CN108000492A - A kind of chassis structure for industrial robot - Google Patents
A kind of chassis structure for industrial robot Download PDFInfo
- Publication number
- CN108000492A CN108000492A CN201711296898.1A CN201711296898A CN108000492A CN 108000492 A CN108000492 A CN 108000492A CN 201711296898 A CN201711296898 A CN 201711296898A CN 108000492 A CN108000492 A CN 108000492A
- Authority
- CN
- China
- Prior art keywords
- turntable
- rotating bar
- industrial robot
- fixed seat
- sets
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a kind of chassis structure for industrial robot, including base, hydraulic pump, elevating lever, fixed seat, storage trough, supporting rod, motor, turntable, mounting rod, groove, fixture block, bottom plate, rotation axis, lasso, resetting spring, sliding slot, ball, buffer spring, rotating bar, casing, limiting slot, gag lever post and rubber pad.The beneficial effects of the invention are as follows：By setting several hydraulic pumps in the inside of base, hydraulic pump is connected by elevating lever with fixed seat, so that fixed seat can be random adjusting height, and installation motor, motor are connected by rotating bar with casing in the storage trough inside fixed seat, casing is welded on the bottom of turntable, the outer wall both sides of casing are respectively provided with limiting slot, the top of rotating bar sets two gag lever posts, and when mounting industrial robot on turntable, lasso is pressed into rotating bar, and limiting slot, which is stuck in gag lever post, prevents rotating bar from breakking away.The present invention have installation unpick and wash conveniently, stability more preferably the characteristics of.
Description
Technical field
The present invention relates to a kind of chassis structure, is specially a kind of chassis structure for industrial robot, belongs to industrial machine
Device people's accessory technical field.
Background technology
Industrial robot is the multi-joint manipulator or multivariant robot towards industrial circle, is automated execution work
The installations of work, a kind of machine of various functions are realized by self power and control ability, industrial robot is by main body, drive
Dynamic three essential part compositions of system and control system.Main body, that is, engine base and executing agency, including arm, wrist and hand, have
Robot also have walking mechanism.
The chassis structure of existing industrial robot still suffers from the defects of certain when in use, although existing chassis structure
It can be used for the main part of supporting rod industrial robot, but due to firmly installing use between main body and chassis structure
The mode of welding so that the lubrication and the maintenance that remove and install inconvenience, be not easy to bottom on main body and chassis, and rotating bar branch
It is excessive to rotating rod pressure to support whole device rotation, damages rotating bar sometimes, and it is unstable make it that body rotates.
The content of the invention
The purpose of the present invention is that to solve the above-mentioned problems and provides a kind of chassis structure for industrial robot,
With installation unpick and wash conveniently, stability more preferably the advantages of.
The present invention is achieved through the following technical solutions above-mentioned purpose, a kind of chassis structure for industrial robot, bag
Base, fixed seat and turntable are included, the inside of the base sets several hydraulic pumps, lifting is respectively provided with the top of the hydraulic pump
Bar, the top of the elevating lever set the fixed seat, and the inside of the fixed seat sets storage trough, the inside of the storage trough
Motor is installed, the top of the motor sets rotating bar, and the top of the rotating bar sets gag lever post, the outer wall of the storage trough
Several supporting rods are set, and the bottom of the supporting rod is respectively provided with buffer spring, and the top welding ball of the supporting rod is described
The top of ball sets the turntable, and the top of the turntable sets several mounting rods, and the both ends of the turntable are respectively provided with recessed
Groove, the inside of the groove set rotation axis, the outer wall socket lasso of the rotation axis, and fixture block is welded at the top of the lasso,
The side welding bottom plate of the lasso, the bottom end setting resetting spring of the bottom plate, the bottom soldering sleeve of the turntable,
The both sides of described sleeve pipe are respectively provided with sliding slot, and the outer wall of described sleeve pipe sets limiting slot, and the inside of described sleeve pipe sets rubber pad.
Preferably, in order to allow the inside that limiting slot makes gag lever post snap-fit into casing, and rotating bar rotation when
Waiting casing will not slide, the match specifications of the limiting slot and gag lever post, and two limiting slots are symmetrical set.
Preferably, in order to allow turntable ball during rotation to be rotated around the sliding slot of annular, rotate turntable
It is more steady, sliding slot structure, and the supporting rod is movably connected by ball and sliding slot in a ring.
Preferably, in order to make motor provide enough power for rotating bar, and turntable by rotating bar drive casing and
Rotate, in rotation connection between the rotating bar and motor, and turntable is in rotation connection by casing and rotating bar.
Preferably, in order to make industrial robot on turntable when, lower press causes fixture block tilts to be fastened on
The two junction so that be more firmly mounted, two bottom plates are inclined to set, and the fixture block not with the bottom plate phase
Vertically.
Preferably, in order to when the turntable is pushed supporting rod buffer spring play a cushioning effect, and casing with
Rotating bar closely engages, and prevents junction to be stained with dust, and the supporting rod is connected by buffer spring with fixed seat, and buffers
The length of spring is equal to cannula tip to the distance of rotating bar.
Preferably, in order to allow fixed seat, by elevating lever random adjusting height, the fixed seat passes through elevating lever
It is connected with chassis interior hydraulic pump.
Preferably, after in order to make the gravity on turntable disappear, bottom plate can tilt again, convenient again to industrial robot
Installed, the top of the resetting spring is connected with bottom plate, and the resetting spring bottom is connected with turntable.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, by setting several hydraulic pumps in the inside of base, hydraulic pump is connected by elevating lever with fixed seat, from
And allow the random adjusting height of fixed seat, and installation motor in the storage trough inside fixed seat, motor pass through rotating bar
It is connected with casing, casing is welded on the bottom of turntable, and the outer wall both sides of casing are respectively provided with limiting slot, and the top of rotating bar is set
Two gag lever posts, when mounting industrial robot on turntable, lasso is pressed into rotating bar, and limiting slot, which is stuck in gag lever post, prevents rotating bar
Break away.
2nd, the configuration of the present invention is simple, connection is compact, by being respectively provided with groove, inside grooves installation rotation at the both ends of turntable
Axis, fixture block and bottom plate are socketed in rotation axis, when industrial robot is placed at the top of turntable, since the effect of gravity is the bottom of by
Plate pushes, and fixture block plays a fixed effect, and the bottom plate of turntable sets annular groove, slides so as to be fitted in junction
Installation ball inside groove, ball are welded on the top of supporting rod, the friction of such turntable supporting rod and sliding slot in the rotation
Power diminishes, not only so that turntable rotates more steady but also do not influence the steering of industrial robot.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention.
Fig. 2 is the fixture block structure diagram of the present invention.
Fig. 3 is the sliding groove structure schematic diagram of the present invention.
Fig. 4 is the turntable mounting structure schematic diagram of the present invention.
Fig. 5 is the inside pipe casing structure diagram of the present invention.
In figure：1st, base；2nd, hydraulic pump；3rd, elevating lever；4th, fixed seat；5th, storage trough；6th, supporting rod；7th, motor；8th, turn
Disk；9th, mounting rod；10th, groove；11st, fixture block；12nd, bottom plate；13rd, rotation axis；14th, lasso；15th, resetting spring；16th, sliding slot；17、
Ball；18th, buffer spring；19th, rotating bar；20th, casing；21st, limiting slot；22nd, gag lever post；23rd, rubber pad.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Embodiment 1
Please refer to Fig.1 shown in -5, a kind of chassis structure for industrial robot, including base 1, fixed seat 4 and turntable
8, the inside of base 1 sets several hydraulic pumps 2, and the top of hydraulic pump 2 is respectively provided with elevating lever 3, and the top of elevating lever 3 is set admittedly
Reservation 4, the height of fixed seat 4 can be adjusted by starting hydraulic pump 2, so that the height of industrial robot is adjusted, Gu
The inside of reservation 4 sets storage trough 5, and the inside installation motor 7 of storage trough 5, motor 7 and hydraulic pump 2 are carried by external power supply
For power source, the top of motor 7 sets rotating bar 19, and the top of rotating bar 19 sets gag lever post 22, and the outer wall of storage trough 5 is set
Several supporting rods 6 are put, the bottom of supporting rod 6 is respectively provided with buffer spring 18, the top welding ball 17 of supporting rod 6, ball 17
Top turntable 8 is set, the top of turntable 8 sets several mounting rods 9, and the card slot of industrial robot bottom may be inserted into installation
In bar 9, facilitate the installation of body and chassis structure, the both ends of turntable 8 are respectively provided with groove 10, and the inside of groove 10 sets rotation axis
13, the outer wall socket lasso 14 of rotation axis 13, the top welding fixture block 11 of lasso 14, the side welding bottom plate 12 of lasso 14, bottom
The bottom end of plate 12 sets resetting spring 15, the bottom soldering sleeve 20 of turntable 8, and the both sides of casing 20 are respectively provided with sliding slot 16,
The outer wall of casing 20 sets limiting slot 21, and the inside of casing 20 sets rubber pad 23, and rubber pad 23 can prevent casing 20 from wearing
Rotating bar 19.
Embodiment 2
In addition, with reference to Fig. 1-5, difference and above-described embodiment 1, the match specifications of limiting slot 21 and gag lever post 22, and two
A limiting slot 21 is symmetrical set, so that limiting slot 21 can make gag lever post 22 snap-fit into the inside of casing 20, and is rotated
Casing 20 will not slide bar 19 in the rotation, the structure, and supporting rod 6 passes through ball 17 and sliding slot in a ring of sliding slot 16
16 are movably connected, so that the ball 17 during rotation of turntable 8 can be rotated around the sliding slot 16 of annular, make turntable 8
Rotation is more steady, and in rotation connection between rotating bar 19 and motor 7, and turntable 8 is in rotation by casing 20 and rotating bar 19
Connection, so that motor 7 provides enough power for rotating bar 19, and turntable 8 drives casing 20 to turn by rotating bar 19
Dynamic, two bottom plates 12 are inclined to set, and fixture block 11 is not perpendicular with bottom plate 12, so that industrial robot is installed on turntable
When on 8, lower press 12 is fastened on the two junction so that fixture block 11 tilts so that is more firmly mounted, supporting rod 6 is logical
Buffer spring 18 is crossed with fixed seat 4 to be connected, and the length of buffer spring 18 is equal to the distance that rotating bar 19 is arrived at the top of casing 20,
So that buffer spring 18 plays a cushioning effect when turntable 8 pushes supporting rod 6, and casing 20 and rotating bar 19 are tight
Close engaging, prevents junction to be stained with dust, fixed seat 4 is connected by elevating lever 3 with 1 internal hydraulic pressure of base pump 2, so that solid
Reservation 4 can be by the random adjusting height of elevating lever 3, and the top of resetting spring 15 is connected with bottom plate 12, and resetting spring
15 bottoms are connected with turntable 8, so that after the gravity on turntable 8 disappears, bottom plate 12 can tilt again, convenient again to work
Industry robot is installed.
In the use of the present invention, first, the bottom of industrial machine human organism is fixed on turntable by being inserted into mounting rod 9
8 tops, press 12 under body, drives lasso 14 to rotate column spinner 13 at this time, and fixture block 11 tilts and is stuck in body and turntable 8 at this time
Between connecting sewing on, body is fixed, since body gravity is heavier, pushes casing 20, it is spacing in casing 20
21 slide downward of groove so that the gag lever post 22 at the top of rotating bar 19 moves inside limiting slot 21, the top squeeze of rotating bar 19
Rubber pad 23, supporting rod 6 at this time compress buffer spring 18, start hydraulic pump 2 so that elevating lever 3 rises, by body tune
Proper angle is saved, starts motor 7, rotating bar 19 rotates, and the ball 17 at the top of supporting rod 6 moves in a ring in sliding slot 16
It is dynamic, it can rotate turntable 8 by supporting rod 6 more steady, so as to fulfill the rotation of body.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (8)
1. a kind of chassis structure for industrial robot, including base (1), fixed seat (4) and turntable (8), it is characterised in that：
The inside of the base (1) sets several hydraulic pumps (2), and elevating lever (3) is respectively provided with the top of the hydraulic pump (2), described
The top of elevating lever (3) sets the fixed seat (4), and the inside of the fixed seat (4) sets storage trough (5), the storage trough
(5) inside installation motor (7), the top of the motor (7) set rotating bar (19), and the top of the rotating bar (19) is set
Gag lever post (22), the outer wall of the storage trough (5) set several supporting rods (6), and the bottom of the supporting rod (6) is respectively provided with slow
Spring (18), the top welding ball (17) of the supporting rod (6) are rushed, the top of the ball (17) sets the turntable (8),
The top of the turntable (8) sets several mounting rods (9), and the both ends of the turntable (8) are respectively provided with groove (10), the groove
(10) inside sets rotation axis (13), the outer wall socket lasso (14) of the rotation axis (13), the top of the lasso (14)
Fixture block (11) is welded, the side welding bottom plate (12) of the lasso (14), the bottom end of the bottom plate (12), which is set, resets bullet
Spring (15), the bottom soldering sleeve (20) of the turntable (8), the both sides of described sleeve pipe (20) are respectively provided with sliding slot (16), the set
The outer wall for managing (20) sets limiting slot (21), and the inside of described sleeve pipe (20) sets rubber pad (23).
A kind of 2. chassis structure for industrial robot according to claim 1, it is characterised in that：The limiting slot
(21) with the match specifications of gag lever post (22), and two limiting slots (21) are symmetrical set.
A kind of 3. chassis structure for industrial robot according to claim 1, it is characterised in that：The sliding slot (16)
Structure in a ring, and the supporting rod (6) is movably connected by ball (17) and sliding slot (16).
A kind of 4. chassis structure for industrial robot according to claim 1, it is characterised in that：The rotating bar
(19) in rotation connection between motor (7), and turntable (8) is in rotation connection by casing (20) and rotating bar (19).
A kind of 5. chassis structure for industrial robot according to claim 1, it is characterised in that：Two bottom plates
(12) it is inclined to set, and the fixture block (11) is not perpendicular with the bottom plate (12).
A kind of 6. chassis structure for industrial robot according to claim 1, it is characterised in that：The supporting rod
(6) it is connected by buffer spring (18) with fixed seat (4), and the length of buffer spring (18) is arrived equal to casing (20) top and turned
The distance of lever (19).
A kind of 7. chassis structure for industrial robot according to claim 1, it is characterised in that：The fixed seat
(4) it is connected by elevating lever (3) with base (1) internal hydraulic pressure pump (2).
A kind of 8. chassis structure for industrial robot according to claim 1, it is characterised in that：The resetting spring
(15) top is connected with bottom plate (12), and the resetting spring (15) bottom is connected with turntable (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711296898.1A CN108000492A (en) | 2017-12-08 | 2017-12-08 | A kind of chassis structure for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711296898.1A CN108000492A (en) | 2017-12-08 | 2017-12-08 | A kind of chassis structure for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108000492A true CN108000492A (en) | 2018-05-08 |
Family
ID=62057616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711296898.1A Withdrawn CN108000492A (en) | 2017-12-08 | 2017-12-08 | A kind of chassis structure for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108000492A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838990A (en) * | 2018-08-29 | 2018-11-20 | 华南理工大学 | A kind of chassis buffer unit applied to pointing device |
| CN109231081A (en) * | 2018-11-12 | 2019-01-18 | 安吉森虎机械有限公司 | Mobile device is used in a kind of transhipment of mechanical equipment |
| CN109235591A (en) * | 2018-11-27 | 2019-01-18 | 佛山桥鑫建材实业有限公司 | The integrated squatting pan of one plants case room movable plank house |
| CN109454667A (en) * | 2018-11-20 | 2019-03-12 | 东台市海邦电气有限公司 | A kind of rocker arm machinery bed magnetic force rotational structure |
| CN109910055A (en) * | 2018-12-26 | 2019-06-21 | 天津智汇未来科技有限公司 | A kind of robot chassis quick clamping device |
| CN110270985A (en) * | 2018-08-30 | 2019-09-24 | 南京禹智智能科技有限公司 | A kind of support device for industrial robot of antidetonation |
| CN110281220A (en) * | 2019-07-30 | 2019-09-27 | 南京涵铭置智能科技有限公司 | A kind of chassis structure for industrial robot |
| CN114043462A (en) * | 2021-12-23 | 2022-02-15 | 北京电子科技职业学院 | Industrial robot's fixed mounting support |
| CN115138506A (en) * | 2022-07-25 | 2022-10-04 | 西安交通大学城市学院 | Automatic spraying and coloring robot for glass fiber reinforced plastic sculpture and coloring process thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2698233A1 (en) * | 2012-08-16 | 2014-02-19 | und Thomas Geschwetner GbR Jochen | Manipulator comprising a multi-articulated robot and a lifting device |
| CN105436339A (en) * | 2015-12-16 | 2016-03-30 | 嵊州市银海机械有限公司 | Manipulator for stamping equipment |
| CN206510032U (en) * | 2017-03-09 | 2017-09-22 | 江苏振玥鑫智能科技有限公司 | A kind of industrial robot rotating base |
| CN107433577A (en) * | 2017-09-20 | 2017-12-05 | 柳州欧卡机器人有限公司 | A kind of circular cylindrical coordinate type industrial robot of high workload efficiency |
-
2017
- 2017-12-08 CN CN201711296898.1A patent/CN108000492A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2698233A1 (en) * | 2012-08-16 | 2014-02-19 | und Thomas Geschwetner GbR Jochen | Manipulator comprising a multi-articulated robot and a lifting device |
| CN105436339A (en) * | 2015-12-16 | 2016-03-30 | 嵊州市银海机械有限公司 | Manipulator for stamping equipment |
| CN206510032U (en) * | 2017-03-09 | 2017-09-22 | 江苏振玥鑫智能科技有限公司 | A kind of industrial robot rotating base |
| CN107433577A (en) * | 2017-09-20 | 2017-12-05 | 柳州欧卡机器人有限公司 | A kind of circular cylindrical coordinate type industrial robot of high workload efficiency |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838990A (en) * | 2018-08-29 | 2018-11-20 | 华南理工大学 | A kind of chassis buffer unit applied to pointing device |
| CN110270985A (en) * | 2018-08-30 | 2019-09-24 | 南京禹智智能科技有限公司 | A kind of support device for industrial robot of antidetonation |
| CN109231081A (en) * | 2018-11-12 | 2019-01-18 | 安吉森虎机械有限公司 | Mobile device is used in a kind of transhipment of mechanical equipment |
| CN109454667A (en) * | 2018-11-20 | 2019-03-12 | 东台市海邦电气有限公司 | A kind of rocker arm machinery bed magnetic force rotational structure |
| CN109235591A (en) * | 2018-11-27 | 2019-01-18 | 佛山桥鑫建材实业有限公司 | The integrated squatting pan of one plants case room movable plank house |
| CN109235591B (en) * | 2018-11-27 | 2023-10-24 | 佛山桥鑫建材实业有限公司 | Integrated squatting pan for movable house of box house |
| CN109910055A (en) * | 2018-12-26 | 2019-06-21 | 天津智汇未来科技有限公司 | A kind of robot chassis quick clamping device |
| CN110281220A (en) * | 2019-07-30 | 2019-09-27 | 南京涵铭置智能科技有限公司 | A kind of chassis structure for industrial robot |
| CN114043462A (en) * | 2021-12-23 | 2022-02-15 | 北京电子科技职业学院 | Industrial robot's fixed mounting support |
| CN115138506A (en) * | 2022-07-25 | 2022-10-04 | 西安交通大学城市学院 | Automatic spraying and coloring robot for glass fiber reinforced plastic sculpture and coloring process thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108000492A (en) | A kind of chassis structure for industrial robot | |
| CN209021492U (en) | A kind of welding bench fixed clamping device for building | |
| CN108015747A (en) | A kind of industrial robot connect base for being conveniently adjusted angle | |
| CN113445554A (en) | Foundation pit engineering monitoring device for high-rise building | |
| CN209586972U (en) | The ball-loading device of bearing assembly machine | |
| CN110307448A (en) | A kind of steady mounting base adapting to a variety of tablet computers | |
| CN214185858U (en) | Magnet fixing and pulling-out device suitable for welding trolley | |
| CN209967581U (en) | Elastic basketball stand | |
| CN209942192U (en) | Fixed connection structure of scaffold | |
| CN213011752U (en) | A mobile device for long distance pipeline construction | |
| CN207132889U (en) | A kind of spirit level | |
| CN114488667A (en) | Projector for displaying movie and television planning works | |
| CN208222018U (en) | A kind of fixed device of encoder convenient for computer software detection | |
| CN204894135U (en) | A groover for furniture manufacture | |
| CN107654814A (en) | A kind of computer host box lowering or hoisting gear | |
| CN110150920B (en) | Show cupboard is used in startup propaganda | |
| CN207521867U (en) | A kind of fully-automatic supersonic gold ball welding apparatus wire-sending device | |
| CN207373260U (en) | A kind of foam-rubber cushion processing sets up cutting machine | |
| CN220189450U (en) | Capacitor box assembling and positioning device | |
| CN210879564U (en) | Mechanical equipment supports overhauls device | |
| CN215721292U (en) | Pipeline fixing device is used in energy-conserving transformation construction of air conditioner | |
| CN214658313U (en) | Lightning protection device of building roof | |
| CN216383139U (en) | Automatic ceramic color glaze filling equipment | |
| CN209847399U (en) | X-ray laser positioning device | |
| CN215397962U (en) | Clamp for walnut kernel carving |
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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180508 |
|
| WW01 | Invention patent application withdrawn after publication |