CN111392032A - Spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motor - Google Patents
Spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motor Download PDFInfo
- Publication number
- CN111392032A CN111392032A CN202010099390.8A CN202010099390A CN111392032A CN 111392032 A CN111392032 A CN 111392032A CN 202010099390 A CN202010099390 A CN 202010099390A CN 111392032 A CN111392032 A CN 111392032A
- Authority
- CN
- China
- Prior art keywords
- rocker
- fixed
- torque sensor
- spherical
- joint
- 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 27
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
- Mechanical Control Devices (AREA)
Abstract
The invention discloses a spherical two-degree-of-freedom rocker operating mechanism based on a torque sensor joint motor. The mounting bracket is fixed in on the base, two joint motors are fixed in on the mounting bracket, respectively install a torque sensor on two joint motor's the output shaft, two joint motor's output shaft respectively with the first end fixed connection of a main rocking arm, the second end of two main rocking arms respectively rotates with a first end from the rocking arm to be connected, two second end mutual rotations from the rocking arm are connected, the rocker outside is located to two second pot heads from the rocking arm, the axis of joint motor's output shaft, main rocking arm and from the axis of rotation between the rocking arm and two rotation axis intersection in the lower extreme pivot point of rocker from between the rocking arm. The invention can control the motion position and speed of the rocker by controlling the rotation angle and angular speed of the output shafts of the two joint motors.
Description
Technical Field
The invention relates to the technical field of robot automation, in particular to a spherical two-degree-of-freedom rocker operating mechanism based on a torque sensor joint motor.
Background
The airplane side bar steering device is called side bar for short, and is an offset and improvement of the traditional central steering bar. Sidebars are currently widely used in civil passenger aircraft and in some fighter planes. In civil aircraft, biaxial sidesticks are typically used, i.e., sidesticks are used to control the pitch and roll of the aircraft. For example, the cockpit control system of the air passenger series aircraft adopts a passive side rod mechanism as the control input of a roll system and a pitch system, and a pilot controls the relevant axes of the aircraft by controlling the transverse and longitudinal movements of the side rod.
With the development of robotics and autopilot technology, the robotics-assisted flight control system becomes a hot spot for research. By assisting the pilot with a cooperative robot, various repetitive flight operations tasks from takeoff to landing can be accomplished. The robot-assisted flight control system does not need to change an original airplane control system, can be directly applied to airplanes of any airplane type, can replace copiers, assists in finishing most heavy work of main pilots, and realizes intellectualization of flight control.
In a robot-assisted flight control system, how to use a robot to complete the operation of the side pole is a complicated problem. Because the side lever mechanism has two axial freedom degrees of motion simultaneously, the side lever mechanism is a typical spherical two-freedom-degree rocker, and the traditional single-freedom-degree driving mechanism cannot realize the coupling motion between the two axial directions. Meanwhile, the side rod of the airplane is often an integral device, and the parts and the whole body of the airplane cannot be disassembled, reformed or modified. Therefore, it is a next problem to be solved to design an operating mechanism for a spherical two-degree-of-freedom rocker.
Disclosure of Invention
The invention aims to provide a spherical two-degree-of-freedom rocker operating mechanism based on a torque sensor joint motor, which is used for solving the problem of automatic operation of a side lever of an airplane and completing the operation of the side lever in a robot-assisted flight driving system.
In order to achieve the purpose, the invention provides the following scheme:
the invention discloses a spherical two-degree-of-freedom rocker operating mechanism based on a torque sensor joint motor, which comprises a base and a rocker, wherein the lower end of the rocker is positioned in the base, the upper end of the rocker extends upwards out of the base, the spherical two-degree-of-freedom rocker operating mechanism also comprises a mounting frame, two joint motors, two torque sensors, two main rotating arms and two auxiliary rotating arms, the mounting frame is fixed on the base, the two joint motors are fixed on the mounting frame, the torque sensors are respectively arranged on the output shafts of the two joint motors, the output shafts of the two joint motors are respectively fixedly connected with the first end of one main rotating arm, the second ends of the two main rotating arms are respectively rotatably connected with the first end of one auxiliary rotating arm, the second ends of the two auxiliary rotating arms are mutually rotatably connected, and the second ends of the two auxiliary rotating arms are sleeved on the outer side of, the axis of the output shaft of the joint motor, the rotation axis between the main rotating arm and the slave rotating arm and the rotation axis between the two slave rotating arms are intersected at the lower end rotation point of the rocker.
Preferably, the base comprises a base and a cover plate, the cover plate is fixed on the upper portion of the base, a through hole is formed in the cover plate, and the rocker penetrates through the through hole and can swing in the through hole.
Preferably, the mounting bracket includes fixed platform arc, two platform supports and two motor cabinets, two the platform support all is fixed in on the apron, the fixed platform arc is fixed in two the upper end of platform support, two the motor cabinet is fixed in the both ends of fixed platform arc, two joint motor is fixed in two respectively on the motor cabinet.
Preferably, the rocker is an airplane side rod, the forward and backward movement of the rocker is used for changing the pitch angle of the airplane, and the left and right movement of the rocker is used for changing the roll angle of the airplane.
Compared with the prior art, the invention has the following technical effects:
1. the invention can control the rocker to do two-degree-of-freedom motion within a specified range by controlling the rotation of the two joint motors, thereby controlling the pitching and rolling motion of the airplane. The invention is applied to the robot-assisted flight driving system, so that the operation of the auxiliary driver on the rocker can be released, and the automation degree of the flight driving is improved.
2. The joint motor provided with the torque sensor has a force control function, and the acting force of the rocker can be indirectly obtained through the measurement data of the torque sensor, so that the operating force on the rocker is controlled. When the body of a driver or other obstacles block the motion of the rocker, the mechanism can identify the existence of the obstacles through the force information and reduce the output force through the force control function, so that the driver is prevented from being injured or the damage to the rocker is prevented, and the safety of the robot-assisted flight driving system is improved.
3. The invention has an automatic driving mode and a man-machine cooperation mode. In the automatic driving mode, the mechanism automatically controls the motion of the rocker according to the computer instruction. Under the man-machine cooperation mode, the mechanism can provide assistance to the rocker through the force control function, assists the driver to operate the rocker, and makes the rocker operation process easier. The driver can switch the two modes at any time, and the flexibility of the robot-assisted flight driving system is improved.
4. The through holes in the cover plate limit the movement range of the rocker, prevent the rocker from moving beyond the planning range to generate a singular position, and improve the stability of the mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a spherical two-degree-of-freedom rocker operating mechanism based on a torque sensor joint motor in the embodiment;
description of reference numerals: 1, a base; 2, covering a plate; 3, a platform bracket; 4 fixing the platform arc; 5, a motor base; 6, a joint motor; 7 a torque sensor; 8, fixing a revolute pair; 9 a main rotating arm; 10 middle revolute pair; 11 from the jib; 12 tail end revolute pairs; 13 rocker.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a spherical two-degree-of-freedom rocker operating mechanism based on a torque sensor joint motor, which is used for solving the problem of automatic operation of a side lever of an airplane and completing the operation of the side lever in a robot-assisted flight driving system.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the present embodiment provides a two-degree-of-freedom spherical rocker operating mechanism based on a torque sensor joint motor, which includes a base and a rocker 13. The lower end of the rocker 13 is positioned in the base, and the upper end of the rocker 13 extends upwards out of the base. Since the installation manner of the rocker 13 is well known in the art, it is not described herein. The embodiment also comprises a mounting frame, two joint motors 6, two torque sensors 7, two master booms 9 and two slave booms 11. Wherein, the mounting bracket is fixed on the base, and the two joint motors 6 are fixed on the mounting bracket. The output shafts of the two joint motors 6 are respectively provided with a torque sensor 7, and the output shafts of the two joint motors 6 are respectively fixedly connected with the first end of a main rotating arm 9 to form a fixed rotating pair 8. The second ends of the two master-swivels 9 are each pivotally connected to a first end of a slave-swivel 11, forming an intermediate revolute pair 10. The second ends of the two slave rotating arms 11 are rotatably connected with each other to form a terminal rotating pair 12, and the second ends of the two slave rotating arms 11 are sleeved outside the rocker 13, i.e. the rocker 13 is sleeved in the terminal rotating pair 12. The axes of the fixed revolute pair 8, the middle revolute pair 10 and the end revolute pair 12 meet at the lower end rotation point of the rocker 13.
According to the mechanistic analysis, the tail end revolute pair 12 can do two-degree-of-freedom motion on a spherical surface which takes the lower end rotation point of the rocker 13 as the center of a sphere and takes the distance from the tail end revolute pair 12 to the lower end rotation point of the rocker 13 as a radius. The position of the end revolute pair 12 is determined by the rotation angle of the output shafts of the two joint motors 6. When the rocker 13 moves, a point on the rocker 13 also moves on a spherical surface with the lower end rotation point of the rocker 13 as the sphere center.
In use, the mechanism provides motion input through the joint motor 6, and forms motion output at the end revolute pair 12. Therefore, by controlling the rotation angle and angular velocity of the output shafts of the two joint motors 6, the movement position and velocity of the rocker 13 can be controlled, thereby controlling the movement of the rocker 13.
The torque sensor 7 can be used for measuring the interaction torque between the joint motor 6 and the main rotating arm 9, and the interaction force between the slave rotating arm 11 and the rocker 13 can be obtained through calculation. Therefore, the acting force on the rocker 13 can be controlled by controlling the output torque of the joint motor 6.
The base in this embodiment is a hollow structure, and includes a base 1 and a cover plate 2, and the cover plate 2 is fixed on the upper portion of the base 1. The cover plate 2 is provided with a circular through hole, and the rocker 13 passes through the through hole and can swing in the through hole.
The specific form of the mounting bracket is various as long as the joint motor 6 can be fixed. In this embodiment, the mounting bracket includes a fixed platform arc 4, two platform supports 3, and two motor mounts 5. On two platform support 3 all were fixed in apron 2, fixed platform arc 4 was fixed in the upper end of two platform support 3, and two motor cabinet 5 were fixed in the both ends of fixed platform arc 4, and two joint motor 6 are fixed in respectively on two motor cabinet 5.
It should be noted that the rocker 13 in the present embodiment includes, but is not limited to, an airplane side bar. When the rocker 13 is an airplane side rod, the motions of two degrees of freedom of the rocker 13 correspond to the control of an airplane attitude pitch axis and a roll axis respectively, the forward and backward motions of the rocker 13 are used for changing the pitch angle of the airplane, and the leftward and rightward motions of the rocker 13 are used for changing the roll angle of the airplane.
During the takeoff of the airplane, the rocker 13 needs to be pulled backwards to lift the airplane. The computer calculates the backward displacement required by the rocker 13, and then controls the movement of the joint motor 6 to drive the rocker 13 to a specified position, so that the operation of the rocker 13 in the takeoff process of the airplane can be completed.
During landing of the aircraft, the rocker 13 is pushed forward to lower the aircraft altitude. The computer calculates the forward displacement required by the rocker 13, and then controls the movement of the joint motor 6 to drive the rocker 13 to a specified position, so that the operation of the rocker 13 in the aircraft landing process can be completed.
During the steering process of the airplane, the rocker 13 is required to move leftwards or rightwards to change the roll angle of the airplane and further change the flying direction of the airplane. The computer calculates the corresponding displacement required by the rocker 13, and then controls the joint motor 6 to drive the rocker 13 to a specified position, so that the operation of the rocker 13 in the airplane steering process can be completed.
In the process of operating the airplane rocker 13 through the operating mechanism of the rocker 13 in the embodiment, if the body of a driver or other obstacles block the motion path of the rocker 13, the existence of the obstacles can be identified through the information measured by the torque sensor 7, so that the output force of the joint motor 6 is limited, and the driver is prevented from being injured or the rocker 13 is prevented from being damaged.
In the process of automatically operating the airplane joystick 13 in the embodiment, the pilot can switch the automatic piloting mode to the man-machine cooperation mode at any time. In the ergonomic mode, the joystick 13 is operated in the driver's hand. The rocker 13 operating mechanism of this embodiment can detect the motion of rocker 13 and the atress of rocker 13, and then provides the helping hand to the driver, makes the driver lighter to the operation of rocker 13.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (4)
1. A spherical two-degree-of-freedom rocker operating mechanism based on a torque sensor joint motor comprises a base and a rocker, wherein the lower end of the rocker is positioned in the base, and the upper end of the rocker extends upwards out of the base, and the spherical two-degree-of-freedom rocker operating mechanism is characterized by further comprising a mounting frame, two joint motors, two torque sensors, two main rotating arms and two auxiliary rotating arms, wherein the mounting frame is fixed on the base, the two joint motors are fixed on the mounting frame, one torque sensor is respectively mounted on each output shaft of the two joint motors, the output shafts of the two joint motors are respectively fixedly connected with the first end of one main rotating arm, the second ends of the two main rotating arms are respectively rotatably connected with the first end of one auxiliary rotating arm, the second ends of the two auxiliary rotating arms are mutually rotatably connected, and the second ends of the two auxiliary rotating arms are sleeved outside the rocker, the axis of the output shaft of the joint motor, the rotation axis between the main rotating arm and the slave rotating arm and the rotation axis between the two slave rotating arms are intersected at the lower end rotation point of the rocker.
2. The spherical two-degree-of-freedom rocker operating mechanism based on the torque sensor joint motor as claimed in claim 1, wherein the base comprises a base and a cover plate, the cover plate is fixed on the upper portion of the base, a through hole is formed in the cover plate, and the rocker passes through the through hole and can swing in the through hole.
3. The two-degree-of-freedom spherical rocker operating mechanism based on the torque sensor joint motor as claimed in claim 2, wherein the mounting bracket comprises a fixed platform arc, two platform brackets and two motor bases, the two platform brackets are both fixed on the cover plate, the fixed platform arc is fixed at the upper ends of the two platform brackets, the two motor bases are fixed at both ends of the fixed platform arc, and the two joint motors are respectively fixed on the two motor bases.
4. The spherical two-degree-of-freedom rocker operating mechanism based on the torque sensor joint motor as claimed in claim 1, wherein the rocker is an airplane side lever, the forward and backward movement of the rocker is used for changing the pitch angle of an airplane, and the left and right movement of the rocker is used for changing the roll angle of the airplane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010099390.8A CN111392032A (en) | 2020-02-18 | 2020-02-18 | Spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010099390.8A CN111392032A (en) | 2020-02-18 | 2020-02-18 | Spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111392032A true CN111392032A (en) | 2020-07-10 |
Family
ID=71419739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010099390.8A Pending CN111392032A (en) | 2020-02-18 | 2020-02-18 | Spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111392032A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102141468A (en) * | 2010-12-20 | 2011-08-03 | 中国商用飞机有限责任公司 | Two-freedom-degree joystick-driven experiment device and control method thereof |
| KR20130042282A (en) * | 2011-10-18 | 2013-04-26 | 양국진 | Parallel manipulator with a system capable of three dimensional modeling of object and space |
| US20140290419A1 (en) * | 2007-10-31 | 2014-10-02 | Cvut V Praze, Fakulta Stronjni | Device for a body's spherical motion control |
| CN204450527U (en) * | 2015-01-04 | 2015-07-08 | 西安电子科技大学 | A kind of sphere parallel mechanism with 2 rotational freedoms |
| CN105598997A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Spherical two-degree-of-freedom parallel robot joint |
| CN107414798A (en) * | 2017-09-04 | 2017-12-01 | 中国科学院沈阳自动化研究所 | Two-freedom-degree parallel mechanism |
| CN107521666A (en) * | 2016-06-15 | 2017-12-29 | 拉季埃-菲雅克有限责任公司 | Automatic Pilot and manual control switching |
| CN108972507A (en) * | 2018-07-30 | 2018-12-11 | 燕山大学 | A kind of redundant drive sphere parallel mechanism with double rotation freedom degrees |
-
2020
- 2020-02-18 CN CN202010099390.8A patent/CN111392032A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140290419A1 (en) * | 2007-10-31 | 2014-10-02 | Cvut V Praze, Fakulta Stronjni | Device for a body's spherical motion control |
| CN102141468A (en) * | 2010-12-20 | 2011-08-03 | 中国商用飞机有限责任公司 | Two-freedom-degree joystick-driven experiment device and control method thereof |
| KR20130042282A (en) * | 2011-10-18 | 2013-04-26 | 양국진 | Parallel manipulator with a system capable of three dimensional modeling of object and space |
| CN204450527U (en) * | 2015-01-04 | 2015-07-08 | 西安电子科技大学 | A kind of sphere parallel mechanism with 2 rotational freedoms |
| CN105598997A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Spherical two-degree-of-freedom parallel robot joint |
| CN107521666A (en) * | 2016-06-15 | 2017-12-29 | 拉季埃-菲雅克有限责任公司 | Automatic Pilot and manual control switching |
| CN107414798A (en) * | 2017-09-04 | 2017-12-01 | 中国科学院沈阳自动化研究所 | Two-freedom-degree parallel mechanism |
| CN108972507A (en) * | 2018-07-30 | 2018-12-11 | 燕山大学 | A kind of redundant drive sphere parallel mechanism with double rotation freedom degrees |
Non-Patent Citations (1)
| Title |
|---|
| 邵欣，马晓明，徐红英: "《机器视觉与传感器技术》", 31 August 2017, 北京航空航天大学出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101323836B1 (en) | Emergency piloting by means of a series actuator for a manual flight control system in an aircraft | |
| EP2058227B1 (en) | Active user interface haptic feedback and linking control system using either force or position data | |
| EP2076432B1 (en) | Cogless motor driven active user interface haptic feedback system | |
| US8401716B2 (en) | Flight control systems | |
| EP1908685B1 (en) | Motor balanced active user interface assembly | |
| CN104616561B (en) | Large transport airplane control loading simulator | |
| EP2052966B1 (en) | Rate limited active pilot inceptor system and method | |
| JPH02254097A (en) | Flight control stick regulator and flight controller of airplane having at least one of the above regulator | |
| JP3201337B2 (en) | Mobile control device | |
| US10850397B2 (en) | System and method for providing in-cockpit actuation of aircraft controls | |
| JP2585293B2 (en) | Helicopter collective controller | |
| JP5057472B2 (en) | Telescopic axis stable flight machine | |
| EP3445648B1 (en) | Three-axis control stick | |
| EP2078997A2 (en) | Human-machine interface with variable null breakout force | |
| JP2009143268A (en) | Flight control system for aircraft and aircraft with the flight control system | |
| CN110550205B (en) | Ornithopter steering control method, device and system | |
| CN111392032A (en) | Spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motor | |
| CN108423155B (en) | Aerial work robot | |
| JP2948153B2 (en) | Pilot device | |
| US2601458A (en) | Aircraft control mechanism | |
| JPH0370699A (en) | Flight control method for vertical take-of and landing flying vehicle | |
| CN217624077U (en) | Linkage control device for vertical tail wings of airplane | |
| US2680581A (en) | Elevator control ratio changer | |
| KR102260304B1 (en) | Control system and robot of a remote controller of an unmanned vehicle | |
| JP5419197B2 (en) | Drift flight stabilization flight machine |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200710 |
|
| RJ01 | Rejection of invention patent application after publication |