CN102513268A - Gluing robot and gluing method thereof - Google Patents

Gluing robot and gluing method thereof Download PDF

Info

Publication number
CN102513268A
CN102513268A CN2011104586530A CN201110458653A CN102513268A CN 102513268 A CN102513268 A CN 102513268A CN 2011104586530 A CN2011104586530 A CN 2011104586530A CN 201110458653 A CN201110458653 A CN 201110458653A CN 102513268 A CN102513268 A CN 102513268A
Authority
CN
China
Prior art keywords
gluing
robot
glue
controller
glue spreading
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.)
Pending
Application number
CN2011104586530A
Other languages
Chinese (zh)
Inventor
刘晓波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changchun Dazheng Bocame Automotive Equipment Co Ltd
Original Assignee
Changchun Dazheng Bocame Automotive Equipment Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Changchun Dazheng Bocame Automotive Equipment Co Ltd filed Critical Changchun Dazheng Bocame Automotive Equipment Co Ltd
Priority to CN2011104586530A priority Critical patent/CN102513268A/en
Publication of CN102513268A publication Critical patent/CN102513268A/en
Pending legal-status Critical Current

Links

Abstract

The invention discloses a gluing robot and a gluing method of the gluing robot. The gluing robot comprises a robot body, a glue gun, a gluing controller and a robot control device, wherein the robot control device is connected with the gluing controller and the robot body; and the glue gun is connected with the robot body and the gluing controller. Through the gluing robot and thegluing method, the gluing process can be completed automatically, and various modes of vehicles are glued at one station; and before gluing, the robot recognizes the modes of the vehicles to call the correct program initiatively to ensure the correctness and the accuracy of the robot gluing. Compared with the conventional gluing process, the automation of the gluing process is improved effectively, a hardware control system is simplified, the cost of the control system is lowered, and the flexibility of the control system is improved.

Description

A kind of Glue Spreading Robot and glue spreading method thereof
Technical field
The present invention relates to field of automobile, relate in particular to a kind of Glue Spreading Robot and glue spreading method thereof.
Background technology
Robot (Robot) is the installations that automatically perform work.It both can accept human commander, can move the program of layout in advance again, also can be according to the principle guiding principle action of formulating with artificial intelligence technology.Its task is to assist or replace human work's work, for example produces industry, building industry or dangerous work.
And along with the continuous development of auto manufacturing; The automaticity of auto assembly is also constantly improving, and simultaneously, assembly precision is also being kept on improving; As an important procedure-gluing of auto assembly industry, also developing by the direction of manually-operated to the robot automatic glue application.How to make Glue Spreading Robot replace manual work fully, and can be one of direction of current research according to predetermined dose, accurate gluing.
Therefore, prior art awaits to improve and development.
Summary of the invention
Deficiency in view of above-mentioned prior art; The object of the present invention is to provide a kind of Glue Spreading Robot and glue spreading method thereof, be intended to solve in the existing auto assembly process, because measure bad control; Gluing adopts manual work to carry out basically, thereby makes the problem that production efficiency is low.
Technical scheme of the present invention is following:
A kind of Glue Spreading Robot is arranged on the auto assembly line, is used for automobile is carried out gluing, and wherein, said Glue Spreading Robot comprises:
Robot body, glue rifle, gluing controller and robot controller, wherein, said robot controller connects said gluing controller and robot body; Said glue rifle connects robot body and gluing controller.
Described Glue Spreading Robot, wherein, said gluing controller is connected through Devicenet with said robot.
Described Glue Spreading Robot, wherein, said gluing controller is connected through Devicenet with said glue rifle.
Described Glue Spreading Robot, wherein, said Glue Spreading Robot further comprises:
Initialization module is used for robot is carried out initialization;
Confirm module zero point, be used to confirm whether each shaft angle degree of robot, zero point be accurate;
Address assignment module is used to be provided with robot controller address, robot driven survey grid network address, and distributes the gluing control signal according to actual needs;
The gluing subroutine module, be used for according to carry out the automobile of gluing, the gluing parameter is set;
Control module is used for the motion according to said gluing parameter control robot body and glue rifle, accomplishes gluing;
Confirm that module, address assignment module, gluing subroutine module are connected with control module successively at said initialization module, zero point.
Described Glue Spreading Robot, wherein, the used glue of said gluing is damping glue or fluid sealant.
A kind of glue spreading method of described Glue Spreading Robot wherein, said method comprising the steps of:
S1, Glue Spreading Robot are assemblied on the gluing station of auto assembly line;
S2, Glue Spreading Robot energising back initialization;
S3, confirm whether each shaft angle degree of robot, zero point be accurate;
S4, robot controller address, robot driven survey grid network address are set, and distribute the gluing control signal according to actual needs;
S5, according to carry out the automobile of gluing, the gluing parameter is set;
S6, according to the motion of said gluing parameter control robot body and glue rifle, accomplish gluing.
The glue spreading method of described Glue Spreading Robot wherein, also comprises among the said step S6: judge whether automatic double surface gluer need clear up glue.
Beneficial effect: Glue Spreading Robot provided by the invention and glue spreading method thereof; Can accomplish the gluing process automatically; And on a station, realize the gluing work of multiple vehicle, before gluing, robot is to the identification of vehicle; Make robot can initiatively call correct program, with correctness and the accuracy of guaranteeing robot coating.Compare with traditional gluing process, effectively improve the automation of gluing process, simplified hardware system, reduced the control system cost, increased the flexibility of control system.
Description of drawings
Fig. 1 is the structured flowchart of Glue Spreading Robot of the present invention.
Fig. 2 is the flow chart of the glue spreading method of Glue Spreading Robot of the present invention.
The specific embodiment
The present invention provides a kind of Glue Spreading Robot and glue spreading method thereof, and is clearer, clear and definite for making the object of the invention, technical scheme and effect, below to further explain of the present invention.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
See also Fig. 1, it is the structured flowchart of Glue Spreading Robot of the present invention.As shown in the figure, said Glue Spreading Robot comprises: robot body 100, glue rifle 200, gluing controller 300 and robot controller 400, and wherein, said robot controller 400 connects said gluing controller 300 and robot body 100; Said glue rifle 200 connects robot body 100 and gluing controller 300.
Specifically, said robot body 100 is used for the instruction of sending according to robot controller 400, makes exercises, carries out gluing thereby drive 200 pairs of automobiles of coupled glue rifle.Gluing controller 300 is used for type of controlling according to the instruction of robot controller 400 (parameter that for example designs in advance) by the used glue of glue-spread, the gluing of glue rifle 200 or the like.
Further, said gluing controller is connected through Devicenet with said robot.In addition, said gluing controller also can be connected through Devicenet with said glue rifle.Devicenet is a kind of low cost, the high performance communication network based on CAN (Controller Area Network) technology that grows up the mid-90, at first by U.S. Rockwell company Application and Development.It is a kind of communication bus cheaply.It is connected to network with industrial equipment (as: limit switch, photoelectric sensor, valve group, motor starting device, process sensor, barcode reader, variable frequency drives, panel display and operator interface), thereby has eliminated expensive hardwire cost.The direct interconnection property improvement communication of equipment room, and considerable device level diagnostic function is provided simultaneously, this is difficult to realize through hardwire I/O interface.It has reduced the cost and the time of distribution and mounting industrial automation equipment when providing multiple vendor with the interchangeability between base part.DeviceNet not only makes between the equipment with a cable and connects mutually and communication, the more important thing is that it gives the diagnostic function of the device level that system brings.This function is last at traditional I/O to be to be difficult to realize.
In addition; Said Glue Spreading Robot further comprises: confirm module, address assignment module, gluing subroutine module and control module at initialization module, zero point, confirm that module, address assignment module, gluing subroutine module are connected with control module successively at said initialization module, zero point.
Wherein, said initialization module is used for robot is carried out initialization; Confirm that module is used to confirm whether each shaft angle degree of robot, zero point be accurate, set robot each shaft angle degree and installation direction in strict accordance with the emulation picture said zero point; Said address assignment module is used to be provided with robot controller address, robot driven survey grid network address; And distribute the gluing control signal according to actual needs; With DEVICENET is example, and far module station address (being the control device address), length, robot driven survey grid network address on the gluing control network substrate are set.The signal that distributes gluing control machine according to actual needs: gluing program number, parameter number, pump startup, gluing are accomplished and are measured, the glue rifle is opened or the like.Said gluing subroutine module be used for according to carry out the automobile of gluing, the gluing parameter is set; General difference to vehicle is set.Said control module is used for the motion according to said gluing parameter control robot body and glue rifle, accomplishes gluing; Debugging machine people program according to technological requirement, is carried out robot trajectory's programming, accomplishes workpiece gluing function, confirms motion mode according to condition of different.It is mutual to carry out signal according to physical location and PLC, accomplishes automated production and satisfies beat.
In addition, general body workshop uses above-mentioned two types glue, damping glue (support glue), fluid sealant (flanging glue).
Provide one section corresponding code to explain how above-mentioned functions realizes below: to should be understood that, can adopt other forms of code to realize, be not limited to said giving an example.
MOVJ C00000 VJ=100.00 PL=0 axle movement velocity 100% position grade 0
CALL JOB:PURGING calls gel resin program subprogram
DOUT OG# (18) 1 be provided with the gluing program number be in 1 automatic double surface gluer with the robot communication in 1 byte be used for being provided with
Whether WAIT IG# (18)=1 waits for being provided with and general difference to vehicle successfully is set
CALL JOB:START calls the gluing startup subroutine
DOUT OG# (31) 1 be provided with in the gluing parameter automatic double surface gluer with the robot communication in 1 byte be used for being provided with
WAIT IG# (31)=1 waits for whether feedback parameter is provided with completion generally according to coating technique requirement setting
CALL JOB:ZB calls the gluing subprogram
CALL JOB:END calls the automatic double surface gluer sub-routine ends
MOVJ C00001 VJ=100.00 PL=0 axle movement velocity 100% position grade 0
END
PURGING
NOP
JUMP * END IF IN# (122)=OFF judges whether automatic double surface gluer need clear up glue (glue stayed in the glue rifle mouth after not working for a long time of automatic double surface gluer can go bad, and gluing can influence quality to car) and does not directly finish this program and jump to * END if automatic double surface gluer sends the gluing request
DOUT OT# (123) ON gel resin program enable signal
DOUT OT# (121) ON gel resin program start enable signal
WAIT IN# (126)=ON waits for whether gel resin finishes
The cancellation of DOUT OT# (121) OFF gel resin program enable signal
The cancellation of DOUT OT# (123) OFF gel resin program start enable signal
WAIT IN# (125)=ON waits for that automatic double surface gluer does not have hardware fault
WAIT IN# (113)=ON waits for that automatic double surface gluer is ready to the state that the correct automatic double surface gluer of glue amount normally can gluing
*END
START
NOP
ARATION AO# (1) BV=14.00 V=500.0 OFV=0.50 is provided with analog quantity, can confirm that different gel quantities is that 14v is biased to the 0.5v linearity with the aanalogvoltage that satisfies the speeds match technological requirement analog quantity delivery outlet of AO1 is set in speed 500mm/s according to robot movement velocity is different
DOUT OG# (18) 1 confirms that procedure Selection is 1
WAIT IG# (18)=1 confirms that procedure Selection is 1
DOUT OT# (113) ON starts automatic double surface gluer, and the gluing pump is transported to glue in the glue rifle
WAIT IN# (128)=ON waits for that the glue in the glue rifle satisfies gluing
END
ZB
NOP
MOVJ C00000 VJ=100.00 PL=0 axle movement velocity 100% position grade 0
It is 833.3MM/S gluings that EIMOVL UF# (11) C00003 V=833.3 uses user coordinates 11 speed
DOUT OT# (114) ON glue rifle is opened and is promptly begun gluing
EIMOVL?UF#(11)?C00004?V=833.3?PL=1
…………
EIMOVL?UF#(11)?C00060?V=833.3?PL=1
EIMOVL?UF#(11)?C00061?V=833.3?PL=1
First section gluing of DOUT OT# (114) OFF finishes later on by that analogy
EIMOVL?UF#(11)?C00062?V=833.3
MOVJ?C00063?VJ=100.00?PL=3 //ZC?HOME
MOVJ?C00064?VJ=100.00?PL=0
End
NOP
ARATIOF AO# (1) gluing analog quantity AO1 closes
TIMER T=0.30 waited for for 0.3 second
AOUT AO# (1) 0.00 gluing analog quantity AO1 zero clearing
DOUT OG# (18) 0 gluing programs are to zero
DOUT OT# (113) OFF glue spreader cuts out
TIMER T=0.20 waits for 0.2 second
DOUT OT# (124) ON glue-spread is checked and is calculated beginning
WAIT IN# (127)=ON waits for that accounting is out of question, and whether preset amount is consistent with actual amount
DOUT OT# (124) OFF check settlement finishes
DOUT OT# (125) ON gluing pump is restarted and is prepared gluing next time
END
The present invention also provides a kind of glue spreading method of above-mentioned Glue Spreading Robot, and is as shown in Figure 2, said method comprising the steps of:
S1, Glue Spreading Robot are assemblied on the gluing station of auto assembly line;
S2, Glue Spreading Robot energising back initialization;
S3, confirm whether each shaft angle degree of robot, zero point be accurate;
S4, robot controller address, robot driven survey grid network address are set, and distribute the gluing control signal according to actual needs;
S5, according to carry out the automobile of gluing, the gluing parameter is set;
S6, according to the motion of said gluing parameter control robot body and glue rifle, accomplish gluing.
Wherein, also comprise among the said step S6: judge whether automatic double surface gluer need clear up glue.Because the glue of staying after automatic double surface gluer is not worked for a long time in the glue rifle mouth can go bad, gluing can influence quality to car.
In sum; A kind of Glue Spreading Robot provided by the invention and glue spreading method thereof, wherein, said Glue Spreading Robot comprises: robot body, glue rifle, gluing controller and robot controller; Wherein, said robot controller connects said gluing controller and robot body; Said glue rifle connects robot body and gluing controller.Through Glue Spreading Robot provided by the invention and glue spreading method thereof; Can accomplish the gluing process automatically; And on a station, realize the gluing work of multiple vehicle, before gluing, robot is to the identification of vehicle; Make robot can initiatively call correct program, with correctness and the accuracy of guaranteeing robot coating.Compare with traditional gluing process, effectively improve the automation of gluing process, simplified hardware system, reduced the control system cost, increased the flexibility of control system.
Should be understood that application of the present invention is not limited to above-mentioned giving an example, concerning those of ordinary skills, can improve or conversion that all these improvement and conversion all should belong to the protection domain of accompanying claims of the present invention according to above-mentioned explanation.

Claims (7)

1. a Glue Spreading Robot is arranged on the auto assembly line, is used for automobile is carried out gluing, it is characterized in that said Glue Spreading Robot comprises:
Robot body, glue rifle, gluing controller and robot controller, wherein, said robot controller connects said gluing controller and robot body; Said glue rifle connects robot body and gluing controller.
2. Glue Spreading Robot according to claim 1 is characterized in that, said gluing controller is connected through Devicenet with said robot.
3. Glue Spreading Robot according to claim 1 is characterized in that, said gluing controller is connected through Devicenet with said glue rifle.
4. Glue Spreading Robot according to claim 1 is characterized in that, said Glue Spreading Robot further comprises:
Initialization module is used for robot is carried out initialization;
Confirm module zero point, be used to confirm whether each shaft angle degree of robot, zero point be accurate;
Address assignment module is used to be provided with robot controller address, robot driven survey grid network address, and distributes the gluing control signal according to actual needs;
The gluing subroutine module, be used for according to carry out the automobile of gluing, the gluing parameter is set;
Control module is used for the motion according to said gluing parameter control robot body and glue rifle, accomplishes gluing;
Confirm that module, address assignment module, gluing subroutine module are connected with control module successively at said initialization module, zero point.
5. Glue Spreading Robot according to claim 1 is characterized in that, the used glue of said gluing is damping glue or fluid sealant.
6. the glue spreading method of the described Glue Spreading Robot of claim 1 is characterized in that, said method comprising the steps of:
S1, Glue Spreading Robot are assemblied on the gluing station of auto assembly line;
S2, Glue Spreading Robot energising back initialization;
S3, confirm whether each shaft angle degree of robot, zero point be accurate;
S4, robot controller address, robot driven survey grid network address are set, and distribute the gluing control signal according to actual needs;
S5, according to carry out the automobile of gluing, the gluing parameter is set;
S6, according to the motion of said gluing parameter control robot body and glue rifle, accomplish gluing.
7. the glue spreading method of Glue Spreading Robot according to claim 6 is characterized in that, also comprises among the said step S6: judge whether automatic double surface gluer need clear up glue.
CN2011104586530A 2011-12-31 2011-12-31 Gluing robot and gluing method thereof Pending CN102513268A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011104586530A CN102513268A (en) 2011-12-31 2011-12-31 Gluing robot and gluing method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011104586530A CN102513268A (en) 2011-12-31 2011-12-31 Gluing robot and gluing method thereof

Publications (1)

Publication Number Publication Date
CN102513268A true CN102513268A (en) 2012-06-27

Family

ID=46284480

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011104586530A Pending CN102513268A (en) 2011-12-31 2011-12-31 Gluing robot and gluing method thereof

Country Status (1)

Country Link
CN (1) CN102513268A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103769347A (en) * 2014-03-04 2014-05-07 江苏舜天新盈轻工业有限公司 Automatic gluing system
CN104128299A (en) * 2014-05-30 2014-11-05 广州市金钟汽车零件制造有限公司 Car trim processing technique
CN104675684A (en) * 2013-11-30 2015-06-03 中国科学院沈阳自动化研究所 Glue pump control system based on CAN (controller area network) bus and control method of glue pump control system
CN106694278A (en) * 2016-12-30 2017-05-24 北京天恒长鹰科技股份有限公司 Stratospheric airship capsule machining gluing robot
CN107159521A (en) * 2017-07-17 2017-09-15 太仓红码软件技术有限公司 A kind of industrial Glue Spreading Robot control system of optimum selecting gluing parameter
CN109985769A (en) * 2017-12-29 2019-07-09 奥动新能源汽车科技有限公司 Robot coating system and glue spreading method
CN109991917A (en) * 2019-04-09 2019-07-09 东风汽车集团有限公司 Composite and flexible windscreen recognition methods
CN113318919A (en) * 2021-06-30 2021-08-31 成都飞机工业(集团)有限责任公司 Automatic coating process of robot on airplane part sealant

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09276766A (en) * 1996-04-15 1997-10-28 Daihatsu Motor Co Ltd Adhesive applicator for automotive door
JP2007268454A (en) * 2006-03-31 2007-10-18 Toyota Auto Body Co Ltd Coating method of paint, and application nozzle used for the same
CN201157810Y (en) * 2008-01-28 2008-12-03 上海发那科机器人有限公司 Robot automatic spraying system for automobile bottom PVC glue
CN201625618U (en) * 2010-03-11 2010-11-10 首钢莫托曼机器人有限公司 Real-time automatic tracking gluing device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09276766A (en) * 1996-04-15 1997-10-28 Daihatsu Motor Co Ltd Adhesive applicator for automotive door
JP2007268454A (en) * 2006-03-31 2007-10-18 Toyota Auto Body Co Ltd Coating method of paint, and application nozzle used for the same
CN201157810Y (en) * 2008-01-28 2008-12-03 上海发那科机器人有限公司 Robot automatic spraying system for automobile bottom PVC glue
CN201625618U (en) * 2010-03-11 2010-11-10 首钢莫托曼机器人有限公司 Real-time automatic tracking gluing device

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
佟为明 等: "基于DeviceNet现场总线的汽车总装生产线控制系统", 《低压电器》 *
闫志刚 等: "智能涂胶机控制系统设计", 《微计算机信息》 *
马可 等: "机器人在汽车挡风玻璃自动涂胶系统中的应用", 《华北科技学院学报》 *

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104675684A (en) * 2013-11-30 2015-06-03 中国科学院沈阳自动化研究所 Glue pump control system based on CAN (controller area network) bus and control method of glue pump control system
CN104675684B (en) * 2013-11-30 2017-03-01 中国科学院沈阳自动化研究所 A kind of glue pump control system based on CAN and its control method
CN103769347A (en) * 2014-03-04 2014-05-07 江苏舜天新盈轻工业有限公司 Automatic gluing system
CN103769347B (en) * 2014-03-04 2015-11-25 江苏舜天新盈轻工业有限公司 Automatic adhesive application system
CN104128299A (en) * 2014-05-30 2014-11-05 广州市金钟汽车零件制造有限公司 Car trim processing technique
CN106694278A (en) * 2016-12-30 2017-05-24 北京天恒长鹰科技股份有限公司 Stratospheric airship capsule machining gluing robot
CN107159521A (en) * 2017-07-17 2017-09-15 太仓红码软件技术有限公司 A kind of industrial Glue Spreading Robot control system of optimum selecting gluing parameter
CN107159521B (en) * 2017-07-17 2019-04-16 北京华航唯实机器人科技股份有限公司 A kind of industrial Glue Spreading Robot control system of optimum selecting gluing parameter
CN109985769A (en) * 2017-12-29 2019-07-09 奥动新能源汽车科技有限公司 Robot coating system and glue spreading method
CN109991917A (en) * 2019-04-09 2019-07-09 东风汽车集团有限公司 Composite and flexible windscreen recognition methods
CN113318919A (en) * 2021-06-30 2021-08-31 成都飞机工业(集团)有限责任公司 Automatic coating process of robot on airplane part sealant
CN113318919B (en) * 2021-06-30 2022-05-10 成都飞机工业(集团)有限责任公司 Automatic coating process of robot on airplane part sealant

Similar Documents

Publication Publication Date Title
CN102513268A (en) Gluing robot and gluing method thereof
CN101433887B (en) Glue coating apparatus for glass of entire vehicle and method for producing glue
CN102513751B (en) Welding robot and welding method thereof
CN100498621C (en) Automobile wind shield glass mounting method based on automatic glue application and artificial mounting
CN204817081U (en) Five robot rubber coating equipment
CN103853133A (en) Robot system calibration method
CN103477292B (en) The dynamic characteristic of at least one robot adapts to
CN110607896B (en) Wall ceramic tile rubber coating device and wall ceramic tile rubber coating shop pastes robot
CN104971862B (en) Wu-zhi-shan pig automatic double surface gluer and technology
US20160129466A1 (en) Paint robot system and method for spray painting a workpiece
CN105032710A (en) Full-automatic robot gluing equipment and process technology
CN104971863A (en) Four-axis robot gumming equipment and technology
CN102513430A (en) Edge knurling robot and edge knurling method thereof
CN103624514B (en) A kind of high speed motor car front screen erecting device and installation method
CN104494277B (en) A kind of air-conditioning panel barbola work and air-conditioning
CN104069986A (en) Integral robot servo automatic gluing system and integral robot servo automatic gluing method
CN110280413A (en) A kind of spray painting control method, control device and the control system of high-speed rail car body
CN108698226A (en) Multi-axis robot and control the robot for lacquered body method
JP2004527365A (en) How to control a surface coating plant
CN107932513B (en) Integrated control method for omnidirectional intelligent mobile platform and mechanical arm
CN103100796A (en) Laser welding system and laser welding method thereof
CN101823033B (en) Method for controlling room spraying sequence of spraying system of robot
CN1218789C (en) Automatic glue applying machine for applying glue to cultivation board
JP4780551B2 (en) Application robot
CN208824887U (en) Twin shaft alternating structure spot gluing equipment

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20120627