CN104453744A - Pipe holding mechanism and automatic pipe discharging device - Google Patents
Pipe holding mechanism and automatic pipe discharging device Download PDFInfo
- Publication number
- CN104453744A CN104453744A CN201410623886.5A CN201410623886A CN104453744A CN 104453744 A CN104453744 A CN 104453744A CN 201410623886 A CN201410623886 A CN 201410623886A CN 104453744 A CN104453744 A CN 104453744A
- Authority
- CN
- China
- Prior art keywords
- pipe
- holding mechanism
- bent stick
- gear
- pipe holding
- 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
- 230000007246 mechanism Effects 0.000 title claims abstract description 41
- 238000007599 discharging Methods 0.000 title claims abstract description 19
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 5
- 238000005452 bending Methods 0.000 abstract 4
- 238000005553 drilling Methods 0.000 description 14
- 230000000694 effects Effects 0.000 description 7
- 210000000078 claw Anatomy 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000003129 oil well Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pipe holding mechanism and an automatic pipe discharging device. The pipe holding mechanism comprises a base and at least two bending rods arranged on the base rotationally, wherein the bending rods are connected with a driving part and each comprise a concave part and a convex part, and the concave parts of the bending rods are inward in the holding operation process. The pipe holding mechanism is small in size, compact in structure, small in occupied space in the rotation process of the bending rods and particularly suitable for operation in a narrow space, and largely reduces the move space needed when the mechanism moves compared with the prior art.
Description
Technical field
The present invention relates generally to oil drilling and extracting equipment technical field, specifically, relates to a kind of pipe holding mechanism, and is provided with the automatic-discharging pipe device of this pipe holding mechanism.
Background technology
Well head automated arm is the important ingredient of petroleum industry, automation, unmanned be the developing direction of petroleum drilling and mining equipment.
Automatic-discharging pipe device (also claiming comb manipulator) is a kind of well head automated arm, and its major function is that gripping drilling rod or oil pipe move, drilling rod or oil pipe to be moved between well head and pipe rack.
Automatic-discharging pipe device generally comprises mechanical arm and pipe rack (being commonly called as quadruple board platform), and pipe rack is established usually by oil well, and pipe rack is formed many positions for vertically placing oil pipe or drilling rod, mechanical arm is movably arranged on pipe rack; When oil pipe or drilling rod are placed on pipe rack by needs, mechanical arm clamps oil pipe or drilling rod, then under the control of the controller oil pipe or drilling rod is positioned over the precalculated position on pipe rack; When needs take out oil pipe or drilling rod from pipe rack, manipulator motion is to appropriate location and clamp oil pipe or drilling rod by pipe holding mechanism, is then driven to precalculated position.
Pipe holding mechanism (also claiming cleft hand) is the direct effect part gripping pipe, is generally positioned at the end of the mechanical arm of multifreedom motion.The principal mode of current cleft hand is that claw rotates with the axle being parallel to pipe and clamps and loosen, the i.e. rotary centerline of claw and the axis being parallel of pipe above-below direction, claw is in the process of opening, certainly will to spatially expand to direction, pipe both sides, this mode causes the claw when operation to take larger space, be unfavorable for that cleft hand moves at narrow space, in the certain area of direction, cleft hand both sides, other any parts can not be set, otherwise they will and cleft hand between mutually interfere, affect the normal work of cleft hand.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of pipe holding mechanism, take up room when can solve prior art operation large, that narrow space motion is inconvenient defect.
Pipe holding mechanism of the present invention, comprises base and is arranged at least two bent stick on described base rotationally, and each described bent stick connects drive division, and each described bent stick comprises recess and protuberance, grips the recess of each described bent stick during operation inwardly.
Further, the quantity of described bent stick is two, is arranged at left part and the right part of described base respectively.
Further, described drive division comprises motor, and described motor connecting screw rod, described screw rod is provided with nut, and described nut moves axially along described screw rod, and described nut is connected with described bent stick.
Further, described bent stick is fixed with connecting rod, described nut and described rod hinge connection.
Further, described drive division comprises motor, and described motor connects the first gear, and each described bent stick is fixed with the second gear, the second gear described in one of them and described first gears meshing.
Further, also idler gear is provided with between other described second gear and described first gear.
Another aspect of the present invention, also provides a kind of automatic-discharging pipe device, and comprise pipe rack and be arranged at the mechanical arm on described pipe rack, described mechanical arm is provided with the pipe holding mechanism of aforementioned any one.
Further, described mechanical arm comprises frame, principal arm, auxiliary arm and pull bar, one end of described principal arm and pull bar is all hinged in frame, the other end of described principal arm and pull bar is all hinged with the first end of auxiliary arm, described frame, principal arm, auxiliary arm and pull bar form parallel-crank mechanism, and described pipe holding mechanism is arranged on the second end of auxiliary arm.
Further, the pivoting support that described frame comprises fixed bearing and can rotate relative to described fixed bearing, described principal arm and pull bar are arranged on described pivoting support, and described pipe rack is provided with slideway, and described fixed bearing can slide along described slideway.
Further, described principal arm connects the first reducer, and described first reducer connects the first motor; Described pivoting support connects the second reducer, and described second reducer connects the second motor.
Pipe holding mechanism of the present invention and automatic-discharging pipe device, comprise at least two rotating bent stick, each bent stick comprises recess and protuberance, grips the recess of each described bent stick during operation inwardly.The present invention, when the recess of bent stick produces, has larger opening, is convenient to pipe and enters, and recess inwardly time, stably pipe can be held in centre, reliable operation, simple to operate.
In addition, pipe holding mechanism volume of the present invention is little, compact conformation, and in the process of bent stick rotation, take up room minimum, be especially applicable to narrow space operation, require minimum to the amount of space of pipe holding mechanism two side areas, open for the mode of withdrawal relative to prior art employing both sides, significantly reduce activity space during mechanism action, be thus also convenient to carry out parts layout at respective regions, improve the design flexibility of equipment.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of pipe holding mechanism when gripping operation of one embodiment of the invention;
Fig. 2 is the structural representation of drive part in state shown in Fig. 1;
Fig. 3 is the structural representation when unclamping operation embodiment illustrated in fig. 1;
Fig. 4 is the structural representation of drive part in state shown in Fig. 3;
Fig. 5 is the structural representation of the pipe holding mechanism of another embodiment of the present invention;
Fig. 6 is the structural representation of the drive part of another embodiment of the present invention;
Fig. 7 is the structural representation of the automatic-discharging pipe device of one embodiment of the invention.
Description of reference numerals:
Base-1 bent stick-2
Recess-20 protuberance-21
Screw rod-3 nut-4
Connecting rod-5 first gear-6
Second gear-7 idler gear-8
Fixed bearing-10 pivoting support-20
Pull bar-30 principal arm-40
Auxiliary arm-50 second motor-70
Second reducer-80 first reducer-90
First motor-100
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
In the present invention, the orientation of use as "left", "right" all with the view shown in Fig. 1 for benchmark.Term " first ", " second " are mainly used in distinguishing different parts, but specifically do not limit parts.
Be the structural representation of the pipe holding mechanism of one embodiment of the invention shown in Fig. 1 and Fig. 3, being wherein the state diagram when gripping operation shown in Fig. 1, is the state diagram when unclamping operation shown in Fig. 3.The major function of the pipe holding mechanism of this embodiment is that gripping drilling rod or oil pipe move, drilling rod or oil pipe to be moved between well head and pipe rack.It will be apparent to those skilled in the art that " pipe " of the present invention refers to the structure such as drilling rod, oil pipe.
The pipe holding mechanism of this embodiment at least comprises base 1, bent stick 2 and drive division.The quantity of bent stick 2 is at least two, is arranged on all rotationally on base 1.Bent stick 2 entirety forms C shape structure, comprises recess 20 and protuberance 21.Each bent stick 2 connects drive division, and both can be the same drive division of common connection, also can be connect independently drive division respectively, the present invention be not limited to this.
When the gripping operation shown in Fig. 1, the recess 20 of each bent stick 2 inwardly; Shown in Fig. 3 unclamp operation time, the recess 20 of each bent stick 2 produces from position inwardly, and namely the recess 20 of each bent stick 2 turns to outwardly.Aforementioned " interior ", " outward " are for the position of base 1, and in the centre position of base 1 is, two side positions are outward.
In the embodiment shown in Fig. 1 and Fig. 3, the quantity of bent stick 2 is preferably two, is arranged at left part and the right part of base 1 respectively.Should be clear, bent stick 2 also can be four, is provided with two all in pairs in the left and right portion of base 1.Certainly, the quantity of bent stick 2 can also have other more possible, all can realize technique effect of the present invention.
When the recess 20 of bent stick 2 produces, have larger opening, be convenient to pipe and enter, and recess 20 inwardly time, stably pipe can be held in centre, reliable operation, simple to operate.For the ease of each bent stick 2 is jointly collaborative, bent stick 2 is held steady, the preferred pivot center of each bent stick 2 and the axes normal of grip state pipe.Orientation shown in Fig. 1 and Fig. 3, the axis of grip state pipe is positioned at vertical paper direction, and the pivot center of bent stick 2 is positioned at above-below direction.
For prior art, rotating with the axle being parallel to pipe due to claw and clamp and loosen, this mode causes the claw when operation to take larger space, is unfavorable for that cleft hand moves at narrow space.And for the technical scheme of previous embodiment, because the side from pipe grips and unclamps pipe, in the process that bent stick 2 is rotated, take up room minimum, be especially applicable to narrow space operation, and there is the significant technique effects such as volume is little, compact conformation.Require minimum to the amount of space of pipe holding mechanism two side areas, open for the mode of withdrawal relative to prior art employing both sides, significantly reduce activity space during mechanism action, be thus also convenient to carry out parts layout at respective regions, improve the design flexibility of equipment.
Fig. 5 is the structural representation of the pipe holding mechanism of another embodiment of the present invention, and the pivot center of each two bent stick 2 is parallel to each other in this embodiment, is all positioned at direction vertically, can be conducive to the isostructural space layout of drive division like this.Should be clear, the pivot center of each bent stick 2 also can be mutually angle.
The drive division driving bent stick 2 to rotate can have multiple possibility structure, and and has multiple possibility connected mode between bent stick 2.In the embodiment shown in Fig. 2 and Fig. 4, this drive division comprises motor, and this motor connecting screw rod 3, screw rod 3 is provided with nut 4, and nut 4 moves axially along screw rod 3, and nut 4 is connected with bent stick 2.
Aforementioned motors can be the parts as the output such as hydraulic motor, motor rotary motion.Aforementioned nut 4 can connect the bent stick 2 of or all, and screw rod 3 rotates under motor drives, and nut 4 carries out upper and lower rectilinear motion and drives bent stick 2 to rotate.When the gripping operation shown in Fig. 2, nut 4 moves to below; And when the releasing orientation shown in Fig. 4, nut 4 moves to top.Preferred each bent stick 2 can rotate 90 ° or 180 ° under the drive of nut 4.
For the ease of the connection between nut 4 and bent stick 2, preferably bent stick 2 is also fixed with connecting rod 5, hinged between nut 4 and connecting rod 5.This connecting rod 5 can and bent stick 2 between can split or be integrally formed.
As another kind of embodiment, as shown in Figure 6, drive division comprises motor, and motor connects the first gear 6, each bent stick 2 is fixed with the second gear 7, and one of them second gear 7 engages with the first gear 6.Drive division drives the first gear 6 to rotate, and the first gear 6 drives the second gear 7 to rotate, and then makes the recess 20 of bent stick 2 towards corresponding position.
First gear 6 can drive two the second gears 7 to rotate simultaneously, for the ease of space layout, preferably also be provided with the idler gear 8 shown in Fig. 6, one of them second gear 7 directly engages with the first gear 6, and another second gear 7 is connected with the first gear 6 by idler gear 8.
In addition, as another kind of possibility mode, drive division comprises oil cylinder, and the two ends of this oil cylinder are connected with base 1 and bent stick 2 respectively, by the expanding-contracting action of oil cylinder, also can realize the rotation of bent stick 2, can realize technique effect of the present invention equally.
Another aspect of the present invention, also provide a kind of automatic-discharging pipe device, this automatic-discharging pipe device is provided with the pipe holding mechanism of previous embodiment, so that make pipe move between well head and pipe rack.Pipe holding mechanism generally can be positioned at the end of mechanical arm.Aforementioned automatic-discharging pipe device can be used for as on the oil drilling and extracting equipment such as rig, workover rig.
Fig. 7 is the structural representation of the automatic-discharging pipe device of one embodiment of the invention, the mechanical arm of this automatic-discharging pipe device at least comprises frame, principal arm 40, auxiliary arm 50 and pull bar 30, principal arm 40 is all hinged in frame with one end of pull bar 30, principal arm 40 is all hinged with the first end of auxiliary arm 50 with the other end of pull bar 30, frame, principal arm 40, auxiliary arm 50 and pull bar 30 form parallel-crank mechanism, and pipe holding mechanism is arranged on the second end of auxiliary arm 50.
Second end of preferred auxiliary arm 50 is horizontally disposed with.Under the effect of parallel-crank mechanism, when principal arm 40 rotates, auxiliary arm 50 carries out translational motion.This mechanical arm not only can realize the basic function of delivery pipe, and has simple and compact for structure, the advantage such as component are few, easy maintenance, effectively can improve the reliability and maintainability of automatic-discharging pipe device.
Further, the pivoting support 20 that preferred frame comprises fixed bearing 10 and can rotate relative to fixed bearing 10, principal arm 40 and pull bar 30 are arranged on pivoting support 20, pipe rack is provided with slideway, fixed bearing 10 can slide along slideway, the needs of multifreedom motion when can realize comb and put pipe, and there is the advantage that action is succinct, operating efficiency is high.
Aforementioned principal arm 40 and pivoting support 20 can adopt multiple possible mode to drive it to rotate, and preferred principal arm 40 connects the first reducer 90, first reducer 90 and connects the first motor 100; Pivoting support 20 connects the second reducer 80, second reducer 80 and connects the second motor 70, and overall structure is simply compact, be easy to space layout.By the co-operating of principal arm 40, pivoting support 20 and bent stick 2, can realize comb efficiently and put pipe operation, movable requisite space is minimum, is especially applicable to narrow space operation,
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a pipe holding mechanism, it is characterized in that, comprise base (1) and be arranged at least two bent stick (2) on described base (1) rotationally, each described bent stick (2) connects drive division, each described bent stick (2) comprises recess (20) and protuberance (21), grips the recess (20) of each described bent stick (2) during operation inwardly.
2. pipe holding mechanism according to claim 1, is characterized in that, the quantity of described bent stick (2) is two, is arranged at left part and the right part of described base (1) respectively.
3. pipe holding mechanism according to claim 1 and 2, it is characterized in that, described drive division comprises motor, described motor connecting screw rod (3), described screw rod (3) is provided with nut (4), described nut (4) moving axially along described screw rod (3), described nut (4) is connected with described bent stick (2).
4. pipe holding mechanism according to claim 3, is characterized in that, described bent stick (2) is fixed with connecting rod (5), and described nut (4) is hinged with described connecting rod (5).
5. pipe holding mechanism according to claim 1 and 2, it is characterized in that, described drive division comprises motor, described motor connects the first gear (6), each described bent stick (2) is fixed with the second gear (7), and the second gear (7) described in one of them engages with described first gear (6).
6. pipe holding mechanism according to claim 5, is characterized in that, is also provided with idler gear (8) between described second gear (7) in addition and described first gear (6).
7. an automatic-discharging pipe device, comprises pipe rack and is arranged at the mechanical arm on described pipe rack, it is characterized in that, described mechanical arm is provided with the pipe holding mechanism described in any one of claim 1-6.
8. automatic-discharging pipe device according to claim 7, it is characterized in that, described mechanical arm comprises frame, principal arm (40), auxiliary arm (50) and pull bar (30), described principal arm (40) is all hinged in frame with one end of pull bar (30), described principal arm (40) is all hinged with the first end of auxiliary arm (50) with the other end of pull bar (30), described frame, principal arm (40), auxiliary arm (50) and pull bar (30) form parallel-crank mechanism, and described pipe holding mechanism is arranged on the second end of auxiliary arm (50).
9. automatic-discharging pipe device according to claim 8, it is characterized in that, the pivoting support (20) that described frame comprises fixed bearing (10) and can rotate relative to described fixed bearing (10), described principal arm (40) and pull bar (30) are arranged on described pivoting support (20), described pipe rack is provided with slideway, and described fixed bearing (10) can slide along described slideway.
10. automatic-discharging pipe device according to claim 9, is characterized in that, described principal arm (40) connects the first reducer (90), and described first reducer (90) connects the first motor (100); Described pivoting support (20) connects the second reducer (80), and described second reducer (80) connects the second motor (70).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410623886.5A CN104453744A (en) | 2014-11-07 | 2014-11-07 | Pipe holding mechanism and automatic pipe discharging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410623886.5A CN104453744A (en) | 2014-11-07 | 2014-11-07 | Pipe holding mechanism and automatic pipe discharging device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104453744A true CN104453744A (en) | 2015-03-25 |
Family
ID=52900420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410623886.5A Pending CN104453744A (en) | 2014-11-07 | 2014-11-07 | Pipe holding mechanism and automatic pipe discharging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104453744A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050061548A1 (en) * | 2002-09-05 | 2005-03-24 | Hooper Robert C. | Apparatus for positioning and stabbing pipe in a drilling rig derrick |
| CN201363102Y (en) * | 2009-03-13 | 2009-12-16 | 山东胜利石油石化装备研究中心 | Drill rod centering device |
| CN202451081U (en) * | 2011-12-30 | 2012-09-26 | 四川宏华石油设备有限公司 | Automatic discharge device of racking platform drill pipe |
| CN102720446A (en) * | 2012-06-12 | 2012-10-10 | 宝鸡石油机械有限责任公司 | Automatic derrick monkey of drilling machine |
| CN202673182U (en) * | 2012-06-06 | 2013-01-16 | 宝鸡石油机械有限责任公司 | Automatic tubular column support device |
| CN202832297U (en) * | 2012-10-17 | 2013-03-27 | 吉林大学 | Hydraulic cylinder driven pipe arranging device with translation feature |
| CN103410456A (en) * | 2013-08-15 | 2013-11-27 | 青岛泰众能源技术有限公司 | Iron stand tool |
-
2014
- 2014-11-07 CN CN201410623886.5A patent/CN104453744A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050061548A1 (en) * | 2002-09-05 | 2005-03-24 | Hooper Robert C. | Apparatus for positioning and stabbing pipe in a drilling rig derrick |
| CN201363102Y (en) * | 2009-03-13 | 2009-12-16 | 山东胜利石油石化装备研究中心 | Drill rod centering device |
| CN202451081U (en) * | 2011-12-30 | 2012-09-26 | 四川宏华石油设备有限公司 | Automatic discharge device of racking platform drill pipe |
| CN202673182U (en) * | 2012-06-06 | 2013-01-16 | 宝鸡石油机械有限责任公司 | Automatic tubular column support device |
| CN102720446A (en) * | 2012-06-12 | 2012-10-10 | 宝鸡石油机械有限责任公司 | Automatic derrick monkey of drilling machine |
| CN202832297U (en) * | 2012-10-17 | 2013-03-27 | 吉林大学 | Hydraulic cylinder driven pipe arranging device with translation feature |
| CN103410456A (en) * | 2013-08-15 | 2013-11-27 | 青岛泰众能源技术有限公司 | Iron stand tool |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204457502U (en) | A kind of tubing string clamping device and automatic tube-arranging device | |
| CN109304551B (en) | Cell-phone center automatic weld equipment | |
| CN108584265A (en) | A kind of file accessing system and file access method | |
| CN103112712A (en) | Loading equipment | |
| CN105417156B (en) | Oil pressure stretching-machine automatic feeder equipment | |
| CN103787075A (en) | Automatic moving and loading mechanism | |
| CN208215195U (en) | Positioning board and assembly line wire body with the positioning board | |
| CN104649182A (en) | Conveying equipment for rotary lifting of large cylindrical workpiece | |
| CN103949971B (en) | Crystal blank automatic grinding and polishing system and left/right rotation moving mechanism, transfer robot arm | |
| CN212553890U (en) | Industrial robot clamping component | |
| CN210879650U (en) | Handling device on industrial robot practical training platform | |
| CN204471064U (en) | Tool magazine and use the lathe of this tool magazine | |
| CN107855795A (en) | A kind of clamping device for bearing machining | |
| CN104453744A (en) | Pipe holding mechanism and automatic pipe discharging device | |
| CN116604232A (en) | Power distribution cabinet assembling equipment and assembling method | |
| CN206998961U (en) | Grabbing device and transporting equipment | |
| CN208879954U (en) | A kind of robot parts machining device | |
| CN210413775U (en) | Inclined lathe control system with manipulator | |
| CN105058369A (en) | Automatic turnover mechanism for truss mechanical arm | |
| CN104607981A (en) | Tool magazine and machine tool using same | |
| CN212420995U (en) | Vertical robot tool | |
| CN108296859A (en) | A kind of mechanical arm production fixing device | |
| CN105880642A (en) | Automatic loading and unloading mechanical arm of numerically controlled lathe | |
| CN210677798U (en) | Manual horizontal lathe fixture | |
| CN209998867U (en) | high-efficiency double-horizontal machining center production line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Jingguo Inventor after: Jia Haiyun Inventor after: Sun Haizhi Inventor before: Jia Haiyun Inventor before: Sun Haizhi |
|
| COR | Change of bibliographic data | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150325 |
|
| RJ01 | Rejection of invention patent application after publication |