clamp, when the strain gauge of the strain gauge fixing plate on the handle generates mechanical deformation, the resistance value of the strain gauge changes correspondingly, a positive voltage is generated, the servo motor drives the whole handle to move downwards, after a few seconds, the first electromagnetic valve above, the second electromagnetic valve retracts, the third electromagnetic valve below and the fourth electromagnetic valve act and touch the clamp, the strain gauge receives a signal, when the mechanical deformation is generated, the resistance value of the strain gauge changes correspondingly, the strain gauge sensor on the handle generates voltage change, a negative voltage is generated, the servo motor drives the whole device to move upwards, the electromagnetic valve repeatedly moves, and the handle device also repeatedly moves upwards and downwards, so that the fatigue test of the whole machine is realized.
The invention has the following beneficial effects: the strain gauge on the handle of the zero-crossing gravity manipulator fatigue testing device is changed, the servo motor of the servo motor directly drives the gear and the steel wire rope, and the up-and-down movement is achieved, so that the device is simple in structure, convenient to control and low in cost.
Drawings
FIG. 1 is a schematic diagram of an explosion structure of a zero gravity manipulator fatigue testing device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an assembly structure of a zero gravity manipulator fatigue testing device according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a handle part structure of a zero gravity manipulator fatigue testing device according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 3, the invention discloses a zero gravity manipulator fatigue testing device, comprising: an iron ring 1, a rotary lifting ring 2, a first screw 3, a weighing sensor 4, a nut 5, a gasket 6, a first aluminum plate 7, a handle shaft 8, a pin 9, an aluminum shell 10, a panel 11, a plastic piece 12, a rubber gasket locking screw 13, a strain gauge fixing plate 14, a copper stud 15, a second screw 16, a handle ring 17, a clamp 18, a handle 19, an adapter 20, a hook 21, a first electromagnetic valve 22, a second electromagnetic valve 23, a third electromagnetic valve 24, a fourth electromagnetic valve 25 and a second aluminum plate 26, wherein the iron ring 1 and the rotary lifting ring 2 are fixed on the weighing sensor 4, the first screw 3 and the weighing sensor 4 are fixed on the first aluminum plate 7, the handle shaft 8 penetrates through the whole aluminum shell 10, the top of the handle shaft 8 is provided with the gasket 6, the first aluminum plate 7 and the nut 5, the pin 9 is embedded on the handle shaft 8, the panel 11 is arranged in the aluminum shell 10, the plastic piece 12 is arranged below the aluminum shell, the handle ring 17 is fixed on the handle shaft 8 through uniformly distributed top fixing screws, the strain gauge fixing plate 14 is fixed on the handle ring 17, the handle ring 17 is fixed on the handle ring 17, the bottom of the handle ring 17 is fixed on the handle ring 17, the second electromagnetic valve 16 and the second electromagnetic valve 16 is fixed on the second electromagnetic valve 16 and the second aluminum plate 20 through the second electromagnetic valve 16 and the second aluminum plate 19. Through the zero gravity manipulator fatigue test device, the first electromagnetic valve 22 and the second electromagnetic valve 23 are electrified to touch the clamp 18, when the strain gauge of the strain gauge fixing plate 14 on the handle 19 is mechanically deformed, the resistance value of the strain gauge fixing plate is correspondingly changed, a positive voltage is generated, the servo motor drives the whole handle to move downwards, after a few seconds, the first electromagnetic valve 22 and the second electromagnetic valve 23 above are retracted, the third electromagnetic valve 24 and the fourth electromagnetic valve 25 below are operated to touch the clamp 18, the strain gauge receives a signal, when the mechanical deformation is generated, the resistance value of the strain gauge is correspondingly changed, the strain gauge sensor on the handle generates a voltage change, a negative voltage is generated, the servo motor drives the whole device to move upwards, the electromagnetic valve repeatedly moves, and the handle device also repeatedly moves upwards and downwards, so that the fatigue test of the whole machine is realized.
In the specific application example, the end face of the handle ring 17 is uneven, and is fixed by a rubber pad and a locking screw, and the handle moves upwards or downwards, so that the strain gauge fixing plate can be slightly changed.
It should be understood that the exemplary embodiments described herein are illustrative and not limiting. Although one or more embodiments of the present invention have been described with reference to the accompanying drawings, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims.
Claims (2)
1. The application method of the zero-gravity manipulator fatigue testing device is characterized by comprising the following steps of: iron ring (1), rotatory rings (2), first screw (3), weighing sensor (4), nut (5), gasket (6), first aluminum plate (7), handle axle (8), pin (9), aluminum hull (10), panel (11), working of plastics (12), rubber pad lockscrew (13), foil gage fixed plate (14), copper double-screw bolt (15), second screw (16), handle ring (17), anchor clamps (18), handle (19), adapter (20), couple (21), first solenoid valve (22), second solenoid valve (23), third solenoid valve (24), fourth solenoid valve (25) and second aluminum plate (26), iron ring (1) and rotatory rings (2) are fixed on weighing sensor (4), first screw (3) and weighing sensor (4) are fixed on first aluminum plate (7), handle axle (8) run through whole aluminum hull (10), handle axle (8) top is with gasket (6), first aluminum plate (7) and nut (5) lock, handle axle (9) are inlayed in (8) and are set up in panel (11) under aluminum hull (11), the handle ring (17) is fixed on the handle shaft (8) through uniformly distributed jacking screws, the strain gauge fixing plate (14) is arranged on the handle ring (17), the handle (19) is arranged at the upper bottom of the handle ring (17), the copper studs (15) are arranged between the strain gauge fixing plate (14) and the handle ring (17) and are fixed by rubber pad anti-loosening screws (13) and second screws (16), the adapter (20) and the hook (21) are fixed at the bottom of the handle shaft (8) through screws, the second aluminum plate (26) is fixed on the aluminum shell (10), the first electromagnetic valve (22), the second electromagnetic valve (23), the third electromagnetic valve (24) and the fourth electromagnetic valve (25) are respectively fixed on the left/right two second aluminum plates (26), and the two clamps (18) are fixed on the handle (19);
the first electromagnetic valve (22), the second electromagnetic valve (23) are electrified to touch the clamp (18), when the strain gauge of the strain gauge fixing plate (14) on the handle (19) is mechanically deformed, the resistance value of the strain gauge is correspondingly changed, a positive voltage is generated, the servo motor drives the whole handle to move downwards, after a few seconds, the upper first electromagnetic valve (22), the second electromagnetic valve (23) are retracted, the lower third electromagnetic valve (24) and the fourth electromagnetic valve (25) act, the strain gauge is touched to the clamp (18), when the strain gauge receives a signal and is mechanically deformed, the resistance value of the strain gauge is correspondingly changed, the strain gauge sensor on the handle generates a voltage change, a negative voltage is generated, the servo motor drives the whole device to move upwards, the electromagnetic valve repeatedly moves, and the handle also repeatedly moves up and down, so that the fatigue test of the whole machine is realized.
2. The method of using a zero gravity manipulator fatigue testing device according to claim 1, wherein the end face of the handle ring (17) is provided as an uneven surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811549680.7A CN110000810B (en) | 2018-12-18 | 2018-12-18 | Application method of zero gravity manipulator fatigue testing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811549680.7A CN110000810B (en) | 2018-12-18 | 2018-12-18 | Application method of zero gravity manipulator fatigue testing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110000810A CN110000810A (en) | 2019-07-12 |
| CN110000810B true CN110000810B (en) | 2023-12-22 |
Family
ID=67165163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811549680.7A Active CN110000810B (en) | 2018-12-18 | 2018-12-18 | Application method of zero gravity manipulator fatigue testing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110000810B (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58151539A (en) * | 1982-03-05 | 1983-09-08 | Toshiba Corp | Testing device of high temperature impact fatigue |
| CN2089166U (en) * | 1990-01-10 | 1991-11-20 | 铁道部石家庄车辆工厂 | Thermal state electronic hanger weigher |
| EP0519162A1 (en) * | 1991-06-20 | 1992-12-23 | Kokusai Keisokuki Kabushiki Kaisha | Apparatus for mounting a balance weight on a tire wheel |
| CN101571467A (en) * | 2008-04-30 | 2009-11-04 | 中国科学院金属研究所 | Test system and test method for dynamic bending fatigue property of thin film material |
| CN101680828A (en) * | 2007-04-19 | 2010-03-24 | 国际计测器株式会社 | General-purpose test device, linear actuator, and twist test device |
| KR20100115625A (en) * | 2009-04-20 | 2010-10-28 | 이창우 | Fatigue testing apparatus for foils |
| CN102109436A (en) * | 2010-12-24 | 2011-06-29 | 江苏大学 | Electromagnetic impact dynamic tensile test method and device |
| CN103149101A (en) * | 2013-02-28 | 2013-06-12 | 西安理工大学 | Multifunctional triaxial creep testing machine with soil body pulling, pressing, twisting and shearing functions |
| CN104034616A (en) * | 2014-05-29 | 2014-09-10 | 河海大学 | Electromagnetic type stay cable fatigue tester |
| JP2014235039A (en) * | 2013-05-31 | 2014-12-15 | 大電株式会社 | Fatigue testing method for wire |
| CN104245558A (en) * | 2012-04-26 | 2014-12-24 | 科恩起重机有限公司 | Apparatus and method in connection with crane sheave |
| CN105424481A (en) * | 2015-12-28 | 2016-03-23 | 江苏格纳特连接***有限公司 | Threaded fastener guarantee load testing apparatus and testing method thereof |
| CN107108187A (en) * | 2014-10-31 | 2017-08-29 | 相浦机械株式会社 | The hawser fatigue strength measuring method and device of crane |
| CN107959254A (en) * | 2018-01-04 | 2018-04-24 | 杭州申昊科技股份有限公司 | One kind hangs rail intelligent inspection robot |
| CN108387461A (en) * | 2018-03-22 | 2018-08-10 | 东北大学 | A kind of drop hammer type dynamic impact testing machine and test method |
| DE102017003005A1 (en) * | 2017-03-25 | 2018-09-27 | Kammrath Und Weiss Gmbh | Sample manipulator for rotating tensile or compressive stress |
| CN209579612U (en) * | 2018-12-18 | 2019-11-05 | 浙江大学台州研究院 | Zero-g manipulator fatigue test device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9183346B2 (en) * | 2012-03-12 | 2015-11-10 | Empire Technology Development Llc | Robotic appendages |
| US10488309B2 (en) * | 2017-06-07 | 2019-11-26 | The Boeing Company | Test specimen and method of forming and testing the test specimen |
| CN109015756B (en) * | 2018-08-27 | 2019-06-04 | 东北大学 | A kind of series connection mechanical arm repetitive positioning accuracy reliability test and method |
-
2018
- 2018-12-18 CN CN201811549680.7A patent/CN110000810B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58151539A (en) * | 1982-03-05 | 1983-09-08 | Toshiba Corp | Testing device of high temperature impact fatigue |
| CN2089166U (en) * | 1990-01-10 | 1991-11-20 | 铁道部石家庄车辆工厂 | Thermal state electronic hanger weigher |
| EP0519162A1 (en) * | 1991-06-20 | 1992-12-23 | Kokusai Keisokuki Kabushiki Kaisha | Apparatus for mounting a balance weight on a tire wheel |
| CN101680828A (en) * | 2007-04-19 | 2010-03-24 | 国际计测器株式会社 | General-purpose test device, linear actuator, and twist test device |
| CN101571467A (en) * | 2008-04-30 | 2009-11-04 | 中国科学院金属研究所 | Test system and test method for dynamic bending fatigue property of thin film material |
| KR20100115625A (en) * | 2009-04-20 | 2010-10-28 | 이창우 | Fatigue testing apparatus for foils |
| CN102109436A (en) * | 2010-12-24 | 2011-06-29 | 江苏大学 | Electromagnetic impact dynamic tensile test method and device |
| CN104245558A (en) * | 2012-04-26 | 2014-12-24 | 科恩起重机有限公司 | Apparatus and method in connection with crane sheave |
| CN103149101A (en) * | 2013-02-28 | 2013-06-12 | 西安理工大学 | Multifunctional triaxial creep testing machine with soil body pulling, pressing, twisting and shearing functions |
| JP2014235039A (en) * | 2013-05-31 | 2014-12-15 | 大電株式会社 | Fatigue testing method for wire |
| CN104034616A (en) * | 2014-05-29 | 2014-09-10 | 河海大学 | Electromagnetic type stay cable fatigue tester |
| CN107108187A (en) * | 2014-10-31 | 2017-08-29 | 相浦机械株式会社 | The hawser fatigue strength measuring method and device of crane |
| CN105424481A (en) * | 2015-12-28 | 2016-03-23 | 江苏格纳特连接***有限公司 | Threaded fastener guarantee load testing apparatus and testing method thereof |
| DE102017003005A1 (en) * | 2017-03-25 | 2018-09-27 | Kammrath Und Weiss Gmbh | Sample manipulator for rotating tensile or compressive stress |
| CN107959254A (en) * | 2018-01-04 | 2018-04-24 | 杭州申昊科技股份有限公司 | One kind hangs rail intelligent inspection robot |
| CN108387461A (en) * | 2018-03-22 | 2018-08-10 | 东北大学 | A kind of drop hammer type dynamic impact testing machine and test method |
| CN209579612U (en) * | 2018-12-18 | 2019-11-05 | 浙江大学台州研究院 | Zero-g manipulator fatigue test device |
Non-Patent Citations (1)
| Title |
|---|
| 压电驱动型卧式小载荷高频疲劳试验机的设计研究;李康;《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》(第10期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110000810A (en) | 2019-07-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105486603B (en) | A kind of impact/tangential compound motion abrasion test device a little | |
| CN105675412A (en) | Bending fretting fatigue experimental equipment and experimental method | |
| CN100579717C (en) | Self-adapting locating device with automatic follow function | |
| CN203024853U (en) | Pressure preloading device of weighing load cell | |
| CN104132766A (en) | High-precision torque detection device | |
| CN109060552B (en) | Thermal environment resilience test equipment and test method | |
| CN106680068A (en) | Constant normal force loading device and constant normal force loading method in fretting fatigue test | |
| CN110000810B (en) | Application method of zero gravity manipulator fatigue testing device | |
| CN202204499U (en) | Bearing shell thickness automatic checkout device | |
| CN109030242B (en) | Electromagnetic power rock direct shear apparatus and operation method | |
| CN104764663B (en) | A kind of blade stretching testing machine | |
| CN209579612U (en) | Zero-g manipulator fatigue test device | |
| CN206717089U (en) | A kind of positioning and clamping drilling equipment | |
| CN205607305U (en) | Vehicle punching press hole size detection device | |
| CN209256242U (en) | Automatic dress swivel nut and self weight falling type thrust installation handle mechanism | |
| CN203881624U (en) | Pressure testing machine | |
| CN108910763B (en) | A kind of hoistable platform locking device | |
| CN204188105U (en) | A kind of instrument measured for connecting-rod bolts elongation | |
| CN203574509U (en) | AC motor rotor assembly machine | |
| CN205506547U (en) | Material test machine mechanical experiment anchor clamps | |
| CN115356197A (en) | Online mechanical testing device for cold-rolled steel sheet production line | |
| CN204339420U (en) | A kind of normal closed hydraulic clamp | |
| CN211698748U (en) | Preparation facilities of normal position metal two dimension antifriction film | |
| CN111103108A (en) | Pseudo-static multifunctional test system | |
| TW200408532A (en) | Press forming method |
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 |