CN208880743U - A kind of robotic gripper in automatic tin-spraying machine device - Google Patents
A kind of robotic gripper in automatic tin-spraying machine device Download PDFInfo
- Publication number
- CN208880743U CN208880743U CN201821419935.3U CN201821419935U CN208880743U CN 208880743 U CN208880743 U CN 208880743U CN 201821419935 U CN201821419935 U CN 201821419935U CN 208880743 U CN208880743 U CN 208880743U
- Authority
- CN
- China
- Prior art keywords
- screw rod
- sliding rail
- slide
- stepper motor
- spraying 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
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses the robotic gripper in a kind of automatic tin-spraying machine device, stepper motor and the first screw rod, the second screw rod are sequentially connected by the first bevel gear, the second bevel gear and third bevel gear；Slide equipped with clip claw assembly is slidably matched with slide track component, but respectively with the first screw rod and the second screw rod screw rod transmission；Stepper motor rotation can drive the screw rod of two sides to rotate synchronously simultaneously, and then can synchronously drive two slides for being located at both ends close to each other or separate in the glide direction of slide track component simultaneously；It only needs to control a stepper motor forward or reverse, both can control the spacing between clip claw assembly；Control structure is simplified, and the pcb board of different in width size is applicable in convenient for the spacing of automation control, adjusting clip claw assembly.The clip claw assembly at both ends is synchronous close to or far from balance during the motion is also more preferable.
Description
Technical field
The utility model belongs to pcb board spray tin equipment technical field, more specifically, being related to a kind of automatic tin-spraying machine device
In robotic gripper.
Background technique
Traditional PCB tin spray process is all by artificial on and off duty, and not only production efficiency is low, but also by manually plate being taken to make
Industry is easy because personnel's misoperation causes scrapping for product；With the development of the society, the development of science and technology, automatic tin jet device
It has been developed and has come out, the clamping to pcb board has been completed by robotic arm, such as patent CN201710922493；
But existing robotic gripper, structure is complicated, for the pcb board of different in width size, is not easy to adjust both ends folder
The spacing of claw assembly adapts to, and is also just not easy to automation control.
Utility model content
In order to overcome the shortcomings of the prior art, the utility model provides the machine in a kind of automatic tin-spraying machine device
People's clip, compact-sized, both ends clip claw assembly can be simultaneously close to or far from convenient for adjusting spacing, convenient for automation control.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of robotic gripper in automatic tin-spraying machine device, includes mounting base, stepper motor, slide track component, first
Screw rod, the second screw rod, slide and clip claw assembly；The mounting base is fixed at the middle part in slide track component slideway direction, installation
For seat for connecting with manipulator, inside is equipped with screw rod connecting cavity；The stepper motor is mounted in mounting base, stepper motor it is defeated
Shaft protrudes into screw rod connecting cavity and is equipped with the first bevel gear；Screw rod connecting cavity is protruded into one end of first screw rod and the second screw rod；
One end that first screw rod protrudes into screw rod connecting cavity is equipped with the second bevel gear, and second screw rod protrudes into the one of screw rod connecting cavity
End is equipped with third bevel gear, and the second bevel gear and third bevel gear are sequentially connected on the first bevel gear；First screw rod and
Two screw rods are located at the two sides of mounting base and are arranged in parallel with the glide direction of slide track component；There are two the slide is set,
It is slidably connected at the both ends of slide track component respectively, the slide difference screw rod transmission at both ends connects the first screw rod, the second screw rod, described
The clip claw assembly for clamping pcb board is equipped on slide.
Robotic gripper in the automatic tin-spraying machine device of one of above-mentioned technical proposal, stepper motor and the first screw rod,
Second screw rod passes through the first bevel gear, the second bevel gear and the transmission connection of third bevel gear；Slide equipped with clip claw assembly divides again
Not with the first screw rod and the second screw rod screw rod transmission；Stepper motor rotation can drive the screw rod of two sides to rotate synchronously simultaneously, in turn
It can synchronously drive two slides for being located at both ends close to each other or separate simultaneously；Only need to control a stepper motor just
Turn or invert, both can control the spacing between clip claw assembly；Control structure is simplified, and convenient for automation control, adjusts clamping jaw
The spacing of component is applicable in the pcb board of different in width size.
Preferably, the slide track component includes the first sliding rail and the second sliding rail, and the first sliding rail and the second sliding rail are set in parallel
It sets, first screw rod and the second screw rod are all set between the first sliding rail and the second sliding rail, and the first sliding rail and the second sliding rail
With the axisymmetrical where the first screw rod and the second screw rod.Increase balance and stability；It in other embodiments, can also be with
One sliding rail is only set, but so, balance and stability can be in a slight decrease.
Preferably, the both ends of the slide are equipped with sliding through hole, and what the first sliding rail and the second sliding rail were slidably matched respectively sets
It sets in the sliding through hole at both ends, the middle-end of the slide is equipped with screw rod connecting hole.
Preferably, screw rod attaching nut, the inner sidewall of the screw rod attaching nut are fixed in the screw rod connecting hole
Equipped with the internal screw thread cooperated with screw rod transmission.
Preferably, the upper end of the mounting base be equipped with fixture mounting flange, the mounting base by fixture mounting flange with
Manipulator connection.
Preferably, the lower end of the mounting base is equipped with stepper motor installation cavity, and the stepper motor is mounted on stepper motor
In installation cavity, the output shaft of stepper motor is protruded into from the bottom to top in screw rod connecting cavity.Stepper motor installation cavity is set, and first is pair
Stepper motor plays a protective role, and is allowed to service life increase；If second is to be not provided with installation cavity, lower end is mounted with stepper motor
Mounting base other devices are installed in lower end again with regard to inconvenient, and set installation cavity, the wall bodies such as installation cavity lower end wall are just
It as new mounting surface can go that other structures are installed.
Preferably, the robotic gripper is being equipped with the side of the first screw rod or the side equipped with the second screw rod is equipped with fixture
Open and close position sensor.The effect of fixture folding position sensor is in order to limit and position to pcb board clip, due to PCB
There are many specification of plate, and clip must have a base position, that is, origin, it is necessary to there are two extreme positions of minimax,
Limit the excessive rotation of stepper motor.
Preferably, the fixture folding position sensor is approach switch sensor.
Preferably, the clip claw assembly includes clamping jaw fixed link and multiple self-gripping jaws；The clamping jaw fixed link is fixed
Setting is vertically arranged on slide, and with the slideway direction of slide track component.
Preferably, the clamping jaw includes fixed jaw, movable claw, fixed side panel, cylinder, and one end of the fixed side panel is used
Fixed in clamping jaw fixed link, the other end of the fixed side panel be used for it is hinged with the middle part of movable claw, the upper end of movable claw with
The telescopic rod of cylinder is hinged, and the lower end of movable claw is that J-type head is corresponding with fixed jaw for opening and closing clamping pcb board；The fixation
Pawl is set to fixed side panel close to the downside of the other end；The downside of the cylinder is equipped with flap, and flap upper end is fixed with cylinder,
Lower end is hinged with fixed side panel.
The beneficial effects of the utility model are: the robotic gripper in a kind of automatic tin-spraying machine device of the utility model,
Stepper motor and the first screw rod, the second screw rod are sequentially connected by the first bevel gear, the second bevel gear and third bevel gear；It is equipped with
The slide of clip claw assembly is slidably matched with slide track component, but respectively with the first screw rod and the second screw rod screw rod transmission；Stepper motor
Rotation can drive the screw rod of two sides to rotate synchronously simultaneously, and then can synchronously drive two slides for being located at both ends in sliding rail simultaneously
It is close to each other or separate in the glide direction of component；It only needs to control a stepper motor forward or reverse, can both control
Spacing between clip claw assembly processed；Control structure is simplified, and is applicable in not convenient for automation control, the spacing for adjusting clip claw assembly
With the pcb board of width size.The clip claw assembly at both ends is synchronous close to or far from balance during the motion is also more preferable.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural schematic diagram of the robotic gripper in a kind of automatic tin-spraying machine device described in the utility model；
Fig. 2 is A-A cross-sectional view in Fig. 1；
Fig. 3 is the enlarged structure schematic diagram of B area in Fig. 2；
Fig. 4 is the structural schematic diagram of clamping jaw described in an embodiment of the present invention.
Specific embodiment
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows composition related with the utility model.
Robotic gripper in a kind of automatic tin-spraying machine device as shown in Figs 1-4, includes mounting base 1, stepper motor
2, slide track component 3, the first screw rod 4, the second screw rod 5, slide 6 and clip claw assembly 7；The mounting base 1 is fixed at slide rail group
The middle part in 3 slideway direction of part, the preferably symmetrical centre at middle part, in order to keep balancing；Mounting base 1 is used for and manipulator (figure
Do not show) connection, inside is equipped with screw rod connecting cavity 11；The stepper motor 2 is mounted in mounting base 1, the output shaft of stepper motor 2
It protrudes into screw rod connecting cavity 11 and is equipped with the first bevel gear 81；Screw rod connecting cavity is protruded into one end of first screw rod 4 and the second screw rod 5
11；One end that first screw rod 4 protrudes into screw rod connecting cavity 11 is equipped with the second bevel gear 82, and second screw rod 5 protrudes into screw rod
One end of connecting cavity 11 is equipped with third bevel gear 83, and the second bevel gear 82 and third bevel gear 83 are sequentially connected in the first umbrella tooth
On wheel 81；First screw rod 4 and the second screw rod 5 are located at two sides of mounting base 1 and parallel with the glide direction of slide track component 3
Setting；There are two the slide 6 is set, it is slidably connected at the both ends of slide track component 3 respectively, the slide 6 at both ends distinguishes screw rod transmission
The first screw rod 4, the second screw rod 5 are connected, the clip claw assembly 7 for clamping pcb board is equipped on the slide 6.
Robotic gripper in the automatic tin-spraying machine device of one of above-mentioned technical proposal, stepper motor 2 and the first screw rod
4, the second screw rod 5 is sequentially connected by the first bevel gear 81, the second bevel gear 82 and third bevel gear 83；Equipped with clip claw assembly 7
Slide 6 be slidably matched with slide track component, and respectively with 5 screw rod transmission of the first screw rod 4 and the second screw rod；Stepper motor 2 rotates
The screw rod of two sides can be driven to rotate synchronously simultaneously, and then can synchronously drive two slides 6 for being located at both ends in slide rail group simultaneously
It is close to each other or separate in the glide direction of part 3；It only needs to control a stepper motor 2 forward or reverse, can both control
Spacing between clip claw assembly 7 processed；Control structure is simplified, and is applicable in convenient for automation control, the spacing for adjusting clip claw assembly 7
The pcb board of different in width size.
As shown in Figure 1, the slide track component 3 includes the first sliding rail 31 and the second sliding rail 32 in the present embodiment, first is sliding
Rail 31 and the second sliding rail 32 are arranged in parallel, and first screw rod 4 and the second screw rod 5 are all set in the first sliding rail 31 and the second sliding rail
Between 32, and the first sliding rail 31 and the second sliding rail 32 are with the axisymmetrical where the first screw rod 4 and the second screw rod 5.First screw rod 4
A second screw rod, 5 coaxial line, the first sliding rail 31 are parallel with the second sliding rail 32 and with the axis where the first screw rod 4 and the second screw rod 5
Line is symmetrical；Increase balance and stability.Certain the application is not limited, and in other embodiments, can also be only arranged
One sliding rail, but so, balance and stability can be in a slight decrease.
In the present embodiment, the both ends of the slide 6 are equipped with sliding through hole, and the first sliding rail 31 and the second sliding rail 32 slide respectively
Cooperation is arranged in the sliding through hole at both ends, and the middle-end of the slide is equipped with screw rod connecting hole.It is steady convenient for keeping balance to increase
It is qualitative.
In the present embodiment, screw rod attaching nut is fixed in the screw rod connecting hole, the screw rod attaching nut's is interior
Side wall is equipped with the internal screw thread cooperated with screw rod transmission.The application is not limited, and in other embodiments, can also be not provided with silk
Bar attaching nut, but setting internal screw thread and screw rod cooperation are also possible directly on the hole inner wall of screw rod connecting hole.
In the present embodiment, the upper end of the mounting base 1 is equipped with fixture mounting flange 12, and the mounting base 1 is pacified by fixture
Dress flange 12 is connect with manipulator.In other embodiments, also there are other connection types, the application does not answer one by one
It states.
In the present embodiment, the lower end of the mounting base 1 is equipped with stepper motor installation cavity 13, and the stepper motor 2 is mounted on
In stepper motor installation cavity 13, the output shaft of stepper motor 2 is protruded into from the bottom to top in screw rod connecting cavity 11.In other embodiments
In, stepper motor can also be mounted on the side of mounting base, or other positions；But it is mounted on lower end and is more advantageous to balance；
And setting stepper motor installation cavity 13, first is played a protective role to stepper motor 2, and service life increase is allowed to；Second is
If being not provided with installation cavity, lower end is mounted with that the mounting base 1 of stepper motor 2 is just inconvenient and installs other devices in lower end again
, and installation cavity has been set, the wall bodies such as installation cavity lower end wall can go to install other structures as new mounting surface.
In the present embodiment, side of the robotic gripper being equipped with the side of the first screw rod 4 or equipped with the second screw rod 5 is set
There is fixture to open and close position sensor 9.Because the first screw rod and the second screw rod are to rotate synchronously, both ends opposite slide and clamping jaw
Component is also the separate or close of synchronization；Therefore only need side setting fixture open and close position sensor 9, without
Two sides are arranged simultaneously, and control system can incude the position of clip claw assembly 7, convenient for control；Fixture opens and closes location sensitive
The effect of device is to limit and position to pcb board clip, and since there are many specification of pcb board, clip must have a benchmark
Position, that is, origin, it is necessary to have two extreme positions of minimax, the excessive rotation of limitation stepper motor.
In the present embodiment, the fixture folding position sensor 9 is approach switch sensor.
In the present embodiment, the clip claw assembly 7 includes clamping jaw fixed link 71 and multiple self-gripping jaws 72；The clamping jaw is solid
Fixed pole 71 is fixed on slide 6, and is vertically arranged with the slideway direction of slide track component 3.
In the present embodiment, the clamping jaw 72 includes fixed jaw 721, movable claw 722, fixed side panel 723, cylinder 724, institute
The one end for stating fixed side panel 723 is used to fix with clamping jaw fixed link 71, and the other end of the fixed side panel 723 is used for and movable claw
722 middle part is hinged, and the upper end of movable claw 722 and the telescopic rod 7241 of cylinder 724 are hinged, and the lower end of movable claw 722 is J-type head
It is corresponding with fixed jaw 721 to be equipped with for opening and closing clamping pcb board；The fixed jaw 721 is set to fixed side panel 723 close to another
The downside of one end；The downside of the cylinder 3 is equipped with flap 7242, and 7242 upper end of flap and cylinder 724 are fixed, lower end and solid
It is hinged to determine side plate 723.
In the present embodiment, the stroke of cylinder 724 will be grown, and the folding angle to guarantee movable claw 722 is big, convenient under manipulator
Spy takes plate；The end of fixed side panel 723 and the hinged one end of movable claw 722 simultaneously is equipped with biggish arc transition, so that structure
It is beautiful；Stationary jaw 721 is fixed by screws on fixed side panel 723, is conveniently replaceable, in other embodiments, fixing clamp
Pawl 721 can also be to be made into integration with fixed side panel 723.
It is enlightenment, through the above description, related work people with the above-mentioned desirable embodiment according to the utility model
Member can carry out various changes and amendments in the range of without departing from this item utility model technical idea completely.This item is real
It is not limited to the contents of the specification with novel technical scope, it is necessary to its technology is determined according to scope of the claims
Property range.
Claims (10)
1. the robotic gripper in a kind of automatic tin-spraying machine device, it is characterised in that: include mounting base, stepper motor, sliding rail
Component, the first screw rod, the second screw rod, slide and clip claw assembly；The mounting base is fixed at slide track component slideway direction
Middle part, for mounting base for connecting with manipulator, inside is equipped with screw rod connecting cavity；The stepper motor is mounted in mounting base, step
Output shaft into motor protrudes into screw rod connecting cavity and is equipped with the first bevel gear；Silk is protruded into one end of first screw rod and the second screw rod
Bar connecting cavity；One end that first screw rod protrudes into screw rod connecting cavity is equipped with the second bevel gear, and second screw rod protrudes into screw rod
One end of connecting cavity is equipped with third bevel gear, and the second bevel gear and third bevel gear are sequentially connected on the first bevel gear；The
One screw rod and the second screw rod are located at the two sides of mounting base and are arranged in parallel with the glide direction of slide track component；The slide
If there are two, it is slidably connected at the both ends of slide track component respectively, the slide difference screw rod transmission at both ends connects the first screw rod, second
Screw rod is equipped with the clip claw assembly for clamping pcb board on the slide.
2. the robotic gripper in a kind of automatic tin-spraying machine device according to claim 1, it is characterised in that: the sliding rail
Component includes the first sliding rail and the second sliding rail, and the first sliding rail and the second sliding rail are arranged in parallel, first screw rod and second
Bar is all set between the first sliding rail and the second sliding rail, and the first sliding rail and the second sliding rail are where the first screw rod and the second screw rod
Axisymmetrical.
3. the robotic gripper in a kind of automatic tin-spraying machine device according to claim 2, it is characterised in that: the slide
Both ends be equipped with sliding through hole, what the first sliding rail and the second sliding rail were slidably matched respectively is arranged in the sliding through hole at both ends, institute
The middle-end for stating slide is equipped with screw rod connecting hole.
4. the robotic gripper in a kind of automatic tin-spraying machine device according to claim 3, it is characterised in that: the screw rod
Screw rod attaching nut is fixed in connecting hole, the inner sidewall of the screw rod attaching nut is equipped with the interior spiral shell cooperated with screw rod transmission
Line.
5. the robotic gripper in a kind of automatic tin-spraying machine device according to claim 1, it is characterised in that: the installation
The upper end of seat is equipped with fixture mounting flange, and the mounting base is connect by fixture mounting flange with manipulator.
6. the robotic gripper in a kind of automatic tin-spraying machine device according to claim 1, it is characterised in that: the installation
The lower end of seat is equipped with stepper motor installation cavity, and the stepper motor is mounted in stepper motor installation cavity, the output of stepper motor
Axis is protruded into from the bottom to top in screw rod connecting cavity.
7. the robotic gripper in a kind of automatic tin-spraying machine device according to claim 1, it is characterised in that: the machine
Side of people's clip being equipped with the side of the first screw rod or equipped with the second screw rod is equipped with fixture and opens and closes position sensor.
8. the robotic gripper in a kind of automatic tin-spraying machine device according to claim 7, it is characterised in that: the fixture
Folding position sensor is approach switch sensor.
9. the robotic gripper in a kind of automatic tin-spraying machine device according to claim 1, it is characterised in that: the clamping jaw
Component includes clamping jaw fixed link and multiple self-gripping jaws；The clamping jaw fixed link is fixed on slide, and and slide rail group
The slideway direction of part is vertically arranged.
10. the robotic gripper in a kind of automatic tin-spraying machine device according to claim 9, it is characterised in that: the folder
Pawl includes fixed jaw, movable claw, fixed side panel, cylinder, and one end of the fixed side panel with clamping jaw fixed link for fixing, institute
The other end of fixed side panel is stated for hinged with the middle part of movable claw, the upper end of movable claw and the telescopic rod of cylinder are hinged, activity
The lower end of pawl is that J-type head is corresponding with fixed jaw for opening and closing clamping pcb board；The fixed jaw is set to fixed side panel close to another
The downside at end；The downside of the cylinder is equipped with flap, and flap upper end is fixed with cylinder, and lower end is hinged with fixed side panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821419935.3U CN208880743U (en) | 2018-08-30 | 2018-08-30 | A kind of robotic gripper in automatic tin-spraying machine device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821419935.3U CN208880743U (en) | 2018-08-30 | 2018-08-30 | A kind of robotic gripper in automatic tin-spraying machine device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208880743U true CN208880743U (en) | 2019-05-21 |
Family
ID=66510672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821419935.3U Active CN208880743U (en) | 2018-08-30 | 2018-08-30 | A kind of robotic gripper in automatic tin-spraying machine device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208880743U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125963A (en) * | 2019-06-19 | 2019-08-16 | 苏州哈工易科机器人有限公司 | Robot clamping jaw carrying mechanism |
| CN110614645A (en) * | 2019-09-12 | 2019-12-27 | 王艺锦 | Be applied to manipulator that intelligence was made |
| CN110773939A (en) * | 2019-11-01 | 2020-02-11 | 哈工大机器人（合肥）国际创新研究院 | Gripper for welding robot |
| CN111015701A (en) * | 2019-12-13 | 2020-04-17 | 无锡先导智能装备股份有限公司 | Mechanical arm |
-
2018
- 2018-08-30 CN CN201821419935.3U patent/CN208880743U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125963A (en) * | 2019-06-19 | 2019-08-16 | 苏州哈工易科机器人有限公司 | Robot clamping jaw carrying mechanism |
| CN110614645A (en) * | 2019-09-12 | 2019-12-27 | 王艺锦 | Be applied to manipulator that intelligence was made |
| CN110773939A (en) * | 2019-11-01 | 2020-02-11 | 哈工大机器人（合肥）国际创新研究院 | Gripper for welding robot |
| CN111015701A (en) * | 2019-12-13 | 2020-04-17 | 无锡先导智能装备股份有限公司 | Mechanical arm |
| CN111015701B (en) * | 2019-12-13 | 2024-02-23 | 无锡先导智能装备股份有限公司 | Mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208880743U (en) | A kind of robotic gripper in automatic tin-spraying machine device | |
| CN204658460U (en) | A kind of cylinder controls manipulator mechanism | |
| CN109396599A (en) | A kind of robotic gripper in automatic tin-spraying machine device | |
| CN106120195B (en) | A kind of pearl embroidery device | |
| JPS61193819A (en) | Injection molding machine with injection molded shape extractor | |
| CN201172210Y (en) | Manipulator for assembling cam shaft | |
| CN107717422A (en) | A kind of automatic winding device of machined thread part | |
| CN209532528U (en) | A kind of positioning and clamping mechanism of the hydraulic bound edge handgrip with self-locking function | |
| CN204711979U (en) | A kind of New clamp spring dismantling device | |
| CN207858823U (en) | A kind of ratchet-type rotation pick-and-place manipulator | |
| CN207120249U (en) | A kind of mechanical arm | |
| CN109382841A (en) | A kind of both hands jaw arrangement | |
| CN209232581U (en) | A kind of wire-clamping device | |
| CN208757864U (en) | A kind of movable hanging lifting station utensil | |
| CN207373160U (en) | A kind of truss robot clamping device | |
| CN208611027U (en) | A kind of animal and veterinary hook for surgery operation | |
| CN208930299U (en) | A kind of plate high speed transfer robot | |
| CN208529702U (en) | Bottle blowing machine blowing device clamping | |
| CN112621804A (en) | Automobile shifting fork forging under-actuated clamp | |
| CN217841493U (en) | Cat ladder for decoration engineering | |
| CN209582959U (en) | A kind of gripping structure | |
| CN209554314U (en) | A kind of servo planet extractor | |
| CN220915802U (en) | Shoulder formula weeder coupling mechanism | |
| CN217631922U (en) | Suspension with adjustable balance for pure glass door body of magnetic suspension driving sliding door | |
| CN220427337U (en) | Manipulator welding special fixture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |