CN107605207A - Intelligent parking robot and control method thereof - Google Patents
Intelligent parking robot and control method thereof Download PDFInfo
- Publication number
- CN107605207A CN107605207A CN201711045062.4A CN201711045062A CN107605207A CN 107605207 A CN107605207 A CN 107605207A CN 201711045062 A CN201711045062 A CN 201711045062A CN 107605207 A CN107605207 A CN 107605207A
- Authority
- CN
- China
- Prior art keywords
- arm
- load bearing
- motor
- robot
- mainframe
- 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
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses an intelligent parking robot and a control method thereof, wherein the parking robot comprises a main frame, clamping units are symmetrically arranged on two sides of the main frame, and each clamping unit comprises a front clamping arm and a rear clamping arm; the front clamping arm comprises a first driving motor, a worm gear reducer, a first bearing arm and a switch sensor; the rear clamping arm comprises a second driving motor, a planetary reducer, a screw rod, a guide rail, a slide block, a second bearing arm, a rotary connecting plate and a third driving motor; a driving system is arranged on the main frame. The robot can complete the lifting and moving of the vehicle without building special platform structures in both the cross-connection area and the parking area, thereby achieving the highest space utilization rate; when two robots work in coordination to clamp the vehicle, different clamping modes can be adopted, and the robot can adapt to different occasions.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of intelligent parking robot and its control method.
Background technology
With social high speed development, automobile is increasingly popularized, but thing followed parking problem turns into major, middle city
Problem.In order to solve existing storage parking lot and car parking area parking difficulty, the problem of efficiency is low, intelligent parking robot
Using more and more common.Transport Vehicle intelligent robot mainly has with vehicle-carrying plate at present, broach, several forms of track.It is existing
Have in technology, the board-like robot of carrier vehicle will head on vehicle-carrying plate always, be minimum in space utilization rate and conevying efficiency.Broach
Formula robot is needed to build special landing, and car is lifted, then carries out lifting delivery, thereby results in space availability ratio less
It is economical.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of intelligent parking robot, cancel and build spy
Different landing, robot can be directly entered vehicle bottom and carry out vehicle conveying.
The purpose of the present invention is achieved through the following technical solutions：A kind of intelligent parking robot, including mainframe,
The both sides of mainframe are arranged symmetrically catching unit, and each catching unit includes preceding gripping arm and rear gripping arm；
The preceding gripping arm includes the first motor, worm type of reduction gearing, the first load bearing arm and travel switch sensing
Device；The output shaft of first motor and the worm screw of worm type of reduction gearing connect, the snail of the worm type of reduction gearing
Wheel is fixedly connected with the first load bearing arm, the expansion of the first load bearing arm of driving or closure；First load bearing arm opens closing position point
An Zhuan not travel switch sensor；
Gripping arm includes the second motor, planetary reducer, leading screw, guide rail, sliding block, the second load bearing arm, rotation after described
Turn connecting plate and the 3rd motor；The guide rail is fixed on mainframe, and the leading screw is supported on mainframe, the sliding block
It is slidably arranged on guide rail, can be slided along the fore-and-aft direction of parking robot, sliding block is engaged with leading screw simultaneously, and described second
The output axis connection planetary reducer of motor, the output end connection leading screw of the planetary reducer, driving leading screw movement, institute
The 3rd motor of setting is stated on sliding block, the output shaft of the 3rd motor is fixedly connected with rotary connection plate, and described the
Two load bearing arms are fixed in rotary connection plate；
Drive system is set on the mainframe, and the drive system includes Mecanum wheel, the 4th motor, slowed down
Device and draft hitch, the output shaft connection reducer of the 4th motor, the output axis connection Mike of the decelerator receive
Nurse wheel, the decelerator are connected on mainframe by draft hitch.
Further, the outermost of first load bearing arm and the second load bearing arm fixes heavy-duty universal by stiffener
Heavy-duty universal wheel is fixed in wheel, the front-end and back-end of mainframe by suspension respectively；Load is shared by heavy-duty universal wheel, by outstanding
Frame ensures that machine stress is uniform, operates steadily.
Further, gripping arm is additionally provided with lockable mechanism after described, is provided with locking hole in the rotary connection plate, and second
After load bearing arm is deployed into set angle, lockable mechanism springs into locking hole, realizes the locking of the second load bearing arm.
Further, the parking robot also includes perceiving unit, computing system and electrical apparatus control system, described to perceive list
Member is distributed in around complete machine, including ultrasound, vision, laser, TOF, IMU, UWB, GPS, and the computing system, which is used to handle, to be perceived
The data that unit obtains, obtain surrounding enviroment information and the positional information of itself, identify the object content perceived, do path rule
Draw and navigate, control instruction is sent to electrical apparatus control system；The electrical apparatus control system includes electric machine control system and power supply pipe
Reason system；The control instruction that the electric machine control system is sent according to computing system, drive gripping arm and complete machine motion.
A kind of control method of intelligent parking robot, including：Using two intelligent parking machine person cooperative works, each
Intelligent parking robot deploys by deploying and locking preceding gripping arm, rear gripping arm and locks backward preceding gripping arm movement, clamp
And wheel is lifted, Liang Ge intelligent parkings robot grips the front wheels and rear wheels of vehicle respectively, by changing two Intelligent stop vehicle devices
The distance of device people and front and rear posture, realize the automobile for gripping different wheelbases.
The beneficial effects of the invention are as follows：It is special that intelligent parking robot of the present invention need not be built in cross-connecting area and parking area
Platform structure, lifting and moving for vehicle can be completed, so as to reach highest space availability ratio；Work is cooperateed with Liang Ge robots
When making gripping vehicle, different gripping modes can be used, is adapted to different occasions.
Brief description of the drawings
Fig. 1 is present invention parking robot overall structure diagram；
Fig. 2 is preceding gripping arm configuration schematic diagram；
Fig. 3 is rear gripping arm structural representation；
Fig. 4 is driving system structure schematic diagram；
In figure, mainframe 1, preceding gripping arm 2, the first motor 21, worm type of reduction gearing 22, the first load bearing arm 23,
Travel switch sensor 24, rear gripping arm 3, the second motor 31, planetary reducer 32, leading screw 33, guide rail 34, sliding block 35,
Second load bearing arm 36, rotary connection plate 37, heavy-duty universal wheel 4, lockable mechanism 5, drive system 6, Mecanum wheel 61,4 wheel driven
Dynamic motor 62, decelerator 63, draft hitch 64.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As Figure 1-4, a kind of intelligent parking robot provided by the invention, including mainframe 1, the both sides of mainframe 1
Catching unit is arranged symmetrically, each catching unit includes preceding gripping arm 2 and rear gripping arm 3；
The preceding gripping arm 2 is opened including the first motor 21, worm type of reduction gearing 22, the first load bearing arm 23 and stroke
Close sensor 24；The output shaft of first motor 21 is connected with the worm screw of worm type of reduction gearing 22, the worm gear snail
The worm gear of bar decelerator 22 is fixedly connected with the first load bearing arm 23, and the first load bearing arm 23 of driving deploys or closed；Described first holds
The closing position of opening of load arm 23 installs travel switch sensor 24 respectively；
Gripping arm 3 includes the second motor 31, planetary reducer 32, leading screw 33, guide rail 34, sliding block 35, the after described
Two load bearing arms 36, the motor of rotary connection plate 37 and the 3rd；The guide rail 34 is fixed on mainframe 1, the leading screw 33
Hold on mainframe 1, the sliding block 35 is slidably arranged on guide rail 34, can be slided along the fore-and-aft direction of parking robot, sliding
Block 35 is engaged with leading screw 33 simultaneously, and the output axis connection planetary reducer 32 of second motor 31, the planet subtracts
The output end connection leading screw 33 of fast machine 32, driving leading screw 33 move, the 3rd motor of setting on the sliding block 35, and the described 3rd
The output shaft of motor is fixedly connected with rotary connection plate 37, and second load bearing arm 36 is fixed in rotary connection plate 37；
Drive system 6 is set on the mainframe 1, and the drive system 6 includes Mecanum wheel 61, the 4th motor
62nd, decelerator 63 and draft hitch 64, the output shaft connection reducer 63 of the 4th motor 62, the decelerator 63
Axis connection Mecanum wheel 61 is exported, the decelerator 63 is connected on mainframe 1 by draft hitch 64.Using Mecanum
Take turns as driver element, it is possible to achieve unit/two-shipper/multimachine is movable, transverse shifting, the motion for rotating in place, turning, narrow
In narrow space, vehicle is moved into, removed.
One intelligent parking robot can grip two front-wheels or two trailing wheels of vehicle, and two intelligent parking machines are artificial
One group, one vehicle of gripping can be achieved, and be moved to specified location.
Further, the outermost of the load bearing arm 36 of the first load bearing arm 23 and second fixes heavy duty ten thousand by stiffener
To wheel 4, heavy-duty universal wheel 4 is fixed in the front-end and back-end of mainframe 1 by suspension respectively；Load is shared by heavy-duty universal wheel 4,
Ensure that machine stress is uniform by suspension, operate steadily.
Further, the rear gripping arm 3 is additionally provided with lockable mechanism 5, and locking hole is provided with the rotary connection plate 37,
After second load bearing arm 36 is deployed into set angle, lockable mechanism 5 springs into locking hole, realizes the locking of the second load bearing arm 36.
Further, the parking robot also includes perceiving unit, computing system and electrical apparatus control system, described to perceive list
Member is distributed in around complete machine, including ultrasound, vision, laser, TOF, IMU, UWB, GPS, and the computing system, which is used to handle, to be perceived
The data that unit obtains, obtain surrounding enviroment information and the positional information of itself, identify the object content perceived, do path rule
Draw and navigate, control instruction is sent to electrical apparatus control system；The electrical apparatus control system includes electric machine control system and power supply pipe
Reason system；The control instruction that the electric machine control system is sent according to computing system, drive gripping arm and complete machine motion.
The control method of present invention parking robot includes：Using two intelligent parking machine person cooperative works, Mei Gezhi
Robot can be stopped by deploying and locking preceding gripping arm, gripping arm movement, is clamped simultaneously before rear gripping arm is deployed and locked backward
Wheel is lifted, Liang Ge intelligent parkings robot grips the front wheels and rear wheels of vehicle respectively, by changing two intelligent parking machines
The distance of people and front and rear posture, realize the automobile for gripping different wheelbases.
The present invention is not only limited to above-mentioned embodiment, and persons skilled in the art are according to disclosed by the invention interior
Hold, other a variety of specific embodiments can be used to implement the present invention.Therefore, every design structure and think of using the present invention
Road, some simple designs for changing or changing are done, both fall within the scope of the present invention.
Claims (5)
1. a kind of intelligent parking robot, it is characterised in that including mainframe, the both sides of mainframe (1) are arranged symmetrically gripping list
Member, each catching unit include preceding gripping arm (2) and rear gripping arm (3)；
The preceding gripping arm (2) includes the first motor (21), worm type of reduction gearing (22), the first load bearing arm (23) and row
Journey switch sensor (24)；The output shaft of first motor (21) is connected with the worm screw of worm type of reduction gearing (22),
The worm gear of the worm type of reduction gearing (22) is fixedly connected with the first load bearing arm (23), driving the first load bearing arm (23) expansion or
Closure；The closing position of opening of first load bearing arm (23) installs travel switch sensor (24) respectively；
Gripping arm (3) includes the second motor (31), planetary reducer (32), leading screw (33), guide rail (34), sliding block after described
(35), the second load bearing arm (36), rotary connection plate (37) and the 3rd motor；The guide rail (34) is fixed on mainframe (1)
On, the leading screw (33) is supported on mainframe (1), and the sliding block (35) is slidably arranged on guide rail (34), can be along parking
The fore-and-aft direction of robot slides, and sliding block (35) while is engaged with leading screw (33), the output of second motor (31)
Axis connection planetary reducer (32), the output end connection leading screw (33) of the planetary reducer (32), driving leading screw (33) is mobile,
3rd motor, output shaft and rotary connection plate (37) the fixed company of the 3rd motor are set on the sliding block (35)
Connect, second load bearing arm (36) is fixed in rotary connection plate (37)；
Drive system (6) is set on the mainframe (1), and the drive system (6) includes Mecanum wheel (61), the 4th driving
Motor (62), decelerator (63) and draft hitch (64), the output shaft connection reducer (63) of the 4th motor (62),
The output axis connection Mecanum wheel (61) of the decelerator (63), the decelerator (63) are connected to by draft hitch (64)
On mainframe (1).
2. a kind of intelligent parking robot according to claim 1, it is characterised in that first load bearing arm (23) and
The outermost of two load bearing arms (36) fixes heavy-duty universal wheel (4) by stiffener, and the front-end and back-end of mainframe (1) lead to respectively
Cross suspension and fix heavy-duty universal wheel (4)；Load is shared by heavy-duty universal wheel (4), ensures that machine stress is uniform by suspension, fortune
Row is steady.
3. a kind of intelligent parking robot according to claim 1, it is characterised in that gripping arm (3) is also set up after described
There is lockable mechanism (5), locking hole is provided with the rotary connection plate (37), after the second load bearing arm (36) is deployed into set angle,
Lockable mechanism (5) springs into locking hole, realizes the locking of the second load bearing arm (36).
4. a kind of intelligent parking robot according to claim 1, it is characterised in that the parking robot also includes perceiving
Unit, computing system and electrical apparatus control system, it is described perception cell distribution around complete machine, including ultrasound, vision, laser,
TOF, IMU, UWB, GPS, the computing system be used for handle perceive unit obtain data, obtain surrounding enviroment information and itself
Positional information, identify the object content perceived, do path planning and navigation, to electrical apparatus control system send control instruction；
The electrical apparatus control system includes electric machine control system and power-supply management system；The electric machine control system is sent out according to computing system
The control instruction sent, drive gripping arm and complete machine motion.
A kind of 5. control method of any one of claim 1-4 intelligent parking robots, it is characterised in that including：Using
Two intelligent parking machine person cooperative works, each intelligent parking robot is by deploying and locking preceding gripping arm, rear gripping arm
Deploy and lock backward preceding gripping arm movement, clamp and lift wheel, before Liang Ge intelligent parkings robot grips vehicle respectively
Wheel and trailing wheel, by the distance for changing Liang Ge intelligent parkings robot and front and rear posture, realize the automobile for gripping different wheelbases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045062.4A CN107605207A (en) | 2017-10-31 | 2017-10-31 | Intelligent parking robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045062.4A CN107605207A (en) | 2017-10-31 | 2017-10-31 | Intelligent parking robot and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107605207A true CN107605207A (en) | 2018-01-19 |
Family
ID=61083964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711045062.4A Pending CN107605207A (en) | 2017-10-31 | 2017-10-31 | Intelligent parking robot and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107605207A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108775116A (en) * | 2018-07-03 | 2018-11-09 | 安徽理工大学 | A kind of electric telescopic arc awning |
| CN109229078A (en) * | 2018-08-08 | 2019-01-18 | 南京理工大学 | A method of it assisting side parking device and is stopped using the device |
| CN109339541A (en) * | 2018-11-22 | 2019-02-15 | 杭州极木科技有限公司 | Omnidirectional-movement automobile carrying robot and control method thereof |
| CN109403683A (en) * | 2018-12-14 | 2019-03-01 | 云南昆船智能装备有限公司 | A kind of pincers act for intelligent parking robot holds/clamp device |
| CN109681015A (en) * | 2019-01-16 | 2019-04-26 | 深圳怡丰机器人科技有限公司 | Control method, carrier and the device with store function of carrier |
| CN112627611A (en) * | 2020-12-04 | 2021-04-09 | 安徽蓝鸟智能停车科技产业化有限公司 | Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof |
| CN112627610A (en) * | 2020-12-04 | 2021-04-09 | 安徽蓝鸟智能停车科技产业化有限公司 | Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915003A (en) * | 2010-04-21 | 2010-12-15 | 北京航天汇信科技有限公司 | Robot clamping carrier |
| CN202788089U (en) * | 2012-09-21 | 2013-03-13 | 北京宏地车港科技有限公司 | Wheel lifting and clamping mechanism for automobile carrying |
| CN103590634A (en) * | 2012-06-28 | 2014-02-19 | 米姗姗 | Ultra-thin transverse vehicle transfer robot |
| CN103603519A (en) * | 2013-12-02 | 2014-02-26 | 山东天辰智能停车设备有限公司 | Tire clamping type three-dimensional garage automobile carrier |
| CN105604367A (en) * | 2016-01-26 | 2016-05-25 | 山东天辰智能停车设备有限公司 | Bidirectional parallel thrust-lifting type automobile intelligent conveyer |
| CN105804460A (en) * | 2016-05-06 | 2016-07-27 | 南京湛泸科技有限公司 | Stereo garage carrying and clamping mechanism and clamping type carrying robot with same |
| CN105839964A (en) * | 2016-05-18 | 2016-08-10 | 鞍山紫竹工程设备制造有限公司 | Car transportation device of intelligent stereoscopic garage and car transportation method |
| CN105888338A (en) * | 2016-05-26 | 2016-08-24 | 山东建筑大学 | UWB-positioning-based intelligent automobile transfer robot and control method thereof |
| CN105971338A (en) * | 2016-07-01 | 2016-09-28 | 山东天辰智能停车设备有限公司 | Self-locating integral type intelligent carrier with double holding clamps for automobile tires |
| CN207513271U (en) * | 2017-10-31 | 2018-06-19 | 杭州极木科技有限公司 | Intelligent parking robot |
-
2017
- 2017-10-31 CN CN201711045062.4A patent/CN107605207A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915003A (en) * | 2010-04-21 | 2010-12-15 | 北京航天汇信科技有限公司 | Robot clamping carrier |
| CN103590634A (en) * | 2012-06-28 | 2014-02-19 | 米姗姗 | Ultra-thin transverse vehicle transfer robot |
| CN202788089U (en) * | 2012-09-21 | 2013-03-13 | 北京宏地车港科技有限公司 | Wheel lifting and clamping mechanism for automobile carrying |
| CN103603519A (en) * | 2013-12-02 | 2014-02-26 | 山东天辰智能停车设备有限公司 | Tire clamping type three-dimensional garage automobile carrier |
| CN105604367A (en) * | 2016-01-26 | 2016-05-25 | 山东天辰智能停车设备有限公司 | Bidirectional parallel thrust-lifting type automobile intelligent conveyer |
| CN105804460A (en) * | 2016-05-06 | 2016-07-27 | 南京湛泸科技有限公司 | Stereo garage carrying and clamping mechanism and clamping type carrying robot with same |
| CN105839964A (en) * | 2016-05-18 | 2016-08-10 | 鞍山紫竹工程设备制造有限公司 | Car transportation device of intelligent stereoscopic garage and car transportation method |
| CN105888338A (en) * | 2016-05-26 | 2016-08-24 | 山东建筑大学 | UWB-positioning-based intelligent automobile transfer robot and control method thereof |
| CN105971338A (en) * | 2016-07-01 | 2016-09-28 | 山东天辰智能停车设备有限公司 | Self-locating integral type intelligent carrier with double holding clamps for automobile tires |
| CN207513271U (en) * | 2017-10-31 | 2018-06-19 | 杭州极木科技有限公司 | Intelligent parking robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108775116A (en) * | 2018-07-03 | 2018-11-09 | 安徽理工大学 | A kind of electric telescopic arc awning |
| CN109229078A (en) * | 2018-08-08 | 2019-01-18 | 南京理工大学 | A method of it assisting side parking device and is stopped using the device |
| CN109339541A (en) * | 2018-11-22 | 2019-02-15 | 杭州极木科技有限公司 | Omnidirectional-movement automobile carrying robot and control method thereof |
| CN109403683A (en) * | 2018-12-14 | 2019-03-01 | 云南昆船智能装备有限公司 | A kind of pincers act for intelligent parking robot holds/clamp device |
| CN109403683B (en) * | 2018-12-14 | 2023-09-01 | 云南昆船智能装备有限公司 | Clamp holding/clamping device for intelligent parking robot |
| CN109681015A (en) * | 2019-01-16 | 2019-04-26 | 深圳怡丰机器人科技有限公司 | Control method, carrier and the device with store function of carrier |
| CN112627611A (en) * | 2020-12-04 | 2021-04-09 | 安徽蓝鸟智能停车科技产业化有限公司 | Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof |
| CN112627610A (en) * | 2020-12-04 | 2021-04-09 | 安徽蓝鸟智能停车科技产业化有限公司 | Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof |
| CN112627611B (en) * | 2020-12-04 | 2024-07-26 | 安徽蓝鸟数字能源科技股份有限公司 | Intelligent AGV (automatic guided vehicle) carrying robot for multi-layer stereo garage and carrying method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107605207A (en) | Intelligent parking robot and control method thereof | |
| CN207513271U (en) | Intelligent parking robot | |
| CN107035188B (en) | Ultra-thin AGV vehicle carrier | |
| CN204858680U (en) | Mobilizable intelligent charging device | |
| CN105621041B (en) | A kind of automated guided vehicle | |
| CN109594813A (en) | A kind of AGV vehicle carrier loader | |
| WO2021047176A1 (en) | Submersible vehicle carrying robot and control method thereof | |
| CN107878420A (en) | Conveyor and conveying method thereof | |
| CN206368570U (en) | A kind of AGV transfer robots | |
| CN109339541A (en) | Omnidirectional-movement automobile carrying robot and control method thereof | |
| CN105804460A (en) | Stereo garage carrying and clamping mechanism and clamping type carrying robot with same | |
| CN109235990A (en) | A kind of parking robot based on hydraulic system | |
| CN102758549A (en) | Carrying mechanism of tyred flow intelligent parking robot | |
| CN108301668A (en) | servo control clamping carrier | |
| CN111762039B (en) | Battery intelligent storage charging system for sharing and changing electricity of electric motor buses of different vehicle types | |
| CN207686381U (en) | Intelligent high density AGV parking devices | |
| CN110525119A (en) | Omnidirectional's wheel apparatus and electric drive transfer car(buggy) with the structure | |
| CN205604794U (en) | Stereo garage carries fixture and centre gripping formula transfer robot of using thereof | |
| CN210942024U (en) | Triangular wheel inspection robot applied to subway train inspection warehouse | |
| CN205397313U (en) | Automatic guide transport vechicle | |
| CN207686382U (en) | Modularization Non-carrying type Intelligent shutting-down device | |
| CN209277652U (en) | Omnidirectional movement's car transfer robot | |
| CN202672814U (en) | Carrying mechanism of tyre-type flowing intelligent parking robot | |
| CN206815918U (en) | Ultrathin AGV vehicle carriers | |
| CN112606801B (en) | Adjustable wheelbase formula is parked and is used AGV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20180119 |
|
| RJ01 | Rejection of invention patent application after publication |