CN112984271A - Method for probing and cleaning foreign matters in pipe - Google Patents
Method for probing and cleaning foreign matters in pipe Download PDFInfo
- Publication number
- CN112984271A CN112984271A CN201911281391.8A CN201911281391A CN112984271A CN 112984271 A CN112984271 A CN 112984271A CN 201911281391 A CN201911281391 A CN 201911281391A CN 112984271 A CN112984271 A CN 112984271A
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- Prior art keywords
- cleaning
- robot
- pipe
- detecting
- pipeline
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- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000005498 polishing Methods 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000005096 rolling process Methods 0.000 claims description 11
- 238000010408 sweeping Methods 0.000 claims description 11
- 239000002245 particle Substances 0.000 claims description 5
- 230000009193 crawling Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 239000003929 acidic solution Substances 0.000 claims description 2
- 238000003466 welding Methods 0.000 description 14
- 239000012535 impurity Substances 0.000 description 7
- 239000000243 solution Substances 0.000 description 5
- 239000002253 acid Substances 0.000 description 3
- VEXZGXHMUGYJMC-UHFFFAOYSA-N Hydrochloric acid Chemical group Cl VEXZGXHMUGYJMC-UHFFFAOYSA-N 0.000 description 2
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 229910000147 aluminium phosphate Inorganic materials 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004090 dissolution Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000010419 fine particle Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- -1 oxide skin Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/60—Stopping leaks
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a method for exploring and cleaning foreign matters in a pipe, which adopts a crawler-type pipeline robot to complete the work of exploring and cleaning the foreign matters in the pipe and comprises the following steps: after the detection step is finished, the pipeline robot selects any one of the cleaning step, the polishing step and/or the plugging step according to the condition in the pipeline, or directly exits the pipeline without performing any subsequent step. The invention adopts the method of probing and cleaning foreign matters in the pipe to avoid the generation of extra cuts, and performs the functions of cleaning, plugging, polishing, repairing and the like in the pipe through the robot, and simultaneously performs safety detection in the pipe. The method has the advantages of simple operation, flexible switching among the steps, adaptability to the working conditions of various conditions and good popularization and use values.
Description
Technical Field
The invention relates to a method for exploring and cleaning foreign matters in a pipe, and belongs to the field of exploring and cleaning foreign matters in pipes.
Background
Thermal power generation is the most important power generation mode in China at present, and the rapid development of the industrial boiler manufacturing industry along with the national economy of China also makes great progress in recent years, but a power station boiler as one of three main devices of a thermal power station of China is gradually challenged while being continuously improved. Boiler pipes are difficult to detect and maintain all the time because of small size, poor lighting and thick pipe diameter due to thick wall thickness. However, with the long-term use of the pipeline, the problems of detection and cleaning of foreign matters in the pipeline are particularly obvious, and the conventional method for detecting and cleaning the foreign matters in the pipeline is not a solution with small wound except for cutting the pipeline, so that a robot capable of automatically walking along the pipeline and treating various working conditions in the pipeline is very necessary to design.
Through long-term intensive research of the inventor, the robot for the crawler-type pipeline is found to be most suitable for meeting the requirement to execute the task, the robot for the crawler-type pipeline can freely crawl along the inner wall of the pipeline in the pipeline, can replace a conventional cutting mode to clean, plug, polish and repair the interior of the pipeline, and meanwhile, safety detection is carried out in the pipeline. According to the simulation test and the actual use of the crawler-type pipeline robot, a complete method for probing and cleaning foreign matters in the pipeline is gradually formed.
Disclosure of Invention
In view of the above problems of the prior art, the present invention aims to obtain a method for detecting and cleaning foreign bodies in pipes.
In order to realize the purpose, the technical scheme of the method for probing and cleaning the foreign matters in the pipe is as follows:
the method for exploring and cleaning foreign matters in the pipe adopts a crawler-type pipeline robot to complete the work of exploring and cleaning the foreign matters in the pipeline, and comprises the following steps: after the detection step is finished, the pipeline robot selects any one of the cleaning step, the polishing step and/or the plugging step according to the condition in the pipeline, or directly exits the pipeline without performing any subsequent step. That is, the detection step is a necessary step, and the cleaning step, the plugging step, and the polishing step are optional steps.
The crawler part of the crawler robot comprises a traveling wheel and an auxiliary wheel, a support is fixed on the crawler, and robot structures with different functions are fixed on the support and comprise a robot for collecting images, a cleaning robot, a plugging robot, a polishing robot and the like.
Preferably, the crawling speed of the crawler-type robot in the pipe is not lower than 0.4m/s, the temperature in the pipe is 5-60 ℃, the relative humidity is not more than 90%, and the continuous working time is not less than 1 h.
Preferably, the detection step is in-tube image acquisition detection, and the image acquisition robot finishes image acquisition.
More preferably, the pixel of the image acquisition robot is not lower than 720P, 20 times of optical zooming, the lowest illumination is better than 0.5Lux, and the rotatable range is pitching +/-45 degrees; horizontal 90 degrees.
Preferably, the cleaning step is performed by a cleaning robot, and comprises a rolling, grabbing or adsorbing step. The cleaning robot is also provided with a rolling sweeping type mechanical arm, accessories of the rolling sweeping function on the mechanical arm are detachable and comprise a hairbrush, a glue brush, a collecting frame and the like, the foreign matter cleaning width of the rolling sweeping type mechanical arm is 60mm, and the foreign matter suction quality is 2-100 g.
More preferably, the sweeping robot further comprises a foreign matter filtering device for capturing fine particles having a particle diameter of 100 μm or more.
Preferably, the cleaning robot is provided with a clamping type manipulator for cleaning debris and foreign matters, impurities with weight not more than 500g can be collected, and the manipulator is provided with a telescopic part and can extend out for 5cm towards any direction.
Preferably, the plugging robot is provided with a plugging manipulator which is generally used in a combined mode to complete welding work, the plugging manipulator comprises an electric welding manipulator and a welding wire manipulator, and the electric welding manipulator can ignite welding wires in an oxygen-deficient environment and accurately position the position needing plugging to perform electric welding plugging on the welding wires.
Preferably, the polishing robot is provided with a plurality of polishing gears, the roughness of the polishing gears is different, and the roughness of the gears is 200-100 meshes.
More preferably, the polishing robot further comprises a stripper storage chamber, and the stripper is an acidic solution. The polishing robot polishes oxide skin and impurity in the pipeline, can assist the acid solution to peel off and dissolve for efficiency of polishing improves the effect of polishing.
The crawler-type robot further comprises a temperature and humidity sensor, an illuminating system, a driving and braking system and the like. The centers of circles of wheels of the tracked robot are generally collinear sections, and when climbing or other obstacles are required to climb over, the circles of the three wheels form an equilateral triangle. The wheel is wrapped by a track.
Compared with the prior art, the method for detecting and cleaning foreign matters in the pipeline avoids the generation of extra cuts, and the robot has the functions of cleaning, plugging, polishing, repairing and the like in the pipeline and simultaneously performs safety detection on the interior of the pipeline. The method has the advantages of simple operation, flexible switching among the steps, adaptability to the working conditions of various conditions and good popularization and use values.
Detailed Description
The method for detecting and cleaning foreign bodies in pipes provided by the invention is further described in detail and completely by combining the following embodiments. The following examples are illustrative only and are not to be construed as limiting the invention.
The experimental procedures in the following examples are conventional unless otherwise specified. The experimental materials used in the following examples were all commercially available unless otherwise specified.
The method for detecting and cleaning foreign matters in the pipe adopts a crawler-type robot to perform pipe operation, the crawler portion comprises a traveling wheel and an auxiliary wheel, a support is fixed on the crawler, and robot structures with different functions are fixed on the support and comprise a robot for collecting images, a cleaning robot, a plugging robot, a polishing robot and the like.
According to the difference of the robot, the method for detecting and cleaning the foreign matters in the pipe comprises the following steps: a detection step, wherein the detection step mainly comprises an in-tube image acquisition step; a cleaning step, wherein the cleaning step is mainly to clean impurities such as impurities, oxide skin, water scale and the like in the pipe, and comprises suction, clamping, cleaning and the like; the plugging step mainly comprises the steps of welding and plugging cracks in the pipeline; the polishing step mainly comprises polishing and cleaning oxide skin and impurities in the pipeline, and comprises chemical dissolution besides physical polishing; wherein the detecting step is a necessary step and the cleaning step, the plugging step and the polishing step are optional steps.
The crawling speed of the crawler-type robot is not lower than 0.4m/s, the temperature in the pipe is 5-60 ℃, the relative humidity is not more than 90%, and the continuous working time is not less than 1 h. The pixel of the image acquisition robot is not lower than 720P, 20 times of optical zooming, the lowest illumination is better than 0.5Lux, and the rotatable range is pitching +/-45 degrees; horizontal 90 degrees.
The clearance robot is equipped with and presss from both sides formula manipulator for the clearance of piece foreign matter can collect the impurity that weight is not more than 500g, and the manipulator has the pars contractilis, can stretch out 5cm towards arbitrary direction. The cleaning robot is also provided with a rolling sweeping type mechanical arm, accessories of the mechanical arm for bearing the rolling sweeping function are detachable and comprise a brush, a glue brush, a collecting frame and the like, the foreign matter cleaning width of the rolling sweeping type mechanical arm is 60mm, the foreign matter absorption quality is 2-100 g, and the rolling sweeping type mechanical arm is provided with a foreign matter filtering device and can capture particles with the particle size of more than 100 mu m.
The polishing robot is provided with a plurality of polishing gears, the polishing gears are different in roughness and comprise 200-100 meshes, a stripping agent storage cavity is further arranged in each polishing gear, and the stripping agent is an acid solution and specifically is hydrochloric acid or phosphoric acid. The polishing robot polishes oxide skin and impurity in the pipeline, can assist the acid solution to peel off and dissolve for efficiency of polishing improves the effect of polishing.
The plugging robot is provided with a plugging mechanical arm which is generally used in a combined mode to complete welding work in a combined mode, the plugging mechanical arm comprises an electric welding mechanical arm and a welding wire mechanical arm, the electric welding mechanical arm can ignite a welding wire in an oxygen-deficient environment and accurately position the position needing plugging, and electric welding plugging is conducted on the position needing plugging.
The crawler-type robot further comprises a temperature and humidity sensor, an illuminating system, a driving and braking system and the like. The centers of circles of wheels of the tracked robot are generally collinear sections, and when climbing or other obstacles are required to climb over, the circles of the three wheels form an equilateral triangle. The wheel is wrapped by a track.
Finally, it must be said here that: the above embodiments are only used for further detailed description of the technical solutions of the present invention, and should not be understood as limiting the scope of the present invention, and the insubstantial modifications and adaptations made by those skilled in the art according to the above descriptions of the present invention are within the scope of the present invention.
Claims (10)
1. A method for exploring and cleaning foreign matters in a pipe is characterized in that the method for exploring and cleaning the foreign matters in the pipe adopts a crawler-type pipeline robot to complete the work of exploring and cleaning the foreign matters in the pipe, and comprises the following steps: after the detection step is finished, the pipeline robot selects any one of the cleaning step, the polishing step and/or the plugging step according to the condition in the pipeline, or directly exits the pipeline without performing any subsequent step.
2. The method for detecting and cleaning foreign matters in the pipe according to claim 1, wherein the crawling speed of the crawler-type robot in the pipe is not lower than 0.4m/s, the temperature in the pipe is 5-60 ℃, the relative humidity is not higher than 90%, and the continuous working time is not less than 1 h.
3. The method for detecting and cleaning foreign bodies in pipes according to claim 1, wherein the detecting step is an in-pipe image capturing detection, and the image capturing work is performed by an image capturing robot.
4. The method for detecting and cleaning foreign bodies in a tube according to claim 3, wherein the image acquisition robot has pixels not lower than 720P, 20 times optical zoom, the lowest illumination is better than 0.5Lux, and the rotatable range is pitching +/-45 degrees; horizontal 90 degrees.
5. The method for detecting and cleaning foreign bodies in pipes according to claim 1, wherein the cleaning step is performed by a cleaning robot, comprising a rolling, grabbing or adsorbing step.
6. The method for detecting and cleaning foreign matters in the pipe according to claim 5, wherein a sweeping and rolling manipulator of the cleaning robot is detachable, the foreign matter cleaning width of the sweeping and rolling manipulator is 60mm, and the foreign matter suction mass is 2-100 g.
7. The method for detecting and cleaning foreign matters in a pipe according to claim 5, wherein the sweeping robot is further provided with a foreign matter filtering device capable of capturing particles having a particle size of 100 μm or more.
8. The method for detecting and cleaning foreign bodies in a pipe according to claim 5, wherein the cleaning robot is provided with a gripper-type manipulator having a telescopic part with a telescopic range of 5 cm.
9. The method for detecting and cleaning foreign bodies in pipes according to claim 1, wherein the grinding robot is provided with a plurality of grinding gears, and the roughness of the gears is 200-100 meshes.
10. The method for detecting and cleaning foreign bodies in a pipe according to claim 9, wherein the polishing robot further comprises a stripper storage chamber, and the stripper is an acidic solution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911281391.8A CN112984271A (en) | 2019-12-13 | 2019-12-13 | Method for probing and cleaning foreign matters in pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911281391.8A CN112984271A (en) | 2019-12-13 | 2019-12-13 | Method for probing and cleaning foreign matters in pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112984271A true CN112984271A (en) | 2021-06-18 |
Family
ID=76332302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911281391.8A Pending CN112984271A (en) | 2019-12-13 | 2019-12-13 | Method for probing and cleaning foreign matters in pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112984271A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007303913A (en) * | 2006-05-10 | 2007-11-22 | Matsushita Electric Ind Co Ltd | Foreign matter detecting device, robot device using the same, foreign matter detection method, and foreign matter detection program |
| CN101144557A (en) * | 2007-09-28 | 2008-03-19 | 重庆燃气（集团）有限责任公司 | Gas pipe under-pressure leakage-plugging method |
| CN103949446A (en) * | 2014-04-22 | 2014-07-30 | 深圳市中航大记工程制品有限公司 | Pipeline cleaning robot and control method |
| CN104033698A (en) * | 2014-06-17 | 2014-09-10 | 无锡市崇安区科技创业服务中心 | Method for pressure welding and leaking stoppage of pressure pipeline |
| CN104455908A (en) * | 2014-10-24 | 2015-03-25 | 无锡乐华自动化科技有限公司 | Method for stopping leakage under pressure |
| CN108895241A (en) * | 2018-09-13 | 2018-11-27 | 浙江景迈环境工程有限公司 | A kind of dotted in-situ immobilization technique of blow-off line |
| CN110185885A (en) * | 2019-04-30 | 2019-08-30 | 上海航天设备制造总厂有限公司 | A kind of pipeline polishing mobile robot |
| CN110206961A (en) * | 2019-07-08 | 2019-09-06 | 中北大学 | Plugging system in a kind of pipe robot |
| CN110293099A (en) * | 2019-07-28 | 2019-10-01 | 南京驭逡通信科技有限公司 | A kind of robot for cleaning inner-walls of duct |
-
2019
- 2019-12-13 CN CN201911281391.8A patent/CN112984271A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007303913A (en) * | 2006-05-10 | 2007-11-22 | Matsushita Electric Ind Co Ltd | Foreign matter detecting device, robot device using the same, foreign matter detection method, and foreign matter detection program |
| CN101144557A (en) * | 2007-09-28 | 2008-03-19 | 重庆燃气（集团）有限责任公司 | Gas pipe under-pressure leakage-plugging method |
| CN103949446A (en) * | 2014-04-22 | 2014-07-30 | 深圳市中航大记工程制品有限公司 | Pipeline cleaning robot and control method |
| CN104033698A (en) * | 2014-06-17 | 2014-09-10 | 无锡市崇安区科技创业服务中心 | Method for pressure welding and leaking stoppage of pressure pipeline |
| CN104455908A (en) * | 2014-10-24 | 2015-03-25 | 无锡乐华自动化科技有限公司 | Method for stopping leakage under pressure |
| CN108895241A (en) * | 2018-09-13 | 2018-11-27 | 浙江景迈环境工程有限公司 | A kind of dotted in-situ immobilization technique of blow-off line |
| CN110185885A (en) * | 2019-04-30 | 2019-08-30 | 上海航天设备制造总厂有限公司 | A kind of pipeline polishing mobile robot |
| CN110206961A (en) * | 2019-07-08 | 2019-09-06 | 中北大学 | Plugging system in a kind of pipe robot |
| CN110293099A (en) * | 2019-07-28 | 2019-10-01 | 南京驭逡通信科技有限公司 | A kind of robot for cleaning inner-walls of duct |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210618 |
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| RJ01 | Rejection of invention patent application after publication |