技术领域technical field
本发明涉及一种潜水式清淤机器人及其清淤方法，属于污泥、污水处理装置技术领域。The invention relates to a submersible dredging robot and a dredging method thereof, belonging to the technical field of sludge and sewage treatment devices.
背景技术Background technique
企业里的印染池、养鱼池、酒厂发酵池或沉淀池等需要定时清淤，而现有的清淤方式大多是抽干污水后，工人下去直接进行手动清理，该方式费时费力，而且有些淤泥池为半封闭状态，池内充满着二氧化碳、甲烷等气体，容易对工人造成安全隐患。Printing and dyeing ponds, fish farming ponds, winery fermentation ponds or sedimentation ponds in enterprises need to be dredged regularly, and most of the existing dredging methods are that after draining the sewage, workers go down to clean it manually, which is time-consuming and labor-intensive, and Some sludge ponds are semi-closed, and the ponds are filled with carbon dioxide, methane and other gases, which are likely to cause safety hazards to workers.
发明内容SUMMARY OF THE INVENTION
为解决上述问题，本发明提供了一种潜水式清淤机器人及其清淤方法，该装置能够代替人工清淤，不需要抽干污水，机器直接下入水底就能进行清淤作业，清淤效率高，工作人员只需岸上操控，保证了工作人员的生命安全。In order to solve the above problems, the present invention provides a submersible dredging robot and a dredging method thereof. The device can replace manual dredging and does not need to drain the sewage. The efficiency is high, and the staff only needs to control it on the shore, which ensures the safety of the staff.
为实现上述目的，本发明采用如下技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种潜水式清淤机器人，包括主支架，主支架内设有液压站系统，主支架下端两侧设有行走机构，主支架前端活动安装有翻斗，翻斗用于汇集水下淤泥，翻斗内安装有打散装置，翻斗后侧连接吸泥管一端，打散装置用于打散淤泥并把淤泥送入吸泥管口，吸泥管另一端连接污泥泵，污泥泵安装在主支架上，污泥泵上端连接有出泥管，液压站系统为行走机构、打散装置和污泥泵提供动力，主支架上端安装有探测装置，探测装置用于给岸上操控的工作人员提供视野讯息。A submersible dredging robot comprises a main support, a hydraulic station system is arranged in the main support, a walking mechanism is arranged on both sides of the lower end of the main support, a tipping bucket is movably installed at the front end of the main support, the tipping bucket is used for collecting underwater sludge, and the tipping bucket is installed in the tipping bucket. There is a dispersing device, one end of the suction pipe is connected to the back side of the tipper, the dispersing device is used to disperse the sludge and send the sludge to the mouth of the suction pipe, the other end of the suction pipe is connected to the sludge pump, and the sludge pump is installed on the main bracket The upper end of the sludge pump is connected with a sludge outlet pipe. The hydraulic station system provides power for the walking mechanism, the dispersing device and the sludge pump. The upper end of the main support is equipped with a detection device, which is used to provide visual information to the staff operating on the shore.
所述的行走机构包括为轮式行走机构或履带式行走机构的一种。The traveling mechanism includes one of a wheeled traveling mechanism or a crawler traveling mechanism.
所述的翻斗通过若干活动支架与主支架连接安装，主支架与活动支架之间连接油缸，油缸用于驱动翻斗运动。The tipping bucket is connected and installed with the main bracket through several movable brackets, and an oil cylinder is connected between the main bracket and the movable bracket, and the oil cylinder is used to drive the tipping bucket to move.
所述的打散装置上安装有液压马达，液压马达用于驱动打散装置旋转。A hydraulic motor is installed on the dispersing device, and the hydraulic motor is used to drive the dispersing device to rotate.
所述的打散装置包括两组螺旋叶片，两组螺旋叶片的螺旋方向为镜像设置。The dispersing device includes two sets of helical blades, and the helical directions of the two sets of helical blades are mirror images.
所述的液压站系统包括第一液压站和第二液压站，第一液压站为污泥泵和行走机构提供动力，第二液压站为油缸和液压马达提供动力。The hydraulic station system includes a first hydraulic station and a second hydraulic station, the first hydraulic station provides power for the sludge pump and the traveling mechanism, and the second hydraulic station provides power for the oil cylinder and the hydraulic motor.
所述的探测装置包括有LED灯、摄像头和超声波探头，LED灯用于照明，摄像头用于清水状态下采集讯息，超声波探头用于浑水状态下采集讯息。The detection device includes an LED light, a camera and an ultrasonic probe. The LED light is used for lighting, the camera is used for collecting information in a clear water state, and the ultrasonic probe is used for collecting information in a muddy water state.
所述的探测装置与液压站系统连接有电源线。The detection device is connected with the hydraulic station system with a power line.
所述配套的设有卷线器、卷管器和控制平台箱，卷线器用于收纳电源线，卷管器用于收纳出泥管，控制平台箱内包括设有显示屏、操作杆、电源插座、开关和鼠标，控制平台箱通过信号线或无线信号的连接方式实现控制机器人运动以及探测装置信息的接受。The matching is provided with a cord reel, a hose reel and a control platform box. The cord reel is used to store the power cord, and the hose reel is used to store the mud pipe. The control platform box includes a display screen, an operating lever, and a power socket. , switch and mouse, the control platform box realizes the control of robot movement and the reception of detection device information through the connection of signal lines or wireless signals.
所述的一种潜水式清淤机器人的清淤方法为接通电源线的电源，以及机器人与控制平台箱的信号，无需事先抽干污水，直接把机器人吊卸至池底，探测装置将池底收集的讯息传输给岸上的控制平台箱，工作人员依靠探测装置提供的讯息，通过控制平台箱来操控行走机构移动，移动至清淤地点后，控制好翻斗的角度，启动打散装置和污泥泵，开始正式清淤工作，机器人移动的同时翻斗铲起并汇集淤泥，打散装置把结块、大颗粒的淤泥打散并送入吸泥管口，污泥泵吸入淤泥，随即把淤泥经出泥管排出至岸上，工作人员只需在岸上通过控制平台箱操控机器人，即可完成所有的池底清淤工作。The dredging method of a submersible dredging robot is to connect the power supply of the power line and the signal of the robot and the control platform box, without draining the sewage in advance, directly unloading the robot to the bottom of the pool, and the detection device removes the pool. The information collected at the bottom is transmitted to the control platform box on the shore. The staff relies on the information provided by the detection device to control the movement of the walking mechanism through the control platform box. The mud pump starts the official dredging work. When the robot moves, the dump bucket shovels up and collects the mud. The dispersing device disperses the agglomerated and large-particle mud and sends it to the suction pipe mouth. The mud pump sucks the mud and immediately removes the mud. After the mud pipe is discharged to the shore, the staff only needs to control the robot on the shore by controlling the platform box to complete all the dredging work at the bottom of the pool.
本发明具有如下有益效果：The present invention has the following beneficial effects:
一种潜水式清淤机器人，包括主支架，主支架内设有液压站系统，主支架下端两侧设有行走机构，主支架前端活动安装有翻斗，翻斗用于汇集水下淤泥，翻斗内安装有打散装置，翻斗后侧连接吸泥管一端，打散装置用于打散淤泥并把淤泥送入吸泥管口，吸泥管另一端连接污泥泵，污泥泵安装在主支架上，污泥泵上端连接有出泥管，液压站系统为行走机构、打散装置和污泥泵提供动力，主支架上端安装有探测装置，探测装置用于给岸上操控的工作人员提供视野讯息；使用时，把机器人吊卸至池底，工作人员借助探测装置提供视野讯息，只需在岸上操控机器人即可，翻斗铲起并汇集淤泥，打散装置把结块、大颗粒的淤泥打散并送入吸泥管口，污泥泵吸入淤泥，随即把淤泥经出泥管排出至岸上，完成清淤作业。该装置能够代替人工清淤，不需要抽干污水，机器直接下入水底就能进行清淤作业，清淤效率高，工作人员只需岸上操控，保证了工作人员的生命安全。A submersible dredging robot comprises a main support, a hydraulic station system is arranged in the main support, a walking mechanism is arranged on both sides of the lower end of the main support, a tipping bucket is movably installed at the front end of the main support, the tipping bucket is used for collecting underwater sludge, and the tipping bucket is installed in the tipping bucket. There is a dispersing device, one end of the suction pipe is connected to the back side of the tipper, the dispersing device is used to disperse the sludge and send the sludge to the mouth of the suction pipe, the other end of the suction pipe is connected to the sludge pump, and the sludge pump is installed on the main bracket , The upper end of the sludge pump is connected with a sludge outlet, the hydraulic station system provides power for the traveling mechanism, the dispersing device and the sludge pump, and the upper end of the main support is equipped with a detection device, which is used to provide visual information to the staff operating on the shore; When in use, lift the robot to the bottom of the pool, and the staff provides visual information with the help of the detection device. They only need to control the robot on the shore. The dumper scoops up and collects the silt, and the dispersing device disperses the agglomerated and large-particle silt. It is sent to the mouth of the suction pipe, the sludge pump sucks the sludge, and then the sludge is discharged to the shore through the sludge discharge pipe to complete the dredging operation. The device can replace manual dredging without draining the sewage. The machine can be directly lowered into the bottom of the water to carry out the dredging operation. The dredging efficiency is high, and the staff only needs to control it on the shore, which ensures the safety of the staff.
附图说明Description of drawings
图1为本发明的立体结构图；Fig. 1 is the three-dimensional structure diagram of the present invention;
图2为本发明另一视角的立体结构图；FIG. 2 is a three-dimensional structural diagram of another perspective of the present invention;
图3为本发明的右视图；Fig. 3 is the right side view of the present invention;
图4为本发明局部的立体结构图；FIG. 4 is a partial three-dimensional structural diagram of the present invention;
图5为本发明控制平台箱的立体结构图。FIG. 5 is a three-dimensional structural view of the control platform box of the present invention.
图中标号：1、主支架；2、液压站系统；21、第一液压站；22、第二液压站；3、行走机构；4、翻斗；41、活动支架；42、油缸；5、打散装置；51、液压马达；52、螺旋叶片；6、吸泥管；7、污泥泵；8、出泥管；9、探测装置；91、LED灯；92、摄像头；93、超声波探头；94、控制平台箱；941、显示屏；942、操作杆；943、电源插座；944、开关；945、鼠标。Labels in the figure: 1, main support; 2, hydraulic station system; 21, first hydraulic station; 22, second hydraulic station; 3, traveling mechanism; 4, tipping bucket; 41, movable support; 42, oil cylinder; Bulk device; 51, hydraulic motor; 52, spiral blade; 6, suction pipe; 7, sludge pump; 8, mud discharge pipe; 9, detection device; 91, LED light; 92, camera; 93, ultrasonic probe; 94, control platform box; 941, display screen; 942, operating lever; 943, power socket; 944, switch; 945, mouse.
具体实施方式Detailed ways
如图1、2、3、4所示，一种潜水式清淤机器人，包括主支架1，主支架1内设有液压站系统2，主支架1下端两侧设有行走机构3，主支架1前端活动安装有翻斗4，翻斗4用于汇集水下淤泥，翻斗4内安装有打散装置5，翻斗4后侧连接吸泥管6一端，打散装置5用于打散淤泥并把淤泥送入吸泥管6口，吸泥管6另一端连接污泥泵7，污泥泵7安装在主支架1上，污泥泵7上端连接有出泥管8，液压站系统2为行走机构3、打散装置5和污泥泵7提供动力，主支架1上端安装有探测装置9，探测装置9用于给岸上操控的工作人员提供视野讯息；使用时，把机器人吊卸至池底，工作人员借助探测装置9提供视野讯息，只需在岸上操控机器人即可，翻斗4铲起并汇集淤泥，打散装置5把结块、大颗粒的淤泥打散并送入吸泥管6口，污泥泵7吸入淤泥，随即把淤泥经出泥管8排出至岸上，完成清淤作业。该装置能够代替人工清淤，不需要抽干污水，机器直接下入水底就能进行清淤作业，清淤效率高，工作人员只需岸上操控，保证了工作人员的生命安全。As shown in Figures 1, 2, 3 and 4, a submersible dredging robot includes a main support 1, a hydraulic station system 2 is arranged in the main support 1, a walking mechanism 3 is arranged on both sides of the lower end of the main support 1, and the main support 1. A tipping bucket 4 is movably installed at the front end. The tipping bucket 4 is used to collect underwater sludge. A dispersing device 5 is installed in the tipping bucket 4. The rear side of the tipping bucket 4 is connected to one end of the suction pipe 6. It is fed into the suction pipe 6, the other end of the suction pipe 6 is connected to the sludge pump 7, the sludge pump 7 is installed on the main support 1, the upper end of the sludge pump 7 is connected with a sludge discharge pipe 8, and the hydraulic station system 2 is a walking mechanism 3. The dispersing device 5 and the sludge pump 7 provide power, and a detection device 9 is installed on the upper end of the main support 1. The detection device 9 is used to provide visual information to the staff operating on the shore; when in use, the robot is lifted to the bottom of the pool, The staff provides visual information with the help of the detection device 9. They only need to control the robot on the shore. The tipping bucket 4 scoops up and collects the silt, and the dispersing device 5 disperses the agglomerated and large-particle silt and sends it into the suction pipe 6. The sludge pump 7 sucks the sludge, and then discharges the sludge to the shore through the sludge discharge pipe 8 to complete the dredging operation. The device can replace manual dredging without draining the sewage. The machine can be directly lowered into the bottom of the water to carry out the dredging operation. The dredging efficiency is high, and the staff only needs to control it on the shore, which ensures the safety of the staff.
行走机构3包括为轮式行走机构3或履带式行走机构3的一种。The traveling mechanism 3 includes one of a wheeled traveling mechanism 3 or a crawler traveling mechanism 3 .
翻斗4通过若干活动支架41与主支架1连接安装，主支架1与活动支架41之间连接油缸42，油缸42用于驱动翻斗4运动。The tipping bucket 4 is connected and installed with the main bracket 1 through several movable brackets 41 , and an oil cylinder 42 is connected between the main bracket 1 and the movable bracket 41 , and the oil cylinder 42 is used to drive the tipping bucket 4 to move.
打散装置5上安装有液压马达51，液压马达51用于驱动打散装置5旋转。A hydraulic motor 51 is installed on the dispersing device 5 , and the hydraulic motor 51 is used to drive the dispersing device 5 to rotate.
打散装置5包括两组螺旋叶片52，两组螺旋叶片52的螺旋方向为镜像设置。The dispersing device 5 includes two sets of helical blades 52, and the helical directions of the two sets of helical blades 52 are mirror images.
液压站系统2包括第一液压站21和第二液压站22，第一液压站21为污泥泵7和行走机构3提供动力，第二液压站22为油缸42和液压马达51提供动力，保证动力充足。The hydraulic station system 2 includes a first hydraulic station 21 and a second hydraulic station 22, the first hydraulic station 21 provides power for the sludge pump 7 and the traveling mechanism 3, and the second hydraulic station 22 provides power for the oil cylinder 42 and the hydraulic motor 51, ensuring that Plenty of power.
探测装置9包括有LED灯91、摄像头92和超声波探头93，LED灯91用于照明，摄像头92用于清水状态下采集讯息，超声波探头93用于浑水状态下采集讯息。The detection device 9 includes an LED light 91 , a camera 92 and an ultrasonic probe 93 . The LED light 91 is used for illumination, the camera 92 is used for collecting information in the state of clear water, and the ultrasonic probe 93 is used for collecting information in the state of muddy water.
探测装置9与液压站系统2连接有电源线，电源线连接岸上的电源。The detection device 9 is connected with the hydraulic station system 2 with a power line, and the power line is connected to the power source on the shore.
结合图5所示，配套的设有卷线器、卷管器和控制平台箱94，工作时，这些设备置于岸上，卷线器用于收纳电源线，卷管器用于收纳出泥管8，防止管线缠绕，控制平台箱94内包括设有显示屏941、操作杆942、电源插座943、开关944和鼠标945，控制平台箱94通过信号线或无线信号的连接方式实现控制机器人运动以及探测装置9信息的接受。As shown in FIG. 5 , a cable reel, a hose reel and a control platform box 94 are provided as a set. During operation, these devices are placed on the shore. The cable reel is used to store the power cord, and the hose reel is used to store the mud pipe 8 . To prevent pipeline entanglement, the control platform box 94 includes a display screen 941, an operating lever 942, a power socket 943, a switch 944 and a mouse 945. The control platform box 94 is connected by a signal line or a wireless signal to control the movement of the robot and the detection device. 9 Acceptance of information.
具体清淤方法如下：The specific cleaning method is as follows:
接通电源线的电源，以及机器人与控制平台箱94的信号，无需事先抽干污水，直接把机器人吊卸至池底，探测装置9将池底收集的讯息传输给岸上的控制平台箱94，工作人员依靠探测装置9提供的讯息，通过控制平台箱94来操控行走机构3移动，移动至清淤地点后，控制好翻斗4的角度，启动打散装置5和污泥泵7，开始正式清淤工作，机器人移动的同时翻斗4铲起并汇集淤泥，打散装置5把结块、大颗粒的淤泥打散并送入吸泥管6口，污泥泵7吸入淤泥，随即把淤泥经出泥管8排出至岸上，工作人员只需在岸上通过控制平台箱94操控机器人，即可完成所有的池底清淤工作。Turn on the power of the power line and the signal from the robot and the control platform box 94, without draining the sewage in advance, directly lift the robot to the bottom of the pool, and the detection device 9 transmits the information collected at the bottom of the pool to the control platform box 94 on the shore, The staff relies on the information provided by the detection device 9 to control the movement of the walking mechanism 3 by controlling the platform box 94. After moving to the dredging site, control the angle of the tipping bucket 4, start the dispersing device 5 and the sludge pump 7, and start the official cleaning. During the silting work, while the robot moves, the tipping bucket 4 scoops up and collects the silt, and the dispersing device 5 disperses the agglomerated and large-particle silt and sends it into the suction pipe 6. The mud pipe 8 is discharged to the shore, and the staff only needs to control the robot by controlling the platform box 94 on the shore to complete all the dredging work at the bottom of the pool.
以上是本发明优选实施方式，在本发明构思前提下所做出若干其他简单替换和改动，都应当视为属于本发明的保护范畴。The above are the preferred embodiments of the present invention, and some other simple replacements and modifications made under the premise of the present invention should be regarded as belonging to the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910371274.4ACN110005009A (en) | 2019-05-06 | 2019-05-06 | A submersible dredging robot and its dredging method |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910371274.4ACN110005009A (en) | 2019-05-06 | 2019-05-06 | A submersible dredging robot and its dredging method |
| Publication Number | Publication Date |
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| CN110005009Atrue CN110005009A (en) | 2019-07-12 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910371274.4APendingCN110005009A (en) | 2019-05-06 | 2019-05-06 | A submersible dredging robot and its dredging method |
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| CN (1) | CN110005009A (en) |
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| CN118327131A (en)* | 2024-06-12 | 2024-07-12 | 江苏济川泵业有限公司 | Silt clearing device of integrated prefabricated axial-flow pump station |
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| KR20090052923A (en)* | 2007-11-22 | 2009-05-27 | 주식회사 코스코 | Remote Control Underwater Dredging Robot |
| CN201626318U (en)* | 2010-02-26 | 2010-11-10 | 湖南山河智能机械股份有限公司 | Remotely-controlled wheel type mobile robot platform |
| CN204151845U (en)* | 2014-10-14 | 2015-02-11 | 青岛雷沃挖掘机有限公司 | The excavator energy-saving hydraulic system that a kind of oil return variable back pressure valve controls |
| CN106347607A (en)* | 2016-10-08 | 2017-01-25 | 海牧人（北京）科技有限公司 | Underwater wall-climbing robot |
| CN205935014U (en)* | 2016-08-16 | 2017-02-08 | 湖南奇思环保设备制造有限公司 | Dredging equipment |
| CN205935013U (en)* | 2016-08-16 | 2017-02-08 | 湖南奇思环保设备制造有限公司 | Spiral agitating unit and dredging equipment |
| CN109487841A (en)* | 2018-11-20 | 2019-03-19 | 大连德联科技有限公司 | Earth cutter suction unmanned vehicle |
| CN210194725U (en)* | 2019-05-06 | 2020-03-27 | 浙江君泰生态环保科技有限公司 | Submersible dredging robot |
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20090052923A (en)* | 2007-11-22 | 2009-05-27 | 주식회사 코스코 | Remote Control Underwater Dredging Robot |
| CN201626318U (en)* | 2010-02-26 | 2010-11-10 | 湖南山河智能机械股份有限公司 | Remotely-controlled wheel type mobile robot platform |
| CN204151845U (en)* | 2014-10-14 | 2015-02-11 | 青岛雷沃挖掘机有限公司 | The excavator energy-saving hydraulic system that a kind of oil return variable back pressure valve controls |
| CN205935014U (en)* | 2016-08-16 | 2017-02-08 | 湖南奇思环保设备制造有限公司 | Dredging equipment |
| CN205935013U (en)* | 2016-08-16 | 2017-02-08 | 湖南奇思环保设备制造有限公司 | Spiral agitating unit and dredging equipment |
| CN106347607A (en)* | 2016-10-08 | 2017-01-25 | 海牧人（北京）科技有限公司 | Underwater wall-climbing robot |
| CN109487841A (en)* | 2018-11-20 | 2019-03-19 | 大连德联科技有限公司 | Earth cutter suction unmanned vehicle |
| CN210194725U (en)* | 2019-05-06 | 2020-03-27 | 浙江君泰生态环保科技有限公司 | Submersible dredging robot |
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| CN110454459A (en)* | 2019-09-20 | 2019-11-15 | 河北工业大学 | Hydraulic system of an underwater dredging robot |
| CN110454459B (en)* | 2019-09-20 | 2024-03-01 | 河北工业大学 | Hydraulic system of underwater dredging robot |
| CN110624900A (en)* | 2019-10-09 | 2019-12-31 | 浙江海洋大学 | A sludge cleaning device for dock bottom |
| CN110624900B (en)* | 2019-10-09 | 2022-02-15 | 浙江海洋大学 | A mud belt cleaning device for dock bottom |
| CN111375608A (en)* | 2020-03-24 | 2020-07-07 | 浙江君泰生态环保科技有限公司 | Convenient tubular dredging robot |
| CN111389825A (en)* | 2020-03-24 | 2020-07-10 | 浙江君泰生态环保科技有限公司 | Multi-angle in-pipe dredging device |
| CN111519690A (en)* | 2020-05-14 | 2020-08-11 | 中交上航(福建)交通建设工程有限公司 | Sludge pump suction device |
| CN112746642A (en)* | 2020-12-23 | 2021-05-04 | 湖南罗博思达环保科技有限公司 | Slurry cleaning device |
| CN113152557B (en)* | 2021-04-28 | 2023-10-27 | 颖川建设工程有限公司 | Efficient dredging device with good cleaning effect for hydraulic engineering |
| CN113152557A (en)* | 2021-04-28 | 2021-07-23 | 颖川建设工程有限公司 | Hydraulic engineering is with effectual high-efficient desilting device of clearance |
| CN113431118A (en)* | 2021-07-05 | 2021-09-24 | 湖南安普诺环保科技有限公司 | Underwater walking dredging device and method for landscape water body |
| CN114059652A (en)* | 2021-10-21 | 2022-02-18 | 海腾创建(深圳)集团有限公司 | Multifunctional drainage system detection, dredging and restoration robot |
| CN114016600A (en)* | 2021-11-22 | 2022-02-08 | 广东畅龙车辆装备科技有限公司 | Intelligent submersible dredging robot for sewer |
| CN114016600B (en)* | 2021-11-22 | 2023-11-14 | 广东畅龙环境科技有限公司 | Intelligent submersible dredging robot for sewer |
| CN115075320A (en)* | 2022-06-08 | 2022-09-20 | 齐雪淞 | City environmental protection engineering construction is with silt clean-up equipment under water |
| CN115075320B (en)* | 2022-06-08 | 2024-12-13 | 江苏亚太水务集团股份有限公司 | An underwater sludge cleaning device for urban environmental protection project construction |
| CN115710946A (en)* | 2022-07-22 | 2023-02-24 | 浙江大学 | Dredging robot |
| WO2024016607A1 (en)* | 2022-07-22 | 2024-01-25 | 青岛求是工业技术研究院 | Desilting robot |
| CN118327131A (en)* | 2024-06-12 | 2024-07-12 | 江苏济川泵业有限公司 | Silt clearing device of integrated prefabricated axial-flow pump station |
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| 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 | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20190712 |