CN108071910B - A kind of pose adjustment device - Google Patents
A kind of pose adjustment device Download PDFInfo
- Publication number
- CN108071910B CN108071910B CN201711294263.8A CN201711294263A CN108071910B CN 108071910 B CN108071910 B CN 108071910B CN 201711294263 A CN201711294263 A CN 201711294263A CN 108071910 B CN108071910 B CN 108071910B
- Authority
- CN
- China
- Prior art keywords
- traversing
- rolling
- support
- bracket
- adjustment portion
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 230000001141 propulsive effect Effects 0.000 claims abstract description 19
- 238000005096 rolling process Methods 0.000 claims description 104
- 239000003638 chemical reducing agent Substances 0.000 claims description 31
- 230000008878 coupling Effects 0.000 claims description 24
- 238000010168 coupling process Methods 0.000 claims description 24
- 238000005859 coupling reaction Methods 0.000 claims description 24
- 230000007704 transition Effects 0.000 claims description 14
- 230000010355 oscillation Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 10
- 230000001737 promoting effect Effects 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 9
- 238000006073 displacement reaction Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000003032 molecular docking Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000005906 menstruation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/045—Allowing translations adapted to left-right translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/048—Allowing translations adapted to forward-backward translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses a kind of poses to adjust device.It includes carrying platform, support underframe, propulsive mechanism, preceding attitude-adjusting system and rear attitude-adjusting system that the pose, which adjusts device, support underframe is movably arranged on carrying platform by propulsive mechanism, the rear and front end of support underframe is arranged in preceding attitude-adjusting system and rear attitude-adjusting system, preceding attitude-adjusting system, carrying platform and rear attitude-adjusting system cooperate, realize object to be adjusted front and rear, left and right, up and down, the adjusting of pitch angle, yaw angle and roll angle.Pose according to the present invention adjusts device, and pose adjustment can be realized to object to be adjusted body, is regulated the speed fast, regulated efficiency is high.
Description
Technical field
The present invention relates to poses to adjust equipment technical field, adjusts device in particular to a kind of pose.
Background technique
In modern industry, national defence and aeronautical and space technology, space articulation technology obtains increasingly wider application, such as plus
Cutter and workpiece dock in work center, and manipulator is docked with object, the docking between docking, spacecraft between aircraft components
Deng.All applications require that docking mechanism has pose adjustment ability.
The pose adjustment mechanism applied at present is varied, including multivariant plane mechanism, the sky of different freedom degrees
Between mechanism, a variety of arrangement structures, lower-mobility structure and super multiple degrees of freedom serial parallel mechanism.Small-sized parallel institution is most
Underloading, input mostly uses modes such as " servo motors+ball-screw+guide rail " to realize, and the movement of large-scale heavy duty parallel institution is defeated
Enter then mainly using electro-hydraulic servo cylinder drive, Hydraulic servo drive mainly have benefited from its is small in size, power is big, precision is high,
The features such as speed is fast.
Existing pose adjustment mechanism is regulated the speed slow, regulated efficiency is low, still has biggish during pose adjustment
Room for improvement.
Summary of the invention
The purpose of the present invention is to propose to a kind of poses to adjust device, and pose adjustment, adjustment can be realized to object to be adjusted body
Speed is fast, and regulated efficiency is high.
According to an aspect of the invention, there is provided a kind of pose adjusts device, including carrying platform, support underframe, push away
Carrying platform is movably arranged on by propulsive mechanism into mechanism, preceding attitude-adjusting system and rear attitude-adjusting system, support underframe
On, the rear and front end of support underframe, preceding attitude-adjusting system, carrying is arranged in preceding attitude-adjusting system and rear attitude-adjusting system
Platform and rear attitude-adjusting system cooperate, and realize front and rear, left and right, upper and lower, pitch angle, yaw angle and the rolling of object to be adjusted
The adjusting of corner.
Preferably, propulsive mechanism includes propulsion electric machine, promotes speed reducer, propulsion lead screw and promote screw, and propulsive mechanism is solid
Fixed setting on the carrying platform, promotes screw to be fixed on support underframe, and be spirally connected with propulsion lead screw, in propulsion lead screw
Driving effect under drive support underframe move forward and backward.
Preferably, screw is promoted to be connected to the side of support underframe, second side opposite with the first side of support underframe is logical
Propulsion line slide rail is crossed to be slidably arranged on carrying platform.
Preferably, preceding attitude-adjusting system includes the noseplate being arranged on support underframe, is provided on noseplate advancing slip
Dynamic adjustment portion, preceding lift adjustment portion and front support, front support are arranged in lift adjustment portion, and preceding lift adjustment portion setting exists
In front slide adjustment portion.
Preferably, front slide adjustment portion include preceding transition plates, preceding traversing screw, preceding traversing lead screw, preceding traversing speed reducer and
Preceding traversing motor, preceding transition plates are drivingly connected by preceding traversing screw and preceding traversing lead screw, and preceding traversing lead screw is traversing before being connected to
The output end of speed reducer, the output end of traversing motor before preceding traversing speed reducer is connected to.
Preferably, preceding intermediate support beam is additionally provided in preceding transition plates, preceding intermediate support beam can by pivoting support bearing
Before being rotatably arranged in transition plates, preceding lift adjustment portion is arranged on preceding intermediate support beam.
Preferably, preceding lift adjustment portion includes preceding elevator, preceding guiding mechanism and preceding lifting motor, and front support setting exists
On preceding elevator, preceding guiding mechanism is oriented to the up and down motion of front support, and preceding lifting motor and the driving of preceding elevator connect
It connects, elevator drives front support to move up and down before driving.
Preferably, preceding lift adjustment portion further includes the preceding lifting shaft coupling being drivingly connected with the input terminal of preceding lifting motor,
The other end of preceding lifting shaft coupling is connected with preceding lifting handwheel.
Preferably, case, preceding rolling gag lever post, front rack and front support roller are dragged before front support includes, it is preceding that case is dragged to be arranged
Lift side in preceding lift adjustment portion, front rack drag in case before being swingably arranged in, and preceding drag is provided with limiting slot on case, preceding rolling
Turn gag lever post one end to be fixedly connected on front rack, the other end is slidably arranged in limiting slot, and front support roller is supported on forestock
Frame bottom.
Preferably, rear attitude-adjusting system includes rear lift adjustment portion, rear slidable adjustment portion, rear oscillation adjustment portion and rear branch
Support part, rear lift adjustment portion are arranged on support underframe, and rear slidable adjustment portion is slidably disposed in rear lift adjustment portion, after
The subsequent slidable adjustment portion in oscillation adjustment portion and rear support portion is slided together, and the swinging end in oscillation adjustment portion and rear support portion, which drives, to be connected
It connects, driving swinging end is swung.
Preferably, rear lift adjustment portion include rear elevator, rear bottom bracket, afterwards go up and down shaft coupling, rear lifting motor and after
Lifting guide mechanism, rear support portion are arranged on rear bottom bracket, and lifting shaft coupling and rear elevator drive after rear lifting motor passes through
Dynamic connection, rear lifting guide mechanism includes guide cylinder and guide post, and guide post is fixed on rear bottom bracket, and guide cylinder is fixed
It is arranged on support underframe, the lift side of rear elevator is arranged in rear bottom bracket.
Preferably, rear slidable adjustment portion includes rear traversing support roller, rear traversing bracket, rear traversing guiding mechanism, rear cross
Pulling plate, rear traversing lead screw, rear traversing screw, rear traversing speed reducer and rear traversing motor are moved, rear traversing support roller is arranged rear
On bottom bracket, rear traversing bracket is arranged on rear traversing support roller, rear traversing motor, rear traversing speed reducer and rear traversing lead screw
It is fixed on rear bottom bracket, rear traversing screw is connected by rear traversing pulling plate with rear traversing guiding mechanism, rear traversing guiding mechanism
It being fixed on rear bottom bracket, rear support portion is arranged on rear traversing bracket, and rear traversing bracket is fixedly connected with rear traversing screw, and
In the driving lower slider of rear traversing lead screw.
Preferably, rear oscillation adjustment portion includes rolling guiding mechanism, rolling lead screw, rolling bracket, support base, rolling deceleration
Machine, rolling motor, rolling screw and rolling drive pull rod, and rolling bracket is fixedly connected on rear traversing bracket, rolling motor, rolling
Turn speed reducer and rolling lead screw is fixed on rolling bracket by support base, rolling driving pull rod is connected to rolling Guiding machine
On structure and rolling screw, rolling driving pull rod drives the swinging end in rear support portion to swing under the driving effect of rolling screw.
Preferably, rear support portion includes tail-bracket, rear rolling support roller and rear rolling gag lever post, and tail-bracket is swingably
It is arranged on rear traversing bracket, rear rolling support roller is supported on tail-bracket bottom, and rolling drives pull rod and tail-bracket driving to connect
It connects, driving tail-bracket is swung, the swing position of rear rolling gag lever post limitation tail-bracket.
Pose of the invention adjusts device, including carrying platform, support underframe, propulsive mechanism, preceding attitude-adjusting system and
Attitude-adjusting system afterwards, support underframe are movably arranged on carrying platform by propulsive mechanism, preceding attitude-adjusting system and rear appearance
The rear and front end of support underframe, preceding attitude-adjusting system, carrying platform and rear attitude-adjusting system phase is arranged in state adjustment mechanism
Mutually cooperation, realize object to be adjusted front and rear, left and right, up and down, the adjusting of pitch angle, yaw angle and roll angle.Position adjustment
Device can by multiple components cooperate realize object to be adjusted front and rear, left and right, up and down, pitch angle, yaw angle and
The adjusting of roll angle can be realized the multiple degrees of freedom adjustment to object to be adjusted body, pass through the mutual of multiple components with can be convenient
Object to be adjusted is adjusted in place by cooperation, is regulated the speed fast, regulated efficiency is high.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the three-dimensional structure diagram of the pose adjustment device of the embodiment of the present invention；
Fig. 2 is the three-dimensional structure diagram of the preceding attitude-adjusting system of the pose adjustment device of the embodiment of the present invention；
Fig. 3 is the three-dimensional structure diagram of the rear attitude-adjusting system of the pose adjustment device of the embodiment of the present invention；
Fig. 4 is the three-dimensional structure diagram of the propulsive mechanism of the pose adjustment device of the embodiment of the present invention；
Fig. 5 is the usage state diagram of the pose adjustment device of the embodiment of the present invention.
Description of symbols: 1, preceding attitude-adjusting system；2, rear attitude-adjusting system；3, support underframe；4, propulsive mechanism；
5, displacement sliding rail；6, line slide rail is promoted；7, carrying platform；8, retaining mechanism；9, noseplate；10, preceding traversing line slide rail；
11, preceding transition plates；12, preceding intermediate support beam；13, slewing bearing；14, preceding traversing screw；15, preceding lifting shaft coupling；16,
Preceding traversing lead screw；17, preceding traversing speed reducer；18, preceding traversing motor；19, preceding lifting motor；20, preceding elevator；21, it is leading to
Mechanism；22, preceding to drag case；23, preceding rolling gag lever post；24, front rack；25, front support roller；26, preceding lifting handwheel；27, preceding cross
Move handwheel；28, rear elevator；29, support base；30, shaft coupling is gone up and down afterwards；31, rear lifting motor；32, rolling guiding mechanism；
33, rolling lead screw；34, rolling bracket；35, rear lifting guide mechanism；36, rear traversing support roller；37, rear traversing Guiding machine
Structure；38, rear traversing pulling plate；39, rear traversing lead screw；40, rear lifting handwheel；41, rear traversing speed reducer；42, rear traversing motor；
43, rear traversing handwheel；44, rolling speed reducer；45, rolling motor；46, rolling handwheel；47, rear bottom bracket；48, rear rolling limit
Bar；49, rolling screw；50, rolling drives pull rod；51, tail-bracket；52, rear rolling supports roller；53, rear traversing bracket；54,
Traversing screw afterwards；55, rear traversing pin；56, propulsion electric machine；57, speed reducer is promoted；58, shaft coupling is promoted；59, propulsion lead screw；
60, screw is promoted；61, bottom plate is promoted；62, handwheel is promoted；63, object to be adjusted.
Specific embodiment
In the following detailed description, a large amount of specific details are proposed, in order to provide a thorough understanding of the present invention.But
It will be understood by those within the art that implementable present invention without these specific details.In other cases, without detailed
Well-known method, process, component and circuit are carefully described, in order to avoid influence the understanding of the present invention.
In conjunction with referring to figs. 1 to 5, includes carrying platform 7, props up according to an embodiment of the invention, pose adjusts device
Chassis 3, propulsive mechanism 4, preceding attitude-adjusting system 1 and rear attitude-adjusting system 2 are supportted, support underframe 3 passes through 4 activity of propulsive mechanism
It is arranged on carrying platform 7, the rear and front end of support underframe 3 is arranged in preceding attitude-adjusting system 1 and rear attitude-adjusting system 2,
Preceding attitude-adjusting system 1, carrying platform 7 and rear attitude-adjusting system 2 cooperate, and realize front and back, the left side of object 63 to be adjusted
Right, upper and lower, pitch angle, yaw angle and roll angle adjusting.
Preferably, propulsive mechanism 4 includes propulsion electric machine 56, promotes speed reducer 57, propulsion lead screw 59 and promote screw 60, is pushed away
Be fixed on carrying platform 7 into mechanism 4, promote screw 60 be fixed on support underframe 3, and with 59 spiral shell of propulsion lead screw
It connects, to drive support underframe 3 to move forward and backward under the driving effect of propulsion lead screw 59.
Propulsive mechanism 4 further includes promoting bottom plate 61, and wherein propulsion electric machine 56, propulsion speed reducer 57, propulsion lead screw 59 are all provided with
It sets on promoting bottom plate 61, bottom plate 61 is promoted to be arranged on carrying platform 7, under the action of propulsion electric machine 56, propulsion lead screw 59
The rotary motion of itself is converted to the linear motion for promoting screw 60, driving promotes screw 60 sliding along the axial direction of propulsion lead screw 59
It is dynamic, and then by promoting screw 60 that support underframe 3 is driven to move forward and backward, it realizes to preceding attitude-adjusting system 1 and rear pose adjustment
The adjustment of the whole front-rear position of mechanism 2.
Also pass through shaft coupling in the input terminal of propulsion electric machine 56 and be connected with propulsion handwheel 62, which can basis
It needs to realize the manual operation to propulsive mechanism 4, the forward operation of propulsive mechanism 4 is cut between manually and automatically
It changes, operates more flexible.
Preferably, screw 60 is promoted to be connected to the side of support underframe 3, second opposite with the first side of support underframe 3
Side is by promoting line slide rail 6 to be slidably arranged on carrying platform 7.Promote line slide rail 6 being capable of position tune to support underframe 3
Section plays guiding role, prevents propulsion lead screw 59 and screw 60 is promoted to shift in engagement process stuck phenomenon, improve branch
Support chassis 3 moves forward and backward the reliability of adjustment.Certainly, propulsion line slide rail 6 herein can also pass through other guiding mechanisms
To substitute.
Preferably, preceding attitude-adjusting system 1 includes the noseplate 9 being arranged on support underframe 3, is provided on noseplate 9
Front slide adjustment portion, preceding lift adjustment portion and front support, front support are arranged in lift adjustment portion, and preceding lift adjustment portion is set
It sets in front slide adjustment portion.
Displacement sliding rail 5 and retaining mechanism 8, preceding attitude-adjusting system 1 and support underframe 3 are additionally provided on support underframe 3
It is directly connected to or is connected by displacement sliding rail 5, rear attitude-adjusting system 2 is directly connected to support underframe 3.Use displacement sliding rail 5
With the spacing of retaining mechanism 8 adjustable preceding attitude-adjusting system 1 and rear attitude-adjusting system 2.Preceding attitude-adjusting system 1 can be
It is slided on displacement sliding rail 5, after current pose adjustment mechanism 1 is adjusted in place in the position on displacement sliding rail 5, so that it may operation locking
The position of attitude-adjusting system 1 before mechanism 8 locks, so that preceding attitude-adjusting system 1 is maintained at current position, posture before meeting
The position of adjustment mechanism 1, which adjusts, to be needed.Retaining mechanism 8 is, for example, the latch segment that is arranged on displacement sliding rail, which can be with
It is held out against on displacement sliding rail by screw, completes the locking to the sliding position of preceding attitude-adjusting system 1.
Preferably, front slide adjustment portion includes preceding transition plates 11, preceding traversing screw 14, preceding traversing lead screw 16, preceding traversing subtracts
Fast machine 17 and preceding traversing motor 18, preceding transition plates 11 is drivingly connected by preceding traversing screw 14 with preceding traversing lead screw 16, preceding traversing
The output end of traversing speed reducer 17 before lead screw 16 is connected to, the output end of traversing motor 18 before preceding traversing speed reducer 17 is connected to.
The traversing handwheel 27 before the input terminal of preceding traversing motor 18 can also be arranged one by shaft coupling, thus mistake before realizing
The manually and automatically switching of the position adjustment of cab apron 11.
Preferably, intermediate support beam 12 before being additionally provided in preceding transition plates 11, preceding intermediate support beam 12 pass through revolving support
Before bearing 13 is rotatably arranged in transition plates 11, preceding lift adjustment portion is arranged on preceding intermediate support beam 12.Pass through adjusting
The turned position of preceding intermediate support beam 12 can be adjusted the rotary position of front support, so that preceding pose adjustment
The relative position of mechanism 1 and rear attitude-adjusting system 2 can be more accurate, more preferably to the adjustment effect of object 63 to be adjusted.
Preferably, preceding lift adjustment portion includes preceding elevator 20, preceding guiding mechanism 21 and preceding lifting motor 19, front support
It is arranged on preceding elevator 20, preceding guiding mechanism 21 is oriented to the up and down motion of front support, and preceding lifting motor 19 is with before
Elevator 20 is drivingly connected, and elevator 20 drives front support to move up and down before driving.
Preferably, preceding lift adjustment portion further includes the preceding lifting shaft coupling being drivingly connected with the input terminal of preceding lifting motor 19
15, lifting handwheel 26 before the other end of preceding lifting shaft coupling 15 is connected with.Pass through preceding lifting handwheel 26 and preceding lifting shaft coupling 15
Mutual cooperation, move up and down to the front support manual operation adjusted and the switching between being automatically brought into operation may be implemented, adjust
It is more flexible and convenient.
Preferably, case 22, preceding rolling gag lever post 23, front rack 24 and front support roller 25 are dragged before front support includes, it is preceding
Drag case 22 that the lift side in preceding lift adjustment portion is set, front rack 24 is dragged before being swingably arranged in case 22, preceding to drag on case 22
It is provided with limiting slot, preceding 23 one end of rolling gag lever post is fixedly connected on front rack 24, and the other end is slidably arranged in limiting slot,
Front support roller 25 is supported on 24 bottom of front rack.Before drag the limiting slot being arranged on case 22 that can limit the rotation position of front rack 24
It sets, to avoid front rack 24 from rotating excessively, so that front rack 24 is kept in place.The bottom of front rack 24 is circular arc
Shape can form good support cooperation between front support roller 25, guarantee the reliable of the turned position adjustment of front rack 24
Property.Preferably, the supporting surface of front rack 24 can be plane, or cambered surface, it can be according to the to be adjusted of required placement
The structure of object 63 is adjusted.Preferably, front rack 24 is dragged before being removably arranged in case 22.
Preferably, rear attitude-adjusting system 2 include rear lift adjustment portion, rear slidable adjustment portion, rear oscillation adjustment portion and after
Support portion, rear lift adjustment portion are arranged on support underframe 3, and rear slidable adjustment portion is slidably disposed on rear lift adjustment portion
On, the subsequent slidable adjustment portion in rear oscillation adjustment portion and rear support portion is slided together, the swinging end in oscillation adjustment portion and rear support portion
It is drivingly connected, driving swinging end is swung.
Preferably, rear lift adjustment portion includes rear elevator 28, rear bottom bracket 47, rear lifting shaft coupling 30, rear lifting electricity
Machine 31 and rear lifting guide mechanism 35, rear support portion are arranged on rear bottom bracket 47, and rear lifting motor 31 goes up and down shaft coupling after passing through
Device 30 and rear elevator 28 are drivingly connected, and rear lifting guide mechanism 35 includes guide cylinder and guide post, and guide post is fixed at
Afterwards on bottom bracket 47, guide cylinder is fixed on support underframe 3, and the lift side of rear elevator 28 is arranged in rear bottom bracket 47.
In the present embodiment, rear elevator 28 is two, the both ends of rear lifting motor 31 is located at, so as to rear bottom bracket 47
Form the support of more stable equilibrium.Guide post is slidably arranged in guide cylinder, can be to the up and down motion shape of rear bottom bracket 47
It is oriented at auxiliary, the reliability and stability that bottom bracket 47 moves up and down after guarantee.
Preferably, rear lift adjustment portion further includes the rear lifting handwheel being drivingly connected by shaft coupling and rear elevator 28
40, it can select manually to drive rear elevator 28 as needed, adjust more flexible and convenient.
Preferably, rear slidable adjustment portion includes rear traversing support roller 36, rear traversing bracket 53, rear traversing guiding mechanism
37, rear traversing pulling plate 38, rear traversing lead screw 39, rear traversing screw 54, rear traversing speed reducer 41 and rear traversing motor 42, it is rear traversing
Roller 36 is supported to be arranged on rear bottom bracket 47, rear traversing bracket 53 is arranged on rear traversing support roller 36, rear traversing motor
42, rear traversing speed reducer 41 and rear traversing lead screw 39 are fixed on rear bottom bracket 47, and rear traversing screw 54 passes through rear traversing pulling plate
38 are connected with rear traversing guiding mechanism 37, and rear traversing guiding mechanism 37 is fixed on rear bottom bracket 47, and rear support portion is arranged rear
On traversing bracket 53, rear traversing bracket 53 is fixedly connected with rear traversing screw 54, and in the driving lower slider of rear traversing lead screw 39.
Since rear traversing bracket 53 is arranged on rear traversing support roller 36, in rear traversing bracket 53 relative to rear bottom bracket 47
During sliding, the friction between rear traversing support roller 36 is rolling friction, and frictional force is much smaller than sliding friction, therefore
Frictional resistance after can reducing in traversing 53 sliding process of bracket reduces and adjusts power consumption.
In the present embodiment, under after being fixed on due to rear traversing motor 42, rear traversing speed reducer 41 and rear traversing lead screw 39
On bracket 47, therefore in the work of rear traversing motor 42, rear traversing lead screw 39 rotates under the driving effect of rear traversing motor 42,
By the linear motion for being converted to rear traversing screw 54 of rear traversing lead screw 39, after being fixedly connected on due to rear traversing bracket 53
It on traversing screw 54, therefore can move together, be realized to the rear support being located on rear traversing bracket 53 with rear traversing screw 54
The traversing adjusting in portion.
Preferably, rear traversing screw 54 is arranged on rear traversing pulling plate 38, rear traversing pulling plate 38 by rear traversing pin 55 with
Achieve a fixed connection between traversing bracket 53 afterwards, after realizing with can be convenient the connection of traversing pulling plate 38 and rear traversing bracket 53 and
Disassembly, it is easy to operate quick.
Slidable adjustment portion further includes the rear traversing handwheel 43 that the input terminal of rear traversing motor 42 is connected to by shaft coupling afterwards,
Rear slidable adjustment portion can be operated manually when rear traversing motor 42 does not work by rear traversing handwheel 43.
Preferably, rear oscillation adjustment portion include rolling guiding mechanism 32, rolling lead screw 33, rolling bracket 34, support base 29,
Rolling speed reducer 44, rolling motor 45, rolling screw 49 and rolling drive pull rod 50, and rolling bracket 34 is fixedly connected on rear traversing
On bracket 53, rolling motor 45, rolling speed reducer 44 and rolling lead screw 33 are fixed at rolling bracket 34 by support base 29
On, rolling driving pull rod 50 is connected on rolling guiding mechanism 32 and rolling screw 49, and rolling drives pull rod 50 in rolling screw
The swinging end in rear support portion is driven to swing under 49 driving effect.
Rolling drives one end of pull rod 50 and the swinging end in rear support portion to be rotatablely connected, when rolling screw 49 is in rolling lead screw
When being moved along a straight line under 33 driving effect, it will drive rolling driving pull rod 50 and moved together with rolling screw 49, rolled at this time
Turn driving pull rod 50 and will drive the swinging end in rear support portion to move together with rolling driving pull rod 50, so that the swing in rear support portion
End swings aside, and realizes that the swing to the swinging end in rear support portion adjusts.
The input terminal of rolling motor 45 is provided with shaft coupling and rolling handwheel 46, the hand to rolling lead screw 33 may be implemented
It is dynamic to adjust, it adjusts more flexible and convenient.
Preferably, rear support portion includes tail-bracket 51, rear rolling support roller 52 and rear rolling gag lever post 48, tail-bracket 51
Swingably it is arranged on rear traversing bracket 53, rear rolling support roller 52 is supported on 51 bottom of tail-bracket, and rolling drives pull rod
50 are drivingly connected with tail-bracket 51, and driving tail-bracket 51 is swung, and rear rolling gag lever post 48 limits the swing position of tail-bracket 51.
The bottom supporting surface of tail-bracket 51 is arc, can form good rotation between rear rolling support roller 52 and match
Conjunction relationship, so that the rotation of tail-bracket 51 is more flexible reliable.Rolling gag lever post 48 can limit the swing position of tail-bracket 51 afterwards
It sets, avoids the amplitude of fluctuation of tail-bracket 51 excessive.Preferably, the supporting surface of tail-bracket 51 can be plane, or plane,
The shape for the object to be adjusted 63 to be supported with it matches, to form more good support.
The adjustment process of cardan shaft is as follows: propulsion electric machine 56 is promoted speed reducer 57, shaft coupling 58 is promoted to drive propulsion silk
Thick stick 59 rotates, and dragging promotes screw 60 mobile, and screw 60 is promoted to drag support underframe 3, preceding attitude-adjusting system 1, rear posture tune
Complete machine structure 2 along promoting line slide rail 6 to move, realizes that cardan shaft is mobile together.
The adjustment process of lifting shaft is as follows: the lifting of elevator 20 before lifting shaft coupling 15 controls before menstruation of preceding lifting motor 19,
Preceding elevator 20 drags 24 1 lifting of case 22 and front rack before driving, lifting shaft lifting action before realizing.Lifting motor 31 passes through afterwards
Elevator 28 is gone up and down after lifting shaft coupling 30 controls afterwards, one lifting of attitude-adjusting system upper mechanism after rear elevator 28 drives
It is mobile, lifting shaft lifting action after realization.It rotates synchronously by controlling preceding lifting motor 19 and rear lifting motor 31 and realizes lifting
Axis movement.
The adjustment process of traversing axis is as follows: the premenstrual traversing speed reducer 17 of preceding traversing motor 18 drives preceding 16 turns of traversing lead screw
Dynamic, traversing screw 14 is mobile before dragging, 11 above section one of preceding transition plates of attitude-adjusting system 1 before preceding traversing screw 14 drives
It rises and is moved along preceding traversing line slide rail 10, traversing axis movement before realizing.Traversing motor 42 is after after the traversing drive of speed reducer 41 afterwards
Traversing lead screw 39 rotates, and traversing screw 54 is mobile after dragging, traversing bracket after rear traversing screw 54 is driven by rear traversing pin 55
53 above sections move together, traversing axis movement after realization.By controlling, preceding traversing motor 18 is synchronous with rear traversing motor 42 to be turned
It is dynamic to realize traversing axis movement.
The adjustment process of pitch angle is as follows: attitude-adjusting system 1 is static before keeping, the liter of attitude-adjusting system 2 after control
Drop realizes pitch angle adjustment.
The adjustment process of yaw angle is as follows: attitude-adjusting system 1 is static before keeping, horizontal after attitude-adjusting system 2 after control
It is mobile to move axis, object 63 to be adjusted will rotate under the drive of tail-bracket 51 around slewing bearing 13, realize yaw angle adjustment.
The adjustment process of roll angle is as follows: rolling motor 45 drives rolling lead screw 33 to rotate through rolling speed reducer 44, rolling
Screw 49 drags rolling and drives 50 transverse shifting of pull rod, and rolling drives pull rod 50 that tail-bracket 51 is driven to support roller 52 in rear rolling
Upper rolling, front rack is servo-actuated under product drive realizes roll angle adjustment.
Each spindle motor magnetic force band-type brake need to only be unlocked when manually adjusting gestures of object, then rotate and connected behind each spindle motor
Handwheel.
By above-mentioned mode, may be implemented that the pose of multiple freedom degrees of object 63 to be adjusted is adjusted, it can
Quickly and easily the pose of object 63 to be adjusted is adjusted in place, is easy to implement the docking of object 63 to be adjusted, adjusting is high-efficient,
Labor intensity is small, safe and reliable.
Using technical solution of the present invention have it is following the utility model has the advantages that
(1) adjust automatically gestures of object；
(2) meet different product pose adjustment requirement by adjusting front and back branch tie distance arc-shaped bracket different with replacement；
(3) there is manual operation interface, manually adjustable gestures of object；
(4) between each axis without interlocking, can self-movement, conveniently manually adjust gestures of object.
The above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile for this
The those skilled in the art in field, according to the thought of the present invention, there will be changes in the specific implementation manner and application range,
In conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of pose adjusts device, which is characterized in that including carrying platform, support underframe, propulsive mechanism, preceding pose adjustment machine
Structure and rear attitude-adjusting system, the support underframe is movably arranged on the carrying platform by the propulsive mechanism, described
The rear and front end of the support underframe, the preceding pose adjustment is arranged in preceding attitude-adjusting system and the rear attitude-adjusting system
Mechanism, the carrying platform and it is described after attitude-adjusting system cooperate, realize object to be adjusted front and rear, left and right, up and down,
The adjusting of pitch angle, yaw angle and roll angle；The preceding attitude-adjusting system includes the preceding bottom being arranged on the support underframe
Plate, front slide adjustment portion, preceding lift adjustment portion and front support are provided on the noseplate, and the front support is arranged in institute
It states in lift adjustment portion, the preceding lift adjustment portion is arranged in the front slide adjustment portion；The front slide adjustment portion includes
Preceding transition plates, preceding traversing screw, preceding traversing lead screw, preceding traversing speed reducer and preceding traversing motor, the preceding transition plates pass through preceding cross
It moving screw and the preceding traversing lead screw is drivingly connected, the preceding traversing lead screw is connected to the output end of the preceding traversing speed reducer,
The preceding traversing speed reducer is connected to the output end of the preceding traversing motor；Preceding intermediate supports are additionally provided in the preceding transition plates
Frame, the preceding intermediate support beam are rotatably arranged in the preceding transition plates by pivoting support bearing, the preceding rising-falling tone
Section portion is arranged on the preceding intermediate support beam；The front support drags case, preceding rolling gag lever post, front rack and preceding branch before including
Roller is supportted, drags case that the lift side in the preceding lift adjustment portion is set before described, the front rack is swingably arranged in described
Before drag in case, dragged before described and be provided with limiting slot on case, described preceding rolling gag lever post one end is fixedly connected on the front rack,
The other end is slidably arranged in the limiting slot, and the front support roller is supported on the front rack bottom.
2. pose according to claim 1 adjusts device, which is characterized in that the propulsive mechanism includes propulsion electric machine, pushes away
Into speed reducer, propulsion lead screw and screw is promoted, the propulsive mechanism is fixed on the carrying platform, the propulsion screw
It is fixed on the support underframe, and is spirally connected with the propulsion lead screw, with the band under the driving effect of the propulsion lead screw
The support underframe is moved to move forward and backward.
3. pose according to claim 2 adjusts device, which is characterized in that the propulsion screw is connected to the support bottom
The side of frame, second side opposite with the first side of the support underframe is by promoting line slide rail to be slidably arranged in the carrying
On platform.
4. pose according to claim 1 adjusts device, which is characterized in that the preceding lift adjustment portion includes preceding promotion
Machine, preceding guiding mechanism and preceding lifting motor, the front support are arranged on the preceding elevator, and the preceding guiding mechanism is to institute
The up and down motion for stating front support is oriented to, and the preceding lifting motor and the preceding elevator are drivingly connected, before driving is described
Elevator drives the front support to move up and down.
5. pose according to claim 4 adjusts device, which is characterized in that the preceding lift adjustment portion further include with it is described
The preceding lifting shaft coupling that the input terminal of preceding lifting motor is drivingly connected, the other end that shaft coupling is gone up and down before described are connected with preceding lifting
Handwheel.
6. pose according to any one of claim 1 to 5 adjusts device, which is characterized in that pose adjustment machine after described
Structure includes rear lift adjustment portion, rear slidable adjustment portion, rear oscillation adjustment portion and rear support portion, and the rear lift adjustment portion setting exists
On the support underframe, the rear slidable adjustment portion is slidably disposed in the rear lift adjustment portion, is swung and is adjusted after described
Section portion and the rear support portion are slided together with the rear slidable adjustment portion, the pendulum in the oscillation adjustment portion and the rear support portion
Moved end is drivingly connected, and the swinging end is driven to swing.
7. pose according to claim 6 adjusts device, which is characterized in that lift adjustment portion is promoted after including after described
Machine, rear bottom bracket go up and down shaft coupling, rear lifting motor and rear lifting guide mechanism afterwards, and the rear support portion is arranged after described
On bottom bracket, the rear lifting motor is drivingly connected by the rear lifting shaft coupling and the rear elevator, the rear lifting
Guiding mechanism includes guide cylinder and guide post, and the guide post is fixed on the rear bottom bracket, and the guide cylinder is fixed
It is arranged on the support underframe, the lift side of the rear elevator is arranged in the rear bottom bracket.
8. pose according to claim 7 adjusts device, which is characterized in that slidable adjustment portion includes rear traversing branch after described
Support roller, rear traversing bracket, rear traversing guiding mechanism, rear traversing pulling plate, rear traversing lead screw, rear traversing screw, rear traversing deceleration
Machine and rear traversing motor, traversing support roller setting is on the rear bottom bracket after described, and traversing bracket is arranged in institute after described
It states on rear traversing support roller, the rear traversing motor, the rear traversing speed reducer and the rear traversing lead screw are fixed on described
Afterwards on bottom bracket, the rear traversing screw is connected by the rear traversing pulling plate with the rear traversing guiding mechanism, the rear cross
It moves guiding mechanism to be fixed on the rear bottom bracket, the rear support portion setting is traversing after described on the rear traversing bracket
Bracket is fixedly connected with the rear traversing screw, and in the driving lower slider of the rear traversing lead screw.
9. pose according to claim 8 adjusts device, which is characterized in that oscillation adjustment portion includes rolling guiding after described
Mechanism, rolling lead screw, rolling bracket, support base, rolling speed reducer, rolling motor, rolling screw and rolling drive pull rod, described
Rolling bracket is fixedly connected on the rear traversing bracket, the rolling motor, the rolling speed reducer and the rolling lead screw
It is fixed on the rolling bracket by the support base, the rolling driving pull rod is connected to the rolling guiding mechanism
On the rolling screw, the rolling driving pull rod drives the rear support portion under the driving effect of the rolling screw
Swinging end is swung.
10. pose according to claim 9 adjusts device, which is characterized in that the rear support portion includes tail-bracket, rear rolling
Turn support roller and rear rolling gag lever post, the tail-bracket is swingably arranged on the rear traversing bracket, the rear rolling
Support roller is supported on the tail-bracket bottom, and the rolling driving pull rod and the tail-bracket are drivingly connected, after driving is described
Bracket is swung, and the rear rolling gag lever post limits the swing position of the tail-bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711294263.8A CN108071910B (en) | 2017-12-08 | 2017-12-08 | A kind of pose adjustment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711294263.8A CN108071910B (en) | 2017-12-08 | 2017-12-08 | A kind of pose adjustment device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108071910A CN108071910A (en) | 2018-05-25 |
| CN108071910B true CN108071910B (en) | 2019-10-11 |
Family
ID=62158152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711294263.8A Active CN108071910B (en) | 2017-12-08 | 2017-12-08 | A kind of pose adjustment device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108071910B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544437A (en) * | 2018-06-21 | 2018-09-18 | 宁波介量机器人技术有限公司 | A kind of flexible docking equipment for large-sized structural parts |
| CN108980548B (en) * | 2018-10-15 | 2024-04-16 | 苏州精濑光电有限公司 | Support frame and screen detection device |
| CN110605202A (en) * | 2019-10-15 | 2019-12-24 | 北京星航机电装备有限公司 | Accurate posture adjusting method for automatic spraying of various products |
| CN113028232B (en) * | 2021-02-25 | 2022-09-09 | 上海映皓教育科技有限公司 | Mobile internet-based video and audio integrated cloud platform |
| CN113753599B (en) * | 2021-09-08 | 2023-04-25 | 贵州航天天马机电科技有限公司 | Multi-degree-of-freedom stepless adjusting mechanism |
| CN113770675A (en) * | 2021-09-18 | 2021-12-10 | 中航西安飞机工业集团股份有限公司 | Structural component posture adjusting positioner and use method |
| CN113954385A (en) * | 2021-10-28 | 2022-01-21 | 湖北三江航天江北机械工程有限公司 | Rotatory support of gypsum mandrel is equipped |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102156340A (en) * | 2011-03-31 | 2011-08-17 | 哈尔滨工业大学 | High-precision pose adjusting device for spliced grating |
| CN104148914A (en) * | 2014-08-07 | 2014-11-19 | 天津航天长征火箭制造有限公司 | Posture adjustment assembly system used for butt joint of components of rocket and posture adjustment method |
| CN104308767A (en) * | 2014-09-03 | 2015-01-28 | 上海交通大学 | Co-location device for automatically butting and assembling large-sized thin-wall barrel-shaped members |
| US20160000512A1 (en) * | 2013-02-19 | 2016-01-07 | gomtec GmbH | Holding device for a surgical instrument and a sheath and method and control device for operating a robot with such a holding device |
| CN106142073A (en) * | 2016-07-24 | 2016-11-23 | 中国科学院合肥物质科学研究院 | A kind of advance and the adjusting apparatus of pose and method of adjustment for continuous robot |
| CN106541256A (en) * | 2016-10-25 | 2017-03-29 | 上海交通大学 | Running fix is equipped with the assembling docking for combining of dynamic adjustment |
| CN206155820U (en) * | 2016-11-16 | 2017-05-10 | 浙江日发航空数字装备有限责任公司 | Aircraft vertical fin removes transfers appearance butting device |
-
2017
- 2017-12-08 CN CN201711294263.8A patent/CN108071910B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102156340A (en) * | 2011-03-31 | 2011-08-17 | 哈尔滨工业大学 | High-precision pose adjusting device for spliced grating |
| US20160000512A1 (en) * | 2013-02-19 | 2016-01-07 | gomtec GmbH | Holding device for a surgical instrument and a sheath and method and control device for operating a robot with such a holding device |
| CN104148914A (en) * | 2014-08-07 | 2014-11-19 | 天津航天长征火箭制造有限公司 | Posture adjustment assembly system used for butt joint of components of rocket and posture adjustment method |
| CN104308767A (en) * | 2014-09-03 | 2015-01-28 | 上海交通大学 | Co-location device for automatically butting and assembling large-sized thin-wall barrel-shaped members |
| CN106142073A (en) * | 2016-07-24 | 2016-11-23 | 中国科学院合肥物质科学研究院 | A kind of advance and the adjusting apparatus of pose and method of adjustment for continuous robot |
| CN106541256A (en) * | 2016-10-25 | 2017-03-29 | 上海交通大学 | Running fix is equipped with the assembling docking for combining of dynamic adjustment |
| CN206155820U (en) * | 2016-11-16 | 2017-05-10 | 浙江日发航空数字装备有限责任公司 | Aircraft vertical fin removes transfers appearance butting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108071910A (en) | 2018-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108071910B (en) | A kind of pose adjustment device | |
| CN105466662B (en) | A kind of wind-tunnel angle of attack adjusting apparatus | |
| CN105174130A (en) | Gear lifting mechanism | |
| CN206511136U (en) | A kind of assisted unmanned plane launcher | |
| CN108163785A (en) | A kind of moveable attitude adjustment platform | |
| CN205836018U (en) | A kind of 3D prints automatically switch material device and printer | |
| CN103588087A (en) | Arc track multi-cylinder coordinated walking-pedrail boosting method | |
| CN202928970U (en) | Flaw detection car for industrial X ray | |
| CN203209504U (en) | Rear material blocking mechanism of bending machine | |
| WO2018177081A1 (en) | Switch point driving mechanism and straddle-beam monorail having same | |
| CN103252362B (en) | Forced rolling mill feed device | |
| CN109911656A (en) | It unloads goods in a kind of intelligence of medical instrument cargo transport operating system | |
| CN206318615U (en) | A kind of raising beam mechanism of the elevator laid for tunnel inner cable | |
| CN206031773U (en) | Helicopter and rotor device thereof | |
| CN109896432B (en) | Bridge crane equipment | |
| CN111035189A (en) | Non-lost aerial three-dimensional display equipment | |
| CN107433582A (en) | A kind of scalable flexible mechanical arm of omnibearing movable | |
| CN103466503B (en) | Lifting rotation mechanism | |
| CN207659004U (en) | A kind of boss rod enters cabin installation ancillary equipment | |
| CN105881469A (en) | Loading mechanism with multi-station function | |
| CN205616219U (en) | Owe to drive formula material feeding unit | |
| CN203091981U (en) | Automatic dotting clamp | |
| CN209567492U (en) | A kind of intelligent automatic turning machine people used in industrial production | |
| CN104384403B (en) | A kind of framework of steel reinforcement forming machine bidirectional size adjusting device | |
| CN219546573U (en) | Improved gantry crane for greenhouse |
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 |