CN102874341A - Wheel-leg mixed type moving device - Google Patents
Wheel-leg mixed type moving device Download PDFInfo
- Publication number
- CN102874341A CN102874341A CN2011101984004A CN201110198400A CN102874341A CN 102874341 A CN102874341 A CN 102874341A CN 2011101984004 A CN2011101984004 A CN 2011101984004A CN 201110198400 A CN201110198400 A CN 201110198400A CN 102874341 A CN102874341 A CN 102874341A
- Authority
- CN
- China
- Prior art keywords
- wheel
- connects
- leg
- shaft
- mobile device
- 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
Links
Images
Landscapes
- Retarders (AREA)
Abstract
The invention aims to provide a wheel-leg mixed type moving device which comprises single-wheel shaft systems and driving systems, wherein the driving systems are connected with the single-wheel shaft systems and transmit power to the single-wheel shaft systems; each single-wheel shaft system comprises a differential driving system and a planetary gear train; and the differential driving systems are connected with the planetary gear trains to enable the wheel-leg mixed type moving device to realize three working states, namely round wheel rolling on flat ground, moving with wheels and legs, and walking upright on craggy pavements. The wheel-leg mixed type moving device is equipped with two sets of driving systems and four sets of single-wheel shaft systems; and a motor drives a central shaft through cone gear transmission and chain transmission and then drives the planetary gear trains through the action of a clutch and a brake on the central shaft, particularly through independent action and linkage of the clutch and the brake, namely adjustment and maintenance of differentiation of the central shaft and a planet carrier and the leg angle at the same speed. The wheel-leg mixed type moving device can be widely applied to flat ground, stairs, sandy beaches and other various pavements and has the advantages of rich motion forms, high mobility and strong obstacle surmounting ability. The invention provides an effective solution to transportation and rescue under the various complex pavement conditions.
Description
Technical field
The present invention relates to mobile device, is exactly to take turns the hybrid mobile device of leg specifically.
Background technology
Existing mobile device comprises: wheeled mobile device, leg formula mobile device, crawler travelling device and wheel are carried out hybrid mobile device.Under different road conditions, the each have their own advantage of these several mobile devices is with not enough.
Wheeled mobile device is celebrated with higher capacity usage ratio, and single prerequisite is that condition of road surface is good, at muddy road surface, and ice and snow road and rugged road surface, wheeled mobile device is difficult to move even one step.
Leg formula mobile device comes from bio-robot, and take artiodactylous animals such as biped, four-footed, six foots and eight foots as reference, with regard to present research situation, efficient is less than wheeled mobile device, but it generally adapts to various road conditions, and crossing ability is strong.
Crawler travelling device is more common in tank and construction machinery and equipment, and its carrying capacity under muddy road surface, rugged road conditions is the highest, but owing to friction drag in the operational process is large, turns not nimble, and energy utilization efficiency is lower.
Wheel carry out hybrid mobile device combine the high capacity usage ratio of wheeled mobile device and crawler travelling device strong pass through performance, simultaneously structure with control also complicated.
And various road conditions crossing abilitys strong mobile device high in the urgent need to a kind of capacity usage ratio in the market, the present invention's application and give birth to, with the obvious advantage,
Summary of the invention
The object of the present invention is to provide a kind of hybrid mobile device of leg of taking turns.
The technical solution adopted for the present invention to solve the technical problems is: the hybrid mobile device of wheel leg is made of single wheel axle system, drive system and chassis, and drive system connects single wheel axle system by chain, and single wheel axle is connecting base plate, the drive system connecting base plate.
The present invention also has following technical characterictic:
(1) described drive system comprises reducing motor, small conical gear, big column gear, tween drive shaft, minor sprocket and chain, reducing motor connecting base plate and small conical gear, small conical gear connects large conical gear, large conical gear connects tween drive shaft, tween drive shaft connects minor sprocket, and minor sprocket is by chain drive single wheel axle system.
(2) described single wheel axle is to comprise planet circular system and differential drive system, and the differential drive system is connected planet circular system by hollow shaft with center shaft.
(3) described differential drive system comprises hinge wheel, hollow shaft, magnetic clutch, large bearing, large bearing seat, center shaft, little bearing, small bearing bracket and magnet stopper, chain connects hinge wheel, hinge wheel connects hollow shaft, hollow shaft connects magnetic clutch, large bearing and planet circular system, large bearing connects large bearing seat, large bearing seat connecting base plate, magnetic clutch is from connecting center shaft, center shaft one end connects planet circular system, one end connects magnet stopper and little bearing, little bearing connects small bearing bracket, small bearing bracket connecting base plate.
(4) described planet circular system comprises: round wheel disk, sun wheel, idle pulley, idler shaft, planetary wheel, compensating-gear shaft, leg, pin, rivet and outer cover plate, center shaft connects sun wheel, hollow shaft connects round wheel disk, sun wheel connects idle pulley, idle pulley is installed between round wheel disk and the outer cover plate by idler shaft, and idle pulley connects planetary wheel, planetary wheel connection leg, leg is by rivet (29) connecting pin, and planetary wheel is installed between round wheel disk and the outer cover plate by compensating-gear shaft.
The object of the invention is to propose a kind of hybrid mobile device of leg of taking turns, it is made of single wheel axle system and drive system, and drive system connects single wheel axle system, is transferring power to single wheel axle.Single wheel axle system is comprised of differential drive system and planet circular system, and the differential drive system connects planet circular system, realizes taking turns three kinds of mode of operations of the hybrid mobile device of leg: level land circle wheel rolling, wheel leg are held concurrently and are gone, the vertical leg walking in rugged road surface.The present invention takes turns the hybrid mobile device of leg and is furnished with two cover drive systems and quadruplet single wheel axle system, motor drives center shaft by Bevel Gear Drive and chain transmission, power-transfer clutch on center shaft and drg effect drive planet circular system, by transfer and the interlock of power-transfer clutch and drg, i.e. adjusting and the maintenance of the differential of center shaft and pinion carrier and synchronized leg angle.
The present invention takes turns the hybrid mobile device of leg and generally adapts to the various condition of road surfaces such as level land, stair, sandstone beach, and mode of motion is changeable, and manoevreability is high, and obstacle climbing ability is strong.The present invention provides a kind of actv. solution for the transportation under the various complex road surface conditions, search and rescue etc.The present invention compares the beneficial effect that has with background technology:
1. capacity usage ratio is high;
2. generally adapt to various road conditions;
3. mode of motion is changeable, can realize creeping, the state of kinematic motions such as rolling and vertical row;
4. manoevreability is high, and obstacle climbing ability is strong;
5. simple in structure, easily control.
Description of drawings
Fig. 1 is that the present invention takes turns the axonometric drawing of the hybrid mobile device of leg when being inverted;
Fig. 2 is that the present invention takes turns the axonometric drawing of the hybrid mobile device of leg when just putting;
Fig. 3 is the front elevation that the present invention takes turns the hybrid mobile device of leg, dissects along the A-A face among Fig. 4;
Fig. 4 is the upward view that the present invention takes turns the hybrid mobile device of leg;
Fig. 5 is the left view that the present invention takes turns the hybrid mobile device of leg, dissects along the B-B face among Fig. 4;
Fig. 6 is the driving system sketch that the present invention takes turns the hybrid mobile device of leg;
Fig. 7 is that the single wheel axle that the present invention takes turns the hybrid mobile device of leg is cutaway view;
Fig. 8 is the planet circular system front elevation that the present invention takes turns the hybrid mobile device of leg.
The specific embodiment
Such as Fig. 1, Fig. 2, Fig. 3, Fig. 4 and shown in Figure 5, the present invention takes turns the hybrid mobile device of leg, and it is by single wheel axle system (2), drive system (1) and chassis (5) formation; It is characterized in that: drive system (1) connects single wheel axle system (2) by chain (11), single wheel axle system (2) connecting base plate (5), drive system (1) connecting base plate (5).
As shown in Figure 5, drive system (1) comprises reducing motor (6), small conical gear (7), big column gear (8), tween drive shaft (9), minor sprocket (10) and chain (11); It is characterized in that: reducing motor (6) connecting base plate (5) and small conical gear (7), small conical gear (7) connects large conical gear (8), large conical gear (8) connects tween drive shaft (9), tween drive shaft (9) connects minor sprocket (10), and minor sprocket (10) drives single wheel axle system (2) by chain (11).
As shown in Figure 4, single wheel axle system (2) comprises planet circular system (4) and differential drive system (3); It is characterized in that: differential drive system (3) is connected 17 by hollow shaft (13) with center shaft) connection planet circular system (4).
Such as Fig. 6, shown in Figure 7, differential drive system (3) comprises hinge wheel (12), hollow shaft (13), magnetic clutch (14), large bearing (15), large bearing seat (16), center shaft (17), little bearing (18), small bearing bracket (19) and magnet stopper (20); It is characterized in that: chain (11) connects hinge wheel (12), hinge wheel (12) connects hollow shaft (13), hollow shaft (13) connects magnetic clutch (14), large bearing (15) and planet circular system (4), large bearing (15) connects large bearing seat (15), large bearing seat (15) connecting base plate (5), magnetic clutch connects center shaft (17) from (14), center shaft (17) one ends connect planet circular system (4), one end connects magnet stopper (20) and little bearing (18), little bearing (18) connects small bearing bracket (19), small bearing bracket (19) connecting base plate (5).
Such as Fig. 6, Fig. 7, shown in Figure 8, planet circular system (4) comprising: round wheel disk (21), sun wheel (22), idle pulley (23), idler shaft (24), planetary wheel (25), compensating-gear shaft (26), leg (27), pin (28), rivet (29) and outer cover plate (30); It is characterized in that: center shaft (17) connects sun wheel (22), hollow shaft (13) connects round wheel disk (21), sun wheel (22) connects idle pulley (23), idle pulley (23) is installed between round wheel disk (21) and the outer cover plate (31) by idler shaft (24), idle pulley (23) connects planetary wheel (25), planetary wheel (25) connection leg (27), leg (27) is by rivet (29) connecting pin (28), and planetary wheel (25) is installed between round wheel disk (21) and the outer cover plate (30) by compensating-gear shaft (26).
The above-mentioned specific embodiment is used for the present invention that explains, rather than invention is limited, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (5)
1. take turns the hybrid mobile device of leg for one kind, it is by single wheel axle system (2), drive system (1) and chassis (5) formation; It is characterized in that: drive system (1) connects single wheel axle system (2) by chain (11), single wheel axle system (2) connecting base plate (5), drive system (1) connecting base plate (5).
2. a kind of hybrid mobile device of leg of taking turns according to claim 1, described drive system (1) comprises reducing motor (6), small conical gear (7), big column gear (8), tween drive shaft (9), minor sprocket (10) and chain (11); It is characterized in that: reducing motor (6) connecting base plate (5) and small conical gear (7), small conical gear (7) connects large conical gear (8), large conical gear (8) connects tween drive shaft (9), tween drive shaft (9) connects minor sprocket (10), and minor sprocket (10) drives single wheel axle system (2) by chain (11).
3. a kind of hybrid mobile device of leg of taking turns according to claim 1, described single wheel axle system (2) comprises planet circular system (4) and differential drive system (3); It is characterized in that: differential drive system (3) is connected 17 by hollow shaft (13) with center shaft) connection planet circular system (4).
4. a kind of hybrid mobile device of leg of taking turns according to claim 3, described differential drive system (3) comprise hinge wheel (12), hollow shaft (13), magnetic clutch (14), large bearing (15), large bearing seat (16), center shaft (17), little bearing (18), small bearing bracket (19) and magnet stopper (20); It is characterized in that: chain (11) connects hinge wheel (12), hinge wheel (12) connects hollow shaft (13), hollow shaft (13) connects magnetic clutch (14), large bearing (15) and planet circular system (4), large bearing (15) connects large bearing seat (15), large bearing seat (15) connecting base plate (5), magnetic clutch connects center shaft (17) from (14), center shaft (17) one ends connect planet circular system (4), one end connects magnet stopper (20) and little bearing (18), little bearing (18) connects small bearing bracket (19), small bearing bracket (19) connecting base plate (5).
5. a kind of hybrid mobile device of leg of taking turns according to claim 3, described planet circular system (4) comprising: round wheel disk (21), sun wheel (22), idle pulley (23), idler shaft (24), planetary wheel (25), compensating-gear shaft (26), leg (27), pin (28), rivet (29) and outer cover plate (30); It is characterized in that: center shaft (17) connects sun wheel (22), hollow shaft (13) connects round wheel disk (21), sun wheel (22) connects idle pulley (23), idle pulley (23) is installed between round wheel disk (21) and the outer cover plate (31) by idler shaft (24), idle pulley (23) connects planetary wheel (25), planetary wheel (25) connection leg (27), leg (27) is by rivet (29) connecting pin (28), and planetary wheel (25) is installed between round wheel disk (21) and the outer cover plate (30) by compensating-gear shaft (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101984004A CN102874341A (en) | 2011-07-15 | 2011-07-15 | Wheel-leg mixed type moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101984004A CN102874341A (en) | 2011-07-15 | 2011-07-15 | Wheel-leg mixed type moving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102874341A true CN102874341A (en) | 2013-01-16 |
Family
ID=47475925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101984004A Pending CN102874341A (en) | 2011-07-15 | 2011-07-15 | Wheel-leg mixed type moving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102874341A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171641A (en) * | 2013-03-19 | 2013-06-26 | 浙江大学 | Hopping robot with wheel movement function |
| CN103569181A (en) * | 2013-08-02 | 2014-02-12 | 李军委 | Planetary multi-wheel carrier stair climbing vehicle |
| CN103863100A (en) * | 2014-03-26 | 2014-06-18 | 广西大学 | Purely-electric four-wheel drive type engineering machinery slipping chassis |
| CN104149604A (en) * | 2014-08-19 | 2014-11-19 | 广西大学 | Single-motor-driven sliding chassis capable of switching between two driving and four driving |
| CN104760630A (en) * | 2015-04-29 | 2015-07-08 | 佛山轻子精密测控技术有限公司 | People gait simulation stair-climbing robot |
| CN108394270A (en) * | 2018-04-26 | 2018-08-14 | 北京理工大学 | A kind of rocker arm suspension, wheel leg type motor platform |
| CN108953514A (en) * | 2018-08-23 | 2018-12-07 | 吉林大学 | A kind of active planetary gear train barrier-surpassing robot of double clutches and its control method |
| CN109333564A (en) * | 2018-11-27 | 2019-02-15 | 西南科技大学 | A kind of nuclear radiation environment monitoring sampling robots |
| CN110666808A (en) * | 2019-08-30 | 2020-01-10 | 太原理工大学 | Explosion-proof robot with double-horse eight-foot walking mechanism |
| CN110843951A (en) * | 2019-12-10 | 2020-02-28 | 东莞市蓝企信息科技有限公司 | Parking mechanism of minimally invasive surgery robot |
| CN111976861A (en) * | 2020-08-28 | 2020-11-24 | 东北林业大学 | Wheel and mechanical leg joint multiplexing motor transmission system and driving method |
| CN112722108A (en) * | 2020-11-16 | 2021-04-30 | 北京理工大学前沿技术研究院 | Wheel-leg structure of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
| CN114393990A (en) * | 2021-12-21 | 2022-04-26 | 徐州博汇世通重工机械有限责任公司 | Double-motor-driven wheel type chassis |
| CN114802519A (en) * | 2022-05-25 | 2022-07-29 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60176871A (en) * | 1984-02-24 | 1985-09-10 | Toshiba Corp | Travel gear for robot |
| US20050133280A1 (en) * | 2001-06-04 | 2005-06-23 | Horchler Andrew D. | Highly mobile robots that run and jump |
| JP2008062306A (en) * | 2006-09-04 | 2008-03-21 | Niigata Univ | Combined leg type and wheel type traveling device |
| CN101462563A (en) * | 2009-01-16 | 2009-06-24 | 谢哲 | Archimedes spiral wheel for stair climbing vehicle and double-rocking lever mechanism |
| CN201880244U (en) * | 2010-12-07 | 2011-06-29 | 河海大学 | Variable-wheel-diameter fire-fighting robot |
-
2011
- 2011-07-15 CN CN2011101984004A patent/CN102874341A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60176871A (en) * | 1984-02-24 | 1985-09-10 | Toshiba Corp | Travel gear for robot |
| US20050133280A1 (en) * | 2001-06-04 | 2005-06-23 | Horchler Andrew D. | Highly mobile robots that run and jump |
| JP2008062306A (en) * | 2006-09-04 | 2008-03-21 | Niigata Univ | Combined leg type and wheel type traveling device |
| CN101462563A (en) * | 2009-01-16 | 2009-06-24 | 谢哲 | Archimedes spiral wheel for stair climbing vehicle and double-rocking lever mechanism |
| CN201880244U (en) * | 2010-12-07 | 2011-06-29 | 河海大学 | Variable-wheel-diameter fire-fighting robot |
Non-Patent Citations (3)
| Title |
|---|
| 佚名: "全国大学生机械创新设计大赛", 《HTTP://GONGXUE.CN/JIDIANXUEYUAN/SHOWARTICLE.ASP?ARTICLEID=95163》 * |
| 沈武等: "机电学院第三届"庆懋杯"之机器人秀", 《HTTP://GONGXUE.CN/XIAOYUANWENHUA/PRINT.ASP?ARTICLEID=60210&PAGE=3》 * |
| 谢哲、张鑫: "【畅谈五四杯】新式爬楼机是怎样诞生的", 《HTTP://GONGXUE.CN/XIAOYUANWENHUA/SHOWARTICLE.ASP?ARTICLEID=61614》 * |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171641B (en) * | 2013-03-19 | 2015-07-15 | 浙江大学 | Hopping robot with wheel movement function |
| CN103171641A (en) * | 2013-03-19 | 2013-06-26 | 浙江大学 | Hopping robot with wheel movement function |
| CN103569181A (en) * | 2013-08-02 | 2014-02-12 | 李军委 | Planetary multi-wheel carrier stair climbing vehicle |
| CN103863100A (en) * | 2014-03-26 | 2014-06-18 | 广西大学 | Purely-electric four-wheel drive type engineering machinery slipping chassis |
| CN103863100B (en) * | 2014-03-26 | 2016-04-27 | 广西大学 | A kind of pure electronic four-wheel driving type construction machinery and equipment slippage chassis |
| CN104149604A (en) * | 2014-08-19 | 2014-11-19 | 广西大学 | Single-motor-driven sliding chassis capable of switching between two driving and four driving |
| CN104149604B (en) * | 2014-08-19 | 2016-09-21 | 广西大学 | A kind of single motor drives and can make two and drives or the sliding chassis of 4 wheel driven switching |
| CN104760630A (en) * | 2015-04-29 | 2015-07-08 | 佛山轻子精密测控技术有限公司 | People gait simulation stair-climbing robot |
| CN108394270A (en) * | 2018-04-26 | 2018-08-14 | 北京理工大学 | A kind of rocker arm suspension, wheel leg type motor platform |
| CN108953514B (en) * | 2018-08-23 | 2023-06-02 | 吉林大学 | Double-clutch active planetary gear train obstacle surmounting robot and control method thereof |
| CN108953514A (en) * | 2018-08-23 | 2018-12-07 | 吉林大学 | A kind of active planetary gear train barrier-surpassing robot of double clutches and its control method |
| CN109333564A (en) * | 2018-11-27 | 2019-02-15 | 西南科技大学 | A kind of nuclear radiation environment monitoring sampling robots |
| CN110666808A (en) * | 2019-08-30 | 2020-01-10 | 太原理工大学 | Explosion-proof robot with double-horse eight-foot walking mechanism |
| CN110843951A (en) * | 2019-12-10 | 2020-02-28 | 东莞市蓝企信息科技有限公司 | Parking mechanism of minimally invasive surgery robot |
| CN111976861A (en) * | 2020-08-28 | 2020-11-24 | 东北林业大学 | Wheel and mechanical leg joint multiplexing motor transmission system and driving method |
| CN111976861B (en) * | 2020-08-28 | 2022-04-22 | 东北林业大学 | Wheel and mechanical leg joint multiplexing motor transmission system and driving method |
| CN112722108A (en) * | 2020-11-16 | 2021-04-30 | 北京理工大学前沿技术研究院 | Wheel-leg structure of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
| CN112722108B (en) * | 2020-11-16 | 2022-04-12 | 北京理工大学前沿技术研究院 | Wheel-leg structure of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
| CN114393990A (en) * | 2021-12-21 | 2022-04-26 | 徐州博汇世通重工机械有限责任公司 | Double-motor-driven wheel type chassis |
| CN114802519A (en) * | 2022-05-25 | 2022-07-29 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
| CN114802519B (en) * | 2022-05-25 | 2023-07-11 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102874341A (en) | Wheel-leg mixed type moving device | |
| CN205632713U (en) | Active planetary gear train hinders robot chassis more | |
| CN102673306B (en) | Triangular caterpillar wheel | |
| CN202716954U (en) | All-terrain hybrid chassis | |
| CN101774409B (en) | Self-adaptive sea bottom complex terrain compound wheel type traveling mechanism | |
| CN103359195A (en) | All-terrain hybrid power chassis | |
| CN101219683A (en) | Dual-purpose mobile robot of wheel and foot | |
| CN104787134A (en) | Wheel-caterpillar combined mobile robot platform | |
| CN101797936B (en) | Wheel swinging-type compound drive device for miniature mobile robot | |
| CN201484526U (en) | Wheel and crawler dual-purpose travelling mechanism | |
| CN201566714U (en) | Caterpillar obstacle-surmounting mechanism | |
| CN202243766U (en) | Planet-wheel tracked terrain adaptive vehicle | |
| CN109649078A (en) | It is a kind of suitable for the all-terrain vehicle chassis of complex working condition and its application | |
| CN102897240A (en) | Driving wheel combined mechanism | |
| CN214492399U (en) | Omnidirectional forward moving type AGV driving axle | |
| CN202242824U (en) | Six-plate wheeled moving mechanism | |
| CN201712688U (en) | Small-sized mobile robot wheel swinging type composite driving device | |
| CN201136558Y (en) | Robot for moving on all-landforms | |
| CN209521485U (en) | A kind of all-terrain vehicle chassis suitable for complex working condition | |
| KR101141947B1 (en) | Wheel device and complex wheeled vehicle having the same | |
| CN102700644A (en) | Wheel and foot combined all-terrain robot running device | |
| CN202782471U (en) | Tractor provided with double-tire back wheels | |
| CN111055936A (en) | Gait-adjustable wheel-track conversion walking mechanism | |
| CN201800806U (en) | Crawler-type carrier vehicle capable of walking on rice ridges | |
| CN203283311U (en) | Robot wheel movement module with plane movement and route movement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| DD01 | Delivery of document by public notice |
Addressee: Xie Zhe Document name: Notification of before Expiration of Request of Examination as to Substance |
|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| DD01 | Delivery of document by public notice |
Addressee: Xie Zhe Document name: Notification of Patent Invention Entering into Substantive Examination Stage |
|
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130116 |