CN108584522A - Positioning fitting loading and unloading equipment and its operating method - Google Patents
Positioning fitting loading and unloading equipment and its operating method Download PDFInfo
- Publication number
- CN108584522A CN108584522A CN201810418856.9A CN201810418856A CN108584522A CN 108584522 A CN108584522 A CN 108584522A CN 201810418856 A CN201810418856 A CN 201810418856A CN 108584522 A CN108584522 A CN 108584522A
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- China
- Prior art keywords
- component
- suction nozzle
- loading
- positioning
- suction
- 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
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H37/00—Article or web delivery apparatus incorporating devices for performing specified auxiliary operations
- B65H37/04—Article or web delivery apparatus incorporating devices for performing specified auxiliary operations for securing together articles or webs, e.g. by adhesive, stitching or stapling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
- B65H5/14—Details of grippers; Actuating-mechanisms therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
The present invention discloses a kind of positioning fitting loading and unloading equipment and its operating method, the equipment includes lower bearing bracket body, loading plate component, feeding manipulator, suction component, vision positioning component and jointing plate, loading plate component, feeding manipulator and jointing plate are each attached in the operating table surface of lower bearing bracket body, and suction component and vision positioning component are each attached to the mobile terminal of feeding manipulator；Vision positioning component is equipped with the camera for the positioning that take pictures, loading plate component is equipped with carries out pinpoint mark points according to information of taking pictures, sheet type product is housed in loading plate component, moving feeding machine tool hand, suction component is set to be in above loading plate component, it is taken pictures by the camera in vision positioning component, suction module position and adsorbent sheet class product is accurately adjusted by the position of mark points, sheet type product is placed in by suction component on jointing plate.The present invention is relatively low to loading plate dimension precision requirement, facilitates balance and feeding.
Description
Technical field
The present invention relates to the technical field of thin plate loading and unloading more particularly to a kind of positioning fitting loading and unloading equipment and its operations
Method.
Background technology
Thin plate class, the loading and unloading main conditions of piece class product are in industry at present：Pass through the precision raising to feeding carrier
To ensure the feeding precision of mechanical structure, and the low, qualification rate for the irregular product loading efficiency of laminating points position distribution
It is low.General feeding carrier is the circulation carrier of client's production, and requirement is larger, and high-precision requirement can greatly improve cost；
The difficulty for increasing operating personnel's balance simultaneously, so as to cause qualification rate and balance low production efficiency.
Invention content
Shortcoming present in view of the above technology, the present invention provide a kind of positioning patch simple in structure, easy to operate
Close blanking equipment and its operating method.
In order to achieve the above object, a kind of positioning of the present invention is bonded loading and unloading equipment, including lower bearing bracket body, loading plate group
Part, feeding manipulator, suction component, vision positioning component and jointing plate, the loading plate component, feeding manipulator and patch
Plywood is each attached in the operating table surface of lower bearing bracket body, and the suction component and vision positioning component are each attached to feeding machinery
The mobile terminal of hand；The vision positioning component is equipped with the camera for the positioning that take pictures, and the loading plate component is equipped with basis
Information of taking pictures carries out pinpoint mark points, houses sheet type product in loading plate component, moves the feeding manipulator,
So that suction component is in above loading plate component, is taken pictures by the camera in vision positioning component, by the position of mark points
It sets accurate adjustment suction module position and adsorbent sheet class product, sheet type product is placed in by suction component on jointing plate.
Wherein, the loading plate component further includes supporting plate, feeding carrier tray and slider cylinder, and the supporting plate one side is solid
It is scheduled in slider cylinder, the another side of the supporting plate is detachably fixed with feeding carrier tray to be connect, the feeding carrier tray
It is equipped with convenient for the storage tank of accommodating sheet type product, the mark site settings are in the top surface edge position of feeding carrier tray
It sets.
Wherein, the suction component includes that suction nozzle, suction nozzle driving cylinder and suction nozzle connector, the suction nozzle drive cylinder
One end be connected with suction nozzle, the other end of suction nozzle driving cylinder is fixed on suction nozzle connector, and the suction nozzle connector is solid
It is scheduled on the mobile terminal of feeding manipulator.
Wherein, the suction nozzle driving cylinder includes four groups, and the quantity of the suction nozzle is opposite with the suction nozzle driving quantity of cylinder
It answers, four groups of suction nozzle driving cylinders are connected in parallel with each other.
Wherein, the vision positioning component further includes external camera lens, annular light source and camera fixing piece, the camera with
Annular light source is each attached on camera fixing piece, and the external camera lens is arranged between camera and annular light source, and the camera
Built-in lens, external camera lens and annular light source be on same vertical line, the camera fixing piece is fixed on the suction nozzle
On connector.
Wherein, which further includes air source component, vacuum generator, triple valve and sucker pressure sensor,
One end of the vacuum generator is connected with air source component, and the other end of the vacuum generator is connected with triple valve, and described three
The other both ends of port valve are connected with sucker pressure sensor and suction nozzle respectively.
Wherein, positioning pin is additionally provided on the jointing plate, the positioning pin is fixed on the marginal position of sheet type product.
Wherein, the feeding manipulator includes mechanical block, the first linking arm, the second linking arm and third linking arm, institute
It states mechanical block to be fixed in the operating table surface of lower bearing bracket body, one end of first linking arm is fixed in operating table surface, described
The other end of first linking arm is connected with third linking arm, and one end of second linking arm is rotatably connected with mechanical block, institute
The other end and third linking arm for stating the second linking arm are rotatably connected, and the suction component and vision positioning component are fixed
In the end of third linking arm.
Wherein, which further includes upper spider body, power switch, display, keyboard, control button, tri coloured lantern
And protective cover, the display, control button and protective cover are each attached to upper spider external surface, the tri coloured lantern setting
At the top of upper spider body, the keyboard is inserted in lower bearing bracket body, and the power switch is arranged in the side of lower bearing bracket body.
A kind of operating method of positioning fitting loading and unloading equipment of the present invention, includes the following steps：
S1, precise positioning are taken pictures by vision positioning component using feeding manipulator Mobile material sucking component and are found loading plate component
On mark points and be accurately positioned；
S2, product is drawn, drives cylinder that suction nozzle is made to push by suction nozzle, starts air source component, suction nozzle is made by vacuum generator
With adsorption capacity and adsorbent sheet class product；
S3, jointing plate blowing lift suction nozzle using suction nozzle driving cylinder, and suction nozzle are transferred to jointing plate by feeding manipulator
Top pushes suction nozzle, and start air source component to make suction nozzle have thrust and be bonded sheet type product using suction nozzle driving cylinder
On jointing plate.
The beneficial effects of the invention are as follows：
Compared with prior art, the present invention in vision positioning component by being equipped with camera, to the mark points on loading plate component
It takes pictures, to be accurately positioned to the product in charging tray；Camera, which can detect, simultaneously intact material or pendulum material in charging tray
It is abnormal, it can avoid maloperation.Vision positioning component carries out vision positioning to each product and takes pictures, according to the feedback of camera, suction
Component can accurately put the product on suction component on jointing plate one by one.The advantage of the present invention is to loading plate size essence
Degree requires relatively low, facilitates balance and feeding；It can detect that pendulum material is abnormal in loading plate, improves qualification rate；It can be used for a variety of fittings
Position, it is versatile；Anawgy accuracy is high.
Description of the drawings
Fig. 1 is the structure chart that present invention positioning is bonded loading and unloading equipment without upper spider body；
Fig. 2 is the self-contained structure chart that present invention positioning is bonded loading and unloading equipment；
Fig. 3 is the loading plate assembly assumption diagram that present invention positioning is bonded loading and unloading equipment；
Fig. 4 is the combination assumption diagram of suction and positioning that present invention positioning is bonded loading and unloading equipment；
Fig. 5 is the vision positioning assembly assumption diagram that present invention positioning is bonded loading and unloading equipment；
Fig. 6 is the jointing plate structure chart that present invention positioning is bonded loading and unloading equipment；
Fig. 7 is the operating method flow diagram that present invention positioning is bonded loading and unloading equipment.
Main element symbol description is as follows：
10, lower bearing bracket body 11, loading plate component
12, feeding manipulator 13, suction component
14, vision positioning component 15, jointing plate
16, sheet type product 17, upper spider body
18, power switch 19, display
20, keyboard 21, control button
22, tri coloured lantern 23, protective cover
24, air source component 25, sucker pressure sensor
111, mark points 112, supporting plate
113, feeding carrier tray 114, slider cylinder
1131, storage tank
121, mechanical block 122, the first linking arm
123, the second linking arm 124, third linking arm
131, suction nozzle 132, suction nozzle drive cylinder
133, suction nozzle connector
141, camera 142, external camera lens
143, annular light source 144, camera fixing piece
151, positioning pin.
Specific implementation mode
In order to more clearly state the present invention, the present invention is further described below in conjunction with the accompanying drawings.
Refering to fig. 1-2, a kind of positioning of present invention fitting loading and unloading equipment, including lower bearing bracket body 10, loading plate component 11, on
Expect manipulator 12, suction component 13, vision positioning component 14 and jointing plate 15, loading plate component 11, feeding manipulator 12 with
And jointing plate 15 is each attached in the operating table surface of lower bearing bracket body 10, suction component 13 and vision positioning component 14 are each attached to
The mobile terminal of feeding manipulator 12；Vision positioning component 14 is equipped with the camera 141 for the positioning that take pictures, on loading plate component 11
Equipped with pinpoint mark points 111 are carried out according to information of taking pictures, sheet type product 16 is housed in loading plate component 11, it is mobile
Feeding manipulator 12 makes suction component 13 be in the top of loading plate component 11, by the camera 141 in vision positioning component 14 into
Row is taken pictures, and 13 position of suction component and adsorbent sheet class product 16, sheet type product are accurately adjusted by the position of mark points 111
16 are placed in by suction component 13 on jointing plate 15.
Compared to the prior art, the present invention is by being equipped with camera 141 in vision positioning component 14, on loading plate component 11
Mark points 111 take pictures, to being accurately positioned to the product in charging tray；Camera 141 can detect in charging tray simultaneously
There are intact material or pendulum material abnormal, can avoid maloperation.Vision positioning component 14 carries out vision positioning to each product and takes pictures, root
According to the feedback of camera 141, suction component 13 can accurately put the product on suction component 13 on jointing plate 15 one by one.This
The advantage of invention is relatively low to loading plate dimension precision requirement, facilitates balance and feeding；It can detect that pendulum material is abnormal in loading plate,
Improve qualification rate；It can be used for a variety of bonding position, it is versatile；Anawgy accuracy is high.
Fig. 3 is further regarded to, loading plate component 11 further includes supporting plate 112, feeding carrier tray 113 and slider cylinder
114, supporting plate 112 is fixed on one side in slider cylinder 114, and another side and the feeding carrier tray 113 of supporting plate 112 are detachably fixed
Connection, feeding carrier tray 113 are equipped with convenient for the storage tank 1131 of accommodating sheet type product 16, and the setting of mark points 111 exists
The top surface edge position of feeding carrier tray 113.Slider cylinder 114 is mainly finely adjusted supporting plate 112, facilitates progress thick
Positioning.Mark points 111 have 2 group of -4 group, are separately positioned on the different location of 113 upper surface of feeding carrier tray, thus may be used
To realize the precise positioning to 113 position of feeding carrier tray.
Fig. 4 is further regarded to, suction component 13 includes suction nozzle 131, suction nozzle driving cylinder 132 and suction nozzle connector 133,
One end of suction nozzle driving cylinder 132 is connected with suction nozzle 131, and the other end of suction nozzle driving cylinder 132 is fixed on suction nozzle connector 133
On, suction nozzle connector 133 is fixed on the mobile terminal of feeding manipulator 12.It includes four groups that suction nozzle, which drives cylinder 132, suction nozzle 131
Quantity is corresponding with the suction nozzle driving quantity of cylinder 132, and four groups of suction nozzle driving cylinders 132 are connected in parallel with each other.Every group of suction nozzle 131
Product can be independently drawn, is not influenced by other suction nozzles 131, when the shooting of camera 141 on vision positioning component 14 obtains feeding
When different location is with or without product in carrier tray 113, suction nozzle 131 will carry out drawing or not drawing as the case may be,
Efficiency can be effectively improved, error is reduced.
Fig. 5 is further regarded to, vision positioning component 14 further includes that external camera lens 142, annular light source 143 and camera are fixed
Part 144, camera 141 and annular light source 143 are each attached on camera fixing piece 144, the setting of external camera lens 142 camera 141 with
Between annular light source 143, and the Built-in lens of camera 141, external camera lens 142 and annular light source 143 are in same vertical line
On, camera fixing piece 144 is fixed on suction nozzle connector 133.The shooting that external camera lens 142 can effectively improve camera 141 regards
Angle, annular light source 143 further lock shooting area, and photographing information is made to be more clear precisely.
In the present embodiment, which further includes air source component 24, vacuum generator, triple valve and sucker pressure
One end of force snesor 25, vacuum generator is connected with air source component 24, and the other end of vacuum generator is connected with triple valve, and three
The other both ends of port valve are connected with sucker pressure sensor 25 and suction nozzle 131 respectively.Sucker pressure sensor 25 is mainly pair
Air source in suction nozzle 131 plays supervisory function bit, when air source component 24 or vacuum generator failure or suction nozzle 131 and triple valve
Between air-tightness break down, sucker pressure sensor 25 can be fed back in time, avoid causing operation error.
Fig. 6 is further regarded to, positioning pin 151 is additionally provided on jointing plate 15, positioning pin 151 is fixed on sheet type product 16
Marginal position.
In the present embodiment, feeding manipulator 12 include mechanical block 121, the first linking arm 122, the second linking arm 123 with
And third linking arm 124, mechanical block 121 are fixed in the operating table surface of lower bearing bracket body 10, one end of the first linking arm 122 is fixed
In operating table surface, the other end of the first linking arm 122 is connected with third linking arm 124, one end of the second linking arm 123 and machine
Tool seat 121 is rotatably connected, and the other end and the third linking arm 124 of the second linking arm 123 are rotatably connected, suction component 13 with
And vision positioning component 14 is each attached to the end of third linking arm 124.
In the present embodiment, the loading and unloading equipment further include upper spider body 17, power switch 18, display 19, keyboard 20,
Control button 21, tri coloured lantern 22 and protective cover 23, display 19, control button 21 and protective cover 23 are each attached to upper spider
17 outer surface of body, the setting of tri coloured lantern 22 are inserted in 17 top of upper spider body, keyboard 20 in lower bearing bracket body 10, and power switch 18 is set
It sets in the side of lower bearing bracket body 10.
Fig. 7 is further regarded to, a kind of operating method of positioning fitting loading and unloading equipment of the present invention includes the following steps：
S1, precise positioning are taken pictures by vision positioning component 14 using 12 Mobile material sucking component 13 of feeding manipulator and are found feeding
Mark points 111 on disk component 11 are simultaneously accurately positioned；
S2, product is drawn, drives cylinder 132 that suction nozzle 131 is made to push by suction nozzle, starts air source component 24, occurred by vacuum
Device makes suction nozzle 131 have adsorption capacity and adsorbent sheet class product 16；
S3,15 blowing of jointing plate lift suction nozzle 131 using suction nozzle driving cylinder 132, and by feeding manipulator 12 by suction nozzle
131 are transferred to 15 top of jointing plate, push suction nozzle 131 using suction nozzle driving cylinder 132, and start air source component 24 to make suction nozzle
131 have thrust and sheet type product 16 are fitted on jointing plate 15.
Disclosed above is only several specific embodiments of the present invention, but the present invention is not limited to this, any ability
What the technical staff in domain can think variation should all fall into protection scope of the present invention.
Claims (10)
1. a kind of positioning is bonded loading and unloading equipment, which is characterized in that including lower bearing bracket body, loading plate component, feeding manipulator, suction
Material component, vision positioning component and jointing plate, the loading plate component, feeding manipulator and jointing plate are each attached to lower machine
In the operating table surface of frame body, the suction component and vision positioning component are each attached to the mobile terminal of feeding manipulator；It is described
Vision positioning component is equipped with the camera for the positioning that take pictures, and the loading plate component is equipped with to carry out accurately according to information of taking pictures
The mark points of positioning, sheet type product is housed in loading plate component, and the mobile feeding manipulator makes suction component be in upper
Above charging tray component, is taken pictures by the camera in vision positioning component, suction group is accurately adjusted by the position of mark points
Part position and adsorbent sheet class product, sheet type product are placed in by suction component on jointing plate.
2. positioning according to claim 1 is bonded loading and unloading equipment, which is characterized in that the loading plate component further includes support
Plate, feeding carrier tray and slider cylinder, the supporting plate are fixed in slider cylinder on one side, the another side of the supporting plate with it is upper
Material carrier tray is detachably fixed connection, and the feeding carrier tray is equipped with convenient for the storage tank of accommodating sheet type product, institute
Mark site settings are stated in the top surface edge position of feeding carrier tray.
3. positioning according to claim 2 is bonded loading and unloading equipment, which is characterized in that the suction component include suction nozzle,
Suction nozzle drives cylinder and suction nozzle connector, one end of the suction nozzle driving cylinder to be connected with suction nozzle, and the suction nozzle drives cylinder
The other end be fixed on suction nozzle connector, the suction nozzle connector is fixed on the mobile terminal of feeding manipulator.
4. positioning according to claim 3 is bonded loading and unloading equipment, which is characterized in that the suction nozzle driving cylinder includes four
The quantity of group, the suction nozzle is corresponding with the suction nozzle driving quantity of cylinder, and four groups of suction nozzle driving cylinders are connected in parallel with each other.
5. positioning according to claim 3 is bonded loading and unloading equipment, which is characterized in that the vision positioning component further includes
External camera lens, annular light source and camera fixing piece, the camera are each attached to annular light source on camera fixing piece, described outer
It sets camera lens to be arranged between camera and annular light source, and the Built-in lens of the camera, external camera lens and annular light source are in
On same vertical line, the camera fixing piece is fixed on the suction nozzle connector.
6. positioning according to claim 4 is bonded loading and unloading equipment, which is characterized in that the loading and unloading equipment further includes air source
One end of component, vacuum generator, triple valve and sucker pressure sensor, the vacuum generator is connected with air source component,
The other end of the vacuum generator is connected with triple valve, the other both ends of the triple valve respectively with sucker pressure sensor with
And suction nozzle is connected.
7. positioning according to claim 1 is bonded loading and unloading equipment, which is characterized in that be additionally provided with positioning on the jointing plate
Pin, the positioning pin are fixed on the marginal position of sheet type product.
8. positioning according to claim 1 is bonded loading and unloading equipment, which is characterized in that the feeding manipulator includes machinery
Seat, the first linking arm, the second linking arm and third linking arm, the mechanical block are fixed in the operating table surface of lower bearing bracket body,
One end of first linking arm is fixed in operating table surface, and the other end of first linking arm is connected with third linking arm,
One end of second linking arm is rotatably connected with mechanical block, and the other end and the third linking arm of second linking arm can revolve
Turn connection, the suction component and vision positioning component are each attached to the end of third linking arm.
9. positioning according to claim 1 is bonded loading and unloading equipment, which is characterized in that the loading and unloading equipment further includes upper machine
Frame body, power switch, display, keyboard, control button, tri coloured lantern and protective cover, the display, control button and guarantor
Shield is each attached to upper spider external surface, and the tri coloured lantern is arranged at the top of upper spider body, and the keyboard is inserted in lower bearing bracket
In vivo, the power switch is arranged in the side of lower bearing bracket body.
10. a kind of operating method of positioning fitting loading and unloading equipment, which is characterized in that include the following steps：
S1, precise positioning are taken pictures by vision positioning component using feeding manipulator Mobile material sucking component and are found loading plate component
On mark points and be accurately positioned；
S2, product is drawn, drives cylinder that suction nozzle is made to push by suction nozzle, starts air source component, suction nozzle is made by vacuum generator
With adsorption capacity and adsorbent sheet class product；
S3, jointing plate blowing lift suction nozzle using suction nozzle driving cylinder, and suction nozzle are transferred to jointing plate by feeding manipulator
Top pushes suction nozzle, and start air source component to make suction nozzle have thrust and be bonded sheet type product using suction nozzle driving cylinder
On jointing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810418856.9A CN108584522A (en) | 2018-05-04 | 2018-05-04 | Positioning fitting loading and unloading equipment and its operating method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810418856.9A CN108584522A (en) | 2018-05-04 | 2018-05-04 | Positioning fitting loading and unloading equipment and its operating method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108584522A true CN108584522A (en) | 2018-09-28 |
Family
ID=63619852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810418856.9A Pending CN108584522A (en) | 2018-05-04 | 2018-05-04 | Positioning fitting loading and unloading equipment and its operating method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108584522A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109261544A (en) * | 2018-10-29 | 2019-01-25 | 江西省长益光电有限公司 | A kind of mobile lens quality automatic detecting machine |
| CN109399273A (en) * | 2018-10-30 | 2019-03-01 | 宁波利安电子有限公司 | A kind of automatic chip mounting device of high-precision automatic mouse pad make-up machine |
| CN109649709A (en) * | 2018-12-25 | 2019-04-19 | 南昌市环昱智能机器人有限公司 | A kind of glass dishing distributor |
| CN111099831A (en) * | 2018-10-26 | 2020-05-05 | 航天科工惯性技术有限公司 | Device and method for manufacturing composite corrosion protection layer on glass |
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| CN205465037U (en) * | 2015-11-30 | 2016-08-17 | 深圳富泰宏精密工业有限公司 | Automatic paste installation |
| CN106255339A (en) * | 2016-09-29 | 2016-12-21 | 东莞新友智能科技有限公司 | A kind of Multifunctional plaster sheet devices |
| CN107572252A (en) * | 2017-09-27 | 2018-01-12 | 广东利迅达机器人系统股份有限公司 | A kind of robot clamp carried for cell phone mainboard |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111099831A (en) * | 2018-10-26 | 2020-05-05 | 航天科工惯性技术有限公司 | Device and method for manufacturing composite corrosion protection layer on glass |
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| CN109399273A (en) * | 2018-10-30 | 2019-03-01 | 宁波利安电子有限公司 | A kind of automatic chip mounting device of high-precision automatic mouse pad make-up machine |
| CN109399273B (en) * | 2018-10-30 | 2021-02-09 | 宁波利安科技股份有限公司 | Automatic paster device of automatic mouse callus on sole rigging machine of high accuracy |
| CN109649709A (en) * | 2018-12-25 | 2019-04-19 | 南昌市环昱智能机器人有限公司 | A kind of glass dishing distributor |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180928 |
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| RJ01 | Rejection of invention patent application after publication |