CN219378060U - Product sorting device based on machine vision - Google Patents
Product sorting device based on machine vision Download PDFInfo
- Publication number
- CN219378060U CN219378060U CN202320657636.8U CN202320657636U CN219378060U CN 219378060 U CN219378060 U CN 219378060U CN 202320657636 U CN202320657636 U CN 202320657636U CN 219378060 U CN219378060 U CN 219378060U
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- product
- conveying frame
- carriage
- conveying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
Landscapes
- Branching, Merging, And Special Transfer Between Conveyors (AREA)
Abstract
The utility model belongs to the technical field of industrial production, in particular to a product sorting device based on machine vision, which aims at the problems that the existing product cannot rotate during detection, the detection range is smaller, the detection precision is reduced, the product is easy to slide and deviate by pushing the product through an electric push rod, and the product and a push plate are easy to be blocked.
Description
Technical Field
The utility model relates to the technical field of industrial production, in particular to a product sorting device based on machine vision.
Background
When the product is produced, detection sorting is needed, and most enterprises adopt manual sorting for saving production cost, however, the manual sorting can cause partial defective products to flow into the market, so that inconvenience is brought to enterprises and consumers, the manual sorting process is slow, a large amount of time and manpower are consumed, the labor efficiency is low, and the production requirement cannot be met.
Through the search, the utility model of bulletin number CN215313992U provides a product type sorting device based on machine vision detection, and drive assembly drives the transfer line through the motor and rotates, and the transfer line drives belt pulley and carry the roller and rotate, and the belt pulley passes through the belt and drives other transfer lines and rotate to drive all carry the roller and rotate, make the product can remove at the upper surface of carrying the roller, make things convenient for visual detection probe to carry out detection one by one to the product, thereby more convenient sorting that carries out the product.
The device also has the following disadvantages when in use: when the machine vision-based product sorting device is used, the visual detection probe is driven to detect through the electric winder, the visual probe can only rotate for half a circle, the product can not rotate during detection, the detection range is smaller, the detection precision is reduced, the product is pushed by the electric push rod to slide and deviate easily, the product is blocked with the push plate easily, and the machine vision-based product sorting device is provided aiming at the problems.
Disclosure of Invention
The utility model provides a product sorting device based on machine vision, which solves the defects that in the prior art, products cannot rotate during detection, the detection range is smaller, the detection precision is reduced, the products are easy to slide and deviate by pushing the products through an electric push rod, and the products are easy to be blocked with a push plate.
The utility model provides the following technical scheme:
a machine vision based product sorting apparatus comprising: the sorting table is characterized in that a first conveying frame, a second conveying frame and a third conveying frame are fixedly connected to the top of the sorting table, the first conveying frame, the second conveying frame and the third conveying frame are in a delta shape, conveying rollers of the first conveying frame and the second conveying frame are fixedly connected with conveying rollers of the third conveying frame, a first motor is fixedly connected to one side of the third conveying frame, and an output shaft of the first motor is fixedly connected with conveying rollers of the third conveying frame;
a mounting frame is fixedly connected between the first conveying frame and the second conveying frame, and one side of the mounting frame is provided with a plurality of first visual detection probes which are sequentially arranged from bottom to top and used for detecting the outer wall of a product;
the top of the mounting frame is provided with a rotating disc for driving the product to rotate;
the sorting mechanism is arranged on one side of the mounting frame and used for sorting detected products.
In a possible design, sorting mechanism includes fixed plate of fixed connection in mounting bracket one side, one side of fixed plate runs through the slip and is equipped with two sets of slide bars, two sets of the same slide plate of bottom fixedly connected with of slide bar, the bottom fixedly connected with of slide plate two first baffles, the rotating disc is located between two first baffles, the top fixedly connected with electric putter of fixed plate, electric putter's output and slide plate fixed connection, the groove of stepping down corresponding with first baffle has all been seted up to one side of first carriage and second carriage.
In one possible design, the bottom fixedly connected with second motor of mounting bracket, the output of second motor extends to the top and the rolling disc fixed connection of mounting bracket, the top fixedly connected with arc baffle of rolling disc.
In one possible design, the outer wall of the rotating disc is sleeved with a connecting plate, the connecting plate is fixedly connected to the top of the mounting frame, and one side, close to the third conveying frame, of the connecting plate is provided with an arc-shaped edge corresponding to the conveying belt.
In one possible design, the bottom of the sliding plate is fixedly connected with a light supplementing lamp and a second visual detection probe.
In one possible design, two sides of the first baffle, which are far away from each other, are fixedly connected with second baffles, and rectangular openings corresponding to the second baffles are respectively formed in the first conveying frame and the second conveying frame.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the utility model as claimed.
In the utility model, the detection product is placed on the third conveying frame, the first motor is started, the first motor can drive the third conveying frame to convey the product until the product moves to the rotating disc, the second motor is started, the second motor can drive the rotating disc to rotate, so that the product is driven to rotate, and meanwhile, the first visual detection probe, the light supplementing lamp and the second visual detection probe are started to detect the appearance of the product, and the detection range is increased while the product rotates;
in the utility model, when the detected product is qualified, the second motor is continuously started to rotate until the opening of the arc-shaped baffle corresponds to the first conveying frame, the electric push rod is started, the electric push rod drives the sliding plate to move, the first baffle is driven to push the product to move into the first conveying frame, meanwhile, the subsequent product can be limited through the second baffle, and the third conveying frame can drive the first conveying frame and the second conveying frame to convey simultaneously;
in the utility model, when the product is unqualified, the second motor is started to drive the rotating disc to rotate, the arc-shaped baffle plate is driven to rotate, the opening corresponds to the second conveying frame, the electric push rod is started to reset, and the first baffle plate drives the product to move into the second conveying frame, so that the qualified product and the unqualified product are conveyed in a distinguishing mode.
According to the utility model, the second motor drives the rotating disc to rotate, so that the product can be detected through the first visual detection probe, the light supplementing lamp and the second visual detection probe while rotating, the detection range is increased, and the first baffle and the second baffle are set, so that the product can be sorted, and the follow-up product cannot move to the rotating disc, so that the product sorting device is convenient to use.
Drawings
Fig. 1 is a schematic three-dimensional structure of a product sorting device based on machine vision according to an embodiment of the present utility model;
fig. 2 is a schematic view of a partial cross-sectional structure of a product sorting apparatus based on machine vision according to an embodiment of the present utility model;
fig. 3 is a schematic diagram of a sliding plate structure of a product sorting device based on machine vision according to an embodiment of the present utility model;
fig. 4 is an enlarged schematic view of a portion a of a product sorting device based on machine vision according to an embodiment of the present utility model.
Reference numerals:
1. a sorting table; 2. a first carriage; 3. a second carriage; 4. a third carriage; 5. a mounting frame; 6. a fixing plate; 7. a sliding plate; 8. a first baffle; 9. a second baffle; 10. a connecting plate; 11. a first motor; 12. a slide bar; 13. an electric push rod; 14. a first vision inspection probe; 15. a light supplementing lamp; 16. a rotating disc; 17. a second motor; 18. an arc baffle; 19. an arc edge; 20. a relief groove; 21. and a second vision inspection probe.
Detailed Description
Embodiments of the present utility model will be described below with reference to the accompanying drawings in the embodiments of the present utility model.
In describing embodiments of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled" and "mounted" should be interpreted broadly, and for example, "coupled" may or may not be detachably coupled; may be directly connected or indirectly connected through an intermediate medium. In addition, "communication" may be direct communication or may be indirect communication through an intermediary. Wherein, "fixed" means that the relative positional relationship is not changed after being connected to each other. References to orientation terms, such as "inner", "outer", "top", "bottom", etc., in the embodiments of the present utility model are merely to refer to the orientation of the drawings and, therefore, the use of orientation terms is intended to better and more clearly illustrate and understand the embodiments of the present utility model, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the embodiments of the present utility model.
In embodiments of the present utility model, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
In the embodiment of the present utility model, "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the utility model. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Example 1
Referring to fig. 1 and 2, a machine vision based product sorting apparatus includes: the sorting table 1, the top of the sorting table 1 is fixedly connected with a first conveying frame 2, a second conveying frame 3 and a third conveying frame 4, the first conveying frame 2, the second conveying frame 3 and the third conveying frame 4 are in a delta shape, conveying rollers of the first conveying frame 2 and the second conveying frame 3 are fixedly connected with conveying rollers of the third conveying frame 4, one side of the third conveying frame 4 is fixedly connected with a first motor 11, and an output shaft of the first motor 11 is fixedly connected with the conveying rollers of the third conveying frame 4;
a mounting frame 5 is fixedly connected between the first conveying frame 2 and the second conveying frame 3, and one side of the mounting frame 5 is provided with a plurality of first visual detection probes 14 which are sequentially arranged from bottom to top and used for detecting the outer wall of a product;
the top of the mounting frame 5 is provided with a rotating disc 16 for driving the product to rotate;
the sorting mechanism is arranged on one side of the mounting frame 5 and used for sorting detected products, the first motor 11 is started and simultaneously drives the first conveying frame 2, the second conveying frame 3 and the third conveying frame 4 to convey in the technical scheme, when the products on the third conveying frame 4 move onto the rotating disc 16, the rotating disc 16 drives the products to rotate, the products are detected through the first visual detection probe 14, the detection range is increased while the products are rotated, and finally the products are respectively pushed onto the first conveying frame 2 and the second conveying frame 3 through the sorting mechanism.
Referring to fig. 1-3, the sorting mechanism comprises a fixed plate 6 fixedly connected to one side of a mounting frame 5, two groups of sliding rods 12 are arranged on one side of the fixed plate 6 in a penetrating and sliding manner, the bottoms of the two groups of sliding rods 12 are fixedly connected with the same sliding plate 7, the bottoms of the sliding plates 7 are fixedly connected with two first baffle plates 8, a rotating disc 16 is positioned between the two first baffle plates 8, an electric push rod 13 is fixedly connected to the top of the fixed plate 6, the output end of the electric push rod 13 is fixedly connected with the sliding plate 7, a yielding groove 20 corresponding to the first baffle plates 8 is formed in one side of each of the first conveying frame 2 and the second conveying frame 3, the sliding plate 7 can be driven to move by starting the electric push rod 13 in the above technical scheme, and when a product is detected to be unqualified, the electric push rod 13 is started to drive the sliding plate 7 to move towards the second conveying frame 3, and vice versa.
Example 2
Referring to fig. 1 and 2, a machine vision based product sorting apparatus includes: the sorting table 1, the top of the sorting table 1 is fixedly connected with a first conveying frame 2, a second conveying frame 3 and a third conveying frame 4, the first conveying frame 2, the second conveying frame 3 and the third conveying frame 4 are in a delta shape, conveying rollers of the first conveying frame 2 and the second conveying frame 3 are fixedly connected with conveying rollers of the third conveying frame 4, one side of the third conveying frame 4 is fixedly connected with a first motor 11, and an output shaft of the first motor 11 is fixedly connected with the conveying rollers of the third conveying frame 4;
a mounting frame 5 is fixedly connected between the first conveying frame 2 and the second conveying frame 3, and one side of the mounting frame 5 is provided with a plurality of first visual detection probes 14 which are sequentially arranged from bottom to top and used for detecting the outer wall of a product;
the top of the mounting frame 5 is provided with a rotating disc 16 for driving the product to rotate;
the sorting mechanism is arranged on one side of the mounting frame 5 and used for sorting detected products, the first motor 11 is started and simultaneously drives the first conveying frame 2, the second conveying frame 3 and the third conveying frame 4 to convey in the technical scheme, when the products on the third conveying frame 4 move onto the rotating disc 16, the rotating disc 16 drives the products to rotate, the products are detected through the first visual detection probe 14, the detection range is increased while the products are rotated, and finally the products are respectively pushed onto the first conveying frame 2 and the second conveying frame 3 through the sorting mechanism.
Referring to fig. 1-3, the sorting mechanism comprises a fixed plate 6 fixedly connected to one side of a mounting frame 5, two groups of sliding rods 12 are arranged on one side of the fixed plate 6 in a penetrating and sliding manner, the bottoms of the two groups of sliding rods 12 are fixedly connected with the same sliding plate 7, the bottoms of the sliding plates 7 are fixedly connected with two first baffle plates 8, a rotating disc 16 is positioned between the two first baffle plates 8, an electric push rod 13 is fixedly connected to the top of the fixed plate 6, the output end of the electric push rod 13 is fixedly connected with the sliding plate 7, a yielding groove 20 corresponding to the first baffle plates 8 is formed in one side of each of the first conveying frame 2 and the second conveying frame 3, the sliding plate 7 can be driven to move by starting the electric push rod 13 in the above technical scheme, and when a product is detected to be unqualified, the electric push rod 13 is started to drive the sliding plate 7 to move towards the second conveying frame 3, and vice versa.
Referring to fig. 2 and 3, the bottom of the mounting frame 5 is fixedly connected with a second motor 17, the output end of the second motor 17 extends to the top of the mounting frame 5 and is fixedly connected with a rotating disc 16, the top of the rotating disc 16 is fixedly connected with an arc baffle 18, in the above technical scheme, the rotating disc 16 can be driven to rotate by starting the second motor 17, the opening of the arc baffle 18 corresponds to the third conveying frame 4, and when a product in the third conveying frame 4 moves to the top of the rotating disc 16, the second motor 17 is continuously started, so that the product can be detected while rotating.
Referring to fig. 2 and 4, a connecting plate 10 is sleeved on the outer wall of the rotating disc 16, the connecting plate 10 is fixedly connected to the top of the mounting frame 5, an arc-shaped edge 19 corresponding to the conveying belt is arranged on one side, close to the third conveying frame 4, of the connecting plate 10, and in the technical scheme, the rotating disc 16 can be leveled with the conveying belt on the third conveying frame 4 through setting of the connecting plate 10, so that products can be conveniently moved.
Referring to fig. 3, the bottom of the sliding plate 7 is fixedly connected with the light compensating lamp 15 and the second visual inspection probe 21, and the above technical scheme can perform light compensating illumination on the product by starting the light compensating lamp 15, and can detect the top of the product by setting the second visual inspection probe 21, so that the detection precision is further improved.
Referring to fig. 1-3, a second baffle 9 is fixedly connected to one side, away from each other, of each of the two first baffles 8, rectangular openings corresponding to the second baffles 9 are respectively formed in the first conveying frame 2 and the second conveying frame 3, and in the technical scheme, subsequent products can be positioned through setting of the second baffles 9, so that the first baffles 8 are prevented from pushing and detecting the products, and the subsequent products continue to move.
The first motor 11, the electric push rod 13, the first visual inspection probe 14, the light supplement lamp 15, the second motor 17, and the second visual inspection probe 21 are controlled by a PLC controller as in the patent document CN 215313992U.
However, as well known to those skilled in the art, the working principles and wiring methods of the first motor 11, the electric push rod 13, the first visual inspection probe 14, the light supplement lamp 15, the second motor 17 and the second visual inspection probe 21 are common, which are all conventional means or common general knowledge, and will not be described herein in detail, and any choice can be made by those skilled in the art according to their needs or convenience.
The working principle and the using flow of the technical scheme are as follows: when the device is used, a power supply is connected to the device, a detected product is placed on the third conveying frame 4, the first motor 11 is started, the first motor 11 can drive the third conveying frame 4 to convey the product until the product moves to the rotating disc 16, the second motor 17 is started, the second motor 17 can drive the rotating disc 16 to rotate, thereby driving the product to rotate, simultaneously, the first vision detection probe 14, the light supplementing lamp 15 and the second vision detection probe 21 are started, the appearance of the product is detected while rotating, the detection range is increased, when the detected product is qualified, the second motor 17 is continuously started to rotate until the opening of the arc-shaped baffle 18 corresponds to the first conveying frame 2, the electric push rod 13 is started, the electric push rod 13 drives the sliding plate 7 to move, the first baffle 8 is driven to push the product to move in the first conveying frame 2, meanwhile, the third conveying frame 4 can drive the first conveying frame 2 and the second conveying frame 3 to convey the subsequent product, when the product is unqualified, the second motor 17 is started to drive the rotating disc 16 to rotate, the electric push rod 3 is driven to reset to enable the opening of the arc-shaped baffle 18 to correspond to the second conveying frame 3, and the arc-shaped baffle 3 is driven to move to the first conveying frame to be unqualified.
The present utility model is not limited to the above embodiments, and any person skilled in the art can easily think about the changes or substitutions within the technical scope of the present utility model, and the changes or substitutions are intended to be covered by the scope of the present utility model; embodiments of the utility model and features of the embodiments may be combined with each other without conflict. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.
Claims (6)
1. A machine vision based product sorting apparatus, comprising: the sorting table (1), the top fixedly connected with first carriage (2), second carriage (3) and third carriage (4) of sorting table (1), first carriage (2), second carriage (3) and third carriage (4) are the article font, the conveying roller of first carriage (2) and second carriage (3) all with the conveying roller fixed connection of third carriage (4), one side fixedly connected with first motor (11) of third carriage (4), the output shaft of first motor (11) and the conveying roller fixed connection of third carriage (4);
a mounting frame (5) is fixedly connected between the first conveying frame (2) and the second conveying frame (3), and a plurality of first visual detection probes (14) for detecting the outer wall of a product are sequentially arranged from bottom to top on one side of the mounting frame (5);
the top of the mounting frame (5) is provided with a rotating disc (16) for driving the product to rotate;
the sorting mechanism is arranged on one side of the mounting frame (5) and used for sorting detected products.
2. The product sorting device based on machine vision according to claim 1, characterized in that the sorting mechanism comprises a fixed plate (6) fixedly connected to one side of the mounting frame (5), two groups of sliding rods (12) are arranged on one side of the fixed plate (6) in a penetrating and sliding manner, the bottoms of the two groups of sliding rods (12) are fixedly connected with the same sliding plate (7), two first baffles (8) are fixedly connected to the bottoms of the sliding plates (7), the rotating disc (16) is located between the two first baffles (8), an electric push rod (13) is fixedly connected to the top of the fixed plate (6), an output end of the electric push rod (13) is fixedly connected with the sliding plate (7), and a yielding groove (20) corresponding to the first baffles (8) is formed in one side of each of the first conveying frame (2) and the second conveying frame (3).
3. The product sorting device based on machine vision according to claim 2, wherein the bottom of the mounting frame (5) is fixedly connected with a second motor (17), the output end of the second motor (17) extends to the top of the mounting frame (5) and is fixedly connected with a rotating disc (16), and the top of the rotating disc (16) is fixedly connected with an arc-shaped baffle (18).
4. A machine vision based product sorting device according to any one of claims 1-3, characterized in that the outer wall of the rotating disc (16) is sleeved with a connecting plate (10), the connecting plate (10) is fixedly connected to the top of the mounting frame (5), and one side of the connecting plate (10) close to the third conveying frame (4) is provided with an arc-shaped edge (19) corresponding to the conveying belt.
5. A machine vision based product sorting apparatus according to claim 2, characterized in that the bottom of the sliding plate (7) is fixedly connected with a light supplementing lamp (15) and a second vision detecting probe (21).
6. The product sorting device based on machine vision according to claim 2, wherein two sides of the first baffle plates (8) far away from each other are fixedly connected with second baffle plates (9), and rectangular openings corresponding to the second baffle plates (9) are respectively formed in the first conveying frame (2) and the second conveying frame (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320657636.8U CN219378060U (en) | 2023-03-29 | 2023-03-29 | Product sorting device based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320657636.8U CN219378060U (en) | 2023-03-29 | 2023-03-29 | Product sorting device based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219378060U true CN219378060U (en) | 2023-07-21 |
Family
ID=87190880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320657636.8U Active CN219378060U (en) | 2023-03-29 | 2023-03-29 | Product sorting device based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219378060U (en) |
-
2023
- 2023-03-29 CN CN202320657636.8U patent/CN219378060U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109142531B (en) | Glass bottle ultrasonic detection device | |
| CN108855964B (en) | Chopsticks check out test set | |
| CN105772951B (en) | A kind of equipment of full-automatic SMT templates cutting and detection | |
| CN213364614U (en) | Cylindrical capacitor appearance flaw detection device | |
| CN205673763U (en) | The cutting of a kind of full-automatic SMT template and the equipment of detection | |
| CN219378060U (en) | Product sorting device based on machine vision | |
| CN201849683U (en) | On-line visual appearance-detecting equipment for ham sausages | |
| CN106925533A (en) | A kind of cut-parts check automatic fraction collector and application method | |
| CN212988326U (en) | Flatness detection device for glass processing | |
| CN115092637A (en) | Flexible circuit board automatic feeding machine applicable to different models of products | |
| CN212568536U (en) | Large-scale touch-sensitive screen glass panels visual inspection device | |
| CN212512915U (en) | Blade adjusting side laser ranging structure based on cutter vision automatic detection system | |
| CN205720013U (en) | A kind of full-automatic SMT template processing and testing equipment | |
| CN113267457A (en) | 3D glass vision measurement workbench | |
| CN110989025A (en) | Automatic sample position adjusting device in product quality detection system | |
| CN221007346U (en) | Visual inspection machine for wire arrangement sequence | |
| CN212944118U (en) | Visual detection instrument with support adjustment mechanism | |
| CN105032781A (en) | Primary material selection device for folding fan bamboo ribs | |
| CN220311058U (en) | Equipment is examined to edible oil quality lamp | |
| CN214347984U (en) | Product size detection partial shipment device | |
| CN217755250U (en) | Novel rotation type storage goods shelves convenient to letter sorting | |
| CN218535841U (en) | Pit machine is mounted to improved generation | |
| CN214894921U (en) | Detection device of printing product folding and linkage lifting equipment | |
| CN220215613U (en) | Marine product processing removes husky sorting device | |
| CN221124346U (en) | Bauxite powder finished product detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |