CN102975047A - Clamp with automatic clamping force regulation function and regulating method of clamp - Google Patents
Clamp with automatic clamping force regulation function and regulating method of clamp Download PDFInfo
- Publication number
- CN102975047A CN102975047A CN2012104977596A CN201210497759A CN102975047A CN 102975047 A CN102975047 A CN 102975047A CN 2012104977596 A CN2012104977596 A CN 2012104977596A CN 201210497759 A CN201210497759 A CN 201210497759A CN 102975047 A CN102975047 A CN 102975047A
- Authority
- CN
- China
- Prior art keywords
- control
- fuzzy
- anchor clamps
- chucking power
- parameter
- 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
Images
Landscapes
- Feedback Control In General (AREA)
Abstract
The invention relates to a clamp with an automatic clamping force regulation function and a regulating method of the clamp. The clamp with the automatic clamping force regulation function comprises a clamp, a clamping force detecting device, an A/D (analog to digital) converter, a central processing unit, a motor controller, a motor driver and a control motor, wherein the clamp comprises a clamp body, a regulating screw nut and a regulating screw rod, an installing and clamping groove is arranged in the clamp body, the regulating screw nut is arranged at one side or two sides of the installing and clamping groove provided by the clamp body, the regulating screw rod passes through a threaded hole of the regulating screw nut to form a spiral driving pair, in addition, the regulating screw rod is connected with an output shaft of the control motor, the clamping force detecting device is arranged on the clamp body, the signal output end of the clamping force detecting device is connected with the signal input end of the central processing unit through the A/D converter, the signal output end of the central processing unit is connected with the signal input end of the motor controller, and the signal output end of the motor controller is electrically connected with the control motor through the motor driver. The clamp and the regulating method have the advantages that the design is ingenious, the structure is simple, the clamping force can be regulated, and in addition, the operation is simple.
Description
Technical field
The present invention is the automatic alignment jig of a kind of chucking power and method of adjustment thereof, belongs to the renovation technique of the automatic alignment jig of chucking power and method of adjustment thereof.
Background technology
Existing anchor clamps generally all can not be regulated chucking power, so that can occur the inadequate situation of chucking power in clamping process, and workpiece can not effectively be stepped up, and skew appears in workpiece in process, directly affect crudy; Or the excessive situation of chucking power appears, can press from both sides bad workpiece when serious.
Summary of the invention
The object of the invention is to consider the problems referred to above and provide a kind of design ingenious, simple in structure, can regulate the automatic alignment jig of chucking power of chucking power.
Another object of the present invention is to provide a kind of method of adjustment of the automatic alignment jig of chucking power simple to operate.
Technical scheme of the present invention is: anchor clamps chucking power automatic regulating system of the present invention, include anchor clamps, the chucking power checkout gear, A/D converter, CPU, electric machine controller, motor driver, the control motor, wherein anchor clamps include clamp body, adjusting nut and adjusting screw(rod), wherein clamp body is provided with the clamping groove, adjusting nut is installed in the one or both sides of the set clamping groove of clamp body, the screwed hole that adjusting screw(rod) passes adjusting nut forms the worm drive pair, and adjusting screw(rod) is connected with the output shaft of control motor, the chucking power checkout gear is installed on the clamp body, the signal output part of chucking power checkout gear is connected with the signal input part of CPU by A/D converter, the signal output part of CPU is connected with the signal input part of electric machine controller, and the signal output part of electric machine controller is electrically connected with the control motor by motor driver.
Above-mentioned chucking power checkout gear is foil gauge, and strain gauge adhesion is on anchor clamps.
Above-mentioned CPU is single-chip microcomputer.
Above-mentioned CPU also is connected with display module.
Above-mentioned CPU is passed through storage battery power supply.
Also be provided with shaft coupling between above-mentioned adjustment screw and the control motor.
The control method of anchor clamps chucking power automatic regulating system of the present invention comprises the steps:
1) after part is packed anchor clamps into, at anchor clamps the clamping force checking device is installed;
2) the chucking power checkout gear detects the size of anchor clamps chucking power, and signal is input to CPU through A/D converter;
3) CPU and preset value compare, if variant, then export control signal to the control motor by electric machine controller and motor driver, the rotation of control driven by motor adjusting screw(rod), corresponding adjusting nut moves, the clamping groove of adjusting nut drive anchor clamps moves to adjust the chucking power size on the anchor clamps, makes it remain on the claimed range of preset value.
Above-mentioned control method to the control motor is to adopt fuzzy control, at first carries out pid parameter and initializes, and pid parameter includes
,
,
, wherein,
Be the proportion control parameter,
Be the integration control parameter,
Be differential control parameter, pressure power initial value, press PID control principle and pressure control characteristic and calculate current Kp, Ki, Kd, then output to the control that motor carries out clamping force, continuous force value and set-point adjustment according to current calculating, repeatedly repeat, until immediate force value reaches the stable purpose of automatically adjusting chucking pressure.
The control method of anchor clamps chucking power automatic regulating system of the present invention, the method for above-mentioned fuzzy control is as follows:
Fuzzy Adaptive PID Control is as input with error e and error change ec, and find out fuzzy relation graph between PID three parameters and e and the ec, according to fuzzy control principle three parameters are carried out online modification, thereby make controlled device that good dynamic and static performance be arranged, specific as follows:
1) fuzzy language variable
As input, and output is respectively three parameters of PID with error e and error rate ec.
2) the fuzzy control table of adjusting:
According to the practical operation experience, set up suitable fuzzy reasoning table, obtain
,
With
The fuzzy control table that three parameters are adjusted respectively;
3) calculate current K
pK
iK
dValue
The excursion of e and ec is defined as domain on the fuzzy set,
e={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
ec={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
Its fuzzy subset is:
e={NB,NM,NS,ZO,PS,PM,PB}，ec={NB,NM,NS,ZO,PS,PM,PB}
In the formula: the NB representative is negative large, and during the NM representative was negative, the NS representative was negative little, and the ZE representative expands zero, and the PS representative is just little, and PM represents the center, and the PB representative is honest; And all choose Gaussian distribution as Membership Function Distribution, can get thus each fuzzy subset's degree of membership; Then according to each fuzzy subset's degree of membership assignment table and each parameter fuzzy control model, use the fuzzy matrix of fuzzy synthetic reason design pid parameter, find the following various calculating of corrected parameter substitution:
In the formula:
,
With
Be the initial value of pid parameter,
,
With
For finally answering the value of pid parameter;
Invention is owing to adopt the structure that is provided with the chucking power checkout gear, and make the control motor do forward or reverse according to the survey chucking power by CPU and electric machine controller and motor driver, to reach the purpose of adjusting chucking power, the present invention designs ingenious, simple in structure, can regulate chucking power.In addition, the method for adjustment of the automatic alignment jig of chucking power of the present invention is simple to operate.The present invention is that a kind of design is ingenious, function admirable, the automatic alignment jig of convenient and practical chucking power and method of adjustment thereof.
Description of drawings
Fig. 1 is overall diagram of the present invention;
Fig. 2 is the front view of clamp body of the present invention;
Fig. 3 is the side view of clamp body of the present invention;
Fig. 4 is PID control flow chart of the present invention;
Fig. 5 is the front view of processing parts of the present invention;
Fig. 6 is the side view of processing parts of the present invention.
The specific embodiment
Embodiment:
Structural representation of the present invention as shown in Figure 1, anchor clamps chucking power automatic regulating system of the present invention, include anchor clamps 1, chucking power checkout gear 2, A/D converter 3, CPU 4, electric machine controller 5, motor driver 6, control motor 7, wherein anchor clamps 1 include clamp body 11, adjusting nut 11 and adjusting screw(rod) 13, wherein clamp body 11 is provided with the clamping groove, adjusting nut 11 is installed in the one or both sides of clamp body 11 set clamping grooves, the screwed hole that adjusting screw(rod) 13 passes adjusting nut 11 forms the worm drive pair, and adjusting screw(rod) 13 is connected with the output shaft of control motor 7, chucking power checkout gear 2 is installed on the clamp body 11, the signal output part of chucking power checkout gear 2 is connected with the signal input part of CPU 4 by A/D converter 3, the signal output part of CPU 4 is connected with the signal input part of electric machine controller 5, and the signal output part of electric machine controller 5 is connected with control motor 7 by motor driver 6.
Above-mentioned chucking power checkout gear 2 is foil gauge, and strain gauge adhesion is on anchor clamps 1.
Above-mentioned CPU 4 is single-chip microcomputer.
Above-mentioned CPU 4 also is connected with display module 10.
Above-mentioned CPU 4 is by battery 6 power supplies.
Also be provided with shaft coupling 14 between above-mentioned adjustment screw 13 and the control motor 7.
The control method of anchor clamps chucking power automatic regulating system of the present invention comprises the steps:
1) after part is packed anchor clamps 1 into, at anchor clamps 1 clamping force checking device 2 is installed;
2) chucking power checkout gear 2 detects the size of anchor clamps 1 chucking power, and signal is input to CPU 4 through A/D converter 3;
3) CPU 4 compares with preset value, if variant, then export control signal to control motor 7 by electric machine controller 5 and motor driver 6, control motor 7 drives adjusting screw(rod) 13 rotations, corresponding adjusting nut 11 moves, the clamping groove that adjusting nut 11 drives anchor clamps 1 moves to adjust the chucking power size on the anchor clamps, makes it remain on the claimed range of preset value.
Above-mentioned control method to control motor 7 is to adopt fuzzy control, at first carries out pid parameter and initializes, and pid parameter includes K
p, K
i, K
d, pressure power initial value is pressed PID control principle and pressure control characteristic and is calculated current K
p, K
i, K
d, then output to the control that motor carries out clamping force, constantly according to force value and the set-point adjustment of current calculating, repeatedly repeat, until immediate force value reaches the stable purpose of automatically adjusting chucking pressure.
The control method of anchor clamps chucking power automatic regulating system of the present invention, the control method of above-mentioned control motor is to adopt fuzzy control, anchor clamps detected pressures value and setting pressure value compare, obtaining corresponding controlling value after the calculating of the difference signal that relatively obtains through the control certain rule, giving control system with controlled quentity controlled variable controls accordingly, ceaselessly carry out above-mentioned work, thereby reach the purpose of automatic adjusting.Namely show as when control step motor forward rotation, realize clamping function; When control step motor backward rotation, then realize release function.
Fig. 5 is the inner PID control flow charts of anchor clamps, behind the program start, at first carries out pid parameter and initializes, most importantly K
p, K
i, K
dInitialization, then enter the controlled circulation body.At first pressure power initial value is pressed PID control principle and pressure control characteristic and is calculated current K
p, K
i, K
d, then output to the control that motor carries out clamping force, constantly according to force value and the set-point adjustment of current calculating, repeatedly repeat, until immediate force value reaches the stable purpose of automatically adjusting chucking pressure.
The fuzzy control principle:
Fuzzy Adaptive PID Control be with error e and error change ec as input, and find out fuzzy relation graph between PID three parameters and e and the ec, according to fuzzy control principle three parameters are carried out online modification, thereby make controlled device that good dynamic and static performance be arranged.
1) fuzzy language variable
As input, and output is respectively three parameters of PID with error e and error rate ec.
2) the fuzzy control table of adjusting
According to the practical operation experience, set up suitable fuzzy reasoning table, obtain
,
With
The fuzzy control table that three parameters are adjusted respectively.
3) calculate current K
P,K
I,K
dValue
This paper is dual input, the fuzzy controller of three outputs.The excursion of e and ec is defined as domain on the fuzzy set.
e={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
ec={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
Its fuzzy subset is:
e={NB,NM,NS,ZO,PS,PM,PB}，ec={NB,NM,NS,ZO,PS,PM,PB}
In the formula: the NB representative is negative large, and during the NM representative was negative, the NS representative was negative little, and the ZE representative expands zero, and the PS representative is just little, and PM represents the center, and the PB representative is honest.And all choose Gaussian distribution as Membership Function Distribution, can get thus each fuzzy subset's degree of membership.Then according to each fuzzy subset's degree of membership assignment table and each parameter fuzzy control model, use the fuzzy matrix of fuzzy synthetic reason design pid parameter, find the following various calculating of corrected parameter substitution:
；
In the formula:
,
With
Be the initial value of pid parameter,
,
With
For finally answering the value of pid parameter.
Claims (9)
1. anchor clamps chucking power automatic regulating system, it is characterized in that including anchor clamps (1), chucking power checkout gear (2), A/D converter (3), CPU (4), electric machine controller (5), motor driver (6), control motor (7), wherein anchor clamps (1) include clamp body (11), adjusting nut (11) and adjusting screw(rod) (13), wherein clamp body (11) is provided with the clamping groove, adjusting nut (11) is installed in the one or both sides of the set clamping groove of clamp body (11), the screwed hole that adjusting screw(rod) (13) passes adjusting nut (11) forms the worm drive pair, and adjusting screw(rod) (13) is connected with the output shaft of control motor (7), chucking power checkout gear (2) is installed on the clamp body (11), the signal output part of chucking power checkout gear (2) is connected with the signal input part of CPU (4) by A/D converter (3), the signal output part of CPU (4) is connected with the signal input part of electric machine controller (5), and the signal output part of electric machine controller (5) is electrically connected with control motor (7) by motor driver (6).
2. anchor clamps chucking power automatic regulating system according to claim 1 is characterized in that above-mentioned chucking power checkout gear (2) is foil gauge, and strain gauge adhesion is on anchor clamps (1).
3. anchor clamps chucking power automatic regulating system according to claim 1 is characterized in that above-mentioned CPU (4) is single-chip microcomputer.
4. anchor clamps chucking power automatic regulating system according to claim 1 is characterized in that above-mentioned CPU (4) also is connected with display module (10).
5. anchor clamps chucking power automatic regulating system according to claim 1 is characterized in that above-mentioned CPU (4) is by battery (6) power supply.
6. anchor clamps chucking power automatic regulating system according to claim 1 is characterized in that also being provided with shaft coupling (14) between above-mentioned adjustment screw (13) and the control motor (7).
7. the control method of an anchor clamps chucking power automatic regulating system is characterized in that comprising the steps:
1) after part is packed anchor clamps (1) into, at anchor clamps (1) clamping force checking device (2) is installed;
2) chucking power checkout gear (2) detects the size of anchor clamps (1) chucking power, and signal is input to CPU (4) through A/D converter (3);
3) CPU (4) compares with preset value, if variant, then export control signal to control motor (7) by electric machine controller (5) and motor driver (6), control motor (7) drives adjusting screw(rod) (13) rotation, corresponding adjusting nut (11) is mobile, the clamping groove of adjusting nut (11) drive anchor clamps (1) moves to adjust the chucking power size on the anchor clamps, makes it remain on the claimed range of preset value.
8. the control method of anchor clamps chucking power automatic regulating system according to claim 7 is characterized in that above-mentioned control method to control motor (7) is to adopt fuzzy control, at first carries out pid parameter and initializes, and pid parameter includes
,
,
, wherein,
Be the proportion control parameter,
Be the integration control parameter,
Be differential control parameter; Pressure power initial value, press PID control principle and pressure control characteristic and calculate current Kp, Ki, Kd, then output to the control that motor carries out clamping force, continuous force value and set-point adjustment according to current calculating, repeatedly repeat, until immediate force value reaches the stable purpose of automatically adjusting chucking pressure.
9. the control method of anchor clamps chucking power automatic regulating system according to claim 8 is characterized in that the method for above-mentioned fuzzy control is as follows:
Fuzzy Adaptive PID Control is as input with error e and error rate ec, and find out fuzzy relation graph between PID three parameters and e and the ec, according to fuzzy control principle three parameters are carried out online modification, thereby make controlled device that good dynamic and static performance be arranged, specific as follows:
1) fuzzy language variable
As input, and output is respectively three parameters of PID with error e and error rate ec;
2) the fuzzy control table of adjusting:
According to the practical operation experience, set up suitable fuzzy reasoning table, obtain
,
With
The fuzzy control table that three parameters are adjusted respectively;
Wherein,
Be the proportion control parameter,
Be the integration control parameter,
Be differential control parameter;
3) calculate current K
P,K
I,K
dValue
The excursion of e and ec is defined as domain on the fuzzy set,
e={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
ec={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
Its fuzzy subset is:
e={NB,NM,NS,ZO,PS,PM,PB}，ec={NB,NM,NS,ZO,PS,PM,PB}
In the formula: the NB representative is negative large, and during the NM representative was negative, the NS representative was negative little, and the ZE representative expands zero, and the PS representative is just little, and PM represents the center, and the PB representative is honest; And all choose Gaussian distribution as Membership Function Distribution, can get thus each fuzzy subset's degree of membership; Then according to each fuzzy subset's degree of membership assignment table and each parameter fuzzy control model, use the fuzzy matrix of fuzzy synthetic reason design pid parameter, find the following various calculating of corrected parameter substitution:
；
In the formula:
,
With
Be the initial value of pid parameter,
,
With
For finally answering the value of pid parameter; As seen fuzzy is adjusted parameter enough online
,
With
, so that these parameters are optimum and make system obtain best control effect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104977596A CN102975047A (en) | 2012-11-29 | 2012-11-29 | Clamp with automatic clamping force regulation function and regulating method of clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104977596A CN102975047A (en) | 2012-11-29 | 2012-11-29 | Clamp with automatic clamping force regulation function and regulating method of clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102975047A true CN102975047A (en) | 2013-03-20 |
Family
ID=47849552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012104977596A Pending CN102975047A (en) | 2012-11-29 | 2012-11-29 | Clamp with automatic clamping force regulation function and regulating method of clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102975047A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078749A (en) * | 2016-06-22 | 2016-11-09 | 奇瑞汽车股份有限公司 | A kind of robot hand and robot |
| CN112123025A (en) * | 2020-09-17 | 2020-12-25 | 深圳太辰光通信股份有限公司 | Machining process and machining device for ceramic ferrule |
| WO2021022357A1 (en) * | 2019-08-02 | 2021-02-11 | Candu Energy Inc. | Portable polymer tester and testing method |
| CN112958327A (en) * | 2021-03-18 | 2021-06-15 | 上海怡上电子科技有限公司 | Spraying test fixture for filter and working method and system thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61244434A (en) * | 1985-04-24 | 1986-10-30 | Kureo:Kk | Constant pressing force generating apparatus |
| JPS63100742A (en) * | 1986-10-17 | 1988-05-02 | Mitsubishi Electric Corp | Positioning device for electronic parts |
| JPH1076472A (en) * | 1996-08-30 | 1998-03-24 | Pentel Kk | Electric vise |
| CN102480096A (en) * | 2010-11-25 | 2012-05-30 | 李泉 | Visualized intelligent precise numerically controlled crimping method and device therefor |
| CN102765000A (en) * | 2012-07-09 | 2012-11-07 | 北京七星华创电子股份有限公司 | Self-adjusting clamping device |
| CN203019054U (en) * | 2012-11-29 | 2013-06-26 | 深圳市欣天科技有限公司 | Clamp capable of automatically adjusting clamping force |
-
2012
- 2012-11-29 CN CN2012104977596A patent/CN102975047A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61244434A (en) * | 1985-04-24 | 1986-10-30 | Kureo:Kk | Constant pressing force generating apparatus |
| JPS63100742A (en) * | 1986-10-17 | 1988-05-02 | Mitsubishi Electric Corp | Positioning device for electronic parts |
| JPH1076472A (en) * | 1996-08-30 | 1998-03-24 | Pentel Kk | Electric vise |
| CN102480096A (en) * | 2010-11-25 | 2012-05-30 | 李泉 | Visualized intelligent precise numerically controlled crimping method and device therefor |
| CN102765000A (en) * | 2012-07-09 | 2012-11-07 | 北京七星华创电子股份有限公司 | Self-adjusting clamping device |
| CN203019054U (en) * | 2012-11-29 | 2013-06-26 | 深圳市欣天科技有限公司 | Clamp capable of automatically adjusting clamping force |
Non-Patent Citations (2)
| Title |
|---|
| 李汉舟等: "基于模糊PID的直流力矩电机转速控制", 《中国惯性技术学报》 * |
| 陈晓冲等: "常规PID控制和模糊自适应PID控制仿真研究", 《机床与液压》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078749A (en) * | 2016-06-22 | 2016-11-09 | 奇瑞汽车股份有限公司 | A kind of robot hand and robot |
| CN106078749B (en) * | 2016-06-22 | 2019-01-25 | 奇瑞汽车股份有限公司 | A kind of robot hand and robot |
| WO2021022357A1 (en) * | 2019-08-02 | 2021-02-11 | Candu Energy Inc. | Portable polymer tester and testing method |
| CN112123025A (en) * | 2020-09-17 | 2020-12-25 | 深圳太辰光通信股份有限公司 | Machining process and machining device for ceramic ferrule |
| CN112958327A (en) * | 2021-03-18 | 2021-06-15 | 上海怡上电子科技有限公司 | Spraying test fixture for filter and working method and system thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106368790B (en) | A kind of cooling fan of engine speed regulating method based on pid algorithm | |
| CN203019054U (en) | Clamp capable of automatically adjusting clamping force | |
| CN102975047A (en) | Clamp with automatic clamping force regulation function and regulating method of clamp | |
| CN101737900B (en) | Method and device for feedback control of air quantity of central air conditioner | |
| US9884567B2 (en) | Vehicle including fuel cell system | |
| CN100422451C (en) | Mechanical digger full power control system and method | |
| CN101100105A (en) | Injection moulding machine servo energy-saving control system | |
| WO2013078915A1 (en) | Power matching system for electronic control engine and variable capacity hydraulic pump and the method thereof | |
| ATE535431T1 (en) | ELECTRIC POWER STEERING DEVICE, CONTROL METHOD THEREOF AND PROGRAM | |
| CN104314927A (en) | Load-sensitive hydraulic control system and method and engineering machine | |
| CN204471234U (en) | A kind of Steel Belt Centering device of automatic Regulation | |
| CN106330040A (en) | Control method and system of servo motor | |
| CN101367262A (en) | Servo energy conservation power system of hollow molding machine | |
| CN103317653A (en) | Tension system control device and method of sheet extruding unit | |
| CN105128662B (en) | Hydraulic driving electric generator energy-conserving electricity generation system | |
| CN104493757A (en) | Steel-belt centering device with automatic pressure regulation | |
| CN205364519U (en) | Automatic adjust device of inflation film manufacturing machine cutter distance | |
| CN203305487U (en) | Energy-saving servo control system | |
| CN206579120U (en) | A kind of solar cell glued membrane uniformity intelligent controlling device | |
| CN211565119U (en) | High-speed machining electric spindle with adjustable pre-tightening force of bearing group | |
| CN110054014B (en) | Rim charge tension control system, control method and rim charge winding machine | |
| WO2018054045A1 (en) | Photovoltaic air conditioning system control parameter determining method and apparatus, and control system | |
| CN202780144U (en) | Solar cell piece series welding machine and solder strip distance automatic adjusting device | |
| CN203752924U (en) | Controller with soft and hard start function for electric car | |
| CN107690603A (en) | A kind of rotation speed regulating method of Digit Control Machine Tool and spindle motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20130320 |