CN108217184A - A kind of service robot device - Google Patents
A kind of service robot device Download PDFInfo
- Publication number
- CN108217184A CN108217184A CN201810049694.6A CN201810049694A CN108217184A CN 108217184 A CN108217184 A CN 108217184A CN 201810049694 A CN201810049694 A CN 201810049694A CN 108217184 A CN108217184 A CN 108217184A
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- China
- Prior art keywords
- lifting
- clamping
- block
- outer shell
- movable block
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of service robot devices, including apparatus main body, the lifting gear being set in described device main body, it the lifting device that is connected on the lifting gear and is symmetrical set in the forward gear of described device main body lower end, the lifting gear includes the lifting chamber for being set to described device body interior and front and rear perforation setting, on the downside of the lifting chamber open slot is provided in the middle part of inner wall, lifting motor of the outer surface admittedly in the lifting chamber upper inside walls is symmetrically set in the lifting chamber upper inside walls, lifting motor lower end power is connected with leading screw, the leading screw lower end is rotatably assorted with inner wall on the downside of the lifting chamber and connect, thread fitting is connected with left position elevator on the leading screw of left side, rotary electric machine is installed in the left position elevator right end face.
Description
Technical field
The present invention relates to barreled liquid handling technique field, specifically a kind of service robot device.
Background technology
Currently, fork truck or rope device for hoisting is used to sling liquid bucket and move again the handling of filling liquid, carrying more
To shelf or vehicle, but during handling and carrying, due to operating unstable hold by Uneven road or operating personnel
The inclination of liquid bucket is easily caused, barreled liquid can not be accomplished to be fully sealed in addition, therefore the liquid in liquid bucket easily splashes out that cause need not
The influence wanted, therefore design a kind of pass that liquid bucket can be kept to be in horizontality during liquid bucket is carried to prevent liquid from splashing out
In barreled liquid handling a kind of service robot device it is really necessary to.
Invention content
The technical problems to be solved by the invention are to provide a kind of service robot device, can solve above-mentioned present skill
The problems in art.
The present invention is achieved through the following technical solutions：A kind of service robot device of the present invention, including device
Main body, the lifting gear being set in described device main body, the lifting device being connected on the lifting gear and a left side
The right side is symmetrically disposed on the forward gear of described device main body lower end, and the lifting gear includes being set to described device body interior
And the lifting chamber of front and rear perforation setting, the lifting chamber downside inner wall middle part are provided with open slot, the lifting chamber upper inside walls
Lifting motor of the outer surface admittedly in the lifting chamber upper inside walls is inside symmetrically set with, the lifting motor lower end is moved
Force-fitting is connected with leading screw, and the leading screw lower end is rotatably assorted with inner wall on the downside of the lifting chamber and connect, on the leading screw of left side
Thread fitting is connected with left position elevator, and rotary electric machine, the rotary electric machine are installed in the left position elevator right end face
Right end power is connected with left position shaft, and thread fitting is connected with right position elevator on the leading screw of right side, and the right position rises
Drop block left end is rotatably assorted by bearing is connected with right position shaft, is provided with and carries between the right position shaft and the left position shaft
Device is risen, the lifting device is connect including left side with the left position shaft secure fit and right side and the right position shaft
The lift block of secure fit connection, the lift block are internally provided with the sliding cavity that Open Side Down, are set in the middle part of the sliding cavity
There is the position guiding rod that left and right ends are fixedly connected respectively with inner wall at left and right sides of the sliding cavity, being provided in the sliding cavity can be left
The right movable block slided and be slidably connected with the position guiding rod, the movable block lower end are extended outside the sliding cavity, institute
State lift block and be fixedly installed fixed block on the downside end face on right side, the movable block in the fixed block opposite side
Portion position is fixedly installed lifting hydraulic cylinder, and promotion hydraulic pressure is connected between the lifting hydraulic cylinder being symmetrical set
Column.
As preferred technical solution, the movable block is set with the fixed block opposite side and at the position of bottom
There is the first clamping device, first clamping device includes the first clamping seats being connect with the movable block secure fit, described
First clamping seats are rotatably assorted by bearing far from described movable block one end and are connected with the first clamping rotating shaft, and first clamping turns
Axis is far from symmetrical before and after described movable block one end and be rotatably assorted with first clamping rotating shaft by hinge and be connected with the first folder
Tight block is provided with the first hydraulic device between front and rear symmetrically arranged first gripping block, and first hydraulic device includes
First clamps outer shell and the first clamping inner prop, and described first clamps outer shell front end connects with front side the first gripping block secure fit
It connects, the first clamping inner prop rear end is connect with rear side the first gripping block secure fit, the first clamping outer shell and the
It is set at one position for clamping inner prop sliding connection, the fixed block and the movable block opposite side and close bottom
There is the second clamping device, second clamping device includes the second clamping seats being connect with the fixed block secure fit, described
Second clamping seats are rotatably assorted by bearing far from described fixed block one end and are connected with the second clamping rotating shaft, and second clamping turns
Axis is far from symmetrical before and after described fixed block one end and be rotatably assorted with second clamping rotating shaft by hinge and be connected with the second folder
Tight block is provided with the second hydraulic device between front and rear symmetrically arranged second gripping block, and second hydraulic device includes
Second clamps outer shell and the second clamping inner prop, and described second clamps outer shell front end connects with front side the second gripping block secure fit
It connects, the second clamping inner prop rear end is connect with rear side the second gripping block secure fit, the second clamping outer shell and the
Two inner props that clamp are slidably connected.
The beneficial effects of the invention are as follows：The configuration of the present invention is simple, it is easy to operate, carrying out barreled liquid handling and loading work
When, preceding stepper motor rotation is rotated, and then driving device main body moves, and passes through at this time by feeder wheel and then belt pulley before drive
Barreled liquid is moved to the lower section of lifting device by the movement of apparatus main body by open slot, and lifting motor rotates at this time, passes through
Leading screw drives left position elevator and right position elevator to move down, and then lifting device is driven to drop to gripping block and reaches tinning liquid
Lifting motor stops operating during the medium position of liquid bucket, and hydraulic press starts at this time, drives and promotes hydraulic column retraction lifting hydraulic cylinder
It is interior, the movable block of the left and right sides is driven to move inward, and then drive lifting device close to liquid bucket, while hydraulic press drives and clamps
Inner prop, which is retracted, to be clamped in outer shell, and then gripping block clamps liquid bucket outer surface, and lifting motor is again started up at this time, passes through leading screw band
Dynamic left position elevator and right position elevator move up, and then the lifting device for being clamped with liquid bucket is driven to move up, and forward gear opens at this time
It is dynamic, apparatus main body is moved to by the shelf or vehicle for placing liquid bucket, rotary electric machine starts at this time, passes through left position shaft and right position
Shaft drives lifting device to rotate up 90 degree, at this time due to the company of being rotatably assorted of clamping rotating shaft and clamping seats in clamping device
Relationship is connect, gripping block is remained in horizontality during lifting device rotates up, that is, keeps the level of liquid bucket
State is so that the liquid in liquid bucket will not spill, and liquid bucket is aligned on shelf or vehicle by forward gear movement certain position at this time
Side, at this time lifting motor rotation drive lifting device to move down, liquid bucket are positioned on shelf or vehicle, and hydraulic press drives folder at this time
Tight inner prop, which stretches out, to be clamped outer shell, promotes hydraulic column stretching lifting hydraulic cylinder, unclamps liquid bucket, forward gear driving device main body is removed
Device is returned to original state afterwards, the liquid bucket that liquid is housed is carried by the present apparatus, loading and unloading it is simple and effective, and
Liquid bucket can also be kept to be in horizontality in the handling process, prevent liquid in bucket spillage from causing unnecessary influence.
Description of the drawings
For ease of explanation, the present invention is described in detail by following specific embodiment and attached drawing.
Fig. 1 is a kind of service robot device internal structure schematic diagram of the present invention；
Fig. 2 is the structure diagram of the lifting device of the present invention；
Fig. 3 is the structure diagram of the first clamping device of the present invention；
Fig. 4 is the structure diagram of the second clamping device of the present invention.
Specific embodiment
As Figure 1-Figure 4, a kind of service robot device of the invention, including apparatus main body 11, is set to the dress
Put the lifting gear in main body 11, the lifting device being connected on the lifting gear 100 and be symmetrical set in
The forward gear 71 of 11 lower end of described device main body, the lifting gear include being set to inside described device main body 11 and front and rear
The lifting chamber 33 of setting is penetrated through, open slot 34 is provided in the middle part of the 33 downside inner wall of lifting chamber, it is described to lift in 33 upside of chamber
Lifting motor 31 of the outer surface admittedly in lifting 33 upper inside walls of chamber, the lifting motor are symmetrically set in wall
31 lower end power are connected with leading screw 36, and 36 lower end of leading screw is rotatably assorted with the lifting 33 downside inner wall of chamber and connect,
Thread fitting is connected with left position elevator 32 on the leading screw 36 of left side, is installed with and turns in 32 right end face of left position elevator
Dynamic motor 41, the 41 right end power of rotary electric machine are connected with left position shaft 42, thread fitting on the leading screw 36 of right side
Right position elevator 35 is connected with, right 35 left end of position elevator is rotatably assorted by bearing is connected with right position shaft 43, described
Lifting device 100 is provided between right position shaft 43 and the left position shaft 42, the lifting device 100 includes left side and institute
The lift block 44 that shaft 42 secure fit in left position connects and right side is connect with right 43 secure fit of position shaft is stated, it is described to carry
Rise block 44 and be internally provided with the sliding cavity 45 that Open Side Down, 45 middle part of sliding cavity be provided with left and right ends respectively with the cunning
The position guiding rod 49 that 45 left and right sides inner wall of chamber is fixedly connected is moved, being provided in the sliding cavity 45 can horizontally slip and be led with described
The movable block 51 that position bar 49 is slidably connected, 51 lower end of movable block are extended outside the sliding cavity 45, the lift block
44 are fixedly installed fixed block 61 on the downside end face on right side, the movable block 51 in 61 opposite side of fixed block
Portion position is fixedly installed lifting hydraulic cylinder 47, and promotion liquid is connected between the lifting hydraulic cylinder 47 being symmetrical set
Compression leg 48.
Valuably, the movable block 51 is provided with the first folder with 61 opposite side of fixed block and at the position of bottom
Tight device 110, first clamping device 110 include the first clamping seats 53 being connect with 51 secure fit of movable block, institute
It states the first clamping seats 53 and is rotatably assorted far from described 51 one end of movable block by bearing and be connected with the first clamping rotating shaft 54, described
One clamping rotating shaft 54 is far from symmetrical before and after described 51 one end of movable block and matched with first clamping rotating shaft 54 by hinge rotation
Conjunction is connected with the first gripping block 55, and the first hydraulic device, institute are provided between front and rear symmetrically arranged first gripping block 55
It states the first hydraulic device and includes the first clamping clamping inner prop 57 of outer shell 56 and first, described first clamps 56 front end of outer shell and front side
First gripping block, the 55 secure fit connection, the first clamping 57 rear end of inner prop are fixed with rear side first gripping block 55
It is connected, the first clamping outer shell 56 is slidably connected with the first inner prop 57 that clamps, the fixed block 61 and institute
It states 51 opposite side of movable block and is provided with the second clamping device 120 at the position of bottom, second clamping device 120 wraps
The second clamping seats 63 being connect with 61 secure fit of fixed block are included, second clamping seats 63 are far from the fixed block 61 1
End is rotatably assorted by bearing is connected with the second clamping rotating shaft 64, and second clamping rotating shaft 64 is far from described 61 one end of fixed block
It is front and rear symmetrical and be rotatably assorted with second clamping rotating shaft 64 by hinge and be connected with the second gripping block 65, it is front and rear to be symmetrical arranged
Second gripping block 65 between be provided with the second hydraulic device, second hydraulic device include second clamp outer shell 66 and
Second clamps inner prop 67, and the second clamping 66 front end of outer shell is connect with front side 65 secure fit of the second gripping block, described
Second clamping 67 rear end of inner prop is connect with rear side 65 secure fit of the second gripping block, and described second clamps outer shell 66 and second
The clamping inner prop 67 is slidably connected.
During original state, lifting motor 31 is in halted state, and elevator 32 upper surface in left position is with lifting on chamber 33 at this time
Side inner wall abuts against, and 44 upper surface of lift block is abutted against with lifting 33 upper inside walls of chamber, right 35 upper surface of position elevator and lifting
33 upper inside walls of chamber abut against, meanwhile, rotary electric machine 41 is in halted state, and movable block 51 is in hang and moves at this time
Block 51 be in 36 parastate of leading screw, meanwhile, hydraulic press 21 be in halted state, promotes the stretching lifting hydraulic cylinder of hydraulic column 48
Outside 47, movable block 51 is at this time abuts against state with 45 left and right sides inner wall of sliding cavity, at this point, the first clamping inner prop 57 stretches out
First clamps outside outer shell 56, and front and rear symmetrically arranged first gripping block 55 be in open configuration, and second clamps the stretching of inner prop 67 the
Two clamp outside outer shell 66, and front and rear symmetrically arranged second gripping block 65 is in open configuration, while forward gear is in and stops shape
State, apparatus main body 11 remain static.
When carrying out the work of barreled liquid handling and loading, forward gear 71 starts, and then driving device main body 11 moves, this
When barreled liquid is moved to the lower section of lifting device 100 by the movement of apparatus main body 11 by open slot 34, lift at this time
Motor 31 rotates, and left position elevator 32 and right position elevator 35 is driven to move down by leading screw 36, and then drive under lifting device 100
Lifting motor 31 stops operating when being down to the medium position for the liquid bucket that gripping block 55 reaches tinning liquid, and hydraulic press drive at this time carries
It rises in 48 retraction lifting hydraulic cylinder 47 of hydraulic column, movable block 51 is driven to be moved to 61 side of fixed block, and then drive lifting device
100 close to liquid bucket, while hydraulic press drives first clamp in the retraction of inner prop 57 first clamping outer shell 56, drive second to clamp inner prop
67 retract in the second clamping outer shell 66, and then the first gripping block 55 and the second gripping block 65 clamp liquid bucket outer surface, rise at this time
Drop motor 31 is again started up, and left position elevator 32 and right position elevator 35 is driven to move up by leading screw 36, and then drive and be clamped with
The lifting device 100 of liquid bucket moves up, and forward gear starts at this time, and apparatus main body 11 is moved to the shelf or vehicle for placing liquid bucket
Side, at this time rotary electric machine 41 start, lifting device 100 is driven to rotate up 90 by left position shaft 42 and right position shaft 43
Degree, at this time due in the first clamping rotating shaft 54 in the first clamping device 110 and the first clamping seats 53, the second clamping device 120 the
The connection relation that is rotatably assorted of two clamping rotating shafts 64 and the second clamping seats 63 is pressed from both sides during lifting device 100 rotates up
Tight block 55 remained in horizontality, that is, keeps the horizontality of liquid bucket so that the liquid in liquid bucket will not spill, this
When forward gear movement certain position liquid bucket is directed at shelf or vehicle up direction, the rotation of lifting motor 31 at this time drives lifting device
100 move down, and liquid bucket is positioned on shelf or vehicle, and hydraulic press drives first to clamp the stretching of inner prop 57 first and clamps outer shell at this time
56th, driving second to clamp, inner prop 57 stretches out the second clamping outer shell 56, promotion hydraulic column 48 stretches out lifting hydraulic cylinder 47, unclamps liquid
Bucket, 71 driving device main body 11 of forward gear remove rear device and are returned to original state.
The beneficial effects of the invention are as follows：The configuration of the present invention is simple, it is easy to operate, carrying out barreled liquid handling and loading work
When, preceding stepper motor rotation is rotated, and then driving device main body moves, and passes through at this time by feeder wheel and then belt pulley before drive
Barreled liquid is moved to the lower section of lifting device by the movement of apparatus main body by open slot, and lifting motor rotates at this time, passes through
Leading screw drives left position elevator and right position elevator to move down, and then lifting device is driven to drop to gripping block and reaches tinning liquid
Lifting motor stops operating during the medium position of liquid bucket, and hydraulic press starts at this time, drives and promotes hydraulic column retraction lifting hydraulic cylinder
It is interior, the movable block of the left and right sides is driven to move inward, and then drive lifting device close to liquid bucket, while hydraulic press drives and clamps
Inner prop, which is retracted, to be clamped in outer shell, and then gripping block clamps liquid bucket outer surface, and lifting motor is again started up at this time, passes through leading screw band
Dynamic left position elevator and right position elevator move up, and then the lifting device for being clamped with liquid bucket is driven to move up, and forward gear opens at this time
It is dynamic, apparatus main body is moved to by the shelf or vehicle for placing liquid bucket, rotary electric machine starts at this time, passes through left position shaft and right position
Shaft drives lifting device to rotate up 90 degree, at this time due to the company of being rotatably assorted of clamping rotating shaft and clamping seats in clamping device
Relationship is connect, gripping block is remained in horizontality during lifting device rotates up, that is, keeps the level of liquid bucket
State is so that the liquid in liquid bucket will not spill, and liquid bucket is aligned on shelf or vehicle by forward gear movement certain position at this time
Side, at this time lifting motor rotation drive lifting device to move down, liquid bucket are positioned on shelf or vehicle, and hydraulic press drives folder at this time
Tight inner prop, which stretches out, to be clamped outer shell, promotes hydraulic column stretching lifting hydraulic cylinder, unclamps liquid bucket, forward gear driving device main body is removed
Device is returned to original state afterwards, the liquid bucket that liquid is housed is carried by the present apparatus, loading and unloading it is simple and effective, and
Liquid bucket can also be kept to be in horizontality in the handling process, prevent liquid in bucket spillage from causing unnecessary influence.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, it is of the invention
Protection domain should be determined by the scope of protection defined in the claims.
Claims (2)
1. a kind of service robot device, including apparatus main body, the lifting gear being set in described device main body, connection setting
In the lifting device on the lifting gear and it is symmetrical set in the forward gear of described device main body lower end, the liter
Falling unit includes the lifting chamber for being set to described device body interior and front and rear perforation setting, described to lift on the downside of chamber in the middle part of inner wall
Open slot is provided with, outer surface is symmetrically set in the lifting chamber upper inside walls admittedly embedded in the lifting chamber upper inside walls
Interior lifting motor, lifting motor lower end power are connected with leading screw, the leading screw lower end and the lifting chamber downside
Inner wall is rotatably assorted connection, and thread fitting is connected with left position elevator, the left position elevator right-hand end on the leading screw of left side
It is installed with rotary electric machine in face, the rotary electric machine right end power is connected with left position shaft, screw thread on the leading screw of right side
Right position elevator is connected with, the right position elevator left end is rotatably assorted by bearing is connected with right position shaft, the right side
Lifting device is provided between position shaft and the left position shaft, the lifting device is consolidated including left side with the left position shaft
The fixed lift block being connected and right side is connect with the right position shaft secure fit, the lift block are internally provided with opening
Downward sliding chamber, the sliding cavity middle part are provided with left and right ends and are fixedly connected respectively with inner wall at left and right sides of the sliding cavity
Position guiding rod, be provided with the movable block that can be horizontally slipped and be slidably connected with the position guiding rod in the sliding cavity, it is described
Movable block lower end is extended outside the sliding cavity, and the lift block is fixedly installed fixed block on the downside end face on right side,
The movable block and the medium position of the fixed block opposite side are fixedly installed lifting hydraulic cylinder, and what is be symmetrical set is described
Promotion hydraulic column is connected between lifting hydraulic cylinder.
2. a kind of service robot device according to claim 1, it is characterised in that：The movable block and the fixed block
The first clamping device is provided at the position of opposite side and close bottom, first clamping device includes consolidating with the movable block
Surely the first clamping seats being connected, first clamping seats are rotatably assorted by bearing far from described movable block one end and are connected with
First clamping rotating shaft, first clamping rotating shaft is far from symmetrical before and after described movable block one end and lead to first clamping rotating shaft
It crosses hinge and is rotatably assorted and be connected with the first gripping block, the first hydraulic pressure is provided between front and rear symmetrically arranged first gripping block
Device, first hydraulic device include first and clamp outer shell and the first clamping inner prop, and described first clamps outer shell front end with before
First gripping block secure fit described in side connects, and described first clamps inner prop rear end and rear side the first gripping block secure fit
Connection, described first clamps outer shell and the first clamping inner prop sliding connection, the fixed block and the movable block phase
The second clamping device is provided at the position of offside and close bottom, second clamping device includes fixing with the fixed block
The second clamping seats being connected, second clamping seats are rotatably assorted far from described fixed block one end by bearing is connected with the
Two clamping rotating shafts, second clamping rotating shaft is far from symmetrical before and after described fixed block one end and pass through with second clamping rotating shaft
Hinge, which is rotatably assorted, is connected with the second gripping block, and the second hydraulic pressure dress is provided between front and rear symmetrically arranged second gripping block
It puts, second hydraulic device includes second and clamps outer shell and the second clamping inner prop, and described second clamps outer shell front end and front side
The second gripping block secure fit connection, described second clamps inner prop rear end connects with rear side the second gripping block secure fit
It connects, described second clamps outer shell and the second clamping inner prop sliding connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810049694.6A CN108217184A (en) | 2018-01-18 | 2018-01-18 | A kind of service robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810049694.6A CN108217184A (en) | 2018-01-18 | 2018-01-18 | A kind of service robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108217184A true CN108217184A (en) | 2018-06-29 |
Family
ID=62667995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810049694.6A Withdrawn CN108217184A (en) | 2018-01-18 | 2018-01-18 | A kind of service robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108217184A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110386389A (en) * | 2019-07-08 | 2019-10-29 | 广西科技大学 | A kind of grabbing device |
| CN111747017A (en) * | 2020-06-17 | 2020-10-09 | 刘傲 | File extraction element for electronic commerce |
| CN114604622A (en) * | 2022-04-01 | 2022-06-10 | 南通制桶厂有限公司 | A centre gripping lifts up device for iron bucket assembly line |
-
2018
- 2018-01-18 CN CN201810049694.6A patent/CN108217184A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110386389A (en) * | 2019-07-08 | 2019-10-29 | 广西科技大学 | A kind of grabbing device |
| CN111747017A (en) * | 2020-06-17 | 2020-10-09 | 刘傲 | File extraction element for electronic commerce |
| CN111747017B (en) * | 2020-06-17 | 2021-12-31 | 武汉领秀前程科技发展有限公司 | File extraction element for electronic commerce |
| CN114604622A (en) * | 2022-04-01 | 2022-06-10 | 南通制桶厂有限公司 | A centre gripping lifts up device for iron bucket assembly line |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180629 |
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| WW01 | Invention patent application withdrawn after publication |