CN108381556A - A kind of multifunctional rescue robot - Google Patents
A kind of multifunctional rescue robot Download PDFInfo
- Publication number
- CN108381556A CN108381556A CN201810101800.0A CN201810101800A CN108381556A CN 108381556 A CN108381556 A CN 108381556A CN 201810101800 A CN201810101800 A CN 201810101800A CN 108381556 A CN108381556 A CN 108381556A
- Authority
- CN
- China
- Prior art keywords
- chassis
- rescue
- wheel
- mechanical arm
- gear
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B99/00—Subject matter not provided for in other groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multifunctional rescue robots,Including chassis and wheel,Including chassis,Wheel and rescue mechanical arm,The inside chassis is equipped with controller,Chassis both sides are equipped with several wheels being evenly and symmetrically distributed,The chassis is equipped with rescue mechanical arm,It is equipped with carrying kit slot in the chassis of the rescue mechanical arm side,Carrying kit slot both sides are equipped with several automatically controlled fire extinguishers being evenly and symmetrically distributed,Wheel increases the flexibility of the movement of rescue robot,Making it through property is strong,Rescue mechanical arm enables the device to carry out operations,Increase the range of rescue,Carrying kit slot increases the storage space of device,It enables devices to be loaded different rescue aids as needed,The automatically controlled fire extinguisher of carrying kit slot both sides,It enables the device to go deep into fire source,Directly put out a fire,Comprehensive practical is strong,Use easy to spread.
Description
Technical field：
The present invention relates to a kind of rescue robots, and in particular to a kind of multifunctional rescue robot.
Background technology：
In the field of search and rescue, it can independently reach rescue site and implement the robot also prematurity effectively rescued.For this
One present situation, the design mainly under the conditions of complicated search and rescue road conditions and space limit, adaptive, solution can be carried out according to landform
The problem of traditional rescue robot of having determined is limited by adverse circumstances, and some simple rescue actions can be completed.
General rescue robot has a single function, and rescue effect is poor.
Invention content：
The prior art is difficult to meet the needs of people, and above-mentioned in order to solve the problems, such as, it is more that the present invention proposes one kind
Function rescue robot.
To achieve the above object, the present invention provides the following technical solutions：A kind of multifunctional rescue robot, including chassis and
Wheel, including chassis, wheel and rescue mechanical arm, the inside chassis be equipped with controller, chassis both sides be equipped with it is several uniformly and
Symmetrical wheel, the chassis are equipped with rescue mechanical arm, and being equipped with portable in the chassis of the rescue mechanical arm side fills
Has slot, carrying kit slot both sides are equipped with several automatically controlled fire extinguishers being evenly and symmetrically distributed.
Further, wheel hub and spoke are equipped in the wheel, the wheel hub is connect by spoke with wheel, the wheel hub
Inside is equipped with transmission shaft, and the transmission shaft is equipped with worm and gear connector, and the worm and gear connector is equipped with several equal
Even and the distribution that is centrosymmetric link slot, the link slot is interior to be flexibly connected by connecting rod with the side of telescopic rod, described
Wheel is equipped with several connection chambers to match with telescopic rod, and the other side of the telescopic rod passes through connection chamber.
Further, the fixing groove to match with telescopic rod and worm and gear connector is equipped on the inside of the spoke, it is described
Worm and gear connector is flexibly connected with transmission shaft, and worm and gear connector one end is equipped with connecting rod, described connecting rod one end
Equipped with gear plate, the gear plate is connect by gear shaft with first motor.
Further, the wheel is generally 4, and wheel initial diameter is 400mm；The length of front side two-wheeled telescopic rod is
260mm, the length of telescopic rod is 410mm in two wheel of rear side.
Further, it is equipped with connecting shaft in the middle part of the wheel, the connecting shaft is connect with chassis by Hooks coupling universal coupling, institute
The other end for stating Hooks coupling universal coupling is connect with the second motor being fixed on chassis.
Further, it is equipped with infrared temperature sensor in the middle part of the automatically controlled fire extinguisher in the both sides, automatically controlled fire extinguisher upper end is set
Have fixed diversion pipe, and automatically controlled fire extinguisher bottom is connect with third motor, the infrared temperature sensor and automatically controlled fire extinguisher and
Third motor is electrically connected.
Further, the chassis is four-wheel drive, using differential steering, chassis size 900mm × 500mm.
Further, the rescue mechanical arm be a three-stage mechanical arm, mainly by pedestal, rack, swing arm, head rod,
Forearm, connecting rod, rocking bar, quick change adapter connector, boom cylinder, head rod oil cylinder, oil cylinder of small arm, tool heads oil cylinder and end connecting plate
Equal components composition.
Further, it is equipped with miniature webcam in the middle part of the rescue mechanical arm.
Further, the chassis is equipped with carrying kit slot, and life-detection instrument is equipped in the carrying kit slot.
Further, the inside chassis is equipped with accumulator.
Further, the first motor, the second motor, third motor and accumulator are electrically connected.
Further, the controller is a set of microsystem, and controller and accumulator are electrically connected.
Compared with prior art, the beneficial effects of the invention are as follows：
Wheel increases the flexibility of the movement of rescue robot, and making it through property is strong, and rescue mechanical arm enables the device
Operations are enough carried out, the range of rescue is increased, carrying kit slot increases the storage space of device, enables devices to basis
It needs to be loaded different rescue aids, the automatically controlled fire extinguisher of carrying kit slot both sides enables the device to go deep into fire source
Head is directly put out a fire, and the design operation is simple, and comprehensive practical is strong, use easy to spread.
Description of the drawings：
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the wheel overall structure diagram of the present invention；
Fig. 3 is the Hooks coupling universal coupling overall structure diagram of the present invention；
Fig. 4 is the whole bottom substance schematic diagram of the present invention；
Fig. 5 is the whole main structure diagram of the present invention；
Overall structure diagram when Fig. 6 is the use of the present invention；
Fig. 7 is main structure diagram on the inside of the wheel of the present invention；
Fig. 8 is the worm and gear connector main structure diagram of the present invention；
In figure：The chassis 1-, 2- wheels, 3- first motors, 4- telescopic rods, 5- Hooks coupling universal couplings, 6- worm and gears connector,
7- rescues mechanical arm, the automatically controlled fire extinguishers of 8-, the ends 9- connecting plate, 10- accumulators, 11- life detectors, 12- infrared temperature senses
Answer device, 13- fixed diversion pipes, the second motors of 14-, 15- controllers, 16- carrying kits slot, 17- connecting shafts, 18- wheel hubs, 19-
Connection gear, 20- connections chamber, 21- spokes, 22- connecting rods, 23- thirds motor, 24- miniature webcams, 25- fixing grooves, 26-
Connecting rod, 27- link slots.
Specific implementation mode：
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
Embodiment 1, a kind of multifunctional rescue robot, including chassis 1, wheel 2, the chassis 1 are internally provided with controller
15,1 both sides of chassis are equipped with several wheels 2 being evenly and symmetrically distributed, and wheel hub 18 and spoke 21 are equipped in the wheel 2, described
Wheel hub 18 is connect by spoke 21 with wheel 2, and 18 inside of the wheel hub is equipped with transmission shaft 17, and the transmission shaft 17 is equipped with worm gear
Worm screw connector 6, the worm and gear connector 6 is equipped with several uniform and distribution that is centrosymmetric link slots 27, described
It is flexibly connected with the side of telescopic rod 4 by connecting rod 26 in link slot 27, the wheel 2 is equipped with several with 4 phase of telescopic rod
Matched connection chamber 20, the other side of the telescopic rod 4 pass through connection chamber 20,21 inside of the spoke be equipped with telescopic rod 4 and
The fixing groove 25 that worm and gear connector 6 matches, the worm and gear connector 6 is flexibly connected with transmission shaft 17, and worm gear
6 one end of worm screw connector is equipped with connecting rod 22, and 22 one end of the connecting rod is equipped with gear plate 19, and the gear plate 19 passes through gear
Axis is connect with first motor 3, and the wheel 2 is generally 4, and 2 initial diameter of wheel is 400mm, the length of front side two-wheeled telescopic rod 4
It is 260mm to spend, and the length of telescopic rod 4 is 410mm in two wheel of rear side.Inside wheel is arranged and several is evenly and symmetrically distributed
Telescopic rod controls the flexible of telescopic rod by gear plate using first motor, so that the wheel footpath of wheel is flexibly changed, to increase
Add whole handling capacity, for climbing and stair climbing and throwing over barrier, has good handling capacity, and front and back
The difference of two length of telescopic bar is more to make robot when carrying out climbing or stair climbing, have better stability
The cooperation that function rescue robot imitates rack-and-pinion carries out stair climbing, reliable for operation.
Embodiment 2, a kind of multifunctional rescue robot, including chassis 1, wheel 2, the chassis 1 are internally provided with controller
15,1 both sides of chassis are equipped with several wheels 2 being evenly and symmetrically distributed, and wheel hub 18 and spoke 21 are equipped in the wheel 2, described
Wheel hub 18 is connect by spoke 21 with wheel 2, and 18 inside of the wheel hub is equipped with transmission shaft 17, and the transmission shaft 17 is equipped with worm gear
Worm screw connector 6, the worm and gear connector 6 is equipped with several uniform and distribution that is centrosymmetric link slots 27, described
It is flexibly connected with the side of telescopic rod 4 by connecting rod 26 in link slot 27, the wheel 2 is equipped with several with 4 phase of telescopic rod
Matched connection chamber 20, the other side of the telescopic rod 4 pass through connection chamber 20,21 inside of the spoke be equipped with telescopic rod 4 and
The fixing groove 25 that worm and gear connector 6 matches, the worm and gear connector 6 is flexibly connected with transmission shaft 17, and worm gear
6 one end of worm screw connector is equipped with connecting rod 22, and 22 one end of the connecting rod is equipped with gear plate 19, and the gear plate 19 passes through gear
Axis is connect with first motor 3, and the wheel 2 is generally 4, and 2 initial diameter of wheel is 400mm；The length of front side two-wheeled telescopic rod 4
It is 260mm to spend, and the length of telescopic rod 4 is 410mm in two wheel of rear side, and 17 other side of the transmission shaft passes through Hooks coupling universal coupling 5
Connect with chassis 1, the other end of the Hooks coupling universal coupling 5 be fixed on the One On The Chassis second motor 14 and connect.Chassis and vehicle
Wheel is connected using Hooks coupling universal coupling, and Hooks coupling universal coupling can realize that two coupled axis are continuously returned there are axis angle
Turning, and reliably transmits torque and movement, structure has a larger angular compensatory ability, compact-sized, transmission efficiency, by
Spring chassis height is also adjusted.Energy stable drive when ensuring wheel with respect to body movement, damping is good after coordinating spring, transmission
Stablize, chassis is adjustable.
Embodiment 3, a kind of multifunctional rescue robot, including chassis 1, wheel 2, the chassis 1 are internally provided with controller
15,1 both sides of chassis are equipped with several wheels 2 being evenly and symmetrically distributed, and wheel hub 18 and spoke 21 are equipped in the wheel 2, described
Wheel hub 18 is connect by spoke 21 with wheel 2, and 18 inside of the wheel hub is equipped with transmission shaft 17, and the transmission shaft 17 is equipped with worm gear
Worm screw connector 6, the worm and gear connector 6 is equipped with several uniform and distribution that is centrosymmetric link slots 27, described
It is flexibly connected with the side of telescopic rod 4 by connecting rod 26 in link slot 27, the wheel 2 is equipped with several with 4 phase of telescopic rod
Matched connection chamber 20, the other side of the telescopic rod 4 pass through connection chamber 20,21 inside of the spoke be equipped with telescopic rod 4 and
The fixing groove 25 that worm and gear connector 6 matches, the worm and gear connector 6 is flexibly connected with transmission shaft 17, and worm gear
6 one end of worm screw connector is equipped with connecting rod 22, and 22 one end of the connecting rod is equipped with gear plate 19, and the gear plate 19 passes through gear
Axis is connect with first motor 3, and the wheel 2 is generally 4, and 2 initial diameter of wheel is 400mm；The length of front side two-wheeled telescopic rod 4
It is 260mm to spend, and the length of telescopic rod 4 is 410mm in two wheel of rear side.The chassis 1 is equipped with rescue mechanical arm 7, described to rescue
It is a three-stage mechanical arm to help mechanical arm 7, is mainly connected by pedestal, rack, swing arm, head rod, forearm, connecting rod, rocking bar, quick change
The components such as device, boom cylinder, head rod oil cylinder, oil cylinder of small arm, tool heads oil cylinder and end connecting plate 9 form, the rescuing machine
7 middle part of tool arm is equipped with miniature webcam 24.By imitating the form of excavator, using hydraulicdriven principle, keep rescue mechanical
Arm can carry out various operations, increase rescue space, and end connecting plate, end connection is arranged in rescue mechanical arm front end
Plate can load quartering hammer, bucket, handgrip etc., realize the operation of the various needs under complicated rescue environment or nuclear environment, rescuing
It helps and miniature webcam is added in the middle part of mechanical arm, vision signal is transmitted using camera, keeps manipulation more convenient, more directly
It sees.
Embodiment 4, a kind of multifunctional rescue robot, including chassis 1, wheel 2, the chassis 1 are internally provided with controller
15,1 both sides of chassis are equipped with several wheels 2 being evenly and symmetrically distributed, and wheel hub 18 and spoke 21 are equipped in the wheel 2, described
Wheel hub 18 is connect by spoke 21 with wheel 2, and 18 inside of the wheel hub is equipped with transmission shaft 17, and the transmission shaft 17 is equipped with worm gear
Worm screw connector 6, the worm and gear connector 6 is equipped with several uniform and distribution that is centrosymmetric link slots 27, described
It is flexibly connected with the side of telescopic rod 4 by connecting rod 26 in link slot 27, the wheel 2 is equipped with several with 4 phase of telescopic rod
Matched connection chamber 20, the other side of the telescopic rod 4 pass through connection chamber 20,21 inside of the spoke be equipped with telescopic rod 4 and
The fixing groove 25 that worm and gear connector 6 matches, the worm and gear connector 6 is flexibly connected with transmission shaft 17, and worm gear
6 one end of worm screw connector is equipped with connecting rod 22, and 22 one end of the connecting rod is equipped with gear plate 19, and the gear plate 19 passes through gear
Axis is connect with first motor 3, and the wheel 2 is generally 4, and 2 initial diameter of wheel is 400mm；The length of front side two-wheeled telescopic rod 4
It is 260mm to spend, and the length of telescopic rod 4 is 410mm in two wheel of rear side, and the chassis 1 is equipped with carrying kit slot 16, and chassis
1 is internally provided with accumulator 10, and 16 slot of the carrying kit mainly loads the specific instrument and equipment such as life-detection instrument 11, emergent work
Tool etc., in chassis upper end, setting carrying kit slot can be according to different tasks at any time to increase the storage space of robot
Carrying kit is replaced, to achieve the purpose that efficiently to complete rescue or other job tasks.
Embodiment 5, a kind of multifunctional rescue robot, including chassis 1, wheel 2, the chassis 1 are internally provided with controller
15,1 both sides of chassis are equipped with several wheels 2 being evenly and symmetrically distributed, and wheel hub 18 and spoke 21 are equipped in the wheel 2, described
Wheel hub 18 is connect by spoke 21 with wheel 2, and 18 inside of the wheel hub is equipped with transmission shaft 17, and the transmission shaft 17 is equipped with worm gear
Worm screw connector 6, the worm and gear connector 6 is equipped with several uniform and distribution that is centrosymmetric link slots 27, described
It is flexibly connected with the side of telescopic rod 4 by connecting rod 26 in link slot 27, the wheel 2 is equipped with several with 4 phase of telescopic rod
Matched connection chamber 20, the other side of the telescopic rod 4 pass through connection chamber 20,21 inside of the spoke be equipped with telescopic rod 4 and
The fixing groove 25 that worm and gear connector 6 matches, the worm and gear connector 6 is flexibly connected with transmission shaft 17, and worm gear
6 one end of worm screw connector is equipped with connecting rod 22, and 22 one end of the connecting rod is equipped with gear plate 19, and the gear plate 19 passes through gear
Axis is connect with first motor 3, and the wheel 2 is generally 4, and 2 initial diameter of wheel is 400mm；The length of front side two-wheeled telescopic rod 4
It is 260mm to spend, and the length of telescopic rod 4 is 410mm in two wheel of rear side, and the chassis 1 is equipped with carrying kit slot 16, described to take
Luggage, which has, is equipped with life-detection instrument 11 in slot 16, several equally distributed automatically controlled fire extinguishings are equipped in 16 both sides of carrying kit slot
Device 8, automatically controlled 8 middle part of fire extinguisher in the both sides are equipped with infrared temperature sensor 12, the infrared temperature sensor 12 with it is automatically controlled
Fire extinguisher 8 is electrically connected, and 8 upper end of automatically controlled fire extinguisher is equipped with fixed diversion pipe 13, and 8 bottom of automatically controlled fire extinguisher and third electricity
Machine 14 connect, the controller 15 be a set of microsystem, and controller 15 respectively with first motor 3, the second motor 14, third
Motor 23, electric power storage 10 are electrically connected.Between infrared temperature sensor is set to fire extinguisher, and it is arranged second in fire extinguisher bottom
Motor, using the induction of infrared temperature sensor, then the spot of fire utilizes the second motor that fire extinguisher is driven to rotate to conjunction
Pointing fire-extinguishing is realized in suitable position to start fire extinguisher.
Control section is a set of microsystem, mainly for the treatment of the information of each portion's sensor acquisition of car body, regulation speed
And telescopic rod is flexible, manipulation mechanical arm completes specified operation etc..By sensor can slope change or meet obstacle when and
When adjustment wheel footpath and speed, realize steady climbing or obstacle detouring.
The carrying kit slot mainly loads specific instrument and equipment, the Emergency Tool such as life-detection instrument, fire extinguisher etc., can
Carrying kit is replaced at any time according to different tasks, to achieve the purpose that efficiently to complete rescue or other job tasks.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
1. a kind of multifunctional rescue robot, including chassis, wheel and rescue mechanical arm, it is characterised in that：The inside chassis
Equipped with controller, chassis both sides are equipped with several wheels being evenly and symmetrically distributed, and the chassis is equipped with rescue mechanical arm, described
It rescues and is equipped with carrying kit slot in the chassis of mechanical arm side, carrying kit slot both sides are evenly and symmetrically distributed equipped with several
Automatically controlled fire extinguisher.
2. a kind of multifunctional rescue robot according to claim 1, it is characterised in that：The chassis is four-wheel drive,
Using differential steering, chassis size 900mm × 500mm.
3. a kind of multifunctional rescue robot according to claim 1, it is characterised in that：The rescue mechanical arm is one
Three-stage mechanical arm, mainly by pedestal, rack, swing arm, head rod, forearm, connecting rod, rocking bar, quick change adapter connector, boom cylinder, head
The components such as rod oil cylinder, oil cylinder of small arm, tool heads oil cylinder and end connecting plate form.
4. a kind of multifunctional rescue robot according to claim 1, it is characterised in that：The inside chassis is equipped with electric power storage
Pond.
5. a kind of multifunctional rescue robot according to claim 1, it is characterised in that：The controller is a set of microcomputer
System, and controller and accumulator are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810101800.0A CN108381556A (en) | 2018-02-01 | 2018-02-01 | A kind of multifunctional rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810101800.0A CN108381556A (en) | 2018-02-01 | 2018-02-01 | A kind of multifunctional rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381556A true CN108381556A (en) | 2018-08-10 |
Family
ID=63074893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810101800.0A Pending CN108381556A (en) | 2018-02-01 | 2018-02-01 | A kind of multifunctional rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108381556A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513987A (en) * | 2011-12-26 | 2012-06-27 | 浙江金刚汽车有限公司 | Intelligent fire-fighting rescue robot |
| CN204249714U (en) * | 2014-11-13 | 2015-04-08 | 同济大学 | Lead screw Self-locking type vehicle wheel diameter changeable mechanism |
| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
| US20170144006A1 (en) * | 2015-11-24 | 2017-05-25 | Purdue Research Foundation | Systems and methods for improving efficiency of firefighting robots |
| CN206455672U (en) * | 2016-12-30 | 2017-09-01 | 西安智道科技有限责任公司 | A kind of urban SOS robot |
| CN107521572A (en) * | 2017-08-17 | 2017-12-29 | 成都圭目机器人有限公司 | Autonomous type life detection robot |
-
2018
- 2018-02-01 CN CN201810101800.0A patent/CN108381556A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513987A (en) * | 2011-12-26 | 2012-06-27 | 浙江金刚汽车有限公司 | Intelligent fire-fighting rescue robot |
| CN204249714U (en) * | 2014-11-13 | 2015-04-08 | 同济大学 | Lead screw Self-locking type vehicle wheel diameter changeable mechanism |
| US20170144006A1 (en) * | 2015-11-24 | 2017-05-25 | Purdue Research Foundation | Systems and methods for improving efficiency of firefighting robots |
| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
| CN206455672U (en) * | 2016-12-30 | 2017-09-01 | 西安智道科技有限责任公司 | A kind of urban SOS robot |
| CN107521572A (en) * | 2017-08-17 | 2017-12-29 | 成都圭目机器人有限公司 | Autonomous type life detection robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180810 |