CN106510542A - Municipal window cleaning robot for building - Google Patents
Municipal window cleaning robot for building Download PDFInfo
- Publication number
- CN106510542A CN106510542A CN201610973413.7A CN201610973413A CN106510542A CN 106510542 A CN106510542 A CN 106510542A CN 201610973413 A CN201610973413 A CN 201610973413A CN 106510542 A CN106510542 A CN 106510542A
- Authority
- CN
- China
- Prior art keywords
- guide rod
- rotating shaft
- pin bushing
- slide bar
- guide pin
- 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
- 238000004140 cleaning Methods 0.000 title abstract 2
- 241001074085 Scophthalmus aquosus Species 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 abstract description 3
- 239000011521 glass Substances 0.000 description 8
- 239000002594 sorbent Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000272165 Charadriidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
Landscapes
- Support Devices For Sliding Doors (AREA)
Abstract
The invention discloses a municipal window cleaning robot for a building. The robot comprises a rack, wherein the rack is shaped like a square; the rack comprises four uprights located on four corners of the square as well as a first guide rod, a second guide rod, a third guide rod and a fourth guide rod connected between the adjacent uprights; the first guide rod and the third guide rod are disposed in parallel; the second guide rod and the fourth guide rod are disposed in parallel; a first guide sleeve sleeves the first guide rod in a slide manner; wiping rag and a first vacuum suction disk are disposed on the bottom end face of the first guide sleeve; a first slide rod is disposed on a side edge of the first guide sleeve; the first slide rod is disposed towards the third guide rod and is perpendicular to the first guide rod; a horizontal beam parallel to the first guide rod is disposed on the rack and above the first guide rod; a vertical beam is disposed at the middle part of the horizontal beam towards the center of the rack; and a first rotation shaft is disposed on the vertical beam. According to the invention, alternate absorption of the vacuum suction disk is achieved, and motion of the rack is driven by rotation wheels. In this way, the robot can move on the rack. The robot is simple, efficient and highly stable.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of municipal window wiping robot of building.
Background technology
Architectural windowpane has inside and outside two faces, and windowpane outwardly is not easy to scrub very much, and exists
The risk of work high above the ground, is badly in need of a kind of robot of research and development and replaces manual work.
The content of the invention
The technical problem to be solved is to provide a kind of municipal window wiping robot of building, to solve in prior art
The big technical problem of clean glass window difficulty.
To solve above-mentioned technical problem, embodiments of the invention provide a kind of building municipal window wiping robot, including frame,
The frame is square, the frame include four columns on square four angles and be connected to adjacent upright posts it
Between the first guide rod, the second guide rod, the 3rd guide rod, the 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, described
Two guide rods and the 4th guide rod be arranged in parallel, and sliding on first guide rod is arranged with the first guide pin bushing, the bottom of first guide pin bushing
Face is provided with wiper and the first vacuum cup, and the side of first guide pin bushing is provided with the first slide bar, the first slide bar direction the 3rd
Guide rod arranges and perpendicular to the first guide rod, and the frame is provided with the horizontal stroke parallel with the first guide rod positioned at place above the first guide rod
Beam, is provided with vertical beam towards frame central direction in the middle part of the crossbeam, and the vertical beam is provided with first rotating shaft, the first rotating shaft and machine
Frame center superposition, is sequentially provided with the first follower lever and the second follower lever, first follower lever and second in the first rotating shaft
The angle of follower lever is 90 °, and first slide bar is provided with the first sliding sleeve, is provided with the second rotating shaft at the top of first sliding sleeve,
One end of first follower lever is provided with first set hole, and the first set hole is connected in the second rotating shaft, on the vertical beam also
Runner is provided with, the runner is provided with the 3rd rotating shaft near edge, is set in the middle part of the crossbeam by Motor drive, the runner
There is driving lever, in the middle part of the driving lever, be provided with the first bar-shaped trough, the 3rd rotating shaft other end is installed in the first bar-shaped trough,
First follower lever is provided with the second bar-shaped trough, and second bar-shaped trough is located at the medium position and first set of the first follower lever
Between hole, the outer end of the driving lever is provided with the 4th rotating shaft, and the 4th rotating shaft is installed in the second bar-shaped trough, and described first
The other end of follower lever is provided with the 3rd set of hole, and sliding on the 3rd guide rod is arranged with the 3rd guide pin bushing, the bottom of the 3rd guide pin bushing
End face is provided with wiper and the second vacuum cup, and the side of the 3rd guide pin bushing is provided with the 3rd slide bar, and the 3rd slide bar is towards the
One guide rod is arranged and perpendicular to the 3rd guide rod, and the 3rd slide bar is provided with the 3rd sliding sleeve, and the 3rd sliding sleeve is provided with the 5th
Rotating shaft, the 3rd set of hole are installed in the 5th rotating shaft；Slide on second guide rod and be arranged with the second guide pin bushing, described second leads
The bottom face of set is provided with wiper, and the side of second guide pin bushing is provided with the second slide bar, and second slide bar is set towards the 4th guide rod
Put and perpendicular to the second guide rod, second slide bar is provided with the second sliding sleeve, and second sliding sleeve is provided with the 6th rotating shaft, described
Second follower lever is respectively arranged at two ends with second set of hole and the 4th set of hole, and second set of hole be installed in the 6th rotating shaft；It is described
Slide on 4th guide rod and be arranged with the 4th guide pin bushing, the bottom face of the 4th guide pin bushing is provided with wiper, the side of the 4th guide pin bushing
The 4th slide bar is provided with, the 4th slide bar is arranged towards the second guide rod and perpendicular to the 4th guide rod, and the 4th slide bar is provided with
4th sliding sleeve, the 4th sliding sleeve are provided with the 7th rotating shaft, and the 4th set of hole is installed in the 7th rotating shaft；Edge on the runner
Diametric(al) is provided with strip mounting groove, is interval with multiple installation positions for installing the described 3rd in the strip mounting groove
Rotating shaft.
Wherein, first vacuum cup and the second vacuum cup alternate run are driving frame to move on windowpane.
Wherein, the driving lever is made up of stainless steel material.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, the present invention is designed as the first follower lever and the second follower lever are connected and are in 90 °, therefore works as first
When follower lever drives the first guide pin bushing and the 3rd guide pin bushing to move back and forth on the first guide rod and the 3rd guide rod respectively, the second follower lever
The second guide pin bushing and the 4th guide pin bushing can be driven to move back and forth on the second guide rod and the 4th guide rod respectively；Therefore four wipers are only by one
Individual runner drives, and work, efficiency high can be cleaned to glass surface simultaneously；By vacuum cup alternating sorbent, driven by runner
Gantry motion, so that it may realize motion of the robot in frame, simple efficient, good stability.
Description of the drawings
Fig. 1 is the top view of the present invention.
Fig. 2 is the stereogram one of the present invention.
Fig. 3 is the stereogram two of the present invention.
Fig. 4 is the structure chart of the runner of the present invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
As shown in Figures 1 to 4, the embodiment of the present invention provides a kind of building municipal window wiping robot, including frame, the machine
Frame is square, and the frame includes four columns 1 on square four angles and is connected between adjacent upright posts 1
First guide rod 2, the second guide rod 3, the 3rd guide rod 4, the 4th guide rod 5, four guide rods are isometric, respectively for foursquare, described
One guide rod 2 and the 3rd guide rod 4 be arranged in parallel, and second guide rod 3 and the 4th guide rod 5 be arranged in parallel, and the first guide rod 2 is perpendicular to
Two guide rods 3.Slide on first guide rod 2 and be arranged with the first guide pin bushing 21, the bottom face of first guide pin bushing 21 is provided with 7 He of wiper
First vacuum cup 61, the side of first guide pin bushing 21 are provided with the first slide bar 22, and first slide bar 22 is towards the 3rd guide rod 4
Arrange and perpendicular to the first guide rod 2, the frame is provided with the horizontal stroke parallel with the first guide rod 2 at 2 top of the first guide rod
Beam 8, crossbeam 8 is built on stilts to be arranged, therefore will not interference with the motion of the first guide pin bushing 21, towards frame central side in the middle part of the crossbeam 8
To vertical beam 9 is provided with, the vertical beam 9 is provided with first rotating shaft 10, first rotating shaft 10 and 9 perpendicular setting of vertical beam, first rotating shaft 10
Can rotate on vertical beam 9, can be connected using bearing, the first rotating shaft 10 is overlapped with frame central point；The first rotating shaft 10
On be sequentially provided with the first follower lever 11 and the second follower lever 12, the first follower lever 11 and the second follower lever 12 are isometric, and first from
Lever 11 and 12 respective axis of the second follower lever are coincided with the axis of first rotating shaft 10, the first follower lever 11 and second
Follower lever 12 keeps at a certain distance away and is fixed in first rotating shaft 10, and the angle of first follower lever 11 and the second follower lever 12 is
90°。
First slide bar 22 is provided with the first sliding sleeve 23, and the first sliding sleeve 23 can be on the first slide bar 22 after being driven by external force
Slide, the top of first sliding sleeve 23 is provided with the second rotating shaft 24, and the second rotating shaft 24 can be in the rotary-top of the first sliding sleeve 23, example
Bearing connected mode is adopted such as；One end of first follower lever 11 is provided with first set hole 111, and the first set hole 111 connects
It is connected in the second rotating shaft 24, in the present embodiment, first set hole 111 can be mutually fixedly connected with the second rotating shaft 24；On the vertical beam 9 also
Runner 13 is provided with, the runner 13 is driven by motor is (not shown), and the runner 13 is provided with the 3rd rotating shaft 14 near edge,
3rd rotating shaft 14 is located on the eccentric position of runner 13, and the 3rd rotating shaft 14 can be rotated on runner 13, connected for example with bearing
Mode；The middle part of the crossbeam 8 is provided with driving lever 15, and one end of driving lever 15 is articulated with the medium position of crossbeam 8；The master
The middle part of lever 15 is provided with the first bar-shaped trough 151, and the 3rd rotating shaft other end 14 is installed in the first bar-shaped trough 151, and the 3rd
Rotating shaft 14 and the way of contact of the first bar-shaped trough 151 are rolling friction.
First follower lever 11 is provided with the second bar-shaped trough 113, and second bar-shaped trough 113 is located at the first follower lever 11
Medium position and first set hole 111 between, the outer end of the driving lever 15 is provided with the 4th rotating shaft 152, and the 4th rotating shaft 152 can
Rotate on the outer end of driving lever 15, for example with bearing connected mode；4th rotating shaft 152 is installed on the second bar-shaped trough
In 113, the 4th rotating shaft 152 and the way of contact of the second bar-shaped trough 113 are rolling friction, the other end of first follower lever 11
The 3rd set of hole 112 is provided with, sliding on the 3rd guide rod 4 is arranged with the 3rd guide pin bushing 41, and the bottom face of the 3rd guide pin bushing 41 sets
The side for having wiper 7 and the second vacuum cup 62, the 3rd guide pin bushing 41 is provided with the 3rd slide bar 42,42 direction of the 3rd slide bar
First guide rod 2 is arranged and perpendicular to the 3rd guide rod 4, and the 3rd slide bar 42 is provided with the 3rd sliding sleeve 43, the 3rd sliding sleeve 43
The 5th rotating shaft 44 is provided with, the 5th rotating shaft 44 can be in the rotary-top of the 3rd sliding sleeve 43, for example with bearing connected mode；It is described
3rd set of hole 112 is installed in the 5th rotating shaft 44, and in the present embodiment, the 3rd set of hole 112 can be mutually fixedly connected with the 5th rotating shaft 44.
Symmetrical centered on first guide pin bushing 21, the first slide bar 22 and the 3rd guide pin bushing 41, the 3rd slide bar 42, symmetrical centre point is located at first rotating shaft
On 10 place axis.
Slide on second guide rod 3 and be arranged with the second guide pin bushing 31, the bottom face of second guide pin bushing 31 is provided with wiper 7,
The side of second guide pin bushing 31 is provided with the second slide bar 32, and second slide bar 32 is arranged towards the 4th guide rod 5 and perpendicular to
Two guide rods 3, second slide bar 32 are provided with the second sliding sleeve 33, and second sliding sleeve 33 is provided with the 6th rotating shaft 34, the 6th turn
Axle 34 can be in the rotary-top of the second sliding sleeve 33, for example with bearing connected mode；The two ends difference of second follower lever 12
Second set of hole 121 and the 4th set of hole 122 are provided with, second set of hole 121 is installed in the 6th rotating shaft 34, second in the present embodiment
Set hole 121 can be mutually fixedly connected with the 6th rotating shaft 34；Slide on 4th guide rod 5 and be arranged with the 4th guide pin bushing 51, the described 4th
The bottom face of guide pin bushing 51 is provided with wiper 7, and the side of the 4th guide pin bushing 51 is provided with the 4th slide bar 52,52 direction of the 4th slide bar
Second guide rod 3 is arranged and perpendicular to the 4th guide rod 5, and the 4th slide bar 52 is provided with the 4th sliding sleeve 53, the 4th sliding sleeve 53
The 7th rotating shaft 54 is provided with, the 7th rotating shaft 54 can be in the rotary-top of the 4th sliding sleeve 53, for example with bearing connected mode；It is described
4th set of hole 122 is installed in the 7th rotating shaft 54, and in the present embodiment, the 4th set of hole 122 can be mutually fixedly connected with the 7th rotating shaft 54.
Symmetrical centered on second guide pin bushing 31, the second slide bar 32 and the 4th guide pin bushing 51, the 4th slide bar 52, symmetrical centre point is located at first rotating shaft
On 10 place axis.Strip mounting groove 131 is provided with the runner 13 diametrically, in the strip mounting groove 131
Multiple installation positions 132 are interval with for installing the 3rd rotating shaft 14.3rd rotating shaft installation site is different, it is meant that runner
Output torque it is different, therefore the amplitude of fluctuation of adjustable drive link, and then adjust motion amplitude of each guide pin bushing on guide rod.
The operation principle and process of the present invention is as follows：During original state, frame is placed in parallel with glass planar, with wiping
The one of cloth is adsorbed on glass facing to glass by the first vacuum cup and the second vacuum cup, and after start-up operation, first is true
Suction disk does not adsorb, and the second vacuum cup continues absorption, and runner is rotated, and drives the 3rd rotating shaft on runner to move in a circle, the
Three rotating shafts drive driving lever to swing back and forth, fourth rotating shaft of the driving lever with crossbeam center as swing pivot, on driving lever movable end
Drive the first follower lever to move, make the first follower lever swing back and forth by swing pivot of frame central, the first follower lever is by setting
The second rotating shaft in end drives the first guide pin bushing that linear reciprocating motion is done on the first guide rod, and the wiper on the first guide pin bushing can be used to
Clean glass window, when the first guide pin bushing moves to the other end from the first guide rod, the absorption of the first vacuum cup, the second vacuum cup
Do not adsorb, the first vacuum cup and the second vacuum cup alternating sorbent can be such that frame moves on the glass surface；Due to first from
Lever is connected with the second follower lever and is in 90 ° of designs, therefore when the first follower lever drives the first guide pin bushing and the 3rd guide pin bushing to exist respectively
When moving back and forth on the first guide rod and the 3rd guide rod, the second follower lever can also drive the second guide pin bushing and the 4th guide pin bushing respectively second
Move back and forth on guide rod and the 4th guide rod.Therefore four wipers are only driven by a runner, and simultaneously glass surface can be carried out clearly
Clean work, efficiency high；By vacuum cup alternating sorbent, gantry motion is driven by runner, so that it may realize robot on windowpane
Motion, it is simple efficiently, good stability.
The driving lever 15 is made up of stainless steel material.Which is difficult to get rusty, long service life.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (3)
1. it is a kind of to build municipal window wiping robot, it is characterised in that including frame, the frame is square, the frame bag
Include four columns and the first guide rod being connected between adjacent upright posts on square four angles, the second guide rod, the 3rd
Guide rod, the 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, and second guide rod and the 4th guide rod be arranged in parallel,
Slide on first guide rod and be arranged with the first guide pin bushing, the bottom face of first guide pin bushing is provided with wiper and the first vacuum cup,
The side of first guide pin bushing is provided with the first slide bar, and first slide bar is arranged towards the 3rd guide rod and perpendicular to the first guide rod,
The frame is provided with the crossbeam parallel with the first guide rod positioned at place above the first guide rod, towards frame central in the middle part of the crossbeam
Direction is provided with vertical beam, and the vertical beam is provided with first rotating shaft, and the first rotating shaft is overlapped with frame central, in the first rotating shaft
The angle for being sequentially provided with the first follower lever and the second follower lever, first follower lever and the second follower lever is 90 °, described first
Slide bar is provided with the first sliding sleeve, and the second rotating shaft is provided with the top of first sliding sleeve, and one end of first follower lever is provided with
First set hole, the first set hole are connected in the second rotating shaft, and runner is additionally provided with the vertical beam, and the runner is driven by motor
Dynamic, the runner is provided with the 3rd rotating shaft near edge, is provided with driving lever, sets in the middle part of the driving lever in the middle part of the crossbeam
There is the first bar-shaped trough, the 3rd rotating shaft other end is installed in the first bar-shaped trough, and first follower lever is provided with Article 2
Shape groove, second bar-shaped trough are located between the medium position of the first follower lever and first set hole, the outer end of the driving lever
The 4th rotating shaft is provided with, the 4th rotating shaft is installed in the second bar-shaped trough, the other end of first follower lever is provided with the 3rd set
Hole, slides on the 3rd guide rod and is arranged with the 3rd guide pin bushing, and the bottom face of the 3rd guide pin bushing is provided with wiper and the suction of the second vacuum
Disk, the side of the 3rd guide pin bushing are provided with the 3rd slide bar, and the 3rd slide bar is arranged and led perpendicular to the 3rd towards the first guide rod
Bar, the 3rd slide bar are provided with the 3rd sliding sleeve, and the 3rd sliding sleeve is provided with the 5th rotating shaft, and the 3rd set of hole is installed on
In five rotating shafts；Slide on second guide rod and be arranged with the second guide pin bushing, the bottom face of second guide pin bushing is provided with wiper, described the
The side of two guide pin bushings is provided with the second slide bar, and second slide bar is arranged towards the 4th guide rod and perpendicular to the second guide rod, and described the
Two slide bars are provided with the second sliding sleeve, second sliding sleeve is provided with the 6th rotating shaft, and second follower lever is respectively arranged at two ends with
Second set of hole and the 4th set of hole, second set of hole is installed in the 6th rotating shaft；Slide on 4th guide rod and be arranged with the 4th
Guide pin bushing, the bottom face of the 4th guide pin bushing are provided with wiper, and the side of the 4th guide pin bushing is provided with the 4th slide bar, the 4th slide bar
Arrange towards the second guide rod and perpendicular to the 4th guide rod, the 4th slide bar is provided with the 4th sliding sleeve, sets on the 4th sliding sleeve
There is the 7th rotating shaft, the 4th set of hole is installed in the 7th rotating shaft；Strip mounting groove is provided with the runner diametrically,
Multiple installation positions are interval with the strip mounting groove for installing the 3rd rotating shaft.
2. it is according to claim 1 to build municipal window wiping robot, it is characterised in that first vacuum cup and second
Vacuum cup alternate run is moved on windowpane with driving frame.
3. driving lever according to claim 2, it is characterised in that the driving lever is made up of stainless steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610973413.7A CN106510542A (en) | 2016-11-04 | 2016-11-04 | Municipal window cleaning robot for building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610973413.7A CN106510542A (en) | 2016-11-04 | 2016-11-04 | Municipal window cleaning robot for building |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106510542A true CN106510542A (en) | 2017-03-22 |
Family
ID=58349812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610973413.7A Pending CN106510542A (en) | 2016-11-04 | 2016-11-04 | Municipal window cleaning robot for building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106510542A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2243261Y (en) * | 1995-06-28 | 1996-12-25 | 王镇虎 | Automatic self-sucking window cleaner |
| JP2005185844A (en) * | 2004-12-07 | 2005-07-14 | Masanosuke Ishimaru | Wiping and polishing cleaner |
| CN201814216U (en) * | 2010-10-14 | 2011-05-04 | 李永福 | Underpan of baby electric cradle |
| CN202376015U (en) * | 2011-11-15 | 2012-08-15 | 王靖瑜 | Intelligent window cleaning robot |
| CN102987981A (en) * | 2012-10-31 | 2013-03-27 | 博宇(无锡)科技有限公司 | Hydraulic lifting platform for window cleaning machine |
| CN203676981U (en) * | 2013-12-04 | 2014-07-02 | 昆明理工大学 | Glass cleaning device |
| CN104352199A (en) * | 2014-11-21 | 2015-02-18 | 河北科技大学 | Glass curtain wall cleaning machine |
| CN204445673U (en) * | 2015-03-26 | 2015-07-08 | 滨州学院 | One climbs wall cleaning device automatically |
-
2016
- 2016-11-04 CN CN201610973413.7A patent/CN106510542A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2243261Y (en) * | 1995-06-28 | 1996-12-25 | 王镇虎 | Automatic self-sucking window cleaner |
| JP2005185844A (en) * | 2004-12-07 | 2005-07-14 | Masanosuke Ishimaru | Wiping and polishing cleaner |
| CN201814216U (en) * | 2010-10-14 | 2011-05-04 | 李永福 | Underpan of baby electric cradle |
| CN202376015U (en) * | 2011-11-15 | 2012-08-15 | 王靖瑜 | Intelligent window cleaning robot |
| CN102987981A (en) * | 2012-10-31 | 2013-03-27 | 博宇(无锡)科技有限公司 | Hydraulic lifting platform for window cleaning machine |
| CN203676981U (en) * | 2013-12-04 | 2014-07-02 | 昆明理工大学 | Glass cleaning device |
| CN104352199A (en) * | 2014-11-21 | 2015-02-18 | 河北科技大学 | Glass curtain wall cleaning machine |
| CN204445673U (en) * | 2015-03-26 | 2015-07-08 | 滨州学院 | One climbs wall cleaning device automatically |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20170322 |