CN108516027B - A supporting guide wheel structure and a cable climbing robot having the same structure - Google Patents
A supporting guide wheel structure and a cable climbing robot having the same structure Download PDFInfo
- Publication number
- CN108516027B CN108516027B CN201810472117.8A CN201810472117A CN108516027B CN 108516027 B CN108516027 B CN 108516027B CN 201810472117 A CN201810472117 A CN 201810472117A CN 108516027 B CN108516027 B CN 108516027B
- Authority
- CN
- China
- Prior art keywords
- crank
- wheel
- supporting
- climbing
- support
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a supporting guide wheel structure and a cable climbing robot with the same. Wherein, support the leading wheel structure and include: the device comprises a first connecting seat body, a second connecting seat body, a crank supporting arm, an elastic body and a supporting wheel component, wherein the first connecting seat body and the second connecting seat body are arranged at intervals, the crank part of the crank supporting arm is rotatably connected to the first connecting seat body, the first end of the elastic body is rotatably connected to the second connecting seat body, the second end of the elastic body is connected to the first end of the crank supporting arm, and the supporting wheel component is arranged at the second end of the crank supporting arm. By applying the technical scheme of the invention, the problem of unstable climbing movement of the robot caused by poor obstacle crossing capability of the supporting guide wheel structure applied to the cable climbing robot in the prior art can be solved.
Description
Technical Field
The invention belongs to the technical field of robot equipment, and particularly relates to a supporting guide wheel structure and a cable climbing robot with the same.
Background
The development history of the cable climbing robot is earlier in abroad than in China, and the cable climbing robot is developed by some research institutions in the United states and Europe in the end of the 80 th year of the 20 th century. For climbing robots in China, particularly bridge cable climbing robots, work under severe and complex environments, the robots often need to span obstacles to continue climbing in the cable climbing process, the relative stability between the robots and the cables can be ensured in the obstacle climbing process all the time, and at the moment, the supporting guide wheel structure is required to be applied to the robots to assist the robots to climb on the cables. The current cable climbing robot is constrained by the body structure of the robot, and the supporting guide wheel structure of a general linear suspension is limited by the influence of the structure of the robot, so that the obstacle crossing capability of the supporting guide wheel structure is limited. In the prior art, when encountering an obstacle, the support wheel supporting the guide wheel structure presses against the obstacle, which can cause the support wheel to separate from the cable, causing instability of the robot itself, and even causing the robot to slide off the cable.
Disclosure of Invention
The invention aims to solve the technical problem that the climbing movement of a robot is unstable due to poor obstacle crossing capability of a supporting guide wheel structure applied to a cable climbing robot in the prior art.
In order to solve the technical problems, the invention is realized in such a way that a supporting guide wheel structure comprises: the device comprises a first connecting seat body, a second connecting seat body, a crank supporting arm, an elastic body and a supporting wheel component, wherein the first connecting seat body and the second connecting seat body are arranged at intervals, the crank part of the crank supporting arm is rotatably connected to the first connecting seat body, the first end of the elastic body is rotatably connected to the second connecting seat body, the second end of the elastic body is connected to the first end of the crank supporting arm, and the supporting wheel component is arranged at the second end of the crank supporting arm.
Further, the supporting wheel assembly comprises a crank wheel seat, a first supporting wheel and a second supporting wheel, the crank part of the crank wheel seat is rotatably connected to the second end part of the crank supporting arm, the first supporting wheel is connected to the first end of the crank wheel seat, and the second supporting wheel is connected to the second end of the crank wheel seat.
Further, the tread portion of the first support wheel and/or the second support wheel is provided in a V-shape or a U-shape.
Further, the tread of the first supporting wheel and the tread of the second supporting wheel are covered with soft covering materials.
Further, the crank angle at the crank portion position of the crank wheel seat is greater than 90 °.
Further, the corner at the bell crank support arm bell crank position is 90 °.
Further, the elastic body comprises an assembling bolt, a spiral spring and a butterfly adjusting nut, the first end of the assembling bolt is connected with the second connecting seat body through a first hinge pin shaft, the spiral spring is sleeved on the assembling bolt, and the second end of the assembling bolt penetrates through an assembling hole on the first end of the crank supporting arm and then is connected with the butterfly adjusting nut.
Further, the crank part of the crank support arm is connected with the first connecting seat body through a second hinge pin shaft, and the crank part of the crank wheel seat is connected with the second end part of the crank support arm through a third hinge pin shaft.
Further, the first connecting seat body is provided with a first assembly hole and a second assembly hole, and the second hinge pin is arranged in the first assembly hole or the second assembly hole to adjust the extension distance of the second end part of the crank support arm towards the cable.
According to another aspect of the present invention, a cable climbing robot is provided. This cable climbing robot includes: first climbing structure, second climbing structure, actuating structure and supporting wheel structure, this supporting wheel structure is foretell support leading wheel structure, first climbing structure sets up relatively with the second climbing structure, first climbing structure and second climbing structure all are used for holding tightly the cable including holding tightly the mechanism, and holding tightly the mechanism on the first climbing structure and holding tightly the mechanism on the second climbing structure and holding tightly the cable in turn, all install the supporting wheel structure on each holding tightly the mechanism, the in-process supporting wheel structure at the climbing cable is in constant contact with the cable, actuating structure sets up between first climbing structure and second climbing structure, with the climbing of drive first climbing structure and second climbing structure is removed in turn.
In the process of carrying out auxiliary support in the cable climbing robot, because the first connecting seat body and the second connecting seat body are fixedly connected to form a fixed supporting point, the supporting wheel assembly always forms contact with the cable to play a role in auxiliary support in the process of climbing movement of the robot, when the supporting wheel assembly encounters an obstacle in the climbing movement process, the obstacle can jack up the supporting wheel assembly, at the moment, the jacking force of the obstacle on the supporting wheel assembly is transferred to the crank supporting arm, the crank supporting arm rotates by taking the connecting part of the crank supporting arm as a supporting point to compress the elastic body, so that the supporting wheel assembly adaptively passes over the obstacle, and the auxiliary supporting state is still continuously maintained in the process of passing over the obstacle to maintain the overall stability of the cable climbing robot, and after the supporting wheel assembly passes over the obstacle, the elastic body enables the supporting wheel assembly to be restored to be supported on the cable under the action of self elastic force, thereby ensuring that the climbing robot always integrally and stably carries out climbing movement on the cable.
Drawings
FIG. 1 is a schematic diagram of an assembled structure of a support and guide wheel structure according to an embodiment of the present invention;
FIG. 2 is an exploded view of a first perspective of a support roller structure according to an embodiment of the present invention;
FIG. 3 is an exploded view of a second view of a support roller structure according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an assembled configuration of an embodiment of the cable climbing robot of the present invention;
FIG. 5 is a schematic structural view of the drive structure of an embodiment of the cable climbing robot of the present invention assembled at a first view of the connecting rod;
FIG. 6 is a schematic structural view of the drive structure of an embodiment of the cable climbing robot of the present invention assembled at a second view of the connecting rod;
FIG. 7 is a schematic structural view of a drive structure of an embodiment of the cable climbing robot of the present invention assembled at a third view of the connecting rod;
FIG. 8 is a schematic structural view of a drive structure of an embodiment of the cable climbing robot of the present invention assembled at a fourth view of the connecting rod;
fig. 9 is a schematic diagram of an assembly structure of an upper hucking mechanism or a lower hucking mechanism of an embodiment of the cable-climbing robot of the present invention.
In the drawings, each reference numeral denotes:
31. a first connection base; 32. a second connecting seat body; 33. a bell crank support arm; 34. an elastomer; 35. a support wheel assembly; 311. a first fitting hole; 312. a second fitting hole; 341. assembling a bolt; 342. a coil spring; 343. butterfly adjusting nut; 344. a first hinge pin; 3441. a first clamp spring; 3442. a second clamp spring; 345. a second hinge pin; 3450. a pin nut; 346. a third hinge pin; 351. crank wheel seat; 352. a first support wheel; 353. a second support wheel; 354. a first bearing; 355. a second bearing; 356. supporting the wheel axle; 100. a cable; 101. a first climbing structure; 102. a second climbing structure; 10. a clasping mechanism; 20. a driving structure; 21. a connection assembly; 22. a power source assembly; 23. a first chain belt assembly; 24. a second chain belt assembly; 211. a connection frame; 212. a first slide rail; 213. a second slide rail; 221. a driving motor; 222. a driven pulley; 231. a first chain belt; 232. a first gear set; 241. a second chain belt; 242. a second gear set; 2321. a first power gear shaft; 2322. a first tensioning gear; 2421. a second power gear shaft; 2422. a reversing gear; 2423. a second tensioning gear; 11. a tightening mechanism; 12. a lower enclasping mechanism; 13. a connecting rod; 111. a support half ring; 112. a driving device; 113. a transmission device; 114. a swing arm; 115. clamping the sole; 116. an auxiliary spring; 1131. a drive worm; 1132. and (3) driving a worm wheel.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Explanation: the following description will be made by taking an example in which the support guide wheel structure provided by the present invention is applied to a cable climbing robot as an auxiliary support, but the present invention is not limited to the application of the support guide wheel structure to a cable climbing robot, and the present invention can be applied to other structures requiring stable sliding, for example, an auxiliary support in a linear sliding structure of a processing machine tool, and the like, and the description is not made.
As shown in fig. 1 to 3, the supporting and guiding wheel structure provided by the present invention includes a first connecting seat 31, a second connecting seat 32, a bell crank supporting arm 33, an elastic body 34 and a supporting wheel assembly 35. Wherein, first connecting seat body 31 and second connecting seat body 32 interval set up, when this support leading wheel structure is used and is carried out auxiliary stay on the cable climbing robot, first connecting seat body 31 and second connecting seat body 32 fixed mounting are in the corresponding mounted position in the robot. The bell crank portion of the bell crank support arm 33 is rotatably connected to the first connecting seat body 31, the first end of the elastic body 34 is rotatably connected to the second connecting seat body 32, the second end of the elastic body 34 is connected to the first end portion of the bell crank support arm 33, and the support wheel assembly 35 is mounted to the second end portion of the bell crank support arm 33.
In the process of carrying out auxiliary support in the cable climbing robot, because the first connecting seat body 31 and the second connecting seat body 32 are fixedly connected to form a fixed supporting point, the supporting wheel assembly 35 always contacts with the cable 100 to play a role in auxiliary support in the process of climbing movement of the robot, when the supporting wheel assembly 35 encounters an obstacle in the process of climbing movement, the supporting wheel assembly 35 is jacked by the obstacle, at the moment, the jacking force of the obstacle to the supporting wheel assembly 35 is transferred to the crank supporting arm 33, the crank supporting arm 33 rotates by taking the connecting part of the crank part as a supporting point to compress the elastic body 34, so that the supporting wheel assembly 35 is self-adaptively over the obstacle, and the auxiliary supporting state is still continuously maintained in the process of crossing the obstacle to maintain the overall stability of the cable climbing robot, and after the supporting wheel assembly 35 crosses the obstacle, the supporting wheel assembly 35 is restored to be supported on the cable 100 under the action of self elastic force by the elastic body 34, so that the cable climbing robot is always and stably climbed on the cable 100.
In this embodiment, the support wheel assembly 35 includes a bell crank wheel seat 351, a first support wheel 352, and a second support wheel 353. The bell crank portion of the bell crank wheel seat 351 is rotatably connected to the second end portion of the bell crank support arm 33, specifically, the first support wheel 352 is assembled in the same manner as the second support wheel 353, and the assembly is completed by the support wheel shaft 356 being matched with the first bearing 354 and the second bearing 355, that is, the first bearing 354 and the second bearing 355 are mounted at both ends of the support wheel shaft 356, and then the first support wheel 352 or the second support wheel 353 are assembled on the first bearing 354 and the second bearing 355. Generally, the fixed connection ends of the first connection seat body 31 and the second connection seat body 32 are fixedly installed in the same horizontal plane, and the distances between the two end points of the crank wheel seat 351 and the horizontal plane are respectively larger than the distances between the crank part of the crank wheel seat 351 and the horizontal plane. The first support wheel 352 is connected to a first end of the crank wheel seat 351, and the second support wheel 353 is connected to a second end of the crank wheel seat 351. In this way, the connection positions of the first support wheel 352, the second support wheel 353 and the crank part form a triangle structure, during climbing along the cable 100, the first support wheel 352 and the second support wheel 353 are all propped against the surface of the cable 100, then when the first support wheel 352 contacts an obstacle and passes over the obstacle, the first support wheel 352 is lifted up by the obstacle to rotate around the connection node between the crank part and the end part of the crank support arm 33, and at the moment, the second support wheel 353 still keeps propped against the surface of the cable 100 to maintain auxiliary support to keep climbing stable. Likewise, when the second support wheel 353 contacts the obstacle and is lifted by the obstacle while riding over the obstacle, the second support wheel 353 is rotated about the connection point between the bell crank portion and the end of the bell crank support arm 33, while the first support wheel 352 remains in abutment with the surface of the cable 100 to maintain auxiliary support to keep climbing stable.
Since the cable 100 is generally cylindrical, in order to increase the contact area between the wheel face of the first support wheel 352 and/or the wheel face of the second support wheel 353 and the surface of the cable 100, the wheel face of the first support wheel 352 and/or the second support wheel 353 is provided in a V-shape or a U-shape. Preferably, the wheel faces of the first support wheel 352 and the wheel faces of the second support wheel 353 of the present invention are each provided in a V shape. For the general cable 100 is columnar, the V-shaped wheel surface is utilized to prop against the cable 100, so that a coated propping form is formed, and the auxiliary support is more stable.
Soft covering materials are covered on the wheel surfaces of the first support wheel 352 and the second support wheel 353, so that when the first support wheel 352 and the second support wheel 353 are respectively in abutting contact with the cable 100 for auxiliary support, the soft covering materials can prevent the cable 100 from being scratched due to rigid contact between the wheel surfaces and the cable 100.
As shown in fig. 1-3, the bell crank angle at the bell crank position of the bell crank wheel seat 351 of the support guide wheel structure is greater than 90 ° and the bell crank angle is less than 180 °. Preferably, the angle of the crank angle at the crank position of the crank wheel seat 351 of the supporting guide wheel structure ranges from 120 ° to 150 °, and may be 120 °, 125 °, 130 °, 135 °, 140 °, 145 °, 150 °, for example, 120 °. Such an angle selection can make it easier during obstacle surmounting by the first support wheel 352 or the second support wheel 353 and can also make the auxiliary support continuously stable during obstacle surmounting. Further, the angle at the position of the bell crank portion of the bell crank support arm 33 is 90 °, and the angle at the position of the bell crank portion of the bell crank support arm may be 120 °, 125 °, 130 °, 135 °, 140 °, 145 °, 150 °. In this way, during obstacle surmounting, the bell crank support arm 33 and the bell crank wheel seat 351 cooperate with each other to adaptively avoid an obstacle.
The elastic body 34 supporting the guide wheel structure of the present embodiment includes a fitting bolt 341, a coil spring 342, and a butterfly adjusting nut 343. The first end of the assembly bolt 341 is connected with the second connecting seat body 32 through the first hinge pin 344, the spiral spring 342 is sleeved on the assembly bolt 341, the second end of the assembly bolt 341 passes through the assembly hole on the first end of the crank support arm 33 and then is connected with the butterfly adjusting nut 343, in the obstacle surmounting process, the crank support arm 33 compresses the spiral spring 342, so that the assembly bolt 341 rotates around the central axis of the first hinge pin 344, and after obstacle surmounting is completed, the spiral spring 342 returns to a natural assembly state. During assembly, the assembly bolt 341 is matched with the first clamp spring 3441 and the second clamp spring 3442 through the first hinge pin 344 to finish connection, the spiral spring 342 is sleeved on the assembly bolt 341, the first end of the crank support arm 33 is sleeved on the assembly bolt 341 and compresses the spiral spring 342, and finally the butterfly-shaped adjusting nut 343 is connected to the assembly bolt 341 to compress the crank support arm 33 and pre-compress the spiral spring 342.
In this embodiment, the crank portion of the crank support arm 33 and the first connecting base 31 are coupled by the second hinge pin 345 in cooperation with the pin nut 3450, and the crank support arm 33 rotates around the central axis of the second hinge pin 345 with the second hinge pin 345 as a fulcrum during obstacle surmounting. The crank part of the crank wheel seat 351 is connected with the second end part of the crank support arm 33 through a third hinge pin 346, and during obstacle surmounting, the crank wheel seat 351 rotates around the central axis of the third hinge pin 346 with the pivot of the third hinge pin 346.
When the auxiliary support is performed for the cables 100 of different diameters and then climbing is performed, in order to further expand the diameter range of the adaptive adjustment on the basis of the cable 100 of different diameters being accommodated within the compression amount range of the coil spring 342, therefore, the first connecting seat body 31 is provided with the first assembly hole 311 and the second assembly hole 312, and the second hinge pin 345 is disposed in the first assembly hole 311 or the second assembly hole 312 to adjust the extension distance of the second end portion of the bell crank support arm 33 toward the cable. That is, the range of the diameter of the accommodation when the second end of the bell crank support arm 33 is coupled to the second fitting hole 312 is larger than the range of the diameter of the accommodation when the second end of the bell crank support arm 33 is coupled to the first fitting hole 311.
According to another aspect of the present embodiment, as shown in fig. 4 to 8, a cable climbing robot is provided. This cable climbing robot includes: the first climbing structure 101, the second climbing structure 102, the driving structure 20 and the supporting wheel structure 30, wherein the supporting wheel structure 30 is the supporting guide wheel structure, the first climbing structure 101 and the second climbing structure 102 are oppositely arranged, the first climbing structure 101 and the second climbing structure 102 respectively comprise a enclasping mechanism 10, the enclasping mechanism 10 is used for enclasping cables, the enclasping mechanisms 10 on the first climbing structure 101 and the enclasping mechanisms 10 on the second climbing structure 102 are used for enclasping cables alternately, the supporting wheel structure 30 is arranged on each enclasping mechanism 10, the supporting wheel structure 30 is in constant contact with the cables in the process of climbing the cables, and the driving structure 20 is arranged between the first climbing structure 101 and the second climbing structure 102 so as to drive the first climbing structure 101 and the second climbing structure 102 to alternately climb and move.
As shown in fig. 4 to 8, the cable climbing robot of the present embodiment includes a first climbing structure 101, a second climbing structure 102, and a driving structure 20, the first climbing structure 101 is disposed opposite to the second climbing structure 102, each of the first climbing structure 101 and the second climbing structure 102 includes a enclasping mechanism 10, the enclasping mechanism 10 is used for enclasping the cable, and the enclasping mechanism 10 on the first climbing structure 101 and the enclasping mechanism 10 on the second climbing structure 102 alternately enclasping the cable, the driving structure 20 is installed between the first climbing structure 101 and the second climbing structure 102, the driving structure 20 includes a connection assembly 21, a power source assembly 22, a first chain belt assembly 23, and a second chain belt assembly 24, the connection assembly 21 is slidably connected with the first climbing structure 101, the second climbing structure 102, respectively, the power source assembly 22 is connected to the connection assembly 21, the power source assembly 22 drives the first chain belt assembly 23 and the second chain belt assembly 24 simultaneously, the first chain belt assembly 23 comprises a first chain belt 231 and a first gear set 232, two ends of the first chain belt 231 are respectively fixed at two ends of the first climbing structure 101, the first gear set 232 is connected to the connecting assembly 21, the first gear set 232 is meshed with the first chain belt 231, the power source assembly 22 is in driving connection with the first gear set 232, the second chain belt assembly 24 comprises a second chain belt 241 and a second gear set 242, two ends of the second chain belt 241 are respectively fixed at two ends of the second climbing structure 102, the second gear set 242 is connected to the connecting assembly 21, the second gear set 242 is meshed with the second chain belt 241, the power source assembly 22 is in driving connection with the second gear set 242, and the meshing transmission direction of the first gear set 232 and the first chain belt 231 is opposite to the meshing transmission direction of the second gear set 242 and the second chain belt 241.
When the cable climbing robot is used for climbing on the cable 100, particularly when climbing is performed on a bridge cable, the cable 100 is clasped by the clasping mechanism 10, the first climbing structure 101 and the second climbing structure 102 alternately ascend or descend, so that climbing movement is realized on the cable 100, in the process of climbing movement, the power source assembly 22 of the driving structure 20 outputs power, and the first gear set 232 and the second gear set 242 are driven to rotate simultaneously, and at the moment, relative meshing movement is respectively realized between the first gear set 232 and the first chain belt 231 and between the second gear set 242 and the second chain belt 241. For example, the first climbing structure 101 is illustrated as being clasped and secured to the cable 100 by the clasping mechanism 10. At this time, the power source module 22 is activated to output power, at this time, the connection module 21 moves upward with respect to the first climbing structure 101, and the second climbing structure 102 also moves upward with respect to the connection module 21 (if the first climbing structure 101 is taken as a movement reference, the upward movement speed of the connection module 21 with respect to the first climbing structure 101 is v, the upward movement speed of the second climbing structure 102 with respect to the first climbing structure 101 is 2 v, and if the connection module 21 is taken as a movement reference, the downward movement of the first climbing structure 101 with respect to the connection module 21 is v, the upward movement speed of the second climbing structure 102 with respect to the connection module 21 is 2 v). When the connection assembly 21 is slid up to the upper end of the first climbing structure 101, then the connection assembly 21 is positioned at the lower end of the second climbing structure 102, thus completing one step of the robot climbing on the cable 100. In the cable climbing robot of the embodiment, the mechanism joints among the first climbing structure 101, the connecting component 21 and the second climbing structure 102 are utilized to connect and realize relative movement, so that the joint structure design of the robot is reduced compared with the prior art, the structural composition of the robot is simplified, the miniaturization and the light weight design of the robot are facilitated, the difficulty of kinematic decoupling control is reduced, high-precision control is realized, and the robot can carry more sufficient load transportation capacity on the basis of ensuring sufficient power.
In this embodiment, the first gear set 232 of the cable climbing robot includes a first power gear shaft 2321, and the second gear set 242 includes a second power gear shaft 2421 and at least one reversing gear 2422. In this embodiment, as shown in fig. 7 and 8, the power source assembly 22 is composed of a driving motor 221, a driving pulley and a driven pulley 222, the driving motor 221 is connected and stabilized on the connecting assembly 21, the driving pulley is mounted on the output shaft of the driving motor 221, the driving pulley and the driven pulley 222 are connected by a transmission belt (not shown), and the first power gear shaft 2321, the second power gear shaft 2421 and the driven pulley are manufactured by adopting coaxial integral molding, namely: the gear teeth of the first power gear shaft 2321 and the gear teeth of the second power gear shaft 2421 are respectively located at two ends of the shaft, and the driven pulley is located at the middle position of the shaft, so that the power source assembly 22 simultaneously drives the first power gear shaft 2321 and the second power gear shaft 2421 to rotate in the same direction. As shown in fig. 6, the first chain belt 231 is wound around the gear teeth of the first power gear shaft 2321, and the gear teeth of the first power gear shaft 2321 are located between the first chain belt 231 and the enclasping mechanism 10 after the winding installation is completed, that is, the first chain belt 231 on the gear teeth of the first power gear shaft 2321 is disposed away from the enclasping mechanism 10. The second chain belt 241 is wound around the reversing gear 2422 and then around the gear teeth of the second power gear shaft 2421, as shown in fig. 5, after the second chain belt 241 is wound around the reversing gear 2422, the reversing gear 2422 is located between the second chain belt 241 and the clasping mechanism 10, and the second chain belt 241 wound around the gear teeth of the second power gear shaft 2421 is disposed close to the clasping mechanism 10.
As shown in fig. 4-6, the first gear set 232 of the cable climbing robot further includes two first tensioning gears 2322, and the second gear set 242 further includes two second tensioning gears 2423. The two first tensioning gears 2322 are respectively arranged at two sides of the first power gear shaft 2321, the first power gear shaft 2321 is located at a first side of the first chain belt 231, the two first tensioning gears 2322 are located at a second side of the first chain belt 231, the two second tensioning gears 2423 are respectively arranged at two sides of the second power gear shaft 2421, the second power gear shaft 2421 and the two second tensioning gears 2423 are both located at a first side of the second chain belt 241, and the reversing gear 2422 is located at a second side of the second chain belt 241. Specifically, the number of the reversing gears 2422 is two, the two reversing gears 2422 are respectively located at two sides of the second power gear shaft 2421, and one reversing gear 2422 is disposed between the second power gear shaft 2421 and one of the second tensioning gears 2423.
In addition, in this embodiment, only one first tensioning gear 2322, one second tensioning gear 2423 and one reversing gear 2422 may be selected, which is compared with the embodiment of selecting two first tensioning gears 2322, two second tensioning gears 2423 and two reversing gears 2422, where the two first tensioning gears 2322 are symmetrical with respect to the central axis of the first power gear shaft 2321, and the two second tensioning gears 2423 and the two reversing gears 2422 are symmetrical with respect to the central axis of the second power gear shaft 2421.
Referring to fig. 9, in the present embodiment, the enclasping mechanism 10 includes an upper enclasping mechanism 11, a lower enclasping mechanism 12, and a connecting rod 13, and the upper enclasping mechanism 11 and the lower enclasping mechanism 12 each include a support half ring 111, a driving device 112, a transmission device 113, at least two swing arms 114, and a clamping ball 115 connected to the swing arms 114 in a one-to-one correspondence. The support half ring 111 of the upper clasping mechanism 11 is connected to the first end of the connecting rod 13, and the support half ring 111 of the lower clasping mechanism 12 is connected to the second end of the connecting rod 13. In the present embodiment, two connecting rods 13 are assembled in one clasping mechanism 10, and the two connecting rods 13 are provided at both end portions of the support half ring 111, respectively. The driving device 112 and the transmission device 113 are both arranged on the support semi-ring 111, the driving device 112 is electrically connected with the controller, the driving device 112 is in driving connection with the transmission device 113, and the swinging arm 114 is connected with the transmission device 113 to drive the clamping sole 115 to clamp the cable. During climbing movement, the controller controls the driving device 112 to output power, and then the power is transmitted to the swinging arm 114 through the transmission device 113, so that the swinging arm 114 drives the clamping sole 115 to clamp the cable 100 tightly, wherein the transmission device 113 consists of a transmission worm 1131 and a transmission worm wheel 1132. Specifically, the cable climbing robot of the present embodiment is equipped with two swing arms 114 and two transmission worm gears 1132, a first end of the swing arm 114 is fixedly connected with one of the transmission worm gears 1132, the clamping ball 115 is fixed on a second end of the corresponding swing arm 114, two ends of the transmission worm 1131 are respectively provided with engagement threads, the two transmission worm gears 1132 are arranged at intervals, and the two transmission worm gears 1132 are assembled in one-to-one correspondence with the engagement threads at two ends of the transmission worm 1131. When the driving device 112 drives the transmission worm 1131 to rotate forward, the transmission worm 1131 is meshed with the transmission worm gear 1132 to drive the swing arm 114 to open; when the driving device 112 drives the driving worm 1131 to rotate reversely, the driving worm 1131 is meshed with the driving worm gear 1132 to drive the swing arm 114.
As shown in fig. 9, auxiliary springs 116 are further provided on the support half ring 111 in a one-to-one correspondence, a first end of each auxiliary spring 116 is connected to the support half ring 111, a second end of each auxiliary spring 116 is connected to a back surface of the corresponding clamping ball 115, and the clamping ball 115 is assembled with the swing arm 114 through a bearing. In this way, the auxiliary spring 116 can assist in maintaining the clamping ball 115 stable at all times when the clamping ball 115 is accommodating the cylindrical arc of the cable 100 during clamping of the cable 100. Even when cables 100 of different radii are being used, a quick fit is now made with the assistance of the auxiliary spring 116.
Further, the cable climbing robot further includes a controller (not shown), and the number of the driving structures 20 is two, and the two driving structures 20 are disposed opposite to each other. In the present embodiment, as shown in fig. 7 and 8, the connection assembly 21 includes a connection frame 211, a first rail structure, and a second rail structure, the guide groove of the first rail structure is disposed on a first side of the connection frame 211, the guide groove of the second rail structure is disposed on a second side of the connection frame 211, the first slide rail 212 of the first rail structure is fixed on the corresponding connection rod 13, and the second slide rail 213 of the second rail structure is fixed on the corresponding connection rod 13. The controller is mounted on the connection frame 211 of the connection assembly 21 of one of the driving structures 20, and the controller is electrically connected to the power source assemblies 22 of both driving structures 20 to control the two power source assemblies 22 to synchronously output driving force. The controller controls the two driving structures 20 to simultaneously output driving force, thereby securing the load transporting capability of the cable climbing robot to a greater extent.
Specifically, a detection device (not shown) is mounted on the support half ring 111 of the upper hugging mechanism 11, and the detection device is electrically connected to the controller. Because the loading transportation ability of the cable climbing robot of this embodiment has had the promotion to a large extent for current cable climbing robot, consequently, the cable climbing robot of this embodiment can carry bigger, more accurate detection device to obtain more comprehensive, careful detection data, also can describe the power of bigger piece in order to provide sufficient electric energy simultaneously, thereby satisfy the robot and carry out long-time inspection work.
When the cable climbing robot of the embodiment is applied, the method specifically comprises the following implementation steps:
the first step: wire-up preparation, fitting the first climbing structure 101, the second climbing structure 102, the drive structure 20 on the cable 100, and clamping the ball 115 on the first climbing structure 101 to hug the cable 100;
and a second step of: the second climbing structure 102 is moved upward relative to the first climbing structure 101 by the drive structure 20, at which time the gripping ball 115 of the second climbing structure 102 expands out of the cable 100;
and a third step of: when the connection assembly 21 of the driving structure 20 is located at the lower end of the second climbing structure 102 and the connection assembly 21 of the driving structure 20 is located at the upper end of the first climbing structure 101, the clamping ball 115 of the second climbing structure 102 tightly holds the cable 100, the clamping ball 115 of the first climbing structure 101 is opened to be separated from the cable 100, and then the driving structure 20 drives the first climbing structure 101 to move upwards relative to the second climbing structure 102;
fourth step: when the connection assembly 21 of the driving structure 20 is located at the lower end of the first climbing structure 101 and the connection assembly 21 of the driving structure 20 is located at the upper end of the second climbing structure 102, the second and third steps are then repeated in a loop until the walking task is completed.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. A support guide wheel structure, comprising: the novel crank mechanism comprises a first connecting seat body (31), a second connecting seat body (32), a crank supporting arm (33), an elastic body (34) and a supporting wheel assembly (35), wherein the first connecting seat body (31) and the second connecting seat body (32) are arranged at intervals, the crank part of the crank supporting arm (33) is rotatably connected to the first connecting seat body (31), the first end of the elastic body (34) is rotatably connected to the second connecting seat body (32), the second end of the elastic body (34) is connected to the first end of the crank supporting arm (33), the supporting wheel assembly (35) comprises a crank seat (351), a first supporting wheel (352) and a second supporting wheel (353), the crank part of the crank seat (351) is rotatably connected to the second end of the crank supporting arm (33), the first supporting wheel (352) is connected to the first end of the crank seat (351), and the second supporting wheel (353) is connected to the second end of the crank seat (351).
2. The support-guide wheel structure according to claim 1, characterized in that the wheel faces of the first support wheel (352) and/or the second support wheel (353) are provided in a V-shape or a U-shape.
3. The support-guide wheel structure of claim 2, wherein the tread of the first support wheel (352) and the second support wheel (353) are each covered with a soft facing material.
4. A supporting guide wheel structure as claimed in claim 2 or 3, characterized in that the crank angle at the crank position of the crank wheel seat (351) is greater than 90 °.
5. Support-guide wheel arrangement according to claim 4, characterized in that the corner at the location of the bell crank portion of the bell crank support arm (33) is 90 °.
6. The supporting guide wheel structure according to claim 5, wherein the elastic body (34) comprises an assembling bolt (341), a spiral spring (342) and a butterfly adjusting nut (343), a first end of the assembling bolt (341) is connected with the second connecting seat body (32) through a first hinge pin (344), the spiral spring (342) is sleeved on the assembling bolt (341), and a second end of the assembling bolt (341) passes through an assembling hole on the first end of the bell crank supporting arm (33) and then is connected with the butterfly adjusting nut (343).
7. The support-guide wheel structure according to claim 6, characterized in that the bell crank portion of the bell crank support arm (33) is connected with the first connecting seat body (31) by a second hinge pin (345), and the bell crank portion of the bell crank wheel seat (351) is connected with the second end of the bell crank support arm (33) by a third hinge pin (346).
8. The supporting guide wheel structure according to claim 7, wherein the first connecting seat body (31) is provided with a first assembling hole (311) and a second assembling hole (312), and the second hinge pin (345) is provided in the first assembling hole (311) or the second assembling hole (312) to adjust the extending distance of the second end portion of the bell crank supporting arm (33) toward the cable.
9. A cable climbing robot, comprising: the first climbing structure (101), second climbing structure (102), driving structure (20) and supporting wheel structure (30), characterized in that, this supporting wheel structure (30) is claim 1 to 8 any one of supporting guide wheel structure, first climbing structure (101) with second climbing structure (102) set up relatively, first climbing structure (101) with second climbing structure (102) all include enclasping mechanism (10), enclasping mechanism (10) are used for enclasping cable, just enclasping mechanism (10) on first climbing structure (101) with enclasping mechanism (10) on second climbing structure (102) are enclasping in turn the cable, each enclasping mechanism (10) is last all installed supporting wheel structure (30), in the climbing process of cable supporting wheel structure (30) with the cable is often contacted, driving structure (20) set up first climbing structure (101) with second climbing structure (102) are in order to remove first climbing structure (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472117.8A CN108516027B (en) | 2018-05-17 | 2018-05-17 | A supporting guide wheel structure and a cable climbing robot having the same structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472117.8A CN108516027B (en) | 2018-05-17 | 2018-05-17 | A supporting guide wheel structure and a cable climbing robot having the same structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108516027A CN108516027A (en) | 2018-09-11 |
| CN108516027B true CN108516027B (en) | 2024-03-15 |
Family
ID=63427103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810472117.8A Active CN108516027B (en) | 2018-05-17 | 2018-05-17 | A supporting guide wheel structure and a cable climbing robot having the same structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108516027B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114665B (en) * | 2020-01-17 | 2024-11-22 | 深圳市人工智能与机器人研究院 | Cable climbing robot and recovery method |
Citations (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191312264A (en) * | 1913-05-26 | 1914-01-22 | Bernard James Egan | An Improved Resilient Suspension for the Bodies of Vehicles. |
| US4566707A (en) * | 1981-11-05 | 1986-01-28 | Nitzberg Leonard R | Wheel chair |
| US6129165A (en) * | 1996-07-03 | 2000-10-10 | Pride Mobility Products, Corporation | Curb-climbing power wheelchair |
| CN1280538A (en) * | 1997-11-26 | 2001-01-17 | 奥托·博克矫形工业两合公司 | Safety devices for stair climbers |
| JP3087960U (en) * | 2002-02-14 | 2002-08-23 | 必翔實業股▲ふん▼有限公司 | Caster structure |
| EP1738734A2 (en) * | 2005-06-28 | 2007-01-03 | D Cubed S.r.l. | Powered tripod wheel assembly, in particular for a wheelchair, and wheelchair featuring such a wheel assembly |
| JP2009262720A (en) * | 2008-04-24 | 2009-11-12 | Kubota Corp | Transplanter |
| CN101771250A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism |
| CN102602437A (en) * | 2012-04-18 | 2012-07-25 | 徐宏伟 | Electric cargo-carrying stair climbing vehicle |
| KR20130004825A (en) * | 2011-07-04 | 2013-01-14 | 서울대학교산학협력단 | Climbing robot having rope ascender |
| CN203090360U (en) * | 2013-02-27 | 2013-07-31 | 常州信息职业技术学院 | Pole-climbing robot |
| WO2014076837A1 (en) * | 2012-11-19 | 2014-05-22 | 株式会社日立製作所 | Mobile body |
| CN104674655A (en) * | 2015-02-27 | 2015-06-03 | 西南交通大学 | Cable climbing robot |
| CN204712040U (en) * | 2015-05-22 | 2015-10-21 | 山东英才学院 | Inner-walls of duct climbing block removing robot |
| CN105346615A (en) * | 2015-10-29 | 2016-02-24 | 南京邮电大学 | Closed high-altitude cable rope climbing robot |
| CN105383581A (en) * | 2015-12-18 | 2016-03-09 | 哈尔滨科能熔敷科技有限公司 | Wall climbing robot with V-shaped permanent magnet chain sheets buffered by elastic steel sheets |
| CN205131420U (en) * | 2015-10-29 | 2016-04-06 | 南京邮电大学 | Be applied to robot that climbs of high altitude cable |
| CN105539625A (en) * | 2016-01-12 | 2016-05-04 | 宁波天弘电力器具有限公司 | Climbing robot based on guide rail |
| CN106393052A (en) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | Wall-climbing robot |
| CN205971576U (en) * | 2016-08-12 | 2017-02-22 | 香港中文大学（深圳） | Run -bake -needle fault device |
| CN106800053A (en) * | 2017-03-24 | 2017-06-06 | 洛阳圣瑞智能机器人有限公司 | It is a kind of to climb wall paint-spray robot with elastic burst-proof tyre |
| CN107671867A (en) * | 2017-10-11 | 2018-02-09 | 深圳市普渡科技有限公司 | A kind of intelligent distribution robot |
| CN107696044A (en) * | 2017-09-25 | 2018-02-16 | 香港中文大学（深圳） | A kind of climbing manipulator |
| CN107719503A (en) * | 2017-11-25 | 2018-02-23 | 无锡锡东电力电气安装工程有限公司 | A kind of climbing robot and safety rope active suspension system for being used to hang safety rope |
| CN107773390A (en) * | 2017-12-11 | 2018-03-09 | 成都创客之家科技有限公司 | A kind of human body auxiliary walking device back fixation supporting structure |
| CN207208162U (en) * | 2017-09-25 | 2018-04-10 | 陈阳雨 | Climb building carrier |
| CN107933725A (en) * | 2017-11-20 | 2018-04-20 | 河北工业大学 | It is a kind of can obstacle detouring multi-functional climbing robot |
| CN208291364U (en) * | 2018-05-17 | 2018-12-28 | 香港中文大学（深圳） | A kind of support guide wheel construction and the cable climbing robot with the structure |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6625846B2 (en) * | 1998-03-06 | 2003-09-30 | Shigeo Takizawa | Caster for robot |
| US7490683B2 (en) * | 2003-12-15 | 2009-02-17 | Schaffner Walter E | Curb-climbing power wheelchair |
| WO2007011668A2 (en) * | 2005-07-14 | 2007-01-25 | Pride Mobility Products Corporation | Powered wheelchair configurations and related methods of use |
| KR101486009B1 (en) * | 2013-01-29 | 2015-01-28 | 한국과학기술연구원 | Driving Wheel of Robot moving along the wire and Robot having the same |
-
2018
- 2018-05-17 CN CN201810472117.8A patent/CN108516027B/en active Active
Patent Citations (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191312264A (en) * | 1913-05-26 | 1914-01-22 | Bernard James Egan | An Improved Resilient Suspension for the Bodies of Vehicles. |
| US4566707A (en) * | 1981-11-05 | 1986-01-28 | Nitzberg Leonard R | Wheel chair |
| US6129165A (en) * | 1996-07-03 | 2000-10-10 | Pride Mobility Products, Corporation | Curb-climbing power wheelchair |
| CN1280538A (en) * | 1997-11-26 | 2001-01-17 | 奥托·博克矫形工业两合公司 | Safety devices for stair climbers |
| JP3087960U (en) * | 2002-02-14 | 2002-08-23 | 必翔實業股▲ふん▼有限公司 | Caster structure |
| EP1738734A2 (en) * | 2005-06-28 | 2007-01-03 | D Cubed S.r.l. | Powered tripod wheel assembly, in particular for a wheelchair, and wheelchair featuring such a wheel assembly |
| JP2009262720A (en) * | 2008-04-24 | 2009-11-12 | Kubota Corp | Transplanter |
| CN101771250A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism |
| KR20130004825A (en) * | 2011-07-04 | 2013-01-14 | 서울대학교산학협력단 | Climbing robot having rope ascender |
| CN102602437A (en) * | 2012-04-18 | 2012-07-25 | 徐宏伟 | Electric cargo-carrying stair climbing vehicle |
| WO2014076837A1 (en) * | 2012-11-19 | 2014-05-22 | 株式会社日立製作所 | Mobile body |
| CN203090360U (en) * | 2013-02-27 | 2013-07-31 | 常州信息职业技术学院 | Pole-climbing robot |
| CN104674655A (en) * | 2015-02-27 | 2015-06-03 | 西南交通大学 | Cable climbing robot |
| CN204712040U (en) * | 2015-05-22 | 2015-10-21 | 山东英才学院 | Inner-walls of duct climbing block removing robot |
| CN105346615A (en) * | 2015-10-29 | 2016-02-24 | 南京邮电大学 | Closed high-altitude cable rope climbing robot |
| CN205131420U (en) * | 2015-10-29 | 2016-04-06 | 南京邮电大学 | Be applied to robot that climbs of high altitude cable |
| CN105383581A (en) * | 2015-12-18 | 2016-03-09 | 哈尔滨科能熔敷科技有限公司 | Wall climbing robot with V-shaped permanent magnet chain sheets buffered by elastic steel sheets |
| CN105539625A (en) * | 2016-01-12 | 2016-05-04 | 宁波天弘电力器具有限公司 | Climbing robot based on guide rail |
| CN205971576U (en) * | 2016-08-12 | 2017-02-22 | 香港中文大学（深圳） | Run -bake -needle fault device |
| CN106393052A (en) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | Wall-climbing robot |
| CN106800053A (en) * | 2017-03-24 | 2017-06-06 | 洛阳圣瑞智能机器人有限公司 | It is a kind of to climb wall paint-spray robot with elastic burst-proof tyre |
| CN207208162U (en) * | 2017-09-25 | 2018-04-10 | 陈阳雨 | Climb building carrier |
| CN107696044A (en) * | 2017-09-25 | 2018-02-16 | 香港中文大学（深圳） | A kind of climbing manipulator |
| CN107671867A (en) * | 2017-10-11 | 2018-02-09 | 深圳市普渡科技有限公司 | A kind of intelligent distribution robot |
| CN107933725A (en) * | 2017-11-20 | 2018-04-20 | 河北工业大学 | It is a kind of can obstacle detouring multi-functional climbing robot |
| CN107719503A (en) * | 2017-11-25 | 2018-02-23 | 无锡锡东电力电气安装工程有限公司 | A kind of climbing robot and safety rope active suspension system for being used to hang safety rope |
| CN107773390A (en) * | 2017-12-11 | 2018-03-09 | 成都创客之家科技有限公司 | A kind of human body auxiliary walking device back fixation supporting structure |
| CN208291364U (en) * | 2018-05-17 | 2018-12-28 | 香港中文大学（深圳） | A kind of support guide wheel construction and the cable climbing robot with the structure |
Non-Patent Citations (2)
| Title |
|---|
| 一种全方位爬缆机器人的设计与分析;海丹;张辉;韩大鹏;郑志强;;机电工程(第01期);全文 * |
| 大直径缆索检测蛇形机器人单环攀爬研究与实现;何振勇;孙洪超;魏武;;机械与电子(第07期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108516027A (en) | 2018-09-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108454723B (en) | A cable climbing robot | |
| CN109084119B (en) | Multi-motion-mode pipeline robot | |
| CN106882284A (en) | A kind of four-jaw type apery tube climber device people | |
| CN108216409B (en) | A flexible creeping climbing robot | |
| US20080282821A1 (en) | Robot with linearly movable support member attaching to gripper | |
| CN109217167B (en) | Composite clamping device and cable inspection robot used by cable inspection robot | |
| CN108555940B (en) | Crawling robot and pole-climbing structure thereof | |
| CN114670182A (en) | Closed loop rope of low return gap of high rigidity drives automatically controlled integrative device of flexible arm drive | |
| CN108516027B (en) | A supporting guide wheel structure and a cable climbing robot having the same structure | |
| CN108528558B (en) | A cable climbing robot | |
| CN110526155A (en) | A kind of lifting device for road electromechanics | |
| CN115013641B (en) | Rust removal robot and rust removal method suitable for pipelines with various diameters | |
| KR100343316B1 (en) | Joint Robot with Spring Balancer | |
| WO2021171062A1 (en) | Pole climbing device | |
| CN208842170U (en) | A kind of wheel group lifting structure based on Bidirectional-screw | |
| CN211491559U (en) | Hydraulic robot for carrying brake disc | |
| CN216301283U (en) | A Cylinder Climbing Robot | |
| CN208291364U (en) | A kind of support guide wheel construction and the cable climbing robot with the structure | |
| KR20190141421A (en) | Structure of robot with dual arms | |
| CN108995727B (en) | A pneumatic muscle-driven Delta robot | |
| CN111281749B (en) | A lifting and weight-reducing mechanism for a rehabilitation robot | |
| CN216634197U (en) | Aircraft engine assembly vehicle | |
| CN115533959A (en) | Arm joint structure and arm | |
| CN111671617B (en) | Rope-driven exoskeleton mechanical arm length adjusting connecting rod capable of maintaining constant rope tension | |
| CN116620441B (en) | Coupling driving force-accumulating adjustable jumping leg and foot mechanism and coupling driving method |
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 |