CN107262390A - Board-like automatic inspection line - Google Patents
Board-like automatic inspection line Download PDFInfo
- Publication number
- CN107262390A CN107262390A CN201710391768.XA CN201710391768A CN107262390A CN 107262390 A CN107262390 A CN 107262390A CN 201710391768 A CN201710391768 A CN 201710391768A CN 107262390 A CN107262390 A CN 107262390A
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- CN
- China
- Prior art keywords
- station
- finger
- conveyer
- detection
- board
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to automatic detection field, disclose board-like automatic inspection line, including transport mechanism, testing agency, Zhao Qu mechanisms, controlling organization, region where transport mechanism, testing agency, Zhao Qu mechanisms, controlling organization is detection zone, and transport mechanism, testing agency, Zhao Qu mechanisms, controlling organization are arranged in three rows in detection zone and collectively constitute whole automatic inspection line.The present invention sets up full-automatic production line, realize the full-automatic production of product examination static pressure, dry examination, flatness detection, position degree detection and measuring for verticality, each item data of each product is collected in each operation, the data of qualified workpiece are got on workpiece with Quick Response Code form, and be stored into database, production data can be inquired about；Clamped, gripped more firm twice in addition, the interior finger of mechanical paw cooperates with outer finger, it is to avoid dropped product midway.
Description
Technical field
The present invention relates to automatic detection field, more particularly to board-like automatic inspection line.
Background technology
At present, with the lifting of manufacturing industry product quality, the low-end of manufacturing level can not meet high-end production
The requirement of product, traditional mode of production rely primarily on workman carry out product carrying, the information record of product, these can not all be protected
The quality for demonstrate,proving each product is matched with Product checking data, is easily caused some underproof products and is flowed to market, so opening
Send out stainless steel cooler Manipulator Transportation automatic detection link board-like and carry out full-automatic autonomous breakthrough, Informationization Manufacture
Automatic inspection line, improving product quality and information can review.
The content of the invention
There is provided board-like automatic inspection line for the problems of the prior art by the present invention.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals：
Board-like automatic inspection line, including transport mechanism, testing agency, Zhao Qu mechanisms, controlling organization, transport mechanism, detection
Region where mechanism, Zhao Qu mechanisms, controlling organization is detection zone, transport mechanism include supplied materials conveyer, discharging conveyer,
Haul conveyer and substandard product conveyer, testing agency include static pressure station, dry trial work position, flatness detection station and position
Degree of putting/measuring for verticality station, Zhao Qu mechanisms include four axis robots, two six axis robots, and controlling organization includes many
Individual control cabinet, detection zone is used for the placement line of the placement of detection device provided with three rows, and a row of front side from left to right sets successively
There are static pressure station and control cabinet, dry trial work position, four axis robots, discharging conveyer, a row at middle part is from left to right sequentially provided with
Supplied materials conveyer, six axis robot, haul conveyer, six axis robot, flatness detection station, position degree/measuring for verticality
Station a, row of rear side is from left to right sequentially provided with substandard product conveyer, control cabinet, dry trial work position, control cabinet, and two are done
Trial work position is located on straight line in the vertical.
Static pressure is respectively equipped with static pressure station, dry trial work position, flatness detection station and position degree/measuring for verticality station
Quick Response Code code reader is equipped with tester, leak detector, level meter and position measurement instrument/verticality detector, each station.
Communicated to connect between detection device on control cabinet and each detection station.
Dry trial work position is provided with photoelectric sensor, light curtain, and photoelectric sensor coordinates the placement of six axis robot progress workpiece
Taken with pawl, light curtain protection six axis robot safe operation.
The conveyer that discharges is provided with Quick Response Code code reader and laser marking machine.
Six axis robot includes base, and base is provided with the first motor, the first motor and is connected with rotation seat, rotates
Being hinged on swing arm, rotation seat of seat is additionally provided with the second motor, the bottom terminal ends connection of rotating shaft and the swing arm of the second motor,
The top end of swing arm is hinged with mechanical paw, the 3rd motor, and mechanical paw is connected with the rotating shaft of the 3rd motor, mechanical paw bag
Mechanical arm, clamping jaw finger are included, mechanical arm is that electric pushrod, the end of electric pushrod are provided with hollow structure and mechanical arm
Provided with rotating seat, rotating seat, which is provided with the 4th motor, the 4th motor, is connected with fixed disk, and clamping jaw finger is located on fixed disk,
Clamping jaw finger includes interior finger, outer finger, and interior finger includes two pieces of relative clamping plates with outer finger, and the end of outer finger is provided with
Crotch, the face that the two clamping plates of interior finger are relative is provided with netted friction plate, and fixed disk is provided with two groups of rotating shafts, two groups of rotating shafts
It is connected respectively with interior finger, outer finger.
The controller for control machinery hand is provided with control cabinet, fixed disk is provided with Quick Response Code code reader, Distance-sensing
Device, Quick Response Code code reader, range sensor are electrically connected with the controller, and range sensor detects its distance between testee
And controller is transferred data to, controller controls the folder of Quick Response Code code reader barcode scanning and clamping jaw finger according to pre-determined distance value
Take.
Conveyer discharge provided with two layers of conveyer belt.
Had the advantages that present invention employs above scheme：Realized by the two dry trial work be arrangeding in parallel positions
Two dry examination detection lines, improve the speed to dry examination leakage rate detection, effectively raise the operating efficiency of detection line；Set up
Full-automatic production line, realize product examination static pressure, dry examination, flatness detection, position degree detection and measuring for verticality it is complete from
Dynamic metaplasia production, collects static pressure pressure, dry examination leakage rate, flatness, position degree and perpendicularity of each product etc. in each operation
Data, the data of qualified workpiece are got on workpiece with Quick Response Code form, and are stored into database, allow production data can
Inquire about, can review；Clamped, gripped more firm twice in addition, the interior finger of mechanical paw cooperates with outer finger, it is to avoid
Drop product midway.
Brief description of the drawings
Fig. 1 is top view of the invention.
Fig. 2 is workflow diagram of the invention.
Fig. 3 is the structural representation of manipulator.
The toponym that each number designation is referred in accompanying drawing is as follows：1-supplied materials conveyer, 2-discharging conveyer, 3-
Haul conveyer, 4-substandard product conveyer, 5-static pressure station, 6-dry trial work position, 7-four axis robots, 8-laser
Marking machine, 9-six axis robot, 10-flatness detection station, 11-position degree/measuring for verticality station, 12-control cabinet,
13-base, the 14-the first motor, 15-rotation seat, 16-swing arm, 17-manipulator, 18-electric pushrod, 19-rotating seat,
20-the second motor, 21-fixed disk, 22-rotating shaft, 23-outer finger, 24-interior finger.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Embodiment
Board-like automatic inspection line, as shown in Figure 1-Figure 3, including transport mechanism, testing agency, Zhao Qu mechanisms, controlling organization,
Region where transport mechanism, testing agency, Zhao Qu mechanisms, controlling organization is detection zone, and transport mechanism is transmitted including supplied materials
Machine 1, discharging conveyer 2, haul conveyer 3 and substandard product conveyer 4, testing agency include static pressure station 5, dry trial work position
6th, flatness detection station 10 and position degree/measuring for verticality station 11, Zhao Qu mechanisms include four axis robots 7, a Liang Tai
Six axis robot 9, controlling organization includes multiple control cabinets 12, and detection zone is used for the placement of the placement of detection device provided with three rows
Line, a row of front side is from left to right sequentially provided with static pressure station 5 and control cabinet 12,6, four axis robots 7 of dry trial work position, discharging are passed
Machine 2 is sent, a row at middle part is from left to right sequentially provided with supplied materials conveyer 1, six axis robot 9, haul conveyer 3, six shaft mechanicals
Hand 9, flatness detection station 10, position degree/measuring for verticality station 11, a row of rear side is from left to right sequentially provided with unqualified
Product conveyer 4, control cabinet 12, dry trial work position 6, control cabinet 12, two dry trial work positions 6 are located on straight line in the vertical.
Set respectively on static pressure station 5, dry trial work position 6, flatness detection station 10 and position degree/measuring for verticality station 11
Have and Quick Response Code reading is equipped with static pressure test instrument, leak detector, level meter and position measurement instrument/verticality detector, each station
Code device.
Communicated to connect between detection device on control cabinet 12 and each detection station.
Dry trial work position 6 is provided with photoelectric sensor, light curtain, and photoelectric sensor coordinates six axis robot 9 to carry out putting for workpiece
Put and taken with pawl, the light curtain protection safe operation of six axis robot 9.
The conveyer 2 that discharges is provided with Quick Response Code code reader and laser marking machine 8.
Six axis robot 9 includes base 13, and base 13, which is provided with to be connected with the first motor 14, the first motor 14, to be turned
Dynamic seat 15, being hinged on swing arm 16, rotation seat 15 of rotation seat 15 is additionally provided with the second motor, the rotating shaft 22 of the second motor with
The bottom terminal ends connection of swing arm 16, the top end of swing arm 16 is hinged with mechanical paw 17, the 3rd motor, mechanical paw 17 and the
The rotating shaft 22 of three motors is connected, and mechanical paw 17 includes mechanical arm, clamping jaw finger, and mechanical arm is hollow structure and manipulator
Electric pushrod 18 is provided with arm, the end of electric pushrod 18 is provided with rotating seat 19, and rotating seat 19 is provided with the 4th motor 20, the 4th
Fixed disk 21 is connected with motor 20, clamping jaw finger is located on fixed disk 21, and clamping jaw finger includes interior finger 24, outer finger 23,
Interior finger 24 includes two pieces of relative clamping plates with outer finger 23, and the end of outer finger 23 is provided with crotch, two pieces of interior finger 24
The relative face of clamping plate is provided with netted friction plate, fixed disk 21 provided with two groups of rotating shafts 22, two groups of rotating shafts 22 respectively with interior hand
Refer to 24, outer finger 23 to connect.
The controller for control machinery hand is provided with control cabinet 12, fixed disk 21 is provided with Quick Response Code code reader, distance
Sensor, Quick Response Code code reader, range sensor are electrically connected with the controller, and range sensor detects it between testee
Distance simultaneously transfers data to controller, and controller controls Quick Response Code code reader barcode scanning and clamping jaw finger according to pre-determined distance value
Gripping.
Conveyer 2 discharge provided with two layers of conveyer belt.
The course of work：Left side six axis robot is pressed from both sides to carrying out the progress barcode scanning of the measured object on material conveyer and gripping measured object
Take measured object to be put on static pressure station 5 and static pressure detection is carried out by static pressure test instrument, detect unqualified, grip and be put into waste material
In case, qualified products are then gripped on haul conveyer 3, and measured object is sent to right side six axis robot by haul conveyer 3
After scope of activities, the six axis robot on right side grips measured object and is positioned on dry trial work position 6 to be detected by leak detector, if
Detection is unqualified, by being transported in manipulator gripping to unqualified conveyer by unqualified conveyer in ash can, if closing
Lattice then grip flatness detection station 10 and sequentially pass through flatness detection station 10, position degree/measuring for verticality station 11
It is upper that coherent detection is carried out by level meter, position measurement instrument/verticality detector and is placed into by the gripping of four axis robots
The transveyer that discharges is sent out carries out mark by automatic marking machine again by Quick Response Code code reader barcode scanning, carries out whole inspection；Wherein detect
Worked simultaneously with the dry trial work position 6 of rear side on front side of room and form two detection lines for carrying out dry examination, for the first time barcode scanning again after dry examination
Carry out second dry examination and carry out barcode scanning and flatness detection afterwards again.
In a word, presently preferred embodiments of the present invention, all equivalent changes made according to scope of the present invention patent be these are only
With modification, it should all belong to the covering scope of patent of the present invention.
Claims (8)
1. board-like automatic inspection line, including transport mechanism, testing agency, Zhao Qu mechanisms, controlling organization, transport mechanism, detection machine
Region where structure, Zhao Qu mechanisms, controlling organization is detection zone, it is characterised in that：Transport mechanism includes supplied materials conveyer
(1), discharging conveyer (2), haul conveyer (3) and substandard product conveyer (4), testing agency including static pressure station (5),
Dry trial work position (6), flatness detection station (10) and position degree/measuring for verticality station (11), Zhao Qu mechanisms include one four
Axis robot (7), two six axis robots (9), controlling organization include multiple control cabinets (12), and detection zone is used for provided with three rows
The placement line of the placement of detection device a, row of front side is from left to right sequentially provided with static pressure station (5) and control cabinet (12), dry examination
Station (6), four axis robots (7), discharging conveyer (2), the row at middle part be from left to right sequentially provided with supplied materials conveyer (1),
Six axis robot (9), haul conveyer (3), six axis robot (9), flatness detection station (10), position degree/perpendicularity inspection
Station (11) is surveyed, a row of rear side is from left to right sequentially provided with substandard product conveyer (4), control cabinet (12), dry trial work position
(6), control cabinet (12), two dry trial work positions (6) are located on straight line in the vertical.
2. board-like automatic inspection line according to claim 1, it is characterised in that：It is static pressure station (5), dry trial work position (6), flat
Face degree detection station (10) and position degree/measuring for verticality station are respectively equipped with static pressure test instrument, leak detector, level meter on (11)
With position measurement instrument/verticality detector, Quick Response Code code reader is equipped with each station.
3. board-like automatic inspection line according to claim 1, it is characterised in that：Control cabinet (12) is detected on station with each
Communicated to connect between detection device.
4. board-like automatic inspection line according to claim 1, it is characterised in that：Dry trial work position (6) is provided with optoelectronic induction
Device, light curtain, the placement that photoelectric sensor coordinates six axis robot (9) to carry out workpiece take with pawl, light curtain protection six axis robot (9)
Safe operation.
5. board-like automatic inspection line according to claim 1, it is characterised in that：The conveyer (2) that discharges is provided with Quick Response Code
Code reader and laser marking machine (8).
6. board-like automatic inspection line according to claim 5, it is characterised in that：Six axis robot (9) includes base (13),
Base (13) is provided with the first motor (14), the first motor (14) and is connected with rotation seat (15), the side of rotation seat (15)
Face, which is hinged with swing arm (16), rotation seat (15), is additionally provided with the second motor, the bottom of rotating shaft (22) Yu the swing arm (16) of the second motor
End connection is held, the top end of swing arm (16) is hinged with mechanical paw (17), the 3rd motor, mechanical paw (17) and the 3rd electricity
Rotating shaft (22) connection of machine, mechanical paw (17) includes mechanical arm, clamping jaw finger, and mechanical arm is hollow structure and manipulator
Electric pushrod (18) is provided with arm, the end of electric pushrod (18) is provided with rotating seat (19), and rotating seat (19) is provided with the 4th electricity
Fixed disk (21) is connected with machine (20), the 4th motor (20), clamping jaw finger is located on fixed disk (21), and clamping jaw finger includes interior
Finger (24), outer finger (23), interior finger (24) include two pieces of relative clamping plates, the end of outer finger (23) with outer finger (23)
Portion is provided with crotch, and the face that the two clamping plates of interior finger (24) are relative is provided with netted friction plate, and fixed disk (21) is provided with two
Group rotating shaft (22), two groups of rotating shafts (22) are connected with interior finger (24), outer finger (23) respectively.
7. board-like automatic inspection line according to claim 6, it is characterised in that：Being provided with control cabinet (12) is used for control machine
The controller of tool hand, fixed disk (21) is provided with Quick Response Code code reader, range sensor, Quick Response Code code reader, range sensor
It is electrically connected with the controller, range sensor detects its distance between testee and transfers data to controller, controls
Device controls the gripping of Quick Response Code code reader barcode scanning and clamping jaw finger according to pre-determined distance value.
8. board-like automatic inspection line according to claim 1, it is characterised in that：Conveyer (2) discharge provided with two layers of biography
Send band.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710391768.XA CN107262390A (en) | 2017-05-27 | 2017-05-27 | Board-like automatic inspection line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710391768.XA CN107262390A (en) | 2017-05-27 | 2017-05-27 | Board-like automatic inspection line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107262390A true CN107262390A (en) | 2017-10-20 |
Family
ID=60064756
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710391768.XA Pending CN107262390A (en) | 2017-05-27 | 2017-05-27 | Board-like automatic inspection line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107262390A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108002025A (en) * | 2017-12-25 | 2018-05-08 | 珠海迈超智能装备有限公司 | A kind of test equipment |
| CN108607813A (en) * | 2018-04-03 | 2018-10-02 | 芜湖纵横智能制造产业技术研究有限公司 | A kind of intelligent sorting device effectively improving delivery industry working efficiency |
| CN108931705A (en) * | 2018-07-25 | 2018-12-04 | 东莞栢民电子有限公司 | A kind of socket comprehensive tester and its working method |
| CN109916324A (en) * | 2019-03-19 | 2019-06-21 | 信泰电子（西安）有限公司 | Pcb board curvature test machine and its application method |
| CN110726393A (en) * | 2019-11-04 | 2020-01-24 | 淮阴师范学院 | Clamp pressing type ultrasonic detection tube verticality detection device |
| CN112013806A (en) * | 2020-09-08 | 2020-12-01 | 周团结 | Flatness detection device for building and use method thereof |
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| DE19614336C1 (en) * | 1996-04-11 | 1997-04-03 | Fraunhofer Ges Forschung | Operating field for input and control of industrial robots or manipulators |
| CN201993429U (en) * | 2011-01-10 | 2011-09-28 | 上海亿盟电气自动化技术有限公司 | Assembly line device for automatically detecting performance of contactor |
| CN203991345U (en) * | 2014-06-30 | 2014-12-10 | 深圳山源电器股份有限公司 | PTC heating strip automatic checkout equipment |
| CN104669247A (en) * | 2015-01-23 | 2015-06-03 | 温州职业技术学院 | Six-axis manipulator |
| CN105729472A (en) * | 2016-04-19 | 2016-07-06 | 惠州先进制造产业技术研究中心有限公司 | Bulb lamp sorting and packing system and method based on machine vision |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105904478A (en) * | 2016-05-17 | 2016-08-31 | 昆山丘钛微电子科技有限公司 | Mechanism for detecting feeding and discharging of automatic robot and grippers for mechanism |
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| DE19614336C1 (en) * | 1996-04-11 | 1997-04-03 | Fraunhofer Ges Forschung | Operating field for input and control of industrial robots or manipulators |
| CN201993429U (en) * | 2011-01-10 | 2011-09-28 | 上海亿盟电气自动化技术有限公司 | Assembly line device for automatically detecting performance of contactor |
| CN203991345U (en) * | 2014-06-30 | 2014-12-10 | 深圳山源电器股份有限公司 | PTC heating strip automatic checkout equipment |
| CN104669247A (en) * | 2015-01-23 | 2015-06-03 | 温州职业技术学院 | Six-axis manipulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108002025A (en) * | 2017-12-25 | 2018-05-08 | 珠海迈超智能装备有限公司 | A kind of test equipment |
| CN108002025B (en) * | 2017-12-25 | 2024-04-02 | 珠海迈超智能装备有限公司 | Test equipment |
| CN108607813A (en) * | 2018-04-03 | 2018-10-02 | 芜湖纵横智能制造产业技术研究有限公司 | A kind of intelligent sorting device effectively improving delivery industry working efficiency |
| CN108931705A (en) * | 2018-07-25 | 2018-12-04 | 东莞栢民电子有限公司 | A kind of socket comprehensive tester and its working method |
| CN109916324A (en) * | 2019-03-19 | 2019-06-21 | 信泰电子（西安）有限公司 | Pcb board curvature test machine and its application method |
| CN110726393A (en) * | 2019-11-04 | 2020-01-24 | 淮阴师范学院 | Clamp pressing type ultrasonic detection tube verticality detection device |
| CN112013806A (en) * | 2020-09-08 | 2020-12-01 | 周团结 | Flatness detection device for building and use method thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171020 |
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| RJ01 | Rejection of invention patent application after publication |