CN107994546A - A kind of AGV bridge-type motor drivers - Google Patents
A kind of AGV bridge-type motor drivers Download PDFInfo
- Publication number
- CN107994546A CN107994546A CN201711352143.9A CN201711352143A CN107994546A CN 107994546 A CN107994546 A CN 107994546A CN 201711352143 A CN201711352143 A CN 201711352143A CN 107994546 A CN107994546 A CN 107994546A
- Authority
- CN
- China
- Prior art keywords
- bridge
- module
- resistance
- termination
- agv
- 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
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0854—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load responsive to rate of change of current, couple or speed, e.g. anti-kickback protection
Abstract
The invention discloses a kind of AGV bridge-type motor drivers, including bridge-type drive module, over-current detection module, state display module, emergency power off module, power conversion module, microcontroller and communication module, the bridge-type drive module is used to drive AGV motors；The over-current detection module is used to carry out real-time sampling detection to the output current of bridge-type drive module, and carries out overcurrent judgement；The state display module is used for the operating status for showing AGV system；The emergency power off module is used to disconnect the connection between bridge-type drive module and motor in overcurrent；It is other module for power supply that the power conversion module, which is used for,；The communication module is used for realization the communication of bridge-type motor driver and AGV main controllers.The present invention builds H-bridge drive circuit using NMOS and can provide the driving current of higher, is provided simultaneously with CAN interface, greatly reduces the difficulty of later stage distribution, and protection to circuit can be realized by possessing over-current detection function, can provide the reliability of AGV system significantly.
Description
Technical field
The invention belongs to technical field of industrial control, more particularly to a kind of AGV bridge-type motor drivers.
Background technology
With the continuous development of automated guided vehicle, the function of transport vehicle is continuously increased, and causes inner function module
It is continuously increased, which increase the difficulty of AGV back panel wirings, is unfavorable for later maintenance.In order to reduce distribution difficulty, most of module
The transmission and control of data are realized using CAN bus.Existing driver provides multiple bus interface really, but can not be with
The existing bus compatible of company.In addition, existing driver, which drives, does not provide dynamic emergency stop and over-current detection function, system reliability and steady
Qualitative difference.
The content of the invention
It is an object of the invention to provide a kind of AGV bridge-type motor drivers, can compatible existing bus, have with the time
Standby over-current detection and emergency stop function.
The technical solution for realizing the object of the invention is：A kind of AGV bridge-type motor drivers, the motor driver
Input terminal connects AGV main controllers, output terminal connection AGV motors, including bridge-type drive module, over-current detection module, status display
Module, emergency power off module, power conversion module, microcontroller and communication module, wherein：
The bridge-type drive module is used to drive AGV motors；
The over-current detection module is used to carry out real-time sampling detection to the output current of bridge-type drive module, and carries out
Stream judges；
The state display module is used for the operating status for showing AGV system；
The emergency power off module is used to disconnect the connection between bridge-type drive module and motor in overcurrent；
It is other module for power supply that the power conversion module, which is used for,；
The communication module is used for realization the communication of bridge-type motor driver and AGV main controllers.
Compared with prior art, the present invention its remarkable advantage is：(1) present invention provide CAN interface, easy to existing bus
Control system carries out compatible；(2) present invention sets over-current detection module, can detect drive circuit output current in real time, can be with
Realize the protection to driver；(3) present invention sets emergent stopping module, and the company of H bridges and motor is controlled by integrating relay
Connect, prevent occurring unpredictable consequence at the time of emergency.
Brief description of the drawings
Fig. 1 is system structure diagrams of the AGV of the present invention with bridge-type motor driver
Fig. 2 is circuit diagrams of the AGV of the present invention with bridge-type drive module in bridge-type motor driver.
Fig. 3 is circuit diagrams of the AGV of the present invention with over-current detection module in bridge-type motor driver.
Fig. 4 is circuit diagrams of the AGV of the present invention with power conversion module in bridge-type motor driver.
Embodiment
The present invention program is further described below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 1, the present invention AGV bridge-type motor drivers, including bridge-type drive module, over-current detection module,
State display module, emergency power off module, power conversion module, communication module and the microcontroller being connected with above-mentioned module, wherein：
The bridge-type drive module is used to drive AGV motors；The over-current detection module is used for the output current to bridge-type drive module
Real-time sampling detection is carried out, and carries out overcurrent judgement, protection circuit will not cause electric current because of motor rotation blockage or other fortuitous events
It is excessive to be burned out；The state display module is used for the operating status for showing AGV system；The emergency power off module is used in mistake
The connection between bridge-type drive module and motor is disconnected during stream, realizes the effect of protection circuit；The power conversion module is used for
For other module for power supply, and provide the requirement that voltage meets each module；The communication mould is used for realization bridge-type motor driver
With the communication of AGV main controllers；The microcontroller is central processing unit.
The module details being related to are described in detail below.
Bridge-type is driven to the H bridge type drive circuit that 4 NMOS are built into, as shown in Fig. 2, its half-bridge includes the first capacitance
C14, the second capacitance C12, the first bridge-type driving chip U5, the first diode D3, the second diode D5, the 3rd diode D8,
Seven resistance R10, the 8th resistance R17, the 9th resistance R19, the tenth resistance R21, the 3rd zener diode D10, two pole of the 4th voltage stabilizing
Pipe D12, the first NMOS tube VT1, the second NMOS tube VT3, wherein the first capacitance C14 mono- terminates 12V power supplys, other end ground connection；The
Two capacitance C12 mono- terminate the first bridge-type driving chip U58 ends, the first bridge-type driving chip U56 ends of another termination；First bridge-type is driven
Dynamic chip U51 termination 12V power supplys, the PWM pins of 2 termination microcontrollers, the IO of 3 termination monolithics, 4 ends ground connection, 5 the 9th resistance of termination
R19,6 the second capacitance of termination C12,7 the 7th resistance R10 of termination, 8 terminate the first diode D3 anode；First diode D3 cathodes
12V power supplys are connect, anode connects the first bridge-type driving chip U58 ends；Second diode D5 cathodes connect 24V power supplys, and anode connects first
NMOS tube VT1 drains；3rd diode D8 cathodes connect the first NMOS tube VT1 drain electrodes, and anode connects the second NMOS tube VT3 drain electrodes；The
Seven resistance R10 mono- terminate the first bridge-type driving chip U57 ends, the first NMOS tube VT1 grids of another termination；8th resistance R17 mono-
Terminate the first NMOS tube VT1 grids, the first NMOS tube VT1 of another termination drain electrodes；9th resistance R19 mono- terminates the driving of the first bridge-type
Chip U55 ends, the second NMOS tube VT3 grids of another termination；Tenth resistance R21 mono- terminates the second NMOS tube VT3 grids, the other end
Connect the second NMOS tube VT3 drain electrodes；3rd zener diode D10 cathodes connect the first NMOS tube VT1 drain electrodes, the 3rd zener diode
D10 anode connect the first NMOS tube VT1 grids；4th zener diode D12 cathodes connect the second NMOS tube VT3 drain electrodes, and anode connects the
Two NMOS tube VT3 grids.
As shown in figure 3, over-current detection module includes the first sampling resistor SR1, the second sampling resistor SR2,3rd resistor
R18, the first integrated transporting discharging chip U7, the 4th resistance R23, the 5th resistance R24, the 6th resistance R25, wherein the first sampling resistor
SR1 mono- terminates the output terminal of bridge circuit, other end ground connection；Second sampling resistor SR2 mono- terminates the output terminal of bridge circuit, separately
One end is grounded；3rd resistor R18 mono- terminates the output terminal of bridge circuit, and the first integrated transporting discharging chip U7's of another termination is positive defeated
Enter end；The positive input of first integrated transporting discharging chip U7 connects 3rd resistor R18, GND ends ground connection, and VCC terminates VCC, and negative sense is defeated
Enter the 4th resistance R23 of termination, one end of the 6th resistance R25 of output termination；4th resistance R23 mono- terminations first inherit amplifier chip
U7 negative inputs, other end ground connection；5th resistance R24 mono- terminations first inherit amplifier chip U7 negative inputs, the other end
Connect the first succession amplifier chip U7 output terminals；6th resistance R25 mono- terminations first inherit amplifier chip U7 output terminals, another termination
Connect the ADC input terminals of microcontroller.
As shown in figure 4, power conversion module includes the first power-switching circuit and second source conversion circuit, wherein first
The 24V of input is converted into 12V and powered for bridge-type driving chip by power-switching circuit；Second source conversion circuit is by external input
5V voltage conversions supply other modules to 3.3V, first power-switching circuit includes the first varistor R1, first steady
Diode D1, the first polar capacitor CA1 are pressed, wherein a termination 24V power supplys of the first varistor R1, other end ground connection；First
A termination 24V power supplys of zener diode D1, other end ground connection；First polar capacitor CA1 mono- terminates 24V power supplys, another termination
Ground；The second source conversion circuit includes second resistance R2, the second zener diode D2, the first Darlington transistor Q1, the one 0 Europe
Nurse resistance NC1, wherein second resistance R2 one end connect 24V power supplys, the second zener diode D2 anode of another termination；Second voltage stabilizing
Diode D2 anode connect second resistance R2 and first Darlington transistor Q1 one end, plus earth；First Darlington transistor Q1 mono- terminations the
Two zener diode D2 anode, the first termination 24V power supplys, the 3rd termination 12V power supplys；One 0 Ohmic resistance NC1 mono- terminations first
Darlington transistor Q1 first ends, another termination the 3rd ends of the first Darlington transistor Q1.
In addition, the first bridge-type driving chip U5 model IR2104S in the present embodiment, communication module are CAN interface chip,
Model SN65HVD230DR, the model STM32F103C8T6 of microcontroller.
The AGV bridge-type motor drivers of the present invention melt power supply conversion, data acquisition, status display and data communication module
In one, the driving current of higher can be provided by building H-bridge drive circuit using NMOS, be provided simultaneously with CAN interface, substantially reduced
The difficulty of later stage distribution, protection to circuit can be realized by possessing over-current detection function, and can provide AGV system significantly can
By property.
Embodiment 2
On the basis of embodiment 1, state display module carries out AGV motor operating states using LED and shows embodiment 2,
Such as advance, retreat, is static.
Embodiment 3
For embodiment 3 on the basis of 1 or 2, emergency power off module uses relay, by the way that the output of bridge circuit is connected on
On two circuits of relay, when system need disconnect drive circuit output motor between connection when, it is only necessary to control after
The double switch of electric appliance, realizes the effect of protection circuit.
Claims (9)
1. a kind of AGV bridge-type motor drivers, the motor driver input terminal connects AGV main controllers, output terminal connection AGV
Motor, it is characterised in that including bridge-type drive module, over-current detection module, state display module, emergency power off module, power supply
Modular converter, communication module and the microcontroller being connected with above-mentioned module, wherein：
The bridge-type drive module is used to drive AGV motors；
The over-current detection module is used to carry out real-time sampling detection to the output current of bridge-type drive module, and carries out overcurrent and sentence
It is disconnected；
The state display module is used for the operating status for showing AGV system；
The emergency power off module is used to disconnect the connection between bridge-type drive module and motor in overcurrent；
It is other module for power supply that the power conversion module, which is used for,；
The communication module is used for realization the communication of bridge-type motor driver and AGV main controllers.
2. AGV according to claim 1 bridge-type motor drivers, it is characterised in that the bridge-type is driven to 4 NMOS
The H bridge type drive circuit being built into, its half-bridge include the first capacitance (C14), the second capacitance (C12), the first bridge-type driving chip
(U5), the first diode (D3), the second diode (D5), the 3rd diode (D8), the 7th resistance (R10), the 8th resistance
(R17), the 9th resistance (R19), the tenth resistance (R21), the 3rd zener diode (D10), the 4th zener diode (D12),
One NMOS tube (VT1), the second NMOS tube (VT3), wherein the first capacitance (C14) one terminates 12V power supplys, other end ground connection；Second
Capacitance (C12) one terminates 8 end of the first bridge-type driving chip (U5), 6 end of the first bridge-type driving chip (U5) of another termination；First bridge
Formula driving chip (U5) 1 terminates 12V power supplys, the PWM pins of 2 termination microcontrollers, the IO of 3 termination monolithics, 4 ends ground connection, 5 terminations the
Nine resistance (R19), 6 the second capacitances of termination (C12), 7 the 7th resistance (R10) of termination, 8 termination the first diode (D3) anode；The
One diode (D3) cathode connects 12V power supplys, and anode connects 8 end of the first bridge-type driving chip (U5)；Second diode (D5) cathode connects
24V power supplys, anode connect the first NMOS tube (VT1) drain electrode；3rd diode (D8) cathode connects the first NMOS tube (VT1) drain electrode, bears
Pole connects the second NMOS tube (VT3) drain electrode；7th resistance (R10) one terminates the first bridge-type driving chip (U5) 7 end, another termination the
One NMOS tube (VT1) grid；8th resistance (R17) one terminates the first NMOS tube (VT1) grid, the first NMOS tube of another termination
(VT1) drain；9th resistance (R19) one terminates 5 end of the first bridge-type driving chip (U5), the second NMOS tube of another termination (VT3)
Grid；Tenth resistance (R21) one terminates the second NMOS tube (VT3) grid, the second NMOS tube of another termination (VT3) drain electrode；3rd
Zener diode (D10) cathode connects the first NMOS tube (VT1) drain electrode, and the 3rd zener diode (D10) anode connects the first NMOS tube
(VT1) grid；4th zener diode (D12) cathode connects the second NMOS tube (VT3) drain electrode, and anode connects the second NMOS tube (VT3)
Grid.
3. AGV according to claim 2 bridge-type motor drivers, it is characterised in that the first bridge-type driving chip (U5)
Model IR2104S.
4. AGV according to claim 1 bridge-type motor drivers, it is characterised in that the over-current detection module includes
First sampling resistor (SR1), the second sampling resistor (SR2), 3rd resistor (R18), the first integrated transporting discharging chip (U7), the 4th electricity
(R23), the 5th resistance (R24), the 6th resistance (R25) are hindered, wherein the first sampling resistor (SR1) one terminates the output of bridge circuit
End, other end ground connection；Second sampling resistor (SR2) one terminates the output terminal of bridge circuit, other end ground connection；3rd resistor
(R18) output terminal of a termination bridge circuit, the positive input of the first integrated transporting discharging chip of another termination (U7)；First is integrated
The positive input of amplifier chip (U7) connects 3rd resistor (R18), GND ends ground connection, and VCC terminates VCC, and negative input connects the 4th
Resistance (R23), one end of output the 6th resistance (R25) of termination；4th resistance (R23) one termination first inherits amplifier chip (U7)
Negative input, other end ground connection；5th resistance (R24) one termination first inherits amplifier chip (U7) negative input, another
Termination first inherits amplifier chip (U7) output terminal；6th resistance (R25) one termination first inherits amplifier chip (U7) output terminal,
Another ADC input terminals for connecing microcontroller.
5. AGV according to claim 1 bridge-type motor drivers, it is characterised in that the state display module uses
LED carries out AGV motor operating states and shows.
6. AGV according to claim 1 bridge-type motor drivers, it is characterised in that the emergency power off module uses
Relay realizes the break-make between bridge-type drive module and motor.
7. AGV according to claim 1 bridge-type motor drivers, it is characterised in that the power conversion module includes
First power-switching circuit and second source conversion circuit, wherein the 24V of input is converted into 12V by the first power-switching circuit is
Bridge-type driving chip is powered；Externally input 5V voltage conversions to 3.3V are supplied other modules, institute by second source conversion circuit
Stating the first power-switching circuit includes the first varistor (R1), the first zener diode (D1), the first polar capacitor (CA1),
One termination 24V power supplys of wherein the first varistor (R1), other end ground connection；One termination 24V of the first zener diode (D1)
Power supply, other end ground connection；First polar capacitor (CA1) one terminates 24V power supplys, other end ground connection；The second source conversion electricity
Road includes second resistance (R2), the second zener diode (D2), the first Darlington transistor (Q1), the one 0 Ohmic resistance (NC1), its
Middle second resistance (R2) one end connects 24V power supplys, another termination the second zener diode (D2) anode；Second zener diode
(D2) anode connects second resistance (R2) and the first Darlington transistor (Q1) one end, plus earth；First Darlington transistor (Q1) one terminates
Second zener diode (D2) anode, the first termination 24V power supplys, the 3rd termination 12V power supplys；One 0 Ohmic resistance (NC1) one end
Connect the first Darlington transistor (Q1) first end, another termination the first Darlington transistor (Q1) the 3rd end.
8. AGV according to claim 5 bridge-type motor drivers, it is characterised in that the communication module is CAN interface
Chip, model SN65HVD230DR.
9. AGV according to claim 1 bridge-type motor drivers, it is characterised in that the model of the microcontroller
STM32F103C8T6。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711352143.9A CN107994546A (en) | 2017-12-15 | 2017-12-15 | A kind of AGV bridge-type motor drivers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711352143.9A CN107994546A (en) | 2017-12-15 | 2017-12-15 | A kind of AGV bridge-type motor drivers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107994546A true CN107994546A (en) | 2018-05-04 |
Family
ID=62037720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711352143.9A Pending CN107994546A (en) | 2017-12-15 | 2017-12-15 | A kind of AGV bridge-type motor drivers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107994546A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454622A (en) * | 2018-06-20 | 2018-08-28 | 广东嘉腾机器人自动化有限公司 | AGV safety control systems and safety-type AGV |
| CN112994423A (en) * | 2021-02-25 | 2021-06-18 | 湖南凌翔磁浮科技有限责任公司 | Bridge type field effect transistor driving circuit and electromagnetic coil controller |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201319578Y (en) * | 2008-11-27 | 2009-09-30 | 黄瑞益 | Control circuit of brushless fan directly connected with AC commercial power source |
| CN101604840A (en) * | 2009-06-23 | 2009-12-16 | 镇江恒驰科技有限公司 | A kind of low cost high-voltage input step-down power supply |
| CN203243268U (en) * | 2013-05-15 | 2013-10-16 | 无锡科技职业学院 | Large-power DC motor drive control circuit device |
| CN203775095U (en) * | 2014-03-13 | 2014-08-13 | 深圳职业技术学院 | Electric vehicle and drive control system thereof |
| CN105785863A (en) * | 2016-03-15 | 2016-07-20 | 国家康复辅具研究中心 | Control system and using method for electric folded bathing bed |
| CN106476631A (en) * | 2016-11-18 | 2017-03-08 | 四川城市职业学院 | A kind of EMB control system of electric automobile and its control method |
| CN206178393U (en) * | 2016-10-21 | 2017-05-17 | 南京熊猫电子股份有限公司 | No cable brake machine channel controller |
| CN206528429U (en) * | 2017-01-24 | 2017-09-29 | 沈阳工业大学 | CAN Bus in Electric entire car controller |
-
2017
- 2017-12-15 CN CN201711352143.9A patent/CN107994546A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201319578Y (en) * | 2008-11-27 | 2009-09-30 | 黄瑞益 | Control circuit of brushless fan directly connected with AC commercial power source |
| CN101604840A (en) * | 2009-06-23 | 2009-12-16 | 镇江恒驰科技有限公司 | A kind of low cost high-voltage input step-down power supply |
| CN203243268U (en) * | 2013-05-15 | 2013-10-16 | 无锡科技职业学院 | Large-power DC motor drive control circuit device |
| CN203775095U (en) * | 2014-03-13 | 2014-08-13 | 深圳职业技术学院 | Electric vehicle and drive control system thereof |
| CN105785863A (en) * | 2016-03-15 | 2016-07-20 | 国家康复辅具研究中心 | Control system and using method for electric folded bathing bed |
| CN206178393U (en) * | 2016-10-21 | 2017-05-17 | 南京熊猫电子股份有限公司 | No cable brake machine channel controller |
| CN106476631A (en) * | 2016-11-18 | 2017-03-08 | 四川城市职业学院 | A kind of EMB control system of electric automobile and its control method |
| CN206528429U (en) * | 2017-01-24 | 2017-09-29 | 沈阳工业大学 | CAN Bus in Electric entire car controller |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454622A (en) * | 2018-06-20 | 2018-08-28 | 广东嘉腾机器人自动化有限公司 | AGV safety control systems and safety-type AGV |
| CN112994423A (en) * | 2021-02-25 | 2021-06-18 | 湖南凌翔磁浮科技有限责任公司 | Bridge type field effect transistor driving circuit and electromagnetic coil controller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101888109B (en) | Storage battery charge control circuit adopting two-way reverse connecting protection | |
| CN204441851U (en) | A kind of current foldback circuit | |
| CN205178858U (en) | Optical coupling isolation output module | |
| CN107994546A (en) | A kind of AGV bridge-type motor drivers | |
| CN205377012U (en) | Reduce laser drive circuit structure of consumption | |
| CN201726176U (en) | Charge control circuit with bidirectional reverse connection protection for storage batteries | |
| CN108400780B (en) | Power semiconductor device driving device and system with data acquisition function | |
| CN205142062U (en) | A high -power DC motor drive circuit for twisting mill | |
| CN108599285B (en) | Direct current output prevents flowing backward protection circuit | |
| CN103144542A (en) | Automatic power interruption control system | |
| CN106452044A (en) | Signal interlock circuit for preventing short circuit of APF (active power filter) driving circuits | |
| CN206293877U (en) | A kind of overvoltage crowbar | |
| CN205263555U (en) | Intelligence agricultural machinery control display device | |
| CN102111137A (en) | Safe control time-base circuit | |
| JP6438419B2 (en) | Drive device and electric assist device | |
| CN103151923A (en) | Voltage stabilizer | |
| CN208291144U (en) | A kind of entire car controller | |
| CN201294455Y (en) | Power-supply module for machine controller and machine controller | |
| CN102664394A (en) | Direct current polarity detection and protection circuit module | |
| CN203535396U (en) | Control and driving system of electric steering engine | |
| CN108111068B (en) | General type steering wheel drives integrative device of accuse | |
| CN206117150U (en) | Zero IQ's of automobile -mounted terminal reversed polarity protection circuit | |
| CN205844360U (en) | Motor vehicles acceleration/angular transducer | |
| CN203645295U (en) | Device and system for switch value output protection | |
| CN104750647B (en) | USB driving circuits and USB device |
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: 20180504 |
|
| RJ01 | Rejection of invention patent application after publication |