CN205679948U - A kind of robot device utilizing RJ25 interface to connect - Google Patents
A kind of robot device utilizing RJ25 interface to connect Download PDFInfo
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- CN205679948U CN205679948U CN201620540219.5U CN201620540219U CN205679948U CN 205679948 U CN205679948 U CN 205679948U CN 201620540219 U CN201620540219 U CN 201620540219U CN 205679948 U CN205679948 U CN 205679948U
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Abstract
This utility model relates to a kind of robot device utilizing RJ25 interface to connect, including: main control module, multiple functional module, many RJ25 connecting lines and grillage, main control module and functional module arrange RJ25 interface, RJ25 connecting line two ends are RJ25 joint, RJ25 connecting line is for the communication between main control module and functional module, and arranges installing hole on main control module, functional module and grillage.The Interface integration of various complexity in the RJ25 interface of 6P6C, is facilitated user that each functional module is connected to main control module, and can effectively prevent module misconnection by this utility model；It addition, be integrated with motor on main control module to drive interface, decrease the consumptive material of whole system；And by being provided with rule and the installing hole being mutually matched in grillage, main control module and functional module, user can be made to select installation site the most flexibly, meet the creative demands of user.
Description
Technical field
This utility model relates to automatically controlling machine people field, more particularly, it relates to one utilizes RJ25 interface to connect
Robot device.
Background technology
At present, at traditional programmable development board, such as single-chip microcomputer, embedded system etc., many use Du Pont's lines or spininess
Foot interface connects with peripheral functional modules, but, the wiring of Du Pont's line has certain complexity, for different modules, logical
News principle is different, and such as display module uses digital signal, and sensor assembly etc. uses analogue signal, numerous communication patterns
Major customer for robot--for child, it is a uninteresting and difficult thing, and the pin of complexity is also easily caused
Wiring error, thus damage electronic module.
It addition, in traditional development board, if motor to be driven, be necessary for motor drive module of transferring, this is significantly
Add volume and the weight of system, in some category, reduce Consumer's Experience to a certain extent.
In installation, when system needs extended function, Du Pont's line or stitch is used to carry out grafting, fixing inconvenience,
Particularly when expansion module is more, circuit is more, and easily makeing mistakes, it is mixed and disorderly to just look at.
Utility model content
The technical problems to be solved in the utility model is, it is provided that a kind of robot device utilizing RJ25 interface to connect.
This utility model solves its technical problem and be the technical scheme is that structure a kind of utilizes RJ25 interface to connect
Robot device, including: main control module, multiple functional module and Duo Gen RJ25 connecting line, main control module includes at least one
RJ25 interface, each functional module includes that at least one RJ25 interface, RJ25 connecting line two ends are RJ25 joint, RJ25 connecting line
One end RJ25 joint insert the RJ25 interface connecting main control module, the other end RJ25 joint of RJ25 connecting line inserts and connects merit
The RJ25 interface of energy module, RJ25 connecting line is for the communication between main control module and functional module.
In the robot device utilizing RJ25 interface to connect of the present utility model, main control module and functional module are arranged
Multiple first installing holes, multiple first installing holes are of the same size, and arrange the first mounting distance between the first installing hole
With the second mounting distance, the first installing hole is for being detachably arranged in main control module by functional module.
In the robot device utilizing RJ25 interface to connect of the present utility model, also include for install main control module and
The grillage of functional module, grillage is provided with multiple second installing hole, the size of the second installing hole and the size of the first installing hole
Identical, wherein, part the second installing hole has the distance between the screw thread matched with screw, and the second installing hole and the first peace
Dress distance and the second mounting distance match, and main control module and functional module select installation site as required, and by second
Installing hole is detachably arranged on grillage.
In the robot device utilizing RJ25 interface to connect of the present utility model, RJ25 interface includes: the first pin,
Two pins, the 3rd pin, the 4th pin, the 5th pin, the 6th pin, the first pin is used for transfer clock signal, the second pin
For transmitting data signal, the 5th pin is the first functional pin, and the 6th pin is the second functional pin.
In the robot device utilizing RJ25 interface to connect of the present utility model, the 3rd pin ground connection, the 4th pin is even
Connect the voltage output end of main control module.
In the robot device utilizing RJ25 interface to connect of the present utility model, the first pin of RJ25 interface connects main
28th pin of control chip on control plate, the second pin connects the 27th pin of control chip on master control borad.
In the robot device utilizing RJ25 interface to connect of the present utility model, the 5th pin of RJ25 interface connects control
16th pin of coremaking sheet, the 6th pin connects the 17th pin of control chip；Or
5th pin of RJ25 interface connects the 12nd pin of control chip, and the 6th pin connects the 32nd of control chip and draws
Foot；Or
5th pin of RJ25 interface connects the 22nd pin of control chip, and the 6th pin connects the 23rd of control chip and draws
Foot；Or
5th pin of RJ25 interface connects the 19th pin of control chip, and the 6th pin connects the 24th of control chip and draws
Foot；Or
5th pin of RJ25 interface connects the 25th pin of control chip, and the 6th pin connects the 26th of control chip and draws
Foot.
In the robot device utilizing RJ25 interface to connect of the present utility model, the 3rd pin connects motor and drives electricity
Pressure, the 4th pin ground connection.
In the robot device utilizing RJ25 interface to connect of the present utility model, main control module includes control chip and electricity
Machine driving chip, the first pin of RJ25 interface connects the 28th pin of control chip, and the second pin connects the of control chip
27 pins, the 3rd pin connects the V-M outfan of motor drive ic；
5th pin connects the 15th pin of control chip, and the 6th controls pin connects the 14th pin of control chip；Or
5th pin connects the 1st pin of control chip, and the 6th controls pin connects the 13rd pin of control chip.
Preferably, control chip model is ATmega328P, and the model of motor drive ic is TB6612.
Implement the robot device utilizing RJ25 interface to connect of the present utility model, have the advantages that this practicality
Novel by the Interface integration of various complexity in the RJ25 interface of 6P6C, facilitate user that each functional module is connected to master control
Module, and module misconnection can be effectively prevent, defencive function module safety；Drive it addition, be integrated with motor on main control module
Interface, decreases the consumptive material of whole system；And by being provided with rule and mutual in grillage, main control module and functional module
The first installing hole joined and the second installing hole, can make user select installation site the most flexibly, meets the intention need of user
Ask.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing:
Fig. 1 is the system structure schematic diagram of the robot device that this utility model utilizes RJ25 interface to connect；
Fig. 2 is robot device's RJ25 interface structure schematic diagram that this utility model utilizes RJ25 interface to connect；
Fig. 3 is the circuit theory diagrams of the control chip of the robot device that this utility model utilizes RJ25 interface to connect；
Fig. 4 is the motor drive ic circuit theory diagrams of the robot device that this utility model utilizes RJ25 interface to connect；
Fig. 5 is that the motor of the robot device that this utility model utilizes RJ25 interface to connect drives interface circuit schematic diagram.
Detailed description of the invention
As Figure 1-5, it is the robot device's preferred embodiment utilizing RJ25 interface to connect of the present utility model.
The present embodiment discloses a kind of robot device utilizing RJ25 interface to connect, including: main control module 10, multiple function
Module 20 and Duo Gen RJ25 connecting line 30, wherein,
RJ25 interface 50a and RJ25 joint 50B in the present embodiment are that a pair RJ25 standard connects, and have been mutually matched and have inserted
Enter to connect, it is preferred that the present embodiment selects the RJ25 interface standard of 6P6C.
Main control module 10 includes at least one RJ25 interface 50a, also includes the control for controlling whole robot device
Chip 101, each RJ25 interface 50a is connected with control chip 101, for the control command sent by control chip 101
It is transferred to the functional module 20 of correspondence, the feedback information that functional module 20 is uploaded is sent to control chip 101 simultaneously.Need
Bright, the robot device in the present embodiment is programmable robot device, and i.e. the control chip 101 in main control module 10 can
Different program is write, the kind of functional module 20 and how many by user oneself basis with the situation according to external connecting function module 20
Design needs to select, and has the strongest secondary development function, can be not only used for amusement, it is also possible to be used for imparting knowledge to students.It addition, it is each
RJ25 interface 50a is multiplex interface, and its function is not fixing, say, that each RJ25 interface 50a can connect not
Same functional module 20, the functional module 20 that user can need according to the design alternative of oneself, more corresponding at control chip 101
The corresponding program of middle write, enriches the probability of secondary development.Multiple first installing hole is set on main control module 10
60a, multiple first installing hole 60a are of the same size, and arrange the first mounting distance and second between the first installing hole 60a
Mounting distance, the first installing hole 60a is used for being detachably arranged in functional module 20 main control module 10, and by master control mould
Block 10 is arranged on grillage 40.
Preferably, although the RJ25 interface 50a in the present embodiment has multiplexing function, when being not that an interface can connect
Connecing all functional modules 20, such as, the RJ25 interface 50a output voltage connecting motor drive module is 6-12V, higher than other merits
The 5V supply voltage of energy module, is used for connecting motor drive module.Therefore, the difference of RJ25 interface 50a is distinguished for the convenience of the user
Function, arranges mark outside the RJ25 interface 50a of main control module 10 and functional module 20, and this mark can be the color of different colours
Mark or the sign of employing different literals, by the setting of mark, can effectively guide user to select module interface, prevent misconnection；Example
As, distinguish RJ25 interface function by arranging the colour code of different colours, be respectively provided with redness, yellow, blueness, Lycoperdon polymorphum Vitt, black,
White, wherein, with the RJ25 interface output 6-12V voltage of redness mark, generally connects motor drive module, with yellow mark
The RJ25 interface known is single channel digital interface, and the RJ25 interface with blueness mark is two-channel digital interface, with Lycoperdon polymorphum Vitt
The RJ25 interface of mark is hardware serial communication interface, and the RJ25 interface with logos is analog signal interface, with in vain
The RJ25 interface that colour code is known is I2C communication protocol interface.
Even if it addition, arrange mark to guide user, user is likely to misconnection, and other functional modules are connected by such as user
On motor drive module interface, the output voltage of motor drive module interface is higher than other functional modules, can damage this function
Module, for avoiding misconnection to damage module, energization pins VDD and grounding pin GND in motor drive module interface connect with other
Mouth is reversed, and forms misconnection protection mechanism, even if user's misconnection, also will not damage functional module.
Functional module 20 includes at least one RJ25 interface 50a；Further, functional module 20 arranges multiple first installing hole
60a, multiple first installing hole 60a are of the same size, and arrange the first mounting distance and second between the first installing hole 60a
Mounting distance, the first installing hole 60a is for being detachably arranged in main control module 10 by functional module 20.The present embodiment sets
The first mounting distance put and the second mounting distance are gauged distance, the main control module 10 in whole robot device, function mould
All installing holes on block 20 and grillage 40 all use this gauged distance, by the setting of standard mounting distance, it is possible to use family
Installation site can be selected the most neatly, be better than device in prior art and unique restriction is installed.The present embodiment is optional
Functional module 20 includes but not limited to: motor drive module, wireless signal transceiver module, distance detection module, temperature detection mould
Block, pattern recognition module, bluetooth module, infrared detection module, display module, lighting module, audio playing module, although function
The kind of module 20 is a lot, but for convenience of connecting, is all integrated in the RJ25 interface 50a of 6P6C by the interface of various complexity, uses
Family need not be attached with Duo Gen Du Pont line or stitch again, only need to be inserted by RJ25 connecting line 30, and learning cost is low, convenient
Child uses.
RJ25 connecting line 30 two ends are RJ25 joint 50B, and one end RJ25 joint 50B of RJ25 connecting line 30 inserts and connects master
The RJ25 interface 50a of control module 10, the other end RJ25 joint 50B of RJ25 connecting line 30 insert the RJ25 of linkage function module 20
Interface 50a, RJ25 connecting line 30 is for the communication between main control module 10 and functional module 20.
Utilize in the robot device that RJ25 interface connects at the present embodiment, also include for installing main control module 10 He
The grillage 40 of functional module 20, grillage 40 is provided with multiple second installing hole 60b, the size and first of the second installing hole 60b
Installing hole 60a's is equivalently-sized, and wherein, part the second installing hole 60b has the screw thread matched with screw, and the second installing hole
Distance between 60b matches with the first mounting distance and the second mounting distance, and main control module 10 and functional module 20 are according to need
Installation site to be selected, and be detachably arranged on grillage 40 by the second installing hole 60b.The present embodiment is not to grillage 40
Installing hole quantity in shape and grillage 40 limits.
Such as, if needing to assemble a remote operated vehicle, need 40, main control module 10 of a grillage, at least one
Motor module, wireless signal transceiver module, supply module and at least three wheel, this wheel can be arranged on motor module
On.After choosing assemble products from parts, main control module 10 is installed to grillage by the first installing hole 60a and the second installing hole 60b
On 40, motor module being installed to grillage 40 bottom so that after installing wheel, grillage 40 can depart from ground, wireless signal is received and dispatched
Module and supply module are arranged on main control module 10 or grillage 40, and position installed above selects as required, after installation,
With RJ25 connecting line 30, main control module 10 and functional module 20 are coupled together.After being completed, by main for corresponding program write
Control module 10, can complete the assembling of remote operated vehicle.From this embodiment it can be seen that by complicated connection mode is incorporated into
In the RJ25 interface 50a of 6P6C so that user conveniently completes assembling of main control module 10 and functional module 20.
With reference to Fig. 2, utilize in the robot device that RJ25 interface 50a connects at the present embodiment, RJ25 interface 50a bag
Including: the first pin, the second pin, the 3rd pin, the 4th pin, the 5th pin, the 6th pin, the first pin is used for transfer clock
Signal, the second pin is used for transmitting data signal, and the 5th pin is the first functional pin, and the 6th pin is the second functional pin.
Utilizing in the robot device that RJ25 interface 50a connects at the present embodiment, the 3rd pin ground connection, the 4th pin is even
Connect the voltage output end of main control module 10.
With reference to Fig. 3, it is preferable that control chip 101 model is ATmega328P, has 32 pins, wherein, the 4th pin
Connecting 5V power supply with the 6th pin, the 18th pin connects 5V power supply by inductance L2, the 18th pin by inductance L2 and
Electric capacity C11 ground connection, the 18th pin pass through electric capacity C11 ground connection, the 20th pin pass through electric capacity C13 ground connection, the 3rd, 5,21 pin ground connection,
29th pin connects 5V power supply by resistance RN2D, and the 29th pin connects DTR by electric capacity C14, and the 29th pin is by opening
Closing S2 ground connection, the 7th pin connects the 8th pin with resistance R13.
Utilizing in the robot device that RJ25 interface 50a connects at the present embodiment, first pin of RJ25 interface 50a is even
Connecing the 28th pin of control chip 101 on master control borad, the second pin connects the 27th pin of control chip 101 on master control borad.
Referring to figs. 2 and 3, the J3 interface definition of RJ25 interface 50a is: the 5th pin of RJ25 interface 50a connects control
16th pin of chip 101, the 6th pin connects the 17th pin of control chip 101；Or
The J4 interface definition of RJ25 interface 50a is: the 5th pin of RJ25 interface 50a connects the 12nd of control chip 101 the
Pin, the 6th pin connects the 32nd pin of control chip 101；Or
The J8 interface definition of RJ25 interface 50a is: the 5th pin of RJ25 interface 50a connects the 22nd of control chip 101 the
Pin, the 6th pin connects the 23rd pin of control chip 101；Or
The J7 interface definition of RJ25 interface 50a is: the 5th pin of RJ25 interface 50a connects the 19th of control chip 101 the
Pin, the 6th pin connects the 24th pin of control chip 101；Or
The J6 interface definition of RJ25 interface 50a is: the 5th pin of RJ25 interface 50a connects the 25th of control chip 101 the
Pin, the 6th pin connects the 26th pin of control chip 101.
Preferably, the J5 interface definition of RJ25 interface 50a is: the first pin sky connects, and the second pin connects control chip 101
The 29th pin, the 3rd pin ground connection, the 4th pin connects 5V power supply, and the 5th pin connects the 31st pin of control chip 101, the
Six pins connect the 30th pin of control chip 101.
Utilizing in the robot device that RJ25 interface 50a connects at the present embodiment, the 3rd pin connects motor and drives electricity
Pressure, the 4th pin ground connection.
Utilizing in the robot device that RJ25 interface 50a connects at the present embodiment, main control module 10 includes control chip
First pin of 101 and motor drive ic 102, RJ25 interface 50a connects the 28th pin of control chip 101, the second pin
Connecting the 27th pin of control chip 101, the 3rd pin connects the V-M outfan of motor drive ic 102；
With reference to Fig. 4, it is preferable that the model of motor chip is TB6612.The 1st of control chip 101,2 pins connect M1+,
The 3rd of control chip 101,4 pin ground connection, the 5th of control chip 101 the, 6 pins connect M1-, and the 7th of control chip 101 the, 8 draw
Foot connects M2-, and the 9th of control chip 101 the, 10 pin ground connection, the 11st of control chip 101 the, 12 pins connect M2+, control core
The 13rd of sheet 101,14,24 pins connect V-M, the 13rd of control chip 101 the, 14,24 pins electric capacity C6, electric capacity in parallel
C7, electric capacity C16 ground connection, the 19th of control chip 101 the, 20 pins connect 5V voltages, the 19th of control chip 101 the, 20 pins lead to
Cross electric capacity C3 ground connection, the 18th pin ground connection of control chip 101.
Connecting M1-, M1-with reference to Fig. 5, M1+ by electric capacity C17 and connect interface 1, M1+ connects interface 2 by fuse F2,
M1+ connects positive pole and the negative pole of light emitting diode D10 of diode D6, the negative pole of diode D6 and light emitting diode D10 respectively
Positive pole by resistance R3 connect interface 1；
M2+ connects M2-, M2-by electric capacity C18 and connects interface 1, and M2+ connects interface 2 by fuse F3, and M2+ connects respectively
Connect positive pole and the negative pole of light emitting diode D11 of diode D7, the negative pole of diode D7 and the positive pole of light emitting diode D11 to pass through
Resistance R5 connects interface 1.
TB6612 is onboard motor drive ic, and its AO1, AO2 is the correspondence of motor output interface M1+, M1-on plate
Interface, BO1, B02 are the corresponding interfaces that on plate, motor drives interface M2+, M2-.Meanwhile, RJ25 interface 50a voltage supply pin
V-M is connected with the V-M pin of chip.
The J1 interface definition of RJ25 interface 50a is: the 5th pin connects the 15th pin of control chip 101, and the 6th controls
Pin connects the 14th pin of control chip 101；Or
The J2 interface definition of RJ25 interface 50a is: the 5th pin connects the 1st pin of control chip 101, and the 6th controls to draw
Foot connects the 13rd pin of control chip 101.
Above example only for technology of the present utility model design and feature are described, its object is to allow and is familiar with technique
Personage will appreciate that content of the present utility model and implement accordingly, protection domain of the present utility model can not be limited.All with
Equalization change and the modification that this utility model right is done, all should belong to this utility model claim contains model
Enclose.
Claims (10)
1. one kind utilizes the robot device that RJ25 interface connects, it is characterised in that including: main control module, multiple functional module
With many RJ25 connecting lines, described main control module includes that at least one RJ25 interface, each described functional module include at least one
Individual RJ25 interface, described RJ25 connecting line two ends are RJ25 joint, and one end RJ25 joint of described RJ25 connecting line inserts and connects
The RJ25 interface of described main control module, the other end RJ25 joint of described RJ25 connecting line inserts and connects described functional module
RJ25 interface, described RJ25 connecting line is for the communication between described main control module and described functional module.
The robot device utilizing RJ25 interface to connect the most according to claim 1, it is characterised in that described main control module
With multiple first installing hole is set in described functional module, multiple described first installing holes are of the same size, and described
Arranging the first mounting distance and the second mounting distance between one installing hole, described first installing hole is used for can by described functional module
Being arranged on described main control module of dismounting.
The robot device utilizing RJ25 interface to connect the most according to claim 2, it is characterised in that also include for pacifying
Fill described main control module and the grillage of described functional module, described grillage is provided with multiple second installing hole, described second peace
The dress size in hole and described first installing hole equivalently-sized, wherein, described second installing hole of part has and matches with screw
Screw thread, and the distance between described second installing hole matches with described first mounting distance and the second mounting distance, described
Main control module and described functional module select installation site as required, and are detachably arranged in by described second installing hole
On described grillage.
The robot device utilizing RJ25 interface to connect the most according to claim 1, it is characterised in that described RJ25 interface
Including: the first pin, the second pin, the 3rd pin, the 4th pin, the 5th pin, the 6th pin, described first pin is used for passing
Defeated clock signal, described second pin is used for transmitting data signal, and described 5th pin is the first functional pin, and the described 6th draws
Foot is the second functional pin.
The robot device utilizing RJ25 interface to connect the most according to claim 4, it is characterised in that described 3rd pin
Ground connection, described 4th pin connects the voltage output end of described main control module.
The robot device utilizing RJ25 interface to connect the most according to claim 5, it is characterised in that described RJ25 interface
Described first pin connect the 28th pin of control chip on described master control borad, described second pin connects on described master control borad
27th pin of control chip.
The robot device utilizing RJ25 interface to connect the most according to claim 6, it is characterised in that described RJ25 interface
Described 5th pin connect the 16th pin of described control chip, described 6th pin connects the 17th drawing of described control chip
Foot；Or
Described 5th pin of described RJ25 interface connects the 12nd pin of described control chip, and described 6th pin connects described
32nd pin of control chip；Or
Described 5th pin of described RJ25 interface connects the 22nd pin of described control chip, and described 6th pin connects described
23rd pin of control chip；Or
Described 5th pin of described RJ25 interface connects the 19th pin of described control chip, and described 6th pin connects described
24th pin of control chip；Or
Described 5th pin of described RJ25 interface connects the 25th pin of described control chip, and described 6th pin connects described
26th pin of control chip.
The robot device utilizing RJ25 interface to connect the most according to claim 4, it is characterised in that described 3rd pin
Connect motor driven voltage, described 4th pin ground connection.
The robot device utilizing RJ25 interface to connect the most according to claim 8, it is characterised in that main control module includes
Control chip and motor drive ic, described first pin of described RJ25 interface connects the 28th pin of described control chip,
Described second pin connects the 27th pin of described control chip, and described 3rd pin connects the V-M of described motor drive ic
Outfan；
Described 5th pin connects the 15th pin of described control chip, and the described 6th controls pin connects described control chip
14th pin；Or
Described 5th pin connects the 1st pin of described control chip, and the described 6th controls pin connects described control chip
13rd pin.
10. according to utilizing, described in claim 6 or 9, the robot device that RJ25 interface connects, it is characterised in that described control
Chip model is ATmega328P, and the model of described motor drive ic is TB6612.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620540219.5U CN205679948U (en) | 2016-06-06 | 2016-06-06 | A kind of robot device utilizing RJ25 interface to connect |
| HK16111520.8A HK1224138A2 (en) | 2016-06-06 | 2016-10-03 | A robotic device using rj25 interface rj25 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620540219.5U CN205679948U (en) | 2016-06-06 | 2016-06-06 | A kind of robot device utilizing RJ25 interface to connect |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205679948U true CN205679948U (en) | 2016-11-09 |
Family
ID=57435521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620540219.5U Active CN205679948U (en) | 2016-06-06 | 2016-06-06 | A kind of robot device utilizing RJ25 interface to connect |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN205679948U (en) |
| HK (1) | HK1224138A2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108664028A (en) * | 2018-05-21 | 2018-10-16 | 南昌航空大学 | Convenient for the omnidirectional vision intelligent carriage of secondary development |
-
2016
- 2016-06-06 CN CN201620540219.5U patent/CN205679948U/en active Active
- 2016-10-03 HK HK16111520.8A patent/HK1224138A2/en not_active IP Right Cessation
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108664028A (en) * | 2018-05-21 | 2018-10-16 | 南昌航空大学 | Convenient for the omnidirectional vision intelligent carriage of secondary development |
Also Published As
| Publication number | Publication date |
|---|---|
| HK1224138A2 (en) | 2017-08-11 |
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| GR01 | Patent grant |