CN110074727A - A kind of intelligent sweeping robot - Google Patents
A kind of intelligent sweeping robot Download PDFInfo
- Publication number
- CN110074727A CN110074727A CN201810075421.9A CN201810075421A CN110074727A CN 110074727 A CN110074727 A CN 110074727A CN 201810075421 A CN201810075421 A CN 201810075421A CN 110074727 A CN110074727 A CN 110074727A
- Authority
- CN
- China
- Prior art keywords
- sweeping robot
- bumper assembly
- intelligent sweeping
- shell
- anticollison 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.)
- Pending
Links
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 present invention provides a kind of intelligent sweeping robot comprising: shell, it is interior equipped with controller and the driving device being electrically connected with controller；Anticollison block is movably arranged on shell, and accommodating space is equipped between anticollison block and shell, and the first bumper assembly, the second bumper assembly and the third bumper assembly being electrically connected respectively with controller are equipped in accommodating space；The front-rear direction and moved with front-rear direction vertically upward and downward directions and left and right directions that anticollison block can move forward and backward relative to shell along intelligent sweeping robot, along the longitudinal direction or up and down direction or left and right directions movement can trigger the first bumper assembly or the second bumper assembly or third bumper assembly relative to shell, controller is arranged to the signal fed back according to the first bumper assembly or the second bumper assembly or third bumper assembly to control the driving device to anticollison block.Compared with prior art, the anticollison block in the present invention can do six-way movement relative to the shell of intelligent sweeping robot.
Description
Technical field
The invention belongs to sweeping robot technical field more particularly to a kind of intelligent sweeping robots.
Background technique
With the continuous improvement of people's living standards, controlling intelligent household appliances using more and more extensive, and have very
Vast market prospect；Sweeping robot also known as sweeps machine, intellective dust collector, robot cleaner etc. automatically, is intelligent domestic
One kind of electric appliance can rely on certain artificial intelligence, complete floor cleaning work in the room automatically；It is general to be swept using brush and very
Ground sundries is first received the rubbish storage box into itself, to complete the function of land clearing by short side formula；Sweeping robot
It is most sold early in European & American Market, with the improvement of domestic living standards, steps into Chinese market；However, existing sweep
When floor-washing robot is cleaned at the gap between sofa and ground, furniture and ground, if sweeping robot is by top
If object blocks, then it can not be got rid of poverty by stuck position.
Therefore, it is necessary to propose the novel intelligent sweeping robot of one kind to solve the above technical problems.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent sweeping robot with anticollison block, which can be relative to
Front-rear direction that the shell moves forward and backward along intelligent sweeping robot and with front-rear direction vertically upward and downward directions and
Left and right directions movement.
For achieving the above object, the present invention provides a kind of intelligent sweeping robot.
Wherein, the intelligent sweeping robot includes:
Shell, it is interior equipped with controller and the driving device being electrically connected with the controller；
Anticollison block is movably arranged on the shell, and accommodating space is equipped between the anticollison block and shell, in the accommodating
The first bumper assembly, the second bumper assembly and the third bumper assembly being electrically connected respectively with the controller are equipped in space；
The anticollison block can relative to the shell along the front-rear direction that the intelligent sweeping robot moves forward and backward with
And moved with front-rear direction vertically upward and downward directions and left and right directions, the anticollison block is relative to the shell along the front and back
To or up and down direction or left and right directions move and can trigger first bumper assembly or the second bumper assembly or third anticollision group
Part, the controller are arranged to the letter fed back according to first bumper assembly or the second bumper assembly or third bumper assembly
Number control the driving device
As a further improvement of the present invention, the intelligent sweeping robot further includes the reset of setting in the accommodating space
Part, when the relatively described shell of the anticollison block is moved or moved downward backward, the return unit provides the anticollison block and transports forward
Reset force that is dynamic or moving upwards.
As a further improvement of the present invention, first bumper assembly includes the first trigger switch and placement described first
The first support of trigger switch, the return unit are fixed in the first support, and the return unit is covered on first touching
Send out the surface of switch.
As a further improvement of the present invention, the third bumper assembly includes third trigger switch and is pivotally mounted on
Rotation swing rod on the shell, the anticollison block are equipped with corresponding convex with the rotation swing rod towards the side of the shell
Muscle, when there is external force on the anticollison block, the convex ribs are acted on the rotation swing rod, and then trigger the third
Trigger switch, the anticollison block, which compresses the return unit and driven when external force is eliminated by the return unit, to be resetted.
As a further improvement of the present invention, the rotation swing rod includes a rotary shaft and rotates the oblique of axis connection with described
Face, when there is external force on the anticollison block, the convex ribs are acted on the inclined-plane of the rotation swing rod, the rotation pendulum
Bar is rotated around the rotary shaft, so that the rotation swing rod triggers the third trigger switch.
As a further improvement of the present invention, it is additionally provided with a reduction torsion spring in the rotary shaft, when the convex ribs are detached from institute
When stating the inclined-plane of rotation swing rod, the reduction torsion spring, which provides pretightning force, resets the rotation swing rod.
As a further improvement of the present invention, the return unit is configured to arc spring lamination, and one end of the arc spring lamination is solid
It is scheduled in the first support, the other end is the free end extended downwardly.
As a further improvement of the present invention, the arc spring lamination is arranged two, along the intelligent sweeping robot
Left and right directions is arranged side by side.
As a further improvement of the present invention, the quantity of second bumper assembly is two, is separately positioned on the appearance
Two sides between emptying, second bumper assembly include second of the second trigger switch and placement second trigger switch
Frame, second trigger switch and the controller are electrically connected, when there is external force on the anticollison block, the control
Device is arranged to the signal fed back according to second trigger switch to control the driving device.
As a further improvement of the present invention, the bottom of the intelligent sweeping robot shell is additionally provided with driving wheel, described
Driving device drives the driving wheel movement.
The beneficial effects of the present invention are: the present invention provides a kind of intelligent sweeping robot with anticollison block, anticollison block
It can not only be relative to the front-rear direction and a left side that the shell of intelligent sweeping robot moves forward and backward along intelligent sweeping robot
Right direction movement, additionally it is possible to along being moved with front-rear direction vertically upward and downward directions, if sweeping robot is blocked by top object,
Also it can quickly get rid of poverty.
Detailed description of the invention
Fig. 1 is the top view of intelligent sweeping robot in the embodiment of the invention；
Fig. 2 is the bottom view of intelligent sweeping robot in the embodiment of the invention；
Fig. 3 is the explosive view of intelligent sweeping robot in the embodiment of the invention；
Fig. 4 is the explosive view of the partial shell of intelligent sweeping robot and anticollison block in the embodiment of the invention；
Fig. 5 is the structure of the partial shell of intelligent sweeping robot and anticollison block mating area in the embodiment of the invention
Schematic diagram；
Fig. 6 is the reverse side figure of Fig. 5；
Fig. 7 be in the embodiment of the invention anticollison block towards the structural schematic diagram of shell side.
Specific embodiment
Hereinafter, the present invention will be described in detail with reference to various embodiments shown in the accompanying drawings.But these embodiments are not
The limitation present invention, structure that those skilled in the art are made according to these embodiments, method or change functionally
It changes and is included within the scope of protection of the present invention.
The term of the representation space relative position used herein such as "upper", " top ", "lower", " lower section " is for just
A unit as shown in the drawings or feature are described relative to another unit or the relationship of feature in the purpose of explanation.It is empty
Between the term of relative position can be intended to include different direction of the equipment in use or work other than orientation as shown in the figure.
For example, the unit for being described as being located at other units or feature " below " or " under " will if the equipment in figure overturn
Positioned at other units or feature " top ".Therefore, exemplary term " lower section " can include above and below both orientation.If
It is standby to be otherwise directed (be rotated by 90 ° or other directions), and be interpreted accordingly used herein with space correlation
Language is described.
Also, it should be understood that although term first, second etc. can be used to describe herein various elements or
Structure, but these are described object and should not be limited by these terms.These terms are only used to by these description objects that
This is distinguished.For example, the first bumper assembly can be referred to as the second bumper assembly, and similarly the second bumper assembly can also be with
Referred to as the first bumper assembly, this protection scope without departing from the application.
Ginseng Fig. 1-2 show a better embodiment of intelligent sweeping robot 10 of the present invention.Intelligence in the present invention is swept
Floor-washing robot 10 includes shell 11 and the anticollison block 12 being movably arranged as on shell 11, wherein is equipped on the top of shell 11
Radium-shine 111, the components such as battery 112 and dust barrel 113 are equipped with the components such as driving wheel 115 and round brush 116 in the lower part of shell 11,
The driving device (not shown) that the inside of shell 11 is additionally provided with controller (not shown) and is electrically connected with controller, driving device
Driving wheel 115 can be driven to rotate, so that the regional movement that intelligent sweeping robot 10 is cleaned in needs.
Preferably, driving wheel 115 further includes a universal wheel 1151, and universal wheel 1151 can make intelligent sweeping robot 10 flexible
Ground is moved towards multiple directions.
Join shown in Fig. 3-4, anticollison block 12 is movably arranged as on shell 11 by way of buckle, and 12 He of anticollison block
It is equipped with accommodating space 13 between shell 11, the first anticollision group being electrically connected respectively with controller is equipped in the accommodating space 13
Part 14, the second bumper assembly 15 and third bumper assembly 16.
First bumper assembly 14 includes the first support 142 of the first trigger switch 141 of the first trigger switch 141 and placement,
Wherein, the first trigger switch 141 is electrically connected with controller, and a return unit 143 is further fixed in first support 142, this is multiple
Position part 143 is configured to an arc spring lamination, and one end of arc spring lamination is fixed in first support 142, and the other end extends downwardly
Free end, return unit 143 cover the surface of the first trigger switch 141.
Preferably, the surface hollow-out design of arc spring lamination, is designed so that arc spring lamination has better reset force.
It is highly preferred that the first bumper assembly 14 is set as two, the setting of arc spring lamination is also two, along intelligently sweeping
The left and right directions of floor-washing robot 10 is arranged side by side.
When there is external force on the anticollison block 12, anticollison block 12 can be relative to shell 11 along intelligent sweeping machine
The movement of front-rear direction that device people 10 moves forward and backward, anticollison block 12 can compress the when moving along the longitudinal direction relative to shell 11
Return unit 143 and the first trigger switch 141 of triggering, controller in one bumper assembly 14 are arranged to according to the first trigger switch
The signals of 141 feedbacks control driving device.When anticollison block 12 moves backward with respect to shell 11, return unit 143 provides anticollision
The reset force that block 12 travels forward, when external force is eliminated, return unit 143 drives anticollison block 12 to reset.
In conjunction with shown in Fig. 5-7, third bumper assembly 16 includes third trigger switch 161 and is pivotally mounted on shell 11
Rotation swing rod 162, rotation swing rod 162 includes a rotary shaft 1621 and the inclined-plane 1622 that connect with rotary shaft 1621 again, wherein
Third trigger switch 161 and controller are electrically connected, and anticollison block 12 is equipped with corresponding with rotation swing rod 162 towards the side of shell 11
Convex ribs 121.
When there is external force on anticollison block 12, anticollison block 12 can be relative to shell 11 along intelligent sweeping robot
10 move with front-rear direction vertically upward and downward directions, and convex ribs 121 act on rotation swing rod 162, and specifically, convex ribs act on rotation
On the inclined-plane 1622 of switch bar 162, so that rotation swing rod 162 is rotated around rotary shaft 1621, rotation swing rod 162 triggers third
Trigger switch 161, i.e. anticollison block 12 can trigger in third bumper assembly 16 when moving along the vertical direction relative to shell 11
Third trigger switch 161, controller are arranged to the signal fed back according to third trigger switch 161 to control driving device.When
When anticollison block 12 is moved downward with respect to shell 11, the side of anticollison block 12 towards shell compresses return unit 143, and return unit 143 mentions
For the reset force that anticollison block 12 moves upwards, when external force is eliminated, return unit 143 drives anticollison block 12 to reset.
Preferably, a reduction torsion spring 1623 is additionally provided in rotary shaft 1621, when convex ribs 121 are detached from the oblique of rotation swing rod 162
When face 1622, reduction torsion spring 1623, which provides pretightning force, to be made to rotate the reset of swing rod 162.
The quantity of second bumper assembly 15 is two, is separately positioned on the two sides of accommodating space 13, the second bumper assembly 15
Including the second trigger switch 151 and place the second support 152 of the second trigger switch 151, wherein the second trigger switch 151 with
Controller is electrically connected.
When there is external force on the anticollison block 12, anticollison block 12 can be relative to shell 11 along intelligent sweeping machine
The left and right directions movement vertical with front-rear direction of device people 10, anticollison block 12 can touch when moving in left-right direction relative to shell 11
The second trigger switch of triggering 151 in the second bumper assembly 15 is sent out, controller is arranged to feed back according to the second trigger switch 151
Signal control driving device.
Preferably, the first trigger switch and the second trigger switch are touch-switch, and third trigger switch is microswitch.
In this way, anticollison block 12 can not only be relative to the intelligent sweeping robot 10 of anticollison block 12 in the present invention
The front-rear direction and left and right directions that the shell 11 of intelligent sweeping robot 10 moves forward and backward along intelligent sweeping robot move,
It can also be moved along with front-rear direction vertically upward and downward directions, it, also can be fast if sweeping robot 10 is blocked by top object
Speed is got rid of poverty.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of intelligent sweeping robot, which is characterized in that the intelligent sweeping robot includes:
Shell, it is interior equipped with controller and the driving device being electrically connected with the controller；
Anticollison block is movably arranged on the shell, and accommodating space is equipped between the anticollison block and shell, in the accommodating
The first bumper assembly, the second bumper assembly and the third bumper assembly being electrically connected respectively with the controller are equipped in space；
The anticollison block can relative to the shell along the front-rear direction that the intelligent sweeping robot moves forward and backward with
And moved with front-rear direction vertically upward and downward directions and left and right directions, the anticollison block is relative to the shell along the front and back
To or up and down direction or left and right directions move and can trigger first bumper assembly or the second bumper assembly or third anticollision group
Part, the controller are arranged to the letter fed back according to first bumper assembly or the second bumper assembly or third bumper assembly
Number control the driving device.
2. intelligent sweeping robot according to claim 1, which is characterized in that the intelligent sweeping robot further includes setting
Return unit in the accommodating space is set, it is described multiple when the relatively described shell of the anticollison block is moved or moved downward backward
Position part provides the reset force that the anticollison block is travelled forward or moved upwards.
3. intelligent sweeping robot according to claim 2, which is characterized in that first bumper assembly includes the first touching
Hair switch and the first support for placing first trigger switch, the return unit is fixed in the first support, described multiple
Position part is covered on the surface of first trigger switch.
4. intelligent sweeping robot according to claim 2, which is characterized in that the third bumper assembly includes third touching
Rotation swing rod hair switch and be pivotally mounted on the shell, the anticollison block are equipped with and institute towards the side of the shell
The corresponding convex ribs of rotation swing rod are stated, when there is external force on the anticollison block, the convex ribs act on the rotation swing rod
On, and then the third trigger switch is triggered, the anticollison block compresses the return unit and when external force is eliminated by the reset
Part, which drives, to be resetted.
5. intelligent sweeping robot according to claim 4, which is characterized in that the rotation swing rod include a rotary shaft and
With the inclined-plane of the rotation axis connection, when there is external force on the anticollison block, the convex ribs act on the rotation pendulum
On the inclined-plane of bar, the rotation swing rod is rotated around the rotary shaft, so that the rotation swing rod triggers the third trigger switch.
6. intelligent sweeping robot according to claim 5, which is characterized in that be additionally provided with reset torsion in the rotary shaft
Spring, when the convex ribs are detached from the inclined-plane of the rotation swing rod, the reduction torsion spring, which provides pretightning force, keeps the rotation swing rod multiple
Position.
7. intelligent sweeping robot according to claim 2, which is characterized in that the return unit is configured to arc spring lamination,
One end of the arc spring lamination is fixed in the first support, and the other end is the free end extended downwardly.
8. intelligent sweeping robot according to claim 7, which is characterized in that the arc spring lamination is arranged two, along
The left and right directions of the intelligent sweeping robot is arranged side by side.
9. intelligent sweeping robot according to claim 1, which is characterized in that the quantity of second bumper assembly is two
It is a, it is separately positioned on the two sides of the accommodating space, second bumper assembly includes the second trigger switch and places described the
The second support of two trigger switch, second trigger switch and the controller are electrically connected, when having external force described
When on anticollison block, the controller is arranged to the signal fed back according to second trigger switch to control the driving dress
It sets.
10. intelligent sweeping robot according to claim 1, which is characterized in that the intelligent sweeping robot shell
Bottom is additionally provided with driving wheel, and the driving device drives the driving wheel movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810075421.9A CN110074727A (en) | 2018-01-26 | 2018-01-26 | A kind of intelligent sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810075421.9A CN110074727A (en) | 2018-01-26 | 2018-01-26 | A kind of intelligent sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110074727A true CN110074727A (en) | 2019-08-02 |
Family
ID=67412196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810075421.9A Pending CN110074727A (en) | 2018-01-26 | 2018-01-26 | A kind of intelligent sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110074727A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112603201A (en) * | 2020-11-26 | 2021-04-06 | 安徽橡树工业设计有限公司 | Automatic cleaning and sweeping robot for road surface or workshop |
| WO2021218084A1 (en) * | 2020-04-29 | 2021-11-04 | 美智纵横科技有限责任公司 | Sweeping robot |
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| CN1575722A (en) * | 2003-07-24 | 2005-02-09 | 三星光州电子株式会社 | Robot cleaner |
| CN103702805A (en) * | 2011-07-06 | 2014-04-02 | 悠进机器人股份公司 | Bumper assembly of mobile robot |
| US20140246874A1 (en) * | 2012-03-15 | 2014-09-04 | Irobot Corporation | Compliant Solid-State Bumper for Robot |
| CN205403810U (en) * | 2015-06-02 | 2016-07-27 | 美国iRobot公司 | A contact pick up for mobile robot |
| CN106333634A (en) * | 2016-08-30 | 2017-01-18 | 江苏品德环保科技有限公司 | Touch device for automatic floor wiping machine and automatic floor wiping machine |
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2018
- 2018-01-26 CN CN201810075421.9A patent/CN110074727A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1575722A (en) * | 2003-07-24 | 2005-02-09 | 三星光州电子株式会社 | Robot cleaner |
| CN103702805A (en) * | 2011-07-06 | 2014-04-02 | 悠进机器人股份公司 | Bumper assembly of mobile robot |
| US20140246874A1 (en) * | 2012-03-15 | 2014-09-04 | Irobot Corporation | Compliant Solid-State Bumper for Robot |
| CN107024933A (en) * | 2012-03-15 | 2017-08-08 | 艾罗伯特公司 | The buffer for robot including sensor array |
| CN205403810U (en) * | 2015-06-02 | 2016-07-27 | 美国iRobot公司 | A contact pick up for mobile robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021218084A1 (en) * | 2020-04-29 | 2021-11-04 | 美智纵横科技有限责任公司 | Sweeping robot |
| CN112603201A (en) * | 2020-11-26 | 2021-04-06 | 安徽橡树工业设计有限公司 | Automatic cleaning and sweeping robot for road surface or workshop |
| CN112603201B (en) * | 2020-11-26 | 2022-03-08 | 安徽橡树工业设计有限公司 | Automatic cleaning and sweeping robot for road surface or workshop |
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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 |
Application publication date: 20190802 |
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| RJ01 | Rejection of invention patent application after publication |