CN104908031A - Multi-joint industrial mechanical arm - Google Patents
Multi-joint industrial mechanical arm Download PDFInfo
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- CN104908031A CN104908031A CN201510348533.3A CN201510348533A CN104908031A CN 104908031 A CN104908031 A CN 104908031A CN 201510348533 A CN201510348533 A CN 201510348533A CN 104908031 A CN104908031 A CN 104908031A
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- joint
- motor
- decelerator
- driven pulley
- drive unit
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Abstract
The invention provides a multi-joint industrial mechanical arm. The multi-joint industrial mechanical arm comprises a base, a first joint and a first driving device are installed at the upper end of the base, two swinging arms and a swinging driving device are installed on the first joint, a second joint and a second driving device are installed on the swinging arms, and the swinging driving device comprises a swinging motor fixed to the upper end of the first joint and located between the two swinging arms. One end of the second joint is connected to the upper ends of the two swinging arms in a rotating mode and located between the two swinging arms, and the second driving device comprises a second motor which is located between the two swinging arms and is close to the swinging motor. Through arranging the two swinging arms, torsion transferred by the joints is distributed to the two swinging arms, meanwhile, the gravity center of the swinging motor and the gravity center of the second motor are low according to the arrangement positions, the torsion borne by the swinging arms is effectively lowered, the structure is simple, the service life is long, and working stability is good.
Description
Technical field
The present invention relates to a kind of robot manipulator structure, especially a kind of multi-joint industry mechanical arm.
Background technology
Industry manufactures processing enterprise and extensively adopts Industrial robot arm to be following development trend, the application of Industrial robot arm not only can improve the yield and quality of product, and to guaranteeing personal safety, improves work situation, reduce labor intensity, what boost productivity has great significance.
Frame for movement improves a key technology of industry mechanical arm performance, directly has influence on stability and the precision of industry mechanical arm.Existing industry mechanical arm structure is general comparatively complicated, and cause the control system supporting with it also relative complex, cost is higher.
Chinese invention patent ZL201510055999.4 discloses a kind of Novel six freedom manipulator, comprise pedestal, first whirligig, second whirligig, first linking arm, 3rd whirligig, 4th whirligig, second linking arm, 5th whirligig, 6th whirligig, first whirligig is installed on pedestal, second whirligig is installed on the first whirligig, one end of first linking arm is installed on the second whirligig, 3rd whirligig is installed on the other end of the first linking arm, 4th whirligig is installed on the 3rd whirligig, one end of second linking arm is installed on the 4th whirligig, 5th whirligig is installed on the other end of the second linking arm, 6th whirligig is installed on the 5th whirligig.Although the structure of this manipulator is relatively simple, each motor of this manipulator is just simply arranged in the end of linking arm, and during use, linking arm needs to bear larger torsion, easy fatigue fracture, and service life is lower; Meanwhile, rely on corresponding decelerator to carry out connecting and providing support between each linking arm of this manipulator, during work, decelerator needs to bear larger power, affects the stability of its work; In addition, the output shaft of each motor of this manipulator is coaxial with corresponding linking arm turning cylinder, and the coiling of the power line of each motor and each bar circuit of control system avoids motion due to needs, and coiling relative complex, easily breaks down, and job stability is poor.
Summary of the invention
The object of the present invention is to provide that a kind of structure is simple, the life-span is higher and the multi-joint industry mechanical arm of better working stability.
To achieve these goals, the present invention adopts following technical scheme:
A kind of multi-joint industry mechanical arm, comprise pedestal, described pedestal upper end is provided with the first joint, the first drive unit for driving described first articulation is installed in described pedestal, described first joint is provided with swing arm group and the oscillatory gearing mechanism for driving described swing arm group to rotate, described swing arm is provided with second joint and the second drive unit for driving described second joint to rotate, described second joint is provided with the 3rd joint and for driving the 3rd drive unit of described 3rd articulation, described 3rd joint is provided with the 4th joint and for driving the four-drive device of described 4th articulation, described 4th joint is provided with executive item and the execution drive unit for driving described executive item to rotate, described pedestal, described first joint, described swing arm group, described second joint and described 3rd joint in the same plane,
Described swing arm group comprises two swing arms, two described swing arms are parallel to each other and are fixedly connected with, one end of two described swing arms is rotatably connected on the upper end in described first joint respectively, described oscillatory gearing mechanism comprises and is fixed on described first upper end, joint and oscillating motor between two described swing arms and the swing decelerator that is in transmission connection with described oscillating motor, and described swing decelerator and swing arm described in one of them are in transmission connection;
One end of described second joint is rotatably connected on two described swing arms away from one end of described oscillating motor and between two described swing arms, described second drive unit to comprise between two described swing arms and the second motor near described oscillating motor position, be arranged on the second driving wheel on the output shaft of described second motor, the second driven pulley coordinated with described second driving wheel and the second belt be connected between described second driving wheel and described second driven pulley, described second driven pulley and described second joint are in transmission connection, and the central axis of the turning cylinder that is rotationally connected of described second joint and described swing arm and described second driven pulley.
As a modification of the present invention, described first drive unit comprises the first motor being positioned at described base interior and the first decelerator be connected with described first motor-driven, described first joint and described first decelerator are in transmission connection, and the output shaft of the turning cylinder in described first joint, described first decelerator and the output shaft of described first motor coaxial.
As a modification of the present invention, the 3rd driven pulley that described 3rd drive unit comprises the 3rd motor, the 3rd driving wheel be arranged on the output shaft of described 3rd motor coordinates with described 3rd driving wheel, the 3rd decelerator being connected to the 3rd belt between described 3rd driving wheel and described 3rd driven pulley and being in transmission connection with described 3rd driven pulley, the one end in described 3rd joint is fixedly connected on the output shaft of described 3rd decelerator, and described 3rd joint, described 3rd driven pulley are coaxial with described 3rd decelerator.
As a modification of the present invention, also comprise wire-passing tube, described wire-passing tube interts on described 3rd decelerator and described 3rd driven pulley, and is positioned on the central shaft of the 3rd decelerator and described 3rd driven pulley.
As a modification of the present invention, described 3rd joint has two joint arms be parallel to each other away from one end of described second joint, and described 4th articulation is connected between two described joint arms.
As a modification of the present invention, described execution drive unit comprises actuating motor and is arranged on the execution decelerator on the output shaft of described actuating motor, described executive item and described execution decelerator are in transmission connection, and the output shaft of described executive item, described execution decelerator and described actuating motor is coaxial.
Adopt technique scheme, the present invention has following beneficial effect:
1, by arranging two swing arms, the torsion that second joint, the 3rd joint and the 4th joint pass over is distributed on two swing arms, oscillating motor is arranged on the first joint simultaneously, and by the second motor arrangement in the position of swing arm near oscillating motor, center of gravity is lower and effectively reduce the torsion born needed for swing arm, and structure is simple, the life-span is higher and better working stability.
2, under each state of robot work, pedestal, the first joint, swing arm, second joint and the 3rd joint are in same plane all the time, the stressed of each parts can be transferred on pedestal preferably, reduce the torsion born needed for the decelerator of junction, each joint, improve job stability and the service life of decelerator.
3, by arranging wire-passing tube, being convenient to the coiling of each bar circuit of corresponding motor power line and control system, avoiding robot manipulator structure complicated, also can effectively reduce costs.
4, the motion of executive item is directly controlled by actuating motor, the precision of the manipulator behavior effectively provided.
Accompanying drawing explanation
Fig. 1 is the structural representation of multi-joint industry mechanical arm of the present invention;
Fig. 2 is the structural representation of multi-joint industry mechanical arm clipped parts of the present invention;
Fig. 3 is the cutting structural representation of multi-joint industry mechanical arm of the present invention;
Fig. 4 is the cutting structural representation of A-A position in Fig. 3;
Fig. 5 is the cutting structural representation of B-B position in Fig. 3.
Indicate corresponding as follows in figure:
10-pedestal; 20-first joint;
30-first drive unit; 31-first motor;
32-first decelerator; 40-swing arm group;
41-swing arm; 50-oscillatory gearing mechanism;
51-oscillating motor; 52-swings decelerator;
60-second joint; 61-base;
62-side cover; 70-second drive unit;
71-second motor, 72-second driving wheel;
73-second driven pulley; 74-second belt;
75-second decelerator; 80-the 3rd joint;
81-wire-passing tube; 82-joint arm;
90-the 3rd drive unit; 91-the 3rd motor;
92-the 3rd driving wheel; 93-the 3rd driven pulley;
94-the 3rd belt; 95-the 3rd decelerator;
100-the 4th joint; 110-four-wheel drive motor;
111-the 4th motor; 112-the 4th driving wheel;
113-the 4th driven pulley; 114-the 4th belt;
115-the 4th decelerator; 120-executive item;
130-performs drive unit; 131-actuating motor;
132-performs decelerator.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described further.
As Figure 1-Figure 5, the multi-joint industry mechanical arm that the present embodiment provides, comprises and can be fixed on the pedestal 10 on base plate and the control system for controlling whole manipulator behavior, and control system is the system of this area routine, no longer describes in detail herein.
Pedestal 10 is provided with the first joint 20 and the first drive unit 30 for driving the first joint 20 to rotate.First joint 20 is arranged on the upper end of pedestal 10, first drive unit 30 comprises the first motor 31 being positioned at pedestal 10 inside and the first decelerator 32 be in transmission connection with the first motor 31, the output shaft of the first motor 31 is vertically arranged, the output shaft of the first decelerator 32 is coaxial with the output shaft of the first motor 31, the output shaft of the first joint 20 and the first decelerator 32 is in transmission connection, such first joint 20 and each parts be arranged on the first joint 20 can rotate under the driving of the first motor 31 in horizontal plane, the turning cylinder in the first joint 20 is coaxial with the output shaft of the output shaft of the first decelerator 32 and the first motor 31.Output shaft due to the first motor 31 vertically arranges, the weight that can alleviate the first joint 20 and be arranged on each parts on the first joint 20, on the impact of the first motor 31 load, reduces energy consumption.
First joint 20 is provided with swing arm group 40 and the oscillatory gearing mechanism 50 for driving swing arm group 40 to rotate.Swing arm group 40 comprises two swing arms, 41, two swing arms 41 placed symmetrically and is parallel to each other and is mutually permanently connected, and one end of two swing arms 41 is rotatably connected on the upper end in the first joint 20 respectively, and the other end forms the shoulder of manipulator.Oscillatory gearing mechanism 50 comprises and is fixed on the first upper end, joint 20 and oscillating motor 51 between two swing arms 41 and the swing decelerator 52 that is in transmission connection with oscillating motor 51, swings decelerator 52 and is in transmission connection with one of them swing arm 41.Certainly, the link position place between two swing arms 41 and the first joint 20 needs to be provided with bearing, and bearing can disperse the weight of swing arm 41 to the pressure of the output shaft of oscillating motor 51.Reduce the load of oscillating motor 51.
In the present embodiment, the output shaft horizontal positioned of oscillating motor 51, and the turning cylinder that swing arm 41 and the first joint 20 are rotationally connected is coaxial with the output shaft of oscillating motor 51, such swing arm 41 can rotate under the driving of oscillating motor 51 in perpendicular, no matter which position swing arm 41 is in, oscillating motor 51 is positioned at the top in the first joint 20 all the time, and the weight of oscillating motor 51 can not increase the stressed of swing arm 41, makes the action of swing arm 41 more flexible.
Swing arm 41 is provided with second joint 60 and the second drive unit 70 for driving second joint 60 to rotate.One end of second joint 60 is rotatably connected on two swing arms 41 away from one end of oscillating motor 51 and between two swing arms 41.In the present embodiment; the side cover 62 that second joint 60 comprises base 61 and can disassemble from base 61; be square after base 61 and side cover 62 fasten casing shape; base 61 is for being connected with each parts; side cover 62 is decoration; when guaranteeing manipulator appearance looks elegant, the control system circuit of installation and maintenance manipulator inside can be convenient to.
Second drive unit 70 comprises between two swing arms 41 and the second motor 71 near oscillating motor 51 position, the second driving wheel 72 be arranged on the output shaft of the second motor 71 initiatively 72 take turns the second driven pulley 73 coordinated and the second belt 74 be connected between the second driving wheel 72 and the second driven pulley 73 with second, second driven pulley 72 is in transmission connection with the base 61 of second joint 60, and the turning cylinder that second joint 60 and swing arm 41 are rotationally connected is coaxial with the central shaft position of the second driven pulley 72.
The position of the second motor 71 as much as possible near the first joint 20, can reduce the weight of the second motor 71 to the impact of swing arm 41 like this, the torsion of reduction suffered by swing arm 41 and the load of oscillating motor 51.
In the present embodiment, the output shaft of the second motor 71 and the output shaft of oscillating motor 51 are parallel to each other, and namely the rotational plane of second joint 60 is the same with the rotational plane of swing arm 41, and like this, the transmission of power is more steady.In addition, the second decelerator 75 is also connected with between the second driven pulley 72 and second joint 60.
Second joint 60 is provided with the 3rd joint 80 and the 3rd drive unit 90 for driving the 3rd joint 80 to rotate.The 3rd driven pulley 93 that 3rd drive unit 90 comprises the 3rd motor 91, the 3rd driving wheel 92 be arranged on the output shaft of the 3rd motor 91 coordinates with the 3rd driving wheel 92, the 3rd decelerator 95 being connected to the 3rd belt 94 between the 3rd driving wheel 92 and the 3rd driven pulley 93 and being in transmission connection with the 3rd driven pulley 94, the one end in the 3rd joint 80 is fixedly connected on the output shaft of the 3rd decelerator 95, and the 3rd joint 80, the 3rd driven pulley 93 and the 3rd decelerator 95 are coaxial.Like this, pedestal 10, first joint 20, swing arm group 40, second joint 60 and the 3rd joint 80 are in the same plane all the time, better working stability.
The multi-joint industry mechanical arm of the present embodiment also comprises wire-passing tube 81, wire-passing tube 81 interts on the 3rd decelerator 95 and the 3rd driven pulley 93, and be positioned on the central shaft of the 3rd decelerator 95 and the 3rd driven pulley 93, the coiling of each circuit of such control system can be passed from wire-passing tube 91, and need not arrange complicated winding structure.
3rd joint 80 is provided with the 4th joint 100 and for driving the four-drive device 110 of the 4th articulation.3rd joint 80 has two joint arms be parallel to each other 82 away from one end of second joint 60, the one end in the 4th joint 100 is rotatably connected between these two joint arms 82, structure can be made so more stable, and when preventing from using, the 4th joint 100 is shaken and affects the precision of manipulator.
The 4th driven pulley 113 that four-drive device 110 comprises the 4th motor 111, the 4th driving wheel 112 be arranged on the output shaft of the 4th motor 111 coordinates with the 4th driving wheel 112, the 4th decelerator (not shown) being connected to the 4th belt 114 between the 4th driving wheel 112 and the 4th driven pulley 113 and being in transmission connection with the 4th driven pulley 114,4th joint 110 is fixedly connected on the output shaft of the 4th decelerator, and the turning cylinder that the 4th joint 110 and the 3rd joint 80 are rotationally connected is coaxial with the 4th driven pulley 113.
4th joint 100 is provided with executive item 120 and the execution drive unit 130 for driving described executive item to rotate.Executive item 120 is conventional part, and concrete executive item specification is selected in the work that can need according to manipulator, no longer describes in detail herein.
Perform the execution decelerator 132 that drive unit 130 comprises actuating motor 131 and is arranged on the output shaft of actuating motor 131, executive item 120 is in transmission connection with execution decelerator 132, and the output shaft of executive item 120, execution decelerator 132 and actuating motor 131 is coaxial.Such actuating motor 131 can rotate by Direct driver executive item 120, and does not need the transmission mechanism through complexity, effectively improves the precision of manipulator.
It should be noted that, consider that the 4th joint 100 for installing actuating motor 131 is positioned at the end in the 3rd joint 80, the 3rd joint 80 can be made to be subject to larger torsion, and actuating motor 131, meeting under the prerequisite driving executive item 120, should select the motor of lighter in weight.
Above by reference to the accompanying drawings to invention has been detailed description; but embodiments of the present invention are not limited in above-mentioned embodiment; those skilled in the art can make various distortion to the present invention according to prior art; each motor etc. replacing in above-described embodiment as adopted rotary cylinder, these all belong to protection scope of the present invention.
Claims (6)
1. a multi-joint industry mechanical arm, comprise pedestal, it is characterized in that, described pedestal upper end is provided with the first joint, the first drive unit for driving described first articulation is installed in described pedestal, described first joint is provided with swing arm group and the oscillatory gearing mechanism for driving described swing arm group to rotate, described swing arm is provided with second joint and the second drive unit for driving described second joint to rotate, described second joint is provided with the 3rd joint and for driving the 3rd drive unit of described 3rd articulation, described 3rd joint is provided with the 4th joint and for driving the four-drive device of described 4th articulation, described 4th joint is provided with executive item and the execution drive unit for driving described executive item to rotate, described pedestal, described first joint, described swing arm group, described second joint and described 3rd joint in the same plane,
Described swing arm group comprises two swing arms, two described swing arms are parallel to each other and are fixedly connected with, one end of two described swing arms is rotatably connected on the upper end in described first joint respectively, described oscillatory gearing mechanism comprises and is fixed on described first upper end, joint and oscillating motor between two described swing arms and the swing decelerator that is in transmission connection with described oscillating motor, and described swing decelerator and swing arm described in one of them are in transmission connection;
One end of described second joint is rotatably connected on two described swing arms away from one end of described oscillating motor and between two described swing arms, described second drive unit to comprise between two described swing arms and the second motor near described oscillating motor position, be arranged on the second driving wheel on the output shaft of described second motor, the second driven pulley coordinated with described second driving wheel and the second belt be connected between described second driving wheel and described second driven pulley, described second driven pulley and described second joint are in transmission connection, and the central axis of the turning cylinder that is rotationally connected of described second joint and described swing arm and described second driven pulley.
2. multi-joint industry mechanical arm as claimed in claim 1, it is characterized in that, described first drive unit comprises the first motor being positioned at described base interior and the first decelerator be connected with described first motor-driven, described first joint and described first decelerator are in transmission connection, and the output shaft of the turning cylinder in described first joint, described first decelerator and the output shaft of described first motor coaxial.
3. multi-joint industry mechanical arm as claimed in claim 1, it is characterized in that, described 3rd drive unit comprises the 3rd motor, be arranged on the 3rd driving wheel on the output shaft of described 3rd motor, the 3rd driven pulley coordinated with described 3rd driving wheel, the 3rd decelerator being connected to the 3rd belt between described 3rd driving wheel and described 3rd driven pulley and being in transmission connection with described 3rd driven pulley, the one end in described 3rd joint is fixedly connected on the output shaft of described 3rd decelerator, and described 3rd joint, described 3rd driven pulley is coaxial with described 3rd decelerator.
4. multi-joint industry mechanical arm as claimed in claim 3, it is characterized in that, also comprise wire-passing tube, described wire-passing tube interts on described 3rd decelerator and described 3rd driven pulley, and is positioned on the central shaft of the 3rd decelerator and described 3rd driven pulley.
5. multi-joint industry mechanical arm as claimed in claim 3, it is characterized in that, described 3rd joint has two joint arms be parallel to each other away from one end of described second joint, and described 4th articulation is connected between two described joint arms.
6. the multi-joint industry mechanical arm as described in claim arbitrary in claim 1-5, it is characterized in that, described execution drive unit comprises actuating motor and is arranged on the execution decelerator on the output shaft of described actuating motor, described executive item and described execution decelerator are in transmission connection, and the output shaft of described executive item, described execution decelerator and described actuating motor is coaxial.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510348533.3A CN104908031A (en) | 2015-06-23 | 2015-06-23 | Multi-joint industrial mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510348533.3A CN104908031A (en) | 2015-06-23 | 2015-06-23 | Multi-joint industrial mechanical arm |
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| CN104908031A true CN104908031A (en) | 2015-09-16 |
Family
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| CN201510348533.3A Pending CN104908031A (en) | 2015-06-23 | 2015-06-23 | Multi-joint industrial mechanical arm |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500402A (en) * | 2016-02-04 | 2016-04-20 | 广东科捷龙机器人有限公司 | Novel movable joint of robot |
| CN107972021A (en) * | 2017-12-14 | 2018-05-01 | 杭州娃哈哈精密机械有限公司 | A kind of Multi-shaft mechanical arm |
| JPWO2017170303A1 (en) * | 2016-03-29 | 2019-02-07 | ライフロボティクス株式会社 | Robot arm mechanism and rotary joint device |
| CN111002300A (en) * | 2020-03-10 | 2020-04-14 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
| CN112518798A (en) * | 2020-11-24 | 2021-03-19 | 伯朗特机器人股份有限公司 | Multi-joint industrial robot |
| CN112536815A (en) * | 2020-11-24 | 2021-03-23 | 伯朗特机器人股份有限公司 | Robot rotating joint assembly |
| CN112536814A (en) * | 2020-11-24 | 2021-03-23 | 伯朗特机器人股份有限公司 | Routing method for robot rotating joint assembly |
| CN113829378A (en) * | 2021-09-29 | 2021-12-24 | 广东博工三六五机器人信息技术有限公司 | Multi-axis experiment grabbing robot with wireless manipulator |
| CN113872100A (en) * | 2021-09-13 | 2021-12-31 | 国家电网有限公司 | Unmanned aerial vehicle zero detection device for ultra-high voltage transmission line tension tower porcelain insulator |
| CN114890132A (en) * | 2022-04-07 | 2022-08-12 | 深圳市华盛控科技有限公司 | Collaborative stacking equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500402A (en) * | 2016-02-04 | 2016-04-20 | 广东科捷龙机器人有限公司 | Novel movable joint of robot |
| JPWO2017170303A1 (en) * | 2016-03-29 | 2019-02-07 | ライフロボティクス株式会社 | Robot arm mechanism and rotary joint device |
| US10800047B2 (en) | 2016-03-29 | 2020-10-13 | Life Robotics Inc. | Robot arm mechanism and rotary joint apparatus |
| CN107972021A (en) * | 2017-12-14 | 2018-05-01 | 杭州娃哈哈精密机械有限公司 | A kind of Multi-shaft mechanical arm |
| CN111002300A (en) * | 2020-03-10 | 2020-04-14 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
| CN111002300B (en) * | 2020-03-10 | 2020-06-16 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
| CN112518798A (en) * | 2020-11-24 | 2021-03-19 | 伯朗特机器人股份有限公司 | Multi-joint industrial robot |
| CN112536815A (en) * | 2020-11-24 | 2021-03-23 | 伯朗特机器人股份有限公司 | Robot rotating joint assembly |
| CN112536814A (en) * | 2020-11-24 | 2021-03-23 | 伯朗特机器人股份有限公司 | Routing method for robot rotating joint assembly |
| CN113872100A (en) * | 2021-09-13 | 2021-12-31 | 国家电网有限公司 | Unmanned aerial vehicle zero detection device for ultra-high voltage transmission line tension tower porcelain insulator |
| CN113829378A (en) * | 2021-09-29 | 2021-12-24 | 广东博工三六五机器人信息技术有限公司 | Multi-axis experiment grabbing robot with wireless manipulator |
| CN114890132A (en) * | 2022-04-07 | 2022-08-12 | 深圳市华盛控科技有限公司 | Collaborative stacking equipment |
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Application publication date: 20150916 |
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| RJ01 | Rejection of invention patent application after publication |