CN109431390A - A kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus - Google Patents
A kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus Download PDFInfo
- Publication number
- CN109431390A CN109431390A CN201811561095.9A CN201811561095A CN109431390A CN 109431390 A CN109431390 A CN 109431390A CN 201811561095 A CN201811561095 A CN 201811561095A CN 109431390 A CN109431390 A CN 109431390A
- Authority
- CN
- China
- Prior art keywords
- wheel
- hydraulic stem
- metallic rod
- stepper motor
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 6
- 230000000630 rising effect Effects 0.000 claims abstract 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 7
- 241000221931 Hypomyces rosellus Species 0.000 claims description 2
- 241000571645 Sabellastarte magnifica Species 0.000 claims description 2
- 239000003973 paint Substances 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 7
- 238000010408 sweeping Methods 0.000 abstract description 3
- 230000002459 sustained effect Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Manipulator (AREA)
Abstract
The invention patent discloses a kind of Multi-freedom-degreemanipulator manipulator and climbs building clearing apparatus, for the cleaning of stair side wall, has the function of stair climbing, can substitute hand sweeping movement, avoid danger, improve efficiency.Device includes five wheel stair-climbing mechanisms and hydraulic movable linkage, in five wheel stair-climbing mechanisms, lifting or putting down for headstock is may be implemented in the flexible of intermediate auxiliary wheel, climbs front-wheel and steps to a new level, the rising and balance of the flexible driving device entirety of hydraulic stem (B) on rear-wheel, make device entirety climb steps.During this, auxiliary wheel can rotate always driving device and move ahead, and meeting and front-wheel keep balance on sustained height after device entirety climb steps, this process be repeated, so that the reciprocal ladder of realization device moves.In hydraulic movable linkage, there are 3 hydraulic stems cooperation telescopic adjustments to clean height, the end hydraulic stem (D) is replaced with different cleaning appliances and adapts to cleaning work under varying environment.
Description
Technical field
The invention patent relates to a kind of Multi-freedom-degreemanipulator manipulators to climb building clearing apparatus, more particularly to one kind for cleaning metope
Multi-freedom-degreemanipulator manipulator five take turns drive mechanism climbing ladder apparatus.
Background technique
In many large-scale stores and company, it will usually daily cleaning maintenance is carried out to metope, especially in cleaning stair
When the metope of side, frequent stair activity is needed to carry out operation, it is very time-consuming and laborious, there is also some potential safety problems, except this it
Outside, artificial clean height also has certain limitations, and higher place cleans unclean；The invention patent has invented one kind mostly certainly
Building clearing apparatus is climbed by degree manipulator, is directed to the cleaning of stair side wall, the present apparatus has the function of that stair climbing cleans metope, energy
Hand sweeping movement is substituted, danger is avoided, improves efficiency.
Summary of the invention
The purpose of the invention patent is: in view of the above-mentioned problems, providing a kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus, benefit
The function of stair climbing is realized with five wheel drive mechanisms, the free up/down steps of energy carry out the cleaning of stair side wall.It is attached on its device
With hydraulic movable linkage, scope of activities is wider, and the height and general metope, end that can reach ceiling are installed Clean-
Tool can be replaced, and to adapt to the cleaning operation under various environment, improve efficiency, and save labour.
In order to achieve the above objectives, the invention patent the technical solution adopted is as follows:
A kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus, and main includes five wheel stair-climbing mechanisms and hydraulic movable linkage.Five wheels
Stair-climbing mechanism is made of front-wheel, auxiliary wheel, rear-wheel, stepper motor, hydraulic stem, metallic rod and vehicle frame, front-wheel 1 by revolute with
Stepper motor (A) 2 connects, and stepper motor (A) 2 is fixed on vehicle frame 21；Auxiliary wheel 5 passes through revolute and the one of metallic rod (A) 3
End connection, stepper motor (B) 10 are connected to auxiliary wheel 5 by revolute, and the other end of metallic rod (A) 3 is connected by revolute
On vehicle frame 21, the middle part of metallic rod (A) 3 is connected with hydraulic stem (A) 4, and 4 other end of hydraulic stem (A) is connected on vehicle frame 21；Two
A rear-wheel 7 is connected by metallic rod (B) 9, and metallic rod (B) 9 is fixedly connected with one end of hydraulic stem (2) 6, hydraulic stem (B) 6 it is another
End is fixed on vehicle frame 21.
Stepper motor (A) 2 drives front-wheel 1 to rotate, and device is made integrally to travel forward, in front of touching when step, hydraulic stem (A)
The 4 drive stretchings of auxiliary wheel 5 are lifted headstock, and auxiliary wheel 5 and rear-wheel 7 maintain device integrally to travel forward, when front-wheel 1 climbs up platform
When rank, hydraulic stem (B) 6, which stretches out, jacks up tailstock maintenance device in same level height, and then auxiliary wheel 5 is recovered to same with front-wheel 1
One height, when rear-wheel 7 touches front step, hydraulic stem (B) 6 drives rear-wheel 7 to withdraw, and a movement of climbing is completed, and repeats this
Process is able to achieve movement of back and forth climbing.
Hydraulic activity linkage includes metallic rod, hydraulic stem, bevel gear, pedestal and stepper motor, and one in bevel gear 11
A bevel gear is connect by revolute with stepper motor (C) 20, and stepper motor (C) 20 is fixed on vehicle frame 21, another cone tooth
Wheel is fixedly connected with pedestal 12, and metallic rod (C) 13 and hydraulic stem (E) 19, metallic rod (C) 13 and hydraulic stem are connected on pedestal 12
(E) it 19 is connect jointly with metallic rod (D) 18, hydraulic stem (D) 17 is connect in metallic rod (D) 18,14 one end of hydraulic stem (C) and gold
Belong to the connection of bar (D) 18, the other end connect with hydraulic stem (D) 17, be equipped on hydraulic stem (D) 17 stepper motor (D) 16 with clearly
Clean apparatus 15.In cleaning work, the 20 band rotation of dynamic bevel gear 11 of stepper motor (C) adjusts cleaning angle, and each hydraulic stem is stretched
Contracting is common to adjust cleaning height, under the cooperation of bevel gear 11 and hydraulic stem, the attainable height of hydraulic activity linkage and angle
Degree can complete large-scale cleaning work, and ultrahigh in efficiency is time saving and energy saving.
The technical solution of the invention patent further include:
The end of hydraulic stem (D) 17 is provided with stepper motor (D) 16, drives 15 all-directional rotation of burnisher.By the clear of end
Clean tool 15 changes paintbrush, feather duster into, can achieve the purpose that paint wall, sweep cobweb.
Detailed description of the invention
Fig. 1 is the positive structure diagram of the invention patent.
Fig. 2 is the overlooking structure diagram of the invention patent.
Fig. 3 is the five wheel stair-climbing mechanism front views of the invention patent.
Fig. 4 is the five wheel stair-climbing mechanism top views of the invention patent.
Fig. 5 is the hydraulic movable linkage front view of the invention patent.
1- front-wheel；2- stepper motor (A)；3- metallic rod (A)；4- hydraulic stem (A)；5- auxiliary wheel；6- hydraulic stem (B)；7-
Rear-wheel；Metallic rod on 8- vehicle frame；9- metallic rod (B)；10- stepper motor (B)；11- bevel gear；12- pedestal；13- metallic rod
(C)；14- hydraulic stem (C)；15- burnisher；16- stepper motor (D)；17- hydraulic stem (D)；18- metallic rod (D)；19- is hydraulic
Bar (E)；20- stepper motor (C)；21- vehicle frame.
Specific embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, it is clear that a kind of Multi-freedom-degreemanipulator manipulator provided by the invention patent climbs building
Sweeping device, five front-wheels 1 taken turns in stair-climbing mechanisms are connected on vehicle frame 21 by stepper motor (A) 2, and auxiliary wheel 5 passes through metal
Bar (A) 3 is connected on vehicle frame 21, and rear-wheel 7 is connected on vehicle frame 21 by hydraulic stem (B) 6.Stepper motor (A) 2 drives when movement
Front-wheel 1 rotates, and device is made integrally to travel forward, and when touching front step, hydraulic stem (A) 4 drives the stretching of auxiliary wheel 5 to make headstock
It is lifted, the stepper motor (B) 10 that auxiliary wheel 5 connects drives vehicle body to travel forward, and rear-wheel 7 maintains device whole machine balancing, currently
When taking turns 1 climb steps, hydraulic stem (B) 6, which stretches out, jacks up tailstock maintenance device in same level height, and then auxiliary wheel 5 is recovered to
With 1 sustained height of front-wheel, when rear-wheel 7 touches front step, hydraulic stem (B) 6 drives rear-wheel 7 to withdraw, and device is whole at this time
It climbs and steps to a new level, this process of repetition is able to achieve movement of back and forth climbing.
Its hydraulic movable linkage is linked together by pedestal 12 and five wheel stair-climbing mechanisms, and cone is installed in the lower section of pedestal 12
Gear 11, angle of the stepper motor (C) 20 with the hydraulic movable linkage of the rotation control of dynamic bevel gear 11, can complete 360o's
Cleaning work is connected with hydraulic stem (E) 19 and metallic rod (C) 13 above pedestal 12, adjusts jointly when hydraulic stem (E) 19 is flexible
The height of hydraulic activity linkage, the small hydraulic stem (C) 14 between metallic rod (D) 18 and hydraulic stem (D) 17 is flexible, expands liquid
The cleaning range of pressure activity linkage.In cleaning process, according to the rotation angle for cleaning position control bevel gear 11, pass through control
It makes three hydraulic stems and stretches co- controlling cleaning highly, the cleaning appliance 15 of 17 end of hydraulic stem (D) is needed according to cleaning can be more
Change other cleaning appliances into.
Five wheel stair-climbing mechanisms and hydraulic movable linkage two parts cooperation, common to realize the clear of stair side wall in the present apparatus
It sweeps.
Claims (2)
1. a kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus, it includes five wheel stair-climbing mechanisms and hydraulic movable linkage,
Be characterized in that: the five wheels stair-climbing mechanism includes front-wheel, auxiliary wheel, rear-wheel, stepper motor, hydraulic stem, metallic rod and vehicle frame, preceding
Wheel 1 is connect by revolute with stepper motor (A) 2, and stepper motor (A) 2 is fixed on vehicle frame 21；Auxiliary wheel 5 passes through revolute
Connect with one end of metallic rod (A) 3, stepper motor (B) 10 is connected to auxiliary wheel 5 by revolute, metallic rod (A) 3 it is another
End is connected on vehicle frame 21 by revolute, and the middle part of metallic rod (A) 3 is connected with hydraulic stem (A) 4,4 other end of hydraulic stem (A)
It is connected on vehicle frame 21；Two rear-wheels 7 are connected by metallic rod (B) 9, and one end of metallic rod (B) 9 and hydraulic stem (2) 6 is fixed to be connected
It connects, the other end of hydraulic stem (B) 6 is fixed on vehicle frame 21, and lifting or putting for headstock may be implemented in the flexible of intermediate auxiliary wheel 5
Under, it climbs front-wheel and steps to a new level, then stretched by the hydraulic stem (B) 6 on rear-wheel 7 come the rising and balance of driving device entirety,
Make device entirety climb steps, repeat this process and realize the effect back and forth climbed, the hydraulic movable linkage include metallic rod,
Hydraulic stem, bevel gear, pedestal and stepper motor, a bevel gear in bevel gear 11 pass through revolute and stepper motor (C) 20
Connection, stepper motor (C) 20 are fixed on vehicle frame 21, another bevel gear is fixedly connected with pedestal 12, is connected on pedestal 12
Metallic rod (C) 13 and hydraulic stem (E) 19, metallic rod (C) 13 and hydraulic stem (E) 19 are connect with metallic rod (D) 18 jointly, hydraulic stem
(D) it 17 is connect in metallic rod (D) 18,14 one end of hydraulic stem (C) is connect with metallic rod (D) 18, the other end and hydraulic stem (D) 17
Connection, the end of hydraulic stem (D) 17 are provided with stepper motor (D) 16,15 all-directional rotation of burnisher are driven, in cleaning work
When, the 20 band rotation adjusting of dynamic bevel gear 11 of stepper motor (C) cleans angle, and the flexible common adjusting of three hydraulic stems cooperations cleans high
Degree.
2. a kind of Multi-freedom-degreemanipulator manipulator according to claim 1 climbs building clearing apparatus, it is characterised in that: by hydraulic stem
(D) burnisher 15 of 17 ends changes paintbrush, feather duster into, achievees the purpose that paint wall, sweeps cobweb.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811561095.9A CN109431390A (en) | 2018-12-20 | 2018-12-20 | A kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811561095.9A CN109431390A (en) | 2018-12-20 | 2018-12-20 | A kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109431390A true CN109431390A (en) | 2019-03-08 |
Family
ID=65559551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811561095.9A Pending CN109431390A (en) | 2018-12-20 | 2018-12-20 | A kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109431390A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112609619A (en) * | 2020-11-23 | 2021-04-06 | 聚和(天津)智能制造有限公司 | Self-adaptive multi-degree-of-freedom mechanical lifting cleaning device |
| CN112971583A (en) * | 2021-02-21 | 2021-06-18 | 董传强 | Water conservancy pump station distribution room dust collector |
| CN118128273A (en) * | 2024-05-06 | 2024-06-04 | 卓通建设股份有限公司 | Plastering device and method for wall decoration at building stair |
| CN118128273B (en) * | 2024-05-06 | 2024-07-16 | 卓通建设股份有限公司 | Plastering device and method for wall decoration at building stair |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080195253A1 (en) * | 2007-02-09 | 2008-08-14 | Kim Yong Wook | Robot for cleaning wall/window |
| CN104973106A (en) * | 2015-07-14 | 2015-10-14 | 柳州职业技术学院 | Five-wheel rotary stair climbing trolley |
| CN106343927A (en) * | 2016-10-18 | 2017-01-25 | 安徽工程大学 | Automatic stairs climbing and stairs step sweeping device |
| CN106510563A (en) * | 2015-09-11 | 2017-03-22 | 广西大学 | High-altitude robot cleaner |
| EP3287198A1 (en) * | 2016-08-24 | 2018-02-28 | Stedehouder Beheer BV | Roof washer for glasshouses |
| CN209474517U (en) * | 2018-12-20 | 2019-10-11 | 哈尔滨理工大学 | It is a kind of for cleaning the device of stair side wall |
-
2018
- 2018-12-20 CN CN201811561095.9A patent/CN109431390A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080195253A1 (en) * | 2007-02-09 | 2008-08-14 | Kim Yong Wook | Robot for cleaning wall/window |
| CN104973106A (en) * | 2015-07-14 | 2015-10-14 | 柳州职业技术学院 | Five-wheel rotary stair climbing trolley |
| CN106510563A (en) * | 2015-09-11 | 2017-03-22 | 广西大学 | High-altitude robot cleaner |
| EP3287198A1 (en) * | 2016-08-24 | 2018-02-28 | Stedehouder Beheer BV | Roof washer for glasshouses |
| CN106343927A (en) * | 2016-10-18 | 2017-01-25 | 安徽工程大学 | Automatic stairs climbing and stairs step sweeping device |
| CN209474517U (en) * | 2018-12-20 | 2019-10-11 | 哈尔滨理工大学 | It is a kind of for cleaning the device of stair side wall |
Non-Patent Citations (2)
| Title |
|---|
| 李志国;: "浅谈车载灭火系统在露天煤矿卡车上的应用", 神华科技 * |
| 祝海存;: "浅谈工装法在中速碗式磨煤机安装中的应用", 机电信息 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112609619A (en) * | 2020-11-23 | 2021-04-06 | 聚和(天津)智能制造有限公司 | Self-adaptive multi-degree-of-freedom mechanical lifting cleaning device |
| CN112971583A (en) * | 2021-02-21 | 2021-06-18 | 董传强 | Water conservancy pump station distribution room dust collector |
| CN118128273A (en) * | 2024-05-06 | 2024-06-04 | 卓通建设股份有限公司 | Plastering device and method for wall decoration at building stair |
| CN118128273B (en) * | 2024-05-06 | 2024-07-16 | 卓通建设股份有限公司 | Plastering device and method for wall decoration at building stair |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105798613B (en) | One kind climbs wall type welding robot | |
| CN207085511U (en) | Filter tank body automatic flushing device | |
| CN106180014A (en) | A kind of lamp stand automatic cleaning apparatus and method | |
| CN206979446U (en) | A kind of leaping over obstacles outside Wall Cleaning machine people | |
| CN103359198A (en) | All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method | |
| CN109431390A (en) | A kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus | |
| CN209474517U (en) | It is a kind of for cleaning the device of stair side wall | |
| CN106725141A (en) | A kind of leaping over obstacles outside Wall Cleaning machine people and operating method | |
| CN105945893A (en) | Robot with wall cleaning function | |
| CN203936047U (en) | Dust sweeper | |
| CN105496292B (en) | A kind of cleaning equipment of glass curtain wall | |
| CN109892055B (en) | Jungle cross-country type spraying robot and method thereof | |
| CN215745264U (en) | Paint removing device for pipe painting and repairing | |
| CN109008767A (en) | A kind of multifunctional wiping glass device | |
| CN113208514B (en) | Cleaning system | |
| CN210643867U (en) | Automatic window cleaning robot and obstacle crossing driving device thereof | |
| CN205128259U (en) | Intelligence spraying apparatus for producing | |
| CN211534264U (en) | Ceiling cleaning device | |
| CN109365445A (en) | A kind of Clean- inner wall brushing device of chemical tank | |
| CN112031450B (en) | Automatic wall scraping mechanism of intelligent building outer wall cleaning machine | |
| CN209441333U (en) | A kind of carwash pond | |
| CN114471040A (en) | Engineering construction environmental protection dust device | |
| CN111133854B (en) | Gardens are planted and are used equipment that loosens soil | |
| CN211064783U (en) | Regular automatic pesticide spraying equipment for hickory nut cultivation | |
| CN114448344A (en) | Solar silicon plate cleaning method based on new energy power generation |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190308 |