CN107263528A - The flexible joint structure of flexible arm - Google Patents
The flexible joint structure of flexible arm Download PDFInfo
- Publication number
- CN107263528A CN107263528A CN201710601659.6A CN201710601659A CN107263528A CN 107263528 A CN107263528 A CN 107263528A CN 201710601659 A CN201710601659 A CN 201710601659A CN 107263528 A CN107263528 A CN 107263528A
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- China
- Prior art keywords
- joint structure
- flexible
- linkage section
- flexible joint
- section
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible joint structure of flexible arm, the flexible joint structure of the flexible arm includes：Upper linkage section；Lower linkage section, the upper linkage section that the lower linkage section is suitable to the flexible joint structure adjacent with the flexible arm is connected；Connection ring, the connection ring is set in the upper linkage section and the junction of the lower linkage section and the rope of the flexible arm is adapted to pass through the connection ring；Deformation section, the two ends of the upper linkage section and the lower linkage section respectively with the deformation section are connected, the deformation section includes the i-shaped beamses of multiple interconnections, multiple i-shaped beamses are arranged in be sequentially connected multipair in the axial direction of the deformation section, and each pair is included in the i-shaped beamses for two interconnections being oppositely arranged in the circumference of the deformation section.The flexible joint structure of flexible arm according to embodiments of the present invention has the advantages that light weight, good bending property and load capacity are strong.
Description
Technical field
The present invention relates to intelligent flexible arm technical field, in particular to a kind of flexible joint structure of flexible arm.
Background technology
The characteristics of industrial robot is due to its high rigidity and big structure size, application under narrow working space environment by
To great restriction.Flexible link manipulators due to draw ratio is big, the free degree is more, flexible movements, strong environmental adaptability etc.
Advantage, it is easy to pose, extension working space, avoidant disorder thing are neatly adjusted in narrow space and singular point is overcome.It is related
The joint of flexible arm in technology uses candan universal joint structure, and the curved of whole arm is obtained using the bending free degree in rigid joint
Bent angle；Rigid joint mass ratio is heavier, therefore causes whole arm itself overweight, it is necessary to which driving power is big；Meanwhile, closed using rigid
The bending curvature that section is pivoted free degree acquisition is small, and whole arm flexible bending effect is poor.In addition, medical flexible arm design is using soft
Property material make, but diameter is minimum, generally in the range of several millimeters, loads also minimum, cannot be popularized in commercial Application.
The content of the invention
It is contemplated that at least solving one of technical problem present in prior art.Therefore, the present invention proposes that one kind is soft
Property arm flexible joint structure, the flexible joint structure of the flexible arm has light weight, good bending property and load capacity strong etc.
Advantage.
To achieve the above object, embodiments in accordance with the present invention propose a kind of flexible joint structure of flexible arm, described soft
The flexible joint structure of property arm includes：Upper linkage section；Lower linkage section, the lower linkage section is suitable to adjacent with the flexible arm
The upper linkage section of the flexible joint structure is connected；Connection ring, the connection ring is set in the upper linkage section and described
The junction of the lower linkage section and rope of the flexible arm is adapted to pass through the connection ring；Deformation section, the upper linkage section and institute
State two ends of the lower linkage section respectively with the deformation section to be connected, the deformation section includes the i-shaped beamses of multiple interconnections, many
The individual i-shaped beamses are arranged in be sequentially connected multipair in the axial direction of the deformation section, and each pair is included in the deformation section
The i-shaped beamses for two interconnections being oppositely arranged in circumference.
The flexible joint structure of flexible arm according to embodiments of the present invention, with light weight, good bending property and load energy
The advantages of power is strong.
In addition, the flexible joint structure of flexible arm according to the above embodiment of the present invention can also have skill additional as follows
Art feature：
According to one embodiment of present invention, the i-shaped beamses include：Entablature；Sill, the entablature and institute
State the sill circumferentially extending along the deformation section and the interval setting in the axial direction of the deformation section；Longeron, the longeron
It is connected respectively along the axially extending of the deformation section and with the entablature and the sill.So it is easy to the i-shaped beamses
Shaping.
Further, the entablature and the I-shaped adjacent in the axial direction of the deformation section with it of each i-shaped beamses
The sill of type beam is connected.So it is easy to the formation of the deformation section.
Alternatively, two longerons adjacent in the axial direction of the deformation section stagger 90 in the circumference of the deformation section
Degree.The deformation section can be so set to be bent to two frees degree for being mutually 90.
According to further embodiment of the present invention, the upper surface of each entablature is provided with boss.It can so limit
The maximum distortion amplitude of the i-shaped beamses.
According to still another embodiment of the invention, the upper linkage section is interference fitted in the adjacent flexible joint structure
Lower linkage section in.So it is easy to improve the connection reliability of the upper linkage section and the adjacent lower linkage section.
According to further embodiment of the present invention, the upper linkage section and the lower linkage section are equipped with along flexible joint knot
The pin shaft hole of flexible joint structure described in the radial direction insertion of structure, the connection ring is provided with screwed hole, the upper linkage section, described
Lower linkage section and the connection ring are by coordinating the threaded pin in the pin shaft hole and the screwed hole to be connected with each other.So
It is easy to improve connection Stability and veracity.
Further, the pin shaft hole staggers 45 degree with the longeron in the circumference of the flexible joint structure.So
The pin shaft hole and the longeron hypotelorism can be avoided and the structural strength of the deformation section is influenceed.
According to still a further embodiment, the connection ring be provided with suitable for the flexible arm rope pass through it is many
Individual cable-through hole, multiple cable-through holes are set axially through the connection ring and along the circumferentially-spaced of the connection ring along the connection ring
Put.So it is easy to the setting of the rope of the flexible arm.
Alternatively, the deformation section is formed by the cutting of flexible tubular material pieces hollow out.So it is easy to improve the deformation section
Crooked deformability.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the structural representation of the flexible joint structure of flexible arm according to embodiments of the present invention.
Fig. 2 is the sectional view of the flexible joint structure of flexible arm according to embodiments of the present invention.
Fig. 3 is the partial structural diagram of the flexible joint structure of flexible arm according to embodiments of the present invention.
Fig. 4 is the partial structural diagram of the flexible joint structure of flexible arm according to embodiments of the present invention.
Reference：The flexible joint structure 1 of flexible arm, upper linkage section 100, pin shaft hole 110, lower linkage section 200, connection
Ring 300, cable-through hole 310, screwed hole 320, deformation section 400, i-shaped beamses 410, entablature 411, boss 4111, sill 412,
Longeron 413.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the flexible joint structure 1 of flexible arm according to embodiments of the present invention is described.
As Figure 1-Figure 4, the flexible joint structure 1 of flexible arm according to embodiments of the present invention include upper linkage section 100,
Lower linkage section 200, connection ring 300 and deformation section 400.
The upper linkage section 100 that lower linkage section 200 is suitable to the flexible joint structure 1 adjacent with the flexible arm is connected
(above-below direction is as shown in the arrow A in Fig. 1-Fig. 4).Connection ring 300 is set in the company of linkage section 100 and lower linkage section 200
The rope of the place of connecing and the flexible arm is adapted to pass through connection ring 300.Upper linkage section 100 and lower linkage section 200 respectively with deformation section
400 two ends are connected, and deformation section 400 includes the i-shaped beamses 410 of multiple interconnections, and multiple i-shaped beamses 410 are in deformation section
Be sequentially connected multipair is arranged in 400 axial direction, each pair is included in two be oppositely arranged in the circumference of deformation section 400 mutually
The i-shaped beamses 410 of connection.
Specifically, as shown in figure 3, first i-shaped beamses 1-410 and second i-shaped beamses 2-410 is along deformation section
400 circumference is oppositely arranged in pairs, the 3rd weeks of i-shaped beamses 3-410 and the 4th i-shaped beamses 4-410 along deformation section 400
To being oppositely arranged in pairs, first i-shaped beamses 1-410, second i-shaped beamses 2-410, the 3rd i-shaped beamses 3-410 and
It is arranged in order above and below 4th axial directions of the i-shaped beamses 4-410 along deformation section 400, other i-shaped beamses 410 are according to such a rule
Set.
The flexible joint structure 1 of flexible arm according to embodiments of the present invention, by setting upper linkage section 100, lower linkage section
200th, connection ring 300 and deformation section 400, break through flexible arm in correlation technique and use rigid articulation and conventional flexible material arm
Miniaturization, the limitation of extremely low load, in the increase size of flexible joint structure 1, the rigidity of increase flexible joint structure 1 and lifting are flexible
While articulation structure 1 is loaded, the flexible bending performance of flexible joint structure 1 is improved, further expands the performance of the flexible arm
With use scope.
Also, by setting multiple i-shaped beamses 410, substantially increase the flexibility function of flexible joint structure 1.Deformation section
The structure of i-shaped beamses 410 of multipair " work " font is used in 400, flexible joint structure 1 is may be such that under rope driving, deformation is more
Close to arc-shaped, curvature more preferably, overcomes the shortcoming of the curvature difference of rigid cross universal axis joint in correlation technique.
Therefore, the flexible joint structure 1 of flexible arm according to embodiments of the present invention has light weight, good bending property and born
The advantages of loading capability is strong.
Below with reference to the accompanying drawings flexible joint structure 1 according to the flexible arm of the specific embodiment of the invention is described.
In some specific embodiments of the present invention, as Figure 1-Figure 4, flexible arm according to embodiments of the present invention it is soft
Property articulation structure 1 include upper linkage section 100, lower linkage section 200, connection ring 300 and deformation section 400.
Specifically, as shown in Fig. 2 i-shaped beamses 410 include entablature 411, sill 412 and longeron 413, entablature
411 and sill 412 along deformation section 400 circumferentially extending and in the axial direction of deformation section 400 be arranged at intervals.The edge of longeron 413
Deformation section 400 axially extending and it is connected respectively with entablature 411 and sill 413.So be easy to i-shaped beamses 410 into
Shape.
More specifically, as shown in figure 1, the entablature 411 of each i-shaped beamses 410 and with its deformation section 400 axle
The sill 412 of adjacent i-shaped beamses 410 is connected upwards.So it is easy to the formation of deformation section 400, makes the structure of flexible joint
1 is more reasonable.
Alternatively, as shown in figure 1, two longerons 413 adjacent in the axial direction of deformation section 400 deformation section 400 week
Stagger 90 degree upwards.It deformation section 400 is bent to two frees degree for being mutually 90, improve deformation section 400
Deformability.
The flexible joint structure 1 of the flexible arm of the present invention cleverly hands over flexible joint structure 1 into multipair into 90 degree
Mistake cuts into the structure of i-shaped beamses 410 of " work " font, it is suppressed that other deformations of flexible joint structure 1, so that flexible
Articulation structure 1 has two frees degree, and pitching and the free degree bending for both direction of going off course can be achieved, flexibility is substantially increased
The flexibility function of articulation structure 1.
Further, as shown in Fig. 2 the upper surface of each entablature 411 is provided with boss 4111.I-shaped can so be limited
The maximum distortion amplitude of type beam 410, it is to avoid its deform it is excessive cause structure to be damaged, improve i-shaped beamses 410 intensity and
Rigidity.
The flexible joint structure 1 of the flexible arm of the present invention, it is innovative to be designed with boss on the end face of i-shaped beamses 410
4111, expanding " work " the font spacing, the length of extension flexible joint structure 1, reduction flexible joint structure 1 of i-shaped beamses 410
While quality, boss 4111 can suppress the maximum deformation quantity of flexible joint structure 1, it is to avoid beyond the change of material yield strength
Shape so that flexible joint structure 1 pushes up to deform to after boss 4111 in deformation process to be stopped, and plays protection flexible joint structure 1
Effect.
Specifically, the flexible joint structure 1 of flexible arm has the design of hollow structure, on the one hand expands flexible joint
The intended diameter of structure 1, the rigidity for increasing flexible joint structure 1, have broken flexible material and only can be used under very small diameter
Flexible arm limitation, expand and use scope.On the other hand, the quality of flexible joint structure 1 can be mitigated, while being also convenient for electricity
The cabling of road and pipe gas in flexible joint structure 1.
Fig. 1-Fig. 4 shows the flexible joint structure 1 of the flexible arm according to the present invention.Upper linkage section 100 is interference fitted in
In the lower linkage section 200 of adjacent flexible joint structure 1.So it is easy to improve linkage section 100 and adjacent lower linkage section 200
Connection reliability.
Specifically, upper linkage section 100 is designed to the multidiameter structure being engaged with variant part 400, and lower linkage section 200 is set
The structure for the interior countersunk head being engaged with deformation section 400 is counted into, is so easy to upper linkage section 100, lower linkage section 200 respectively and deforms
The connection of section 400.
Specifically, as shown in Fig. 2 upper linkage section 100 and lower linkage section 200 are equipped with the radial direction along flexible joint structure 1
The pin shaft hole 110 of insertion flexible joint structure 1, connection ring 300 is provided with screwed hole 320, upper linkage section 100, lower linkage section 200
With connection ring 300 by coordinating the threaded pin in pin shaft hole 110 and screwed hole 320 to be connected with each other.Specifically, sell
Axis hole 110 and screwed hole 320 are 4 and set at equal intervals in the circumferential.So it is easy to upper linkage section 100, lower linkage section
200 and the connection of connection ring 300 positioned, be easy to improve connection Stability and veracity.
More specifically, as shown in figure 3, pin shaft hole 110 and longeron 413 stagger 45 in the circumference of flexible joint structure 1
Degree.Pin shaft hole 110 and the hypotelorism of longeron 413 can so be avoided and the structural strength of deformation section 400 is influenceed.
Alternatively, as shown in figure 1, connection ring 300 is provided with the multiple cable-through holes passed through suitable for the rope of the flexible arm
310, multiple cable-through holes 310 are along connection ring 300 axially through connection ring 300 and being provided at circumferentially spaced along connection ring 300.This
Sample is easy to the setting of the rope of the flexible arm.
Specifically, deformation section 400 is formed by the cutting of flexible tubular material pieces hollow out.So it is easy to improve deformation section 400
Crooked deformability, is easy to manufacture, is easy to improve the globality of deformation section 400.
Other of the flexible joint structure 1 of flexible arm according to embodiments of the present invention are constituted and operated general for this area
All it is known for logical technical staff, is not detailed herein.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than indicate or imply that the device or element of meaning must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, limit
Surely there is " first ", one or more this feature can be expressed or be implicitly included to the feature of " second ".The present invention's
In description, unless otherwise indicated, " multiple " are meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means to combine specific features, the knot that the embodiment or example are described
Structure, material or feature are contained at least one embodiment of the present invention or example.In this manual, to above-mentioned term
Schematic representation is not necessarily referring to identical embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can in an appropriate manner be combined in any one or more embodiments or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is limited by claim and its equivalent.
Claims (10)
1. a kind of flexible joint structure of flexible arm, it is characterised in that including：
Upper linkage section；
Lower linkage section, the upper linkage section that the lower linkage section is suitable to the flexible joint structure adjacent with the flexible arm is matched somebody with somebody
Close connection；
Connection ring, the connection ring is set in junction and the rope of the flexible arm of the upper linkage section and the lower linkage section
Rope is adapted to pass through the connection ring；
Deformation section, the two ends of the upper linkage section and the lower linkage section respectively with the deformation section are connected, the deformation section bag
The i-shaped beamses of multiple interconnections are included, multiple i-shaped beamses are arranged in what is be sequentially connected in the axial direction of the deformation section
Multipair, each pair is included in the i-shaped beamses for two interconnections being oppositely arranged in the circumference of the deformation section.
2. the flexible joint structure of flexible arm according to claim 1, it is characterised in that the i-shaped beamses include：
Entablature；
Sill, the entablature and the sill circumferentially extending and in the axial direction of the deformation section along the deformation section
It is upper to be arranged at intervals；
Longeron, the longeron is along the axially extending of the deformation section and is connected respectively with the entablature and the sill.
3. the flexible joint structure of flexible arm according to claim 2, it is characterised in that each the i-shaped beamses is upper
The sill of crossbeam and the i-shaped beamses adjacent in the axial direction of the deformation section with it is connected.
4. the flexible joint structure of flexible arm according to claim 2, it is characterised in that in the axial direction of the deformation section
Two adjacent longerons stagger 90 degree in the circumference of the deformation section.
5. the flexible joint structure of flexible arm according to claim 2, it is characterised in that the upper table of each entablature
Face is provided with boss.
6. the flexible joint structure of flexible arm according to claim 1, it is characterised in that the upper linkage section interference fit
In the lower linkage section of the adjacent flexible joint structure.
7. the flexible joint structure of flexible arm according to claim 2, it is characterised in that the upper linkage section and it is described under
Linkage section is equipped with the pin shaft hole along flexible joint structure described in the radial direction insertion of flexible joint structure, and the connection ring is provided with
Screwed hole, the upper linkage section, the lower linkage section and the connection ring are by coordinating in the pin shaft hole and the screwed hole
Interior threaded pin is connected with each other.
8. the flexible joint structure of flexible arm according to claim 7, it is characterised in that the pin shaft hole and the longeron
Stagger in the circumference of the flexible joint structure 45 degree.
9. the flexible joint structure of flexible arm according to claim 1, it is characterised in that the connection ring, which is provided with, to be suitable to
Multiple cable-through holes that the rope of the flexible arm is passed through, multiple cable-through holes along the connection ring axially through the connection ring and
Along being provided at circumferentially spaced for the connection ring.
10. the flexible joint structure of flexible arm according to claim 1, it is characterised in that the deformation section is by flexible pipe
The cutting of shape material pieces hollow out is formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710601659.6A CN107263528A (en) | 2017-07-21 | 2017-07-21 | The flexible joint structure of flexible arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710601659.6A CN107263528A (en) | 2017-07-21 | 2017-07-21 | The flexible joint structure of flexible arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107263528A true CN107263528A (en) | 2017-10-20 |
Family
ID=60079077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710601659.6A Pending CN107263528A (en) | 2017-07-21 | 2017-07-21 | The flexible joint structure of flexible arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107263528A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214475A (en) * | 2017-12-30 | 2018-06-29 | 哈尔滨工业大学深圳研究生院 | A kind of rope driving flexible mechanical shoulder joint group of single-degree-of-freedom linkage |
| CN108237551A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of rope driving flexible mechanical shoulder joint group of double freedom linkage |
| CN111251316A (en) * | 2020-02-24 | 2020-06-09 | 西安交通大学 | Stretch bending type continuum robot torsion-resistant unit and robot |
| CN111714068A (en) * | 2020-07-24 | 2020-09-29 | 湖南省华芯医疗器械有限公司 | Snake bone assembly capable of preventing radial falling and endoscope |
| CN114305591A (en) * | 2021-12-20 | 2022-04-12 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Pincers end effector assembly and pincers surgical operation instrument |
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| CN1728972A (en) * | 2002-12-06 | 2006-02-01 | 直观外科手术公司 | Flexible wrist for surgical tool |
| CN101048101A (en) * | 2004-06-07 | 2007-10-03 | 诺瓦尔外科系统公司 | Articulating mechanism with flex-hinged links |
| CN102501247A (en) * | 2011-11-08 | 2012-06-20 | 湖南大学 | Fully flexible six-degree-of-freedom fine operating platform |
| JP2014090800A (en) * | 2012-11-01 | 2014-05-19 | Tokyo Institute Of Technology | Forceps manipulator, and forceps system comprising the same |
| JP2017093817A (en) * | 2015-11-25 | 2017-06-01 | 国立大学法人 東京医科歯科大学 | Holding device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1728972A (en) * | 2002-12-06 | 2006-02-01 | 直观外科手术公司 | Flexible wrist for surgical tool |
| CN101048101A (en) * | 2004-06-07 | 2007-10-03 | 诺瓦尔外科系统公司 | Articulating mechanism with flex-hinged links |
| CN102501247A (en) * | 2011-11-08 | 2012-06-20 | 湖南大学 | Fully flexible six-degree-of-freedom fine operating platform |
| JP2014090800A (en) * | 2012-11-01 | 2014-05-19 | Tokyo Institute Of Technology | Forceps manipulator, and forceps system comprising the same |
| JP2017093817A (en) * | 2015-11-25 | 2017-06-01 | 国立大学法人 東京医科歯科大学 | Holding device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214475A (en) * | 2017-12-30 | 2018-06-29 | 哈尔滨工业大学深圳研究生院 | A kind of rope driving flexible mechanical shoulder joint group of single-degree-of-freedom linkage |
| CN108237551A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of rope driving flexible mechanical shoulder joint group of double freedom linkage |
| CN111251316A (en) * | 2020-02-24 | 2020-06-09 | 西安交通大学 | Stretch bending type continuum robot torsion-resistant unit and robot |
| CN111714068A (en) * | 2020-07-24 | 2020-09-29 | 湖南省华芯医疗器械有限公司 | Snake bone assembly capable of preventing radial falling and endoscope |
| CN114305591A (en) * | 2021-12-20 | 2022-04-12 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Pincers end effector assembly and pincers surgical operation instrument |
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| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liang Bin Inventor after: Wang Xueqian Inventor after: Li Cheng Inventor after: Liang Zhenyou Inventor after: Li Zhengfa Inventor before: Liang Bin Inventor before: Li Cheng Inventor before: Wang Xueqian Inventor before: Liang Zhenyou Inventor before: Li Zhengfa |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171020 |