CN106985988A - A kind of modular event driven device based on dielectric elastomer - Google Patents

A kind of modular event driven device based on dielectric elastomer Download PDF

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Publication number
CN106985988A
CN106985988A CN201710132917.0A CN201710132917A CN106985988A CN 106985988 A CN106985988 A CN 106985988A CN 201710132917 A CN201710132917 A CN 201710132917A CN 106985988 A CN106985988 A CN 106985988A
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CN
China
Prior art keywords
film
dielectric elastomer
driving
dielectric
event driven
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CN201710132917.0A
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Chinese (zh)
Inventor
傅珂杰
李铁风
曹许诺
刘磊
周昉洵
叶丰毅
金永斌
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CN201710132917.0A priority Critical patent/CN106985988A/en
Publication of CN106985988A publication Critical patent/CN106985988A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H1/00Propulsive elements directly acting on water
    • B63H1/30Propulsive elements directly acting on water of non-rotary type
    • B63H1/36Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

Abstract

The invention discloses a kind of modular event driven device based on dielectric elastomer, including:Fixed frame;Film is driven, taut to be located in the fixed frame, the driving film includes the dielectric elastomeric body thin film that at least one layer of upper and lower surface is covered with electrode layer;Switching mechanism is deformed, is arranged on driving film, the deformation switching mechanism includes:Two feets, interval is attached on driving film;Two swing arms, two swing arms are hinged, and the other end of two swing arms is hinged with two feets respectively;Spacing between two feets is more than or equal to the difference of the length of two swing arms and less than the length sum of two swing arms.Dilatation in dielectric elastomer plane is changed into out-of-plane deformation, effective driving force of the drive device is larger by the modular event driven device of the present invention by deforming switching mechanism.

Description

A kind of modular event driven device based on dielectric elastomer
Technical field
The present invention relates to flexible intelligent devices field, more particularly to a kind of modular event driven dress based on dielectric elastomer Put.
Background technology
Dielectric elastomer (DE) is a kind of elastomeric material with high-k, and it can change under extraneous electro photoluminescence Shape;After extraneous electro photoluminescence is cancelled, original-shape or volume can be returned to again, so as to produce stress and strain, electric energy is turned Change mechanical energy into.Dielectric elastomer, with higher electromechanical conversion efficiency, has as the new electroluminescent induced intelligent material of one kind Light weight, price are low, motion is flexible, be readily formed the advantages of being damaged with indefatigability.
Dielectric elastomer is flexible in itself, and the property deformed with similar biological muscles electric excitation, can be well Applied to bionic field, according to the above-mentioned property of dielectric elastomer, special structure can be designed, applies and is produced after specific voltage Special exercise.The advantage of the drive device designed based on dielectric elastomer is that driving structure is more soft in itself, averag density It is small, it is possible to achieve mechanical energy is exported, mechanical driving structure can be substituted very well applied to bionic field.
With the research applied to dielectric elastomer, the drive device based on dielectric elastomer of many has been occurred in that.
For example, Publication No. CN105083510A Chinese patent literature discloses a kind of Shui Zhong robots, including trunk, Trunk is provided with propulsion fin and swings rudder, the material of the trunk for can shape-changing material, being covered with the trunk makes trunk The driving film deformed upon.The driving film is dielectric elastomeric body thin film.
But most of driving structures based on dielectric elastomer can only produce the dilatation in plane at present, can produce Raw effective driving force is smaller, and effective driving deformation of generation is also smaller.Therefore, driving structure based on dielectric elastomer makes With by great limitation, without general applicability.
The content of the invention
The present invention provides a kind of modular event driven device based on dielectric elastomer, can be by dielectric by deforming switching mechanism Dilatation in elastic body plane is changed into out-of-plane deformation, and effective driving force of the drive device is larger.
A kind of modular event driven device based on dielectric elastomer, including:
Fixed frame;
Film is driven, taut to be located in the fixed frame, the driving film is covered with electricity including at least one layer of upper and lower surface The dielectric elastomeric body thin film of pole layer;
Switching mechanism is deformed, is arranged on driving film, the deformation switching mechanism includes:
Two feets, interval is attached on driving film;
Two swing arms, two swing arms are hinged, and the other end of two swing arms is hinged with two feets respectively;
Spacing between two feets is more than or equal to the difference of the length of two swing arms and less than the length sum of two swing arms.
Described fixed frame is the larger material of intensity, can be the larger silica gel of intensity, plastics, lucite etc., it is ensured that It will not deform with flexible dielectric elastomer thin film and produce deformation.
Described feet and swing arm are also the larger material of intensity, are not susceptible to deformation.Swing arm can be to be shaft-like, can also For flake.Preferably, two swing arms are flake.
The modular event driven device of the present invention, when applying certain voltage to the electrode layer of driving film, driving film is in face Inside it is stretched, the spacing increase between two feets on driving film, the driving between two swing arms and two feets is thin The shape for the triangle that film is surrounded changes, therefore, and the dilatation in driving pellicular front changes in order to which deformation is bigger Out-of-plane deformation, when it is in periodically variable voltage that the electrode layer to driving film, which applies, two swing arms will generating period The swing of property.
Preferably, the spacing between described two feets is 1~1.5 times of the difference of two pendulum arm lengths;It is further excellent Choosing, the spacing between described two feets is 1~1.1 times of the difference of two pendulum arm lengths;Most preferably, described two feets Between spacing be equal to the differences of two pendulum arm lengths.
It is thin slice that spacing between described two feets, which is equal to the difference of two pendulum arm lengths, two swing arms, driving film When electrode layer does not apply power supply, two swing arms are mutually folded, almost in a plane parallel with driving film;When Drive film electrode layer apply voltage when, electrode layer covering dielectric elastomeric body thin film outwards unfold, cause two feets it Between spacing increase, the angle between geometrical relationship, two swing arms must increase since 0 ° of beginning, and two swing arms are prominent Rise, the dilatation in pellicular front will be driven to change for the bigger out-of-plane deformation of deformation.Between described two feets When spacing is equal to the difference of two pendulum arm lengths, the out-of-plane deformation of generation is bigger.
Preferably, the difference of two described pendulum arm lengths is 1~2.5 times of shorter pendulum arm length;Most preferably, it is described The differences of two pendulum arm lengths be 2 times of shorter pendulum arm length.
When the difference of two described pendulum arm lengths is 2 times of shorter pendulum arm length, compared with the length of long arm swing:Between two feets Away from:The length of shorter swing arm is 3: 2: 1.Now, when driving film to deform upon, two swing arms are easier to swing.
Described electrode layer is unitary electrode, and described deformation switching mechanism is arranged on the driving film at unitary electrode On.
Described electrode layer is the electrod-array arranged by some unitary electrodes, and described electrode layer is by some lists Driven at the electrod-array of one electrode arrangement, each unitary electrode and described deformation switching mechanism is equipped with film.
Corresponding deformation switching mechanism can be formed as needed by some electrode arrangements into specific electrod-array, so that The modular drive device can realize special exercise mode.
Dielectric elastomeric body thin film is thicker, and deformation quantity is bigger, and the driving force of generation is also bigger, but is due to by dielectric elastomeric Body thin film can just be deformed upon under high pressure effect, and to thickness it is excessive when, can only also occur even if big driving voltage is applied Less deformation.
Preferably, every layer of dielectric elastomeric body thin film is in waiting twin shaft pretensioned state in described driving film, often Thickness before the twin shaft pre-stretching such as layer dielectric elastomeric body thin film is 0.5~2mm.
It is further preferred that every layer of dielectric elastomeric body thin film waits twin shaft pre-stretching than being 2.5 in described driving film × 2.5, it can be adjusted according to actual conditions.
It is thin to improve driving by being superimposed multilayer to overcome the problem of driving force of individual layer dielectric elastomeric body thin film is limited The overall driving force of film.
Preferably, in adjacent two layers dielectric elastomeric body thin film, the electrode layer of upper strata dielectric elastomeric body thin film lower surface with The electrode layer of underlying dielectric elastomer thin film upper surface is shared.
For any one layer of dielectric elastomeric body thin film, apply driving voltage on the electrode layer of its upper and lower surface, by outer Plus driving power supply is provided, one or more parallel circuits can be used, connects and draws same dielectric elastomeric thin-film layers different zones Electrode.When there is multilayer dielectric elastomer thin film, when applying driving voltage, it will be connected after institute's polarized identical electrode layer parallel connection To the two ends of driving power supply.
Compared with prior art, beneficial effects of the present invention are:
The modular event driven device of the present invention is turned the dilatation in dielectric elastomer plane by deforming switching mechanism It is changed into out-of-plane deformation, effective driving force of the drive device is larger.
Brief description of the drawings
Fig. 1 is the structural representation of the modular event driven device based on dielectric elastomer;
Fig. 2 is the view of modular event driven device when electrode layer applies voltage;
Fig. 3 is the structural representation of linear array;
Fig. 4 is the structural representation of circular array.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in figure 1, the modular event driven device based on dielectric elastomer of the present invention includes:The larger fixed frame of rigidity 1st, the taut deformation switching mechanism for being located at driving film 2 wrong in fixed frame and being attached on driving film.
Fixed frame 1 uses thickness to be made up of 5mm acrylic (lucite) plate, it is ensured that fixed frame will not be with driving film The obvious deformation of generation.Fixed frame 1 is square, and outside size is 130mm × 130mm, and interior size is 100mm × 100mm.
Drive dielectric elastomeric body thin film (electricity of the specific region covered with given shape electrode layer 3 that film 2 is upper and lower surface Pole layer whole whole dielectric elastomeric body thin film of covering), dielectric elastomeric body thin film can select silica gel material, elastomeric material or its His dielectric material, the present embodiment dielectric elastomer is the VHB4910 that 3M companies produce.
Dielectric elastomeric body thin film is thicker, and deformation quantity is bigger, and the driving force of generation is also bigger, but is due to by dielectric elastomeric Body thin film can just be deformed upon under high pressure effect, and thickness it is excessive when, even if apply big driving voltage can only also occur compared with Small deformation.The twin shaft pretensioned state such as the dielectric elastomeric body thin film of the present embodiment is in, wait twin shaft be pre-stretched before thickness For 1mm, the draw ratio for waiting twin shaft to be pre-stretched is 2.5 × 2.5.The thickness of dielectric elastomeric body thin film and the stretching for waiting twin shaft to be pre-stretched Than that can be adjusted according to practical situations.
The driving force of individual layer dielectric elastomeric body thin film is limited, and the overall drive of driving film can be improved by being superimposed multilayer Power.The driving film of the present embodiment includes two layers of dielectric elastomer thin film, and the lower surface of upper strata dielectric elastomeric body thin film is with The upper surface of layer dielectric elastomeric body thin film shares same electrode layer.
Deforming switching mechanism includes the first feet 41, the second feet 42, the first swing arm 51, the second swing arm 52;First feet 41 and second feet 42 stick to the surface (at electrode layer) of driving film 2, the first swing arm 51 and the second swing arm 52 One end end is hinged, and the free end of two swing arms is hinged with the first feet 41 and the second feet 42 respectively.
First feet 41, the second feet 42, the first swing arm 51 and the second swing arm 52 are made by the thick PET materials of 0.4mm, The size of first swing arm 51 is 60mm × 15mm, and the size of the second swing arm 52 is 20mm × 15mm, when not applying driving voltage, two Spacing between feet is 40mm, and two swing arms are bonded to each other, with driving film almost into plane.
Deformation switching mechanism is sticked at the driving film of electrode covering.Electrode layer 3 can be unitary electrode, can also The electrod-array arranged for some unitary electrodes.Unitary electrode can be square-shaped electrode, or circular electrode, each Unitary electrode is formed by carbon paste coating, and electrode edge is drawn by strip masking foil, the masking foil lead direction phase of outermost layer electrode Together, middle electrode masking foil lead direction on the contrary, realize above and below two layers of dielectric elastomer series connection.
When electrode layer 3 is electrod-array, one or more parallel circuit can be used, connects that to draw same dielectric elastomer thin The electrode of film layer different zones, all electrodes on same layer dielectric elastomeric body thin film are by single circuit control.
Film layer is driven to need the extra voltage applied applied in external voltage, the present embodiment to be that frequency is 3~4Hz's Step voltage, size is 6kV~9kV.
When the two ends of electrode 3 do not apply voltage, two swing arms are bonded to each other, almost with driving film into plane;As shown in Fig. 2 When the two ends of electrode 3 apply voltage, the dielectric elastomer film that electrode 3 is covered out is outwards unfolded, and causes the distance of two swing arm ends More than 40mm, if flexing does not occur for swing arm, i.e. when the length of two swing arms is constant, then it can be obtained by geometrical relationship, between two swing arms Angle must be from the beginning 0 ° starts increase, in this process the second shorter swing arm 52 and the angle of driving film 2 Start to be increased by zero degree, when two swing arm end distances are increased toWhen (equivalent to dielectric elastomer along an axial deformation 41%), the second shorter swing arm 52 is with driving the angle of film 2 to become in 90 °, if the deformation of driving film continues to increase, Angle between second swing arm 52 and driving film 2 becomes obtuse angle;If electric discharge, between the second swing arm 52 and driving film 2 Angle can become 0 ° from obtuse angle again.
Variable angle scope in the present embodiment between the second swing arm 52 and driving film 2 is 0 °~120 °, with two-stage The rise of voltage, the angle of angle becomes big.
During practical application, the shape of electrod-array can be designed as needed.The modular event driven device of the present embodiment can Applied to Shui Zhong robots, when installing web in the end of two swing arm hinged places, the various forms of fortune of Shui Zhong robots can be achieved OK.As shown in figure 3, when electrod-array is linear array, the motion of the horizontal direction of Shui Zhong robots can be achieved;As shown in figure 4, Electrod-array is circular array, when radius of two swing arms along circular array is arranged, be can be achieved on Shui Zhong robots vertical direction Elevating movement (motion of similar jellyfish).
Technical scheme and beneficial effect are described in detail embodiment described above, it should be understood that The specific embodiment of the present invention is the foregoing is only, is not intended to limit the invention, it is all to be done in the spirit of the present invention Any modification, supplement and equivalent substitution etc., should be included in the scope of the protection.

Claims (8)

1. a kind of modular event driven device based on dielectric elastomer, it is characterised in that including:
Fixed frame;
Film is driven, taut to be located in the fixed frame, the driving film is covered with electrode layer including at least one layer of upper and lower surface Dielectric elastomeric body thin film;
Switching mechanism is deformed, is arranged on driving film, the deformation switching mechanism includes:
Two feets, interval is attached on driving film;
Two swing arms, two swing arms are hinged, and the other end of two swing arms is hinged with two feets respectively;
Spacing between two feets is more than or equal to the difference of the length of two swing arms and less than the length sum of two swing arms.
2. the modular event driven device according to claim 1 based on dielectric elastomer, it is characterised in that described two pads Spacing between pin is 1~1.5 times of the difference of two pendulum arm lengths.
3. the modular event driven device according to claim 1 or 2 based on dielectric elastomer, it is characterised in that described two Spacing between individual feet is 1~1.1 times of the difference of two pendulum arm lengths.
4. the modular event driven device according to claim 1 based on dielectric elastomer, it is characterised in that described two The difference of pendulum arm length is 1~2.5 times of shorter pendulum arm length.
5. the modular event driven device according to claim 1 based on dielectric elastomer, it is characterised in that described electrode Layer is unitary electrode, and described deformation switching mechanism is arranged on the driving film at unitary electrode.
6. the modular event driven device according to claim 1 based on dielectric elastomer, it is characterised in that described electrode Layer is to be equipped with described change on driving film at the electrod-array arranged by some unitary electrodes, each unitary electrode Shape switching mechanism.
7. the modular event driven device according to claim 1 based on dielectric elastomer, it is characterised in that described driving Every layer of dielectric elastomeric body thin film is in waiting twin shaft pretensioned state in film, the twin shaft pre-stretching such as every layer of dielectric elastomeric body thin film Preceding thickness is 0.5~2mm.
8. the modular event driven device according to claim 7 based on dielectric elastomer, it is characterised in that adjacent two layers are situated between In electric elastomer thin film, the electrode layer of upper strata dielectric elastomeric body thin film lower surface and the electricity of underlying dielectric elastomer thin film upper surface Pole layer is shared.
CN201710132917.0A 2017-03-07 2017-03-07 A kind of modular event driven device based on dielectric elastomer Pending CN106985988A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108556962A (en) * 2018-03-20 2018-09-21 西安理工大学 A kind of flexible robot based on dielectric elastomer driving
CN108945357A (en) * 2018-06-29 2018-12-07 青岛大学 A kind of software bionic fish tail
CN109334931A (en) * 2018-10-19 2019-02-15 江苏大学 A kind of imitative green turtle robot based on dielectric elastomer driving
CN109720520A (en) * 2017-10-27 2019-05-07 浙江大学 Pressure adaptive software intelligent drive device
CN113002658A (en) * 2021-03-02 2021-06-22 天津大学 Electrically driven walking device
CN114701632A (en) * 2022-04-19 2022-07-05 吉林大学 Bionic cuttlefish underwater propeller

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CN102405590A (en) * 2009-09-18 2012-04-04 东海橡胶工业株式会社 Dielectric film, method for producing same, and transducer using same
US20150221851A1 (en) * 2012-08-16 2015-08-06 Parker-Hannifin Corporation Electrical interconnect terminals for rolled dielectric elastomer transducers
CN105083510A (en) * 2015-08-31 2015-11-25 浙江大学 Underwater robot
CN206734590U (en) * 2017-03-07 2017-12-12 浙江大学 A kind of modular event driven device based on dielectric elastomer

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Publication number Priority date Publication date Assignee Title
US6294859B1 (en) * 1997-09-10 2001-09-25 Eads Deutschland Gmbh Electrostrictive or piezoelectric actuator device with a stroke amplifying transmission mechanism
JP2009232677A (en) * 2008-02-25 2009-10-08 Nsk Ltd Elastomer transducer, dielectric rubber composition, and power generating element
CN102405590A (en) * 2009-09-18 2012-04-04 东海橡胶工业株式会社 Dielectric film, method for producing same, and transducer using same
US20150221851A1 (en) * 2012-08-16 2015-08-06 Parker-Hannifin Corporation Electrical interconnect terminals for rolled dielectric elastomer transducers
CN105083510A (en) * 2015-08-31 2015-11-25 浙江大学 Underwater robot
CN206734590U (en) * 2017-03-07 2017-12-12 浙江大学 A kind of modular event driven device based on dielectric elastomer

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109720520A (en) * 2017-10-27 2019-05-07 浙江大学 Pressure adaptive software intelligent drive device
CN109720520B (en) * 2017-10-27 2023-12-05 浙江大学 Pressure self-adaptive soft intelligent driving device
CN108556962A (en) * 2018-03-20 2018-09-21 西安理工大学 A kind of flexible robot based on dielectric elastomer driving
CN108556962B (en) * 2018-03-20 2021-01-15 西安理工大学 Flexible robot based on dielectric elastomer drive
CN108945357A (en) * 2018-06-29 2018-12-07 青岛大学 A kind of software bionic fish tail
CN109334931A (en) * 2018-10-19 2019-02-15 江苏大学 A kind of imitative green turtle robot based on dielectric elastomer driving
CN113002658A (en) * 2021-03-02 2021-06-22 天津大学 Electrically driven walking device
CN114701632A (en) * 2022-04-19 2022-07-05 吉林大学 Bionic cuttlefish underwater propeller

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