CN113459743B - Suspension mechanism with controllable wheelbase and wheelbase for distributed driving electric automobile - Google Patents
Suspension mechanism with controllable wheelbase and wheelbase for distributed driving electric automobile Download PDFInfo
- Publication number
- CN113459743B CN113459743B CN202110884656.4A CN202110884656A CN113459743B CN 113459743 B CN113459743 B CN 113459743B CN 202110884656 A CN202110884656 A CN 202110884656A CN 113459743 B CN113459743 B CN 113459743B
- Authority
- CN
- China
- Prior art keywords
- wheelbase
- suspension
- base
- slide bar
- controllable
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/02—Dead axles, i.e. not transmitting torque
- B60B35/025—Dead axles, i.e. not transmitting torque the wheels being removable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/02—Dead axles, i.e. not transmitting torque
- B60B35/10—Dead axles, i.e. not transmitting torque adjustable for varying track
- B60B35/1036—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance
- B60B35/1054—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance hydraulically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/02—Dead axles, i.e. not transmitting torque
- B60B35/10—Dead axles, i.e. not transmitting torque adjustable for varying track
- B60B35/1072—Dead axles, i.e. not transmitting torque adjustable for varying track by transversally movable elements
- B60B35/109—Dead axles, i.e. not transmitting torque adjustable for varying track by transversally movable elements the element is an axle part
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Body Structure For Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a suspension mechanism with controllable wheelbase and wheelbase for a distributed driving electric automobile, which comprises a suspension base, a wheelbase adjusting slide rod, a locking pin, a damping mechanism, a suspension pull rod and a wheelbase adjusting mechanism, wherein the wheelbase adjusting slide rod is fixedly arranged on a body frame of the automobile, the suspension base is sleeved on the wheelbase adjusting slide rod, the suspension base is connected with the body frame through a first driving mechanism to enable the suspension base to move along the wheelbase adjusting slide rod, the suspension base is provided with the locking hole, the wheelbase adjusting slide rod is provided with the positioning hole, the locking pin is used for locking the relative position of the suspension base and the wheelbase adjusting slide rod, the wheelbase adjusting mechanism comprises a base body and a telescopic shaft, the suspension base comprises a top plate and a side plate, the base body is connected with the top plate through the damping mechanism, the head end of the telescopic shaft is connected with a hub motor, and the telescopic shaft is connected with the base body through a second driving mechanism. The invention can realize the adjustment of the wheelbase and the wheel tread of the vehicle and improve the performance and the adaptability of the vehicle.
Description
Technical Field
The invention relates to a suspension mechanism of an electric automobile, in particular to a suspension mechanism with controllable wheelbase and wheel track for a distributed driving electric automobile.
Background
Traditional diesel locomotives and current electric vehicles driven in a centralized way rely on a complex transmission system to transmit driving torque to each driving wheel so as to realize the running function of the vehicles. The transmission system is relatively fixed in structure due to the torque transfer mechanical mechanism of the load, the wheel track and the wheel base of the vehicle cannot be changed easily on the premise of considering the stability of the whole torque transfer system, and the mechanism change of the system is difficult to consider on the premise of ensuring the stability of the system under the load working condition of the complex mechanical transmission structure.
Compared with the traditional centralized starting mode for realizing torque distribution by means of a transmission system, the distributed driving electric automobile cancels an internal combustion engine or a centralized driving motor and a power transmission system, and replaces a battery and a hub motor embedded in wheels, so that the distributed driving electric automobile has the advantages of small volume, high specific power, high transmission efficiency and the like. The large chassis space is expanded, and the driving wheels are independently driven, so that the distributed electric automobile can independently operate without interference under the condition that a vehicle driving system, a steering system and a braking system are not interfered with each other and the constraint of moment transmission requirements is not considered any more among the four driving wheels.
The wheelbase and the wheel track of the vehicle enable the most important structural parameters of the vehicle to be related to the load distribution of the vehicle, the rollover prevention performance and the like, and the performance of key performances such as smoothness, maneuverability, passability and the like of the vehicle. In the prior art, a suspension mechanism for fixing the wheel base and the wheel base parameters of the vehicle is still adopted by the distributed driving electric vehicle, so that the key performance of the vehicle related to the suspension mechanism cannot be regulated and controlled.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a suspension mechanism with controllable wheelbase and wheelbase for a distributed driving electric automobile, which aims to enable the automobile to be better matched with different driving working conditions and road conditions and improve the adaptability of the automobile to different road conditions and the overall comprehensive performance.
The technical scheme of the invention is as follows: the utility model provides a controllable suspension mechanism of wheelbase wheel track for distributed drive electric automobile, includes suspension base, wheelbase adjusting slide bar, locking pin, damper, suspension pull rod and wheel track adjustment mechanism, the fixed setting of wheelbase adjusting slide bar is in the automobile body frame of vehicle and extends along the fore-and-aft direction of vehicle, suspension base cover is established on the wheelbase adjusting slide bar, be connected through first actuating mechanism between suspension base and the automobile body frame and make the suspension base follow the wheelbase adjusting slide bar removes, be equipped with the locking hole on the suspension base, be equipped with a plurality of locating holes of arranging along the fore-and-aft direction of vehicle on the wheelbase adjusting slide bar, the locking pin is used for wearing to establish in locking hole and the locating hole the suspension base with wheelbase adjusting slide bar relative position, the wheelbase adjustment mechanism includes base and telescopic shaft, the suspension base is including roof and the curb plate that is dog-ear form connection, the base passes through damper with the roof connection, the base passes through the suspension base with the curb plate connection, the wheel hub motor connection, the axial expansion shaft passes through the second end of telescopic shaft in order of connection the base.
Further, the wheel base adjusting slide bars are provided with a plurality of wheel base adjusting slide bars, and the top plate and the side plates are respectively sleeved with at least one wheel base adjusting slide bar.
Further, the locking device comprises a locking plate, a plurality of locking pins are fixedly connected to the locking plate, and the locking plate is driven by a hydraulic mechanism to enable the locking pins to be inserted into the locking holes or pulled out of the locking holes.
Further, the vehicle body frame is provided with a top guide groove in guide fit with the side edge of the top plate and a side guide groove in guide fit with the bottom edge of the side plate.
Further, the vehicle body frame is located above the top plate and laterally of the side plates is provided with a groove that provides a moving space for the locking plate.
Further, at least two suspension pull rods are respectively arranged on the front side and the rear side of the base body, and the suspension pull rods are hinged with the side plates and the base body.
Further, the first driving mechanism is a gear-rack mechanism, a rack of the first driving mechanism is processed on the suspension base, and a gear of the first driving mechanism is arranged on the vehicle body frame.
Further, the rack of the first driving mechanism is positioned at the joint of the top plate and the side plate, and the rack of the first driving mechanism is inclined to the top plate and the side plate.
Further, the second driving mechanism is a gear-rack mechanism, a rack of the second driving mechanism is processed on the telescopic shaft, and a gear of the second driving mechanism is arranged on the base body.
The technical scheme provided by the invention has the advantages that:
the invention utilizes the independent driving advantage of the distributed driving electric automobile, realizes the transformation of the overall motion performance of the automobile through the adjustment of the wheelbase and the wheel track, widens the application scene of the automobile based on the transformation, improves the overall performance of the automobile, and provides a practical and reliable technical basis for the functional diversification of the new energy automobile.
Drawings
Fig. 1 is a schematic structural view of a wheelbase-controllable suspension mechanism for a distributed drive electric vehicle.
Fig. 2 is a schematic diagram showing the cooperation of the locking plate and the locking hole and the positioning hole.
Fig. 3 is a schematic view of a part of the track adjusting mechanism.
Detailed Description
The present invention is further described below with reference to examples, which are to be construed as merely illustrative of the present invention and not limiting of its scope, and various modifications to the equivalent arrangements of the present invention will become apparent to those skilled in the art upon reading the present description, which are within the scope of the appended claims.
As shown in fig. 1, the suspension mechanism with controllable wheelbase and wheelbase for the distributed driving electric vehicle of this embodiment includes a suspension base 1, a wheelbase adjusting slide bar 2, a locking pin 3, a shock absorbing mechanism 4, a suspension pull rod 5 and a wheelbase adjusting mechanism, and a corner indent structure is machined at a position on a vehicle body frame 6 where wheels are required to be mounted, and is used for mounting and accommodating the suspension mechanism. A first groove 601 extending in the longitudinal direction of the vehicle is formed at the top and side portions of the corner concave structure, respectively, and the top and side portions are connected at an inclined surface, and a second groove 602 extending in the longitudinal direction of the vehicle is also formed on the inclined surface.
The wheel base adjusting slide bar 2 is in a strip plate shape, two ends of the wheel base adjusting slide bar 2 are fixedly arranged on a body frame 6 of the vehicle and extend along the front-back length direction of the vehicle, and the wheel base adjusting slide bar 2 is used for guiding the movement of the suspension base 1, namely, the suspension base 1 moves along the front-back length direction of the vehicle along the wheel base adjusting slide bar 2. The number of the wheelbase adjusting slide bars 2 is generally plural, in this embodiment, four wheelbase adjusting slide bars 2 are provided, two are provided at the first groove 601 position at the top of the vehicle body frame 6, and two are also provided at the first groove 601 position at the side of the vehicle body frame 6. The suspension base 1 includes a top plate 101 and a side plate 102 connected in a zigzag manner, the top plate 101 being positioned to correspond to the first groove 601 in the top portion of the vehicle body frame 6, and the side plate 102 being positioned to correspond to the first groove 601 in the side portion of the vehicle body frame 6. The top plate 101 is sleeved on the wheelbase adjusting slide bar 2 at the top of the vehicle body frame 6, and the side plate 102 is sleeved on the wheelbase adjusting slide bar 2 at the side part of the vehicle body frame 6. The top plate 101 and the side plate 102 are connected by a tilt plate 103, and the tilt plate 103 is formed with a first rack 7 extending in the longitudinal direction of the vehicle. The tilt plate 103 is positioned corresponding to the tilt surface of the vehicle body frame 6, a first gear 8 that matches the first rack 7 is provided in the second groove 602 of the vehicle body frame 6, a first driving mechanism is constituted by the first gear 8 and the first rack 7, and the first gear 8 is driven to rotate by a first driving source (not shown in the figure), so that the entire suspension base 1 is moved in the longitudinal direction of the vehicle. In order to enable the suspension base 1 to be supported more stably and avoid excessive pressure influence movement on the wheelbase adjusting slide bar 2, a top guide groove 603 matched with the side edge guide of the top plate 101 is arranged at the top of the vehicle body frame 6, the top guide groove 603 is opened towards the side part, a side guide groove 604 matched with the bottom edge guide of the side plate 102 is arranged at the side part of the vehicle body frame 6, the side guide groove 604 is opened towards the top part, and the top plate 101 and the side plate 102 of the suspension base 1 are respectively limited by the top guide groove 603 and the side guide groove 604 to be kept in a folded angle concave structure.
As shown in fig. 2, in order to keep the suspension base 1 stable after the suspension base 1 has moved to adjust the wheelbase, a plurality of pairs of locking holes 9 are provided on the top plate 101 and the side plate 102 of the suspension base 1, respectively, and a plurality of positioning holes 10 are provided on the wheelbase adjusting slide bar 2, which are aligned in the front-rear direction of the vehicle. A locking plate 11 driven by a hydraulic mechanism (not shown in the figure) is provided in the first groove 601 at the top of the vehicle body frame 6 and the first groove 601 at the side, and the hydraulic mechanism may be installed in the first groove 601, or only the hydraulic telescopic rod may be extended into the first groove 601, and the locking plate 11 may be moved in the first groove 601 to approach or separate from the suspension base 1 by the driving of the hydraulic mechanism. The front of the locking plate 11 is connected with a plurality of locking pins 3, when the locking plate 11 approaches to the suspension base 1, the locking pins 3 are inserted into the locking holes 9 of the suspension base 1 and the positioning holes 10 on the wheelbase adjusting slide rod 2, so that the relative displacement of the suspension base 1 and the wheelbase adjusting slide rod 2 cannot occur. When the suspension base 1 needs to be adjusted, the locking plate 11 is far away from the suspension base 1 by the driving of the hydraulic mechanism, the locking pin 3 is pulled out from the locking hole 9 and the positioning hole 10, and the suspension base 1 can move along the wheelbase adjusting slide rod 2 by the driving of the first driving mechanism.
As shown in fig. 3, the track adjusting mechanism is connected to the suspension base 1, specifically, the track adjusting mechanism includes a base 12 and a telescopic shaft 13, the top of the base 12 is connected to the top plate 101 through a damper mechanism 4, and the damper mechanism 4 may be a similar mechanism to the prior art, such as a spring damper. Two sides of the base body 12 are connected with the side plates 102 through four suspension pull rods 5, two suspension pull rods 5 are respectively arranged on the front side and the rear side of the base body 12, the suspension pull rods 5 are hinged with the side plates 102 and the base body 12, and the shock absorption mechanism 4 is matched to enable the aggregate to displace in the up-down direction so as to achieve the purpose of shock absorption. The head end of the telescopic shaft 13 is connected with a hub motor 14, and the hub motor 14 directly drives wheels to rotate. The surface of the telescopic shaft 13 is provided with a second rack 15, a second gear 16 is arranged in the aggregate, the second gear 16 and the second rack 15 form matched connection, and the telescopic shaft 13 is driven to extend and retract in the axial direction of the hub motor 14 through the rotation of the second gear 16 driven by a power source. The telescopic shafts 13 of the pair of left and right suspension mechanisms on the vehicle are synchronously telescopic in the axial direction, so that the effect of adjusting the wheel track is achieved.
Claims (6)
1. The utility model provides a controllable suspension mechanism of wheelbase wheel track for distributed drive electric automobile, its characterized in that includes suspension base, wheelbase adjustment slide bar, locking pin, damper, suspension pull rod and wheelbase adjustment mechanism, wheelbase adjustment slide bar fixed set up in the automobile body frame of vehicle and along the fore-and-aft direction extension of vehicle, the wheelbase adjustment slide bar is equipped with many, suspension base cover is established on the wheelbase adjustment slide bar, connect through first actuating mechanism between suspension base and the automobile body frame and make the suspension base follow the wheelbase adjustment slide bar removes, be equipped with the locking hole on the suspension base, be equipped with a plurality of locating holes of arranging along the fore-and-aft direction of vehicle on the wheelbase adjustment slide bar, the locking pin is used for wearing to set up in locking hole and locating hole the suspension base with wheelbase adjustment slide bar relative position, wheelbase adjustment mechanism includes base member and telescopic shaft, the suspension base includes roof and curb plate that is dog-ear connection, roof and curb plate cover are equipped with at least one respectively the wheelbase adjustment motor, base is connected through first actuating mechanism with the base member drive rack is located in the first actuating mechanism is connected with the wheel hub base frame, the telescopic rack is processed in the first actuating mechanism is located in the roof is the telescopic mechanism is connected with the axial direction top plate, the rack of the first driving mechanism is inclined to the top plate and the side plate.
2. The suspension mechanism with controllable wheelbase for a distributed drive electric vehicle according to claim 1, comprising a lock plate to which a plurality of the lock pins are fixedly connected, the lock plate being driven by a hydraulic mechanism to insert or extract the lock pins into or from the lock holes.
3. The wheel base track controllable suspension mechanism for a distributed drive electric vehicle of claim 1, wherein the body frame is provided with a top guide channel that mates with a side edge guide of the roof panel and a side guide channel that mates with a bottom edge guide of the side panel.
4. The wheel base track controllable suspension mechanism for a distributed drive electric vehicle according to claim 2, wherein the vehicle body frame is located above the roof panel and laterally of the side panels is provided with a groove providing a movement space for the locking plate.
5. The suspension mechanism with controllable wheelbase and wheelbase for a distributed driving electric vehicle according to claim 1, wherein at least two suspension pull rods are respectively arranged on the front side and the rear side of the base body, and the suspension pull rods are hinged with the side plates and the base body.
6. The suspension mechanism with controllable wheelbase for a distributed drive electric vehicle of claim 1 wherein the second drive mechanism is a rack and pinion mechanism, the rack of the second drive mechanism is machined in the telescopic shaft, and the gear of the second drive mechanism is disposed on a base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110884656.4A CN113459743B (en) | 2021-08-03 | 2021-08-03 | Suspension mechanism with controllable wheelbase and wheelbase for distributed driving electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110884656.4A CN113459743B (en) | 2021-08-03 | 2021-08-03 | Suspension mechanism with controllable wheelbase and wheelbase for distributed driving electric automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113459743A CN113459743A (en) | 2021-10-01 |
| CN113459743B true CN113459743B (en) | 2023-06-20 |
Family
ID=77883807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110884656.4A Active CN113459743B (en) | 2021-08-03 | 2021-08-03 | Suspension mechanism with controllable wheelbase and wheelbase for distributed driving electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113459743B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114715275A (en) * | 2022-03-22 | 2022-07-08 | 浙江吉利控股集团有限公司 | Chassis structure and electric automobile |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107662664A (en) * | 2017-09-08 | 2018-02-06 | 中国人民解放军国防科技大学 | Multi-wheel type mobile platform |
| CN109484514A (en) * | 2019-01-09 | 2019-03-19 | 湖南农业大学 | A kind of telescopic farm work machine people's platform of four-wheel independent steering driving |
| CN109591534A (en) * | 2018-12-18 | 2019-04-09 | 中国人民解放军国防科技大学 | Wheel base adjusting device for vehicle |
| JP2019189140A (en) * | 2018-04-27 | 2019-10-31 | ダイムラー・アクチェンゲゼルシャフトＤａｉｍｌｅｒ ＡＧ | Electrically-driven cargo vehicle |
| CN112895885A (en) * | 2021-04-12 | 2021-06-04 | 西南交通大学 | Modular distributed wheel hub motor driven electric automobile research platform |
| CN113184053A (en) * | 2021-05-25 | 2021-07-30 | 吉林大学 | Wire control chassis with adjustable transverse and longitudinal spacing and control method thereof |
| CN113183706A (en) * | 2021-04-28 | 2021-07-30 | 清华大学 | Double-trailing-arm type active suspension system for full-vector wire control automobile |
-
2021
- 2021-08-03 CN CN202110884656.4A patent/CN113459743B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107662664A (en) * | 2017-09-08 | 2018-02-06 | 中国人民解放军国防科技大学 | Multi-wheel type mobile platform |
| JP2019189140A (en) * | 2018-04-27 | 2019-10-31 | ダイムラー・アクチェンゲゼルシャフトＤａｉｍｌｅｒ ＡＧ | Electrically-driven cargo vehicle |
| CN109591534A (en) * | 2018-12-18 | 2019-04-09 | 中国人民解放军国防科技大学 | Wheel base adjusting device for vehicle |
| CN109484514A (en) * | 2019-01-09 | 2019-03-19 | 湖南农业大学 | A kind of telescopic farm work machine people's platform of four-wheel independent steering driving |
| CN112895885A (en) * | 2021-04-12 | 2021-06-04 | 西南交通大学 | Modular distributed wheel hub motor driven electric automobile research platform |
| CN113183706A (en) * | 2021-04-28 | 2021-07-30 | 清华大学 | Double-trailing-arm type active suspension system for full-vector wire control automobile |
| CN113184053A (en) * | 2021-05-25 | 2021-07-30 | 吉林大学 | Wire control chassis with adjustable transverse and longitudinal spacing and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113459743A (en) | 2021-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113459743B (en) | Suspension mechanism with controllable wheelbase and wheelbase for distributed driving electric automobile | |
| CN209369441U (en) | It is applicable in the all-electric automatic parking robot of different wheelbases and wheelspan | |
| CN113682387A (en) | Telescopic fin device of angle of attack self-adaptation doublestage of intelligence | |
| US3876026A (en) | Directionally driven automobile | |
| CN212447005U (en) | Suspension system guide arm and traveling platform | |
| CN111098833B (en) | Horizontal spreading type synchronous double-wheel parking transverse moving device | |
| EP1561674B1 (en) | Adjustable-wheelbase vehicle chassis | |
| CN109849589A (en) | A kind of electric car rear wheel drive structure with integral drive rear axle | |
| JP2006264511A (en) | Steering device of automobile | |
| CN1045559A (en) | Lower the device of vehicle launch resistance and damping impact power | |
| CN214823697U (en) | Electric lifting folding tail wing of automobile | |
| CN209683346U (en) | A kind of electric car rear wheel drive structure with integral drive rear axle | |
| CN114919357A (en) | Automotive suspension structure and vehicle | |
| CN211107751U (en) | Chassis of unmanned sightseeing vehicle | |
| CN214565648U (en) | Electric automobile chassis system | |
| CN209865300U (en) | Lateral storable protective device for remote control toy car | |
| CN219989380U (en) | Triaxial six-wheel pick-up and release type wheel mechanism | |
| CN212473787U (en) | Foldable self-balancing electric automobile | |
| CN216783488U (en) | Damping wheel set device for drift people and vehicles | |
| CN221233377U (en) | Automobile wheel tread adjusting device and wheel module | |
| CN111547180B (en) | Foldable self-balancing electric automobile | |
| CN219601609U (en) | Full-vector linear aircraft tractor based on suspension lifting | |
| CN219790269U (en) | Electric trailer frame with remote control steering function | |
| CN214647606U (en) | Double-cross-arm light new energy vehicle | |
| CN112373262B (en) | Electric vehicle chassis assembly and mining electric vehicle |
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 |