CN102990645A - Bionic proboscis robot - Google Patents
Bionic proboscis robot Download PDFInfo
- Publication number
- CN102990645A CN102990645A CN2012105146886A CN201210514688A CN102990645A CN 102990645 A CN102990645 A CN 102990645A CN 2012105146886 A CN2012105146886 A CN 2012105146886A CN 201210514688 A CN201210514688 A CN 201210514688A CN 102990645 A CN102990645 A CN 102990645A
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- CN
- China
- Prior art keywords
- robot
- trunk
- mounting plate
- upper mounting
- side chain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Abstract
The invention relates to the field of robots and particularly discloses a bionic proboscis robot. The bionic proboscis robot comprises a frame, a proboscis outer cover, a proboscis mechanism and an operation paw, wherein the proboscis mechanism comprises a plurality of joint units which are in series connected together; one end of the proboscis mechanism is connected with the frame in a suspension manner; the other end of the proboscis mechanism is connected with the operation paw; and the proboscis outer cover is covered on the outer part of the proboscis mechanism. According to the bionic proboscis robot provided by the invention, the plurality of joint units with four freedoms are in series connected in sequence to form the proboscis mechanism; the bionic proboscis robot realizes the actions such as stretching, creeping, wriggling, and side-swaying by a stretching drive mechanisms in the joint units. The bionic creeping robot has the characteristics of high stiffness, good flexibility, large operation space, large bearing load, strong re-configurability, high modularization degree and the like, and can be applied to job tasks such as catching and carrying of hazardous articles, passing and detecting in narrow space and the like.
Description
Technical field
The present invention relates to the robot field, relate in particular to the bionical trunk of a kind of super redundant restructural robot.
Background technology
Bionical trunk robot refer to can natural imitation circle in outer shape, motion principle and the behavior of trunk, can have higher kinematic dexterity with the robot of the equally flexible work of trunk, can have good adaptability under the special circumstances not known.
At present, bionical trunk robot mostly is super redundancy or the continuous type robot that drive forms such as adopting air bag, rope, artificial muscle or marmem are realized.Wherein, the unnecessary free degree can be used to improve machine human motion and dynamics, as increasing flexibility, hide obstacle, singularity avoidance, optimization joint velocity etc., thereby improves flexibility and the pliability of robot.But still there are some defectives in the structure of existing trunk robot, well various characteristics is not combined, and causes the rigidity of frame for movement on the whole and stability is on the weak side, load capacity is lower.
Summary of the invention
The technical problem that (one) will solve
The purpose of this invention is to provide a kind of bionical trunk robot, little to overcome under the prior art trunk Robot Stiffness, poor stability, the problem such as load capacity is lower.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of bionical trunk robot, described robot comprises frame, trunk outer cover, trunk mechanism and operation paw; Described trunk mechanism comprises unit, a plurality of joint, and each joint unit strings is connected together; One end of described trunk mechanism hangs with frame and is connected, its other end with operate paw and be connected, described trunk outer cover wraps in the outside of trunk mechanism.
Preferably, unit, described joint comprises upper mounting plate, lower platform, intermediary movements side chain and outer motion side chain; The upper mounting plate of each unit, joint all is connected with the lower platform of another unit, joint; The lower platform of outermost end is connected with frame, and the upper mounting plate of outermost end is connected with the operation paw; One end of described intermediary movements side chain is fixed on the center of lower platform, and its other end and upper mounting plate are hinged; Described outer motion side chain is three, and the two ends of outer motion side chain are hinged with upper mounting plate and lower platform respectively, and the articulated position of three outer motion side chains and upper mounting plate and lower platform along the circumferential direction evenly distributes.
Preferably, the articulated manner of described intermediary movements side chain and upper mounting plate is ball pivot, perhaps cooperates Hooke's hinge for revolute pair; The articulated manner of described outer motion side chain and upper mounting plate is ball pivot, and the articulated manner of itself and lower platform is Hooke's hinge or ball pivot.
Preferably, described intermediary movements side chain and outer motion side chain are telescopic drive mechanism, and telescopic end and the upper mounting plate of described telescopic drive mechanism are hinged.
Preferably, described telescopic drive mechanism is the combination of motor and electric cylinder.
Perhaps, described telescopic drive mechanism is fluid cylinder.
Perhaps, described telescopic drive mechanism is cylinder.
Perhaps, described telescopic drive mechanism is the combination of motor, leading screw, saddle and connecting-rods with constant lengh, and described saddle is positioned at the end of leading screw, and described connecting-rods with constant lengh is connected with saddle.
Preferably, the size of each lower platform and upper mounting plate reduces to operation successively from frame.
Preferably, described upper mounting plate and lower platform are equipped with three block-shaped identical and equally distributed fan-shaped hollow section territories along the circumferential direction.
(3) beneficial effect
The present invention is serially connected successively by the unit, joint with a plurality of four-degree-of-freedoms and forms trunk mechanism, by the telescopic drive mechanism in the unit, joint make bionical trunk robot realize flexible, wriggle, the actions such as wriggling and side-sway, it has the rigidity height, flexibility is good, the operating space is large, and it is large to bear load, and reconfigurability is strong, degree of modularity high can be applicable to dangerous material pick-and-place carrying, small space passes through the job tasks such as detection.
Description of drawings
Fig. 1 is the structure chart of the bionical trunk robot of the embodiment of the invention.
Fig. 2 is the structure chart after the trunk outer cover is removed by the bionical trunk robot of the embodiment of the invention.
Fig. 3 is the structure chart of unit, joint of the bionical trunk robot of the embodiment of the invention.
Fig. 4 is the schematic diagram that the unit, joint of the bionical trunk robot of the embodiment of the invention is connected with the operation paw.
Among the figure; 1: frame; 2: the operation paw; 3: the trunk outer cover; 4: upper mounting plate; 5: Hooke's hinge; 6: revolute pair; 7: ball pivot; 8: electric cylinder; 9: motor; 10: lower platform.
The specific embodiment
Below in conjunction with drawings and Examples embodiments of the present invention are described in further detail.Following examples are used for explanation the present invention, but can not be used for limiting the scope of the invention.
In description of the invention, need to prove, term " " center "; " vertically "; " laterally "; " on "; D score; " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", orientation or the position relationship of indications such as " outward " are based on orientation shown in the drawings or position relationship, only be for convenience of description the present invention and simplified characterization, rather than device or the element of indication or hint indication must have specific orientation, with specific orientation structure and operation, therefore can not be interpreted as limitation of the present invention.In addition, term " first ", " second " only are used for describing purpose, and can not be interpreted as indication or hint relative importance.
In description of the invention, need to prove that unless clear and definite regulation and restriction are arranged in addition, term " installation ", " linking to each other ", " connection " should be done broad understanding, for example, can be to be fixedly connected with, also can be to removably connect, or connect integratedly; Can be mechanical connection, also can be to be electrically connected; Can be directly to link to each other, also can indirectly link to each other by intermediary, can be the connection of two element internals.For the ordinary skill in the art, can concrete condition understand above-mentioned term concrete meaning in the present invention.In addition, in description of the invention, except as otherwise noted, the implication of " a plurality of " is two or more.
Among the present invention, the number of bionical trunk joint of robot unit can carry out suitable increase or minimizing according to the requirement of operating environment and task.
Embodiment 1
Shown in Fig. 1-4, the bionical trunk robot of present embodiment comprises frame 1, trunk outer cover 3, trunk mechanism and operation paw 2; Wherein, trunk mechanism comprises unit, six joints, and each joint unit strings is connected together and forms trunk shape chain structure; One end of trunk mechanism hangs with frame 1 middle part and is connected, and its other end is connected with operation paw 2; Trunk outer cover 3 wraps in the outside of trunk mechanism.
Unit, described joint comprises upper mounting plate 4, lower platform 10, intermediary movements side chain and outer motion side chain; Upper mounting plate 4 and lower platform 10 are circle, the upper mounting plate 4 of each unit, joint all is connected with the lower platform 10 of another unit, joint, the lower platform 10 of outermost end hangs with frame 1 middle part and is connected, the upper mounting plate 4 of outermost end is connected with operation paw 2, and the size of each lower platform 10 and upper mounting plate 4 reduces to operation paw 2 successively from frame 1; Intermediary movements side chain and outer motion side chain are the combination of motor 9 and electric cylinder 8, and motor 9 is installed in the bottom of electric cylinder 8; The intermediary movements side chain is one, is positioned on the central axis of unit, joint, and the motor 9 of intermediary movements side chain is fixed on the center of lower platform 10, and the telescopic end of the electric cylinder 8 of intermediary movements side chain is hinged with upper mounting plate 4 by revolute pair 6 and Hooke's hinge 5; Outer motion side chain is three, the motor 9 of outer motion side chain is hinged by Hooke's hinge and lower platform 10, the telescopic end of the electric cylinder 8 of outer motion side chain is hinged by ball pivot 7 and upper mounting plate 4, the articulated position of three outer motion side chains and upper mounting plate 4 and lower platform 10 along the circumferential direction evenly distributes, and three outer motion side chains are evenly distributed with respect to the intermediary movements side chain between upper mounting plate 4 and lower platform 10; Upper mounting plate 4 and lower platform 10 are equipped with three block-shaped identical and equally distributed fan-shaped hollow section territories along the circumferential direction, each fan-shaped hollow section territory is all outside two between the hinged place of motion side chain, and upper mounting plate 4 is corresponding with the position, fan-shaped hollow section territory of lower platform 10.
The upper mounting plate 4 of the unit, joint of present embodiment has four frees degree with respect to lower platform 10, be respectively around the rotation of three reference axis x-axis, y-axis and z-axis with along the axial movement of z, the operation actions such as that the bionical trunk robot that is connected into super redundant chain structure by a plurality of joints unit strings can realize in the space is flexible, wriggle, wriggling and side-sway, and pick up target object by the operation paw 2 that is installed on the terminal platform.
Shown in Fig. 1-4, the bionical trunk robot of present embodiment comprises frame 1, trunk outer cover 3, trunk mechanism and operation paw 2; Wherein, trunk mechanism comprises unit, six joints, and each joint unit strings is connected together and forms trunk shape chain structure; One end of trunk mechanism hangs with frame 1 middle part and is connected, and its other end is connected with operation paw 2; Trunk outer cover 3 wraps in the outside of trunk mechanism.
Unit, described joint comprises intermediary movements side chain and the outer motion side chain between two connecting platforms and two connecting platforms, and upper mounting plate 4 and lower platform 10 that described connecting platform namely is equivalent among the embodiment 1 are combined into a platform; Connecting platform is circular, be connected by a connecting platform between each unit, joint, the connecting platform of trunk mechanism one end hangs with frame 1 middle part and is connected, and the connecting platform of the other end is connected with operation paw 2, and the size of each connecting platform reduces to operation paw 2 successively from frame 1; Intermediary movements side chain and outer motion side chain are fluid cylinder or cylinder; The intermediary movements side chain is one, is positioned on the central axis of unit, joint, and its bottom is fixed on the center of the connecting platform of unit, joint one end, and its telescopic end is hinged by the connecting platform of ball pivot and unit, the joint other end; Outer motion side chain is three, its bottom is hinged by the connecting platform of ball pivot and unit, joint one end, its telescopic end is hinged with the connecting platform of unit, the joint other end by ball pivot 7, the articulated position of the connecting platform at three outer motion side chains and its two ends along the circumferential direction evenly distributes, and three outer motion side chains are evenly distributed with respect to the intermediary movements side chain between the connecting platform at their two ends; Connecting platform is provided with three block-shaped identical and equally distributed fan-shaped hollow section territories along the circumferential direction, and each fan-shaped hollow section territory is all outside two between the hinged place of motion side chain.
A connecting platform of the unit, joint of present embodiment has four frees degree with respect to its previous connecting platform, be respectively around the rotation of three reference axis x-axis, y-axis and z-axis with along the axial movement of z, the operation actions such as that the bionical trunk robot that is connected into super redundant chain structure by a plurality of joints unit strings can realize in the space is flexible, wriggle, wriggling and side-sway, and pick up target object by the operation paw 2 that is installed on the terminal platform.
Shown in Fig. 1-4, the bionical trunk robot of present embodiment comprises frame 1, trunk outer cover 3, trunk mechanism and operation paw 2; Wherein, trunk mechanism comprises unit, six joints, and each joint unit strings is connected together and forms trunk shape chain structure; One end of trunk mechanism hangs with frame 1 middle part and is connected, and its other end is connected with operation paw 2; Trunk outer cover 3 wraps in the outside of trunk mechanism.
Unit, described joint comprises upper mounting plate 4, lower platform 10, intermediary movements side chain and outer motion side chain; Upper mounting plate 4 and lower platform 10 are circle or other shapes, the upper mounting plate 4 of each unit, joint all is connected with the lower platform 10 of another unit, joint, the lower platform 10 of outermost end hangs with frame 1 middle part and is connected, the upper mounting plate 4 of outermost end is connected with operation paw 2, and the size of each lower platform 10 and upper mounting plate 4 reduces to operation paw 2 successively from frame 1; Intermediary movements side chain and outer motion side chain are the combination of motor, leading screw, saddle and connecting-rods with constant lengh, and motor is installed in leading screw bottom and hinged with lower platform 10, and saddle is positioned at the end of leading screw, and connecting-rods with constant lengh is connected with saddle and is hinged with upper mounting plate 4; The intermediary movements side chain is one, is positioned on the central axis of unit, joint, and the motor of intermediary movements side chain is fixed on the center of lower platform 10, and the telescopic end of intermediary movements side chain is hinged by ball pivot and upper mounting plate 4; Outer motion side chain is three, the motor of outer motion side chain is hinged by Hooke's hinge and lower platform 10, the telescopic end of outer motion side chain is hinged by ball pivot 7 and upper mounting plate 4, the articulated position of three outer motion side chains and upper mounting plate 4 and lower platform 10 along the circumferential direction evenly distributes, and three outer motion side chains are evenly distributed with respect to the intermediary movements side chain between upper mounting plate 4 and lower platform 10.
The upper mounting plate 4 of the unit, joint of present embodiment has four frees degree with respect to lower platform 10, be respectively around the rotation of three reference axis x-axis, y-axis and z-axis with along the axial movement of z, the operation actions such as that the bionical trunk robot that is connected into super redundant chain structure by a plurality of joints unit strings can realize in the space is flexible, wriggle, wriggling and side-sway, and pick up target object by the operation paw 2 that is installed on the terminal platform.
Embodiments of the invention provide for example with for the purpose of describing, and are not exhaustively or limit the invention to disclosed form.Many modifications and variations are apparent for the ordinary skill in the art.Selecting and describing embodiment is for better explanation principle of the present invention and practical application, thereby and makes those of ordinary skill in the art can understand the various embodiment with various modifications that the present invention's design is suitable for special-purpose.
Claims (10)
1. a bionical trunk robot is characterized in that, described robot comprises frame, trunk outer cover, trunk mechanism and operation paw; Described trunk mechanism comprises unit, a plurality of joint, and each joint unit strings is connected together; One end of described trunk mechanism hangs with frame and is connected, its other end with operate paw and be connected, described trunk outer cover wraps in the outside of trunk mechanism.
2. bionical trunk according to claim 1 robot is characterized in that unit, described joint comprises upper mounting plate, lower platform, intermediary movements side chain and outer motion side chain; The upper mounting plate of each unit, joint all is connected with the lower platform of another unit, joint; The lower platform of outermost end is connected with frame, and the upper mounting plate of outermost end is connected with the operation paw; One end of described intermediary movements side chain is fixed on the center of lower platform, and its other end and upper mounting plate are hinged; Described outer motion side chain is three, and the two ends of outer motion side chain are hinged with upper mounting plate and lower platform respectively, and the articulated position of three outer motion side chains and upper mounting plate and lower platform along the circumferential direction evenly distributes.
3. bionical trunk according to claim 2 robot is characterized in that the articulated manner of described intermediary movements side chain and upper mounting plate is ball pivot, perhaps is that revolute pair cooperates Hooke's hinge; The articulated manner of described outer motion side chain and upper mounting plate is ball pivot, and the articulated manner of itself and lower platform is Hooke's hinge or ball pivot.
4. bionical trunk according to claim 2 robot is characterized in that described intermediary movements side chain and outer motion side chain are telescopic drive mechanism, and telescopic end and the upper mounting plate of described telescopic drive mechanism are hinged.
5. bionical trunk according to claim 4 robot is characterized in that, described telescopic drive mechanism is the combination of motor and electric cylinder.
6. bionical trunk according to claim 4 robot is characterized in that, described telescopic drive mechanism is fluid cylinder.
7. bionical trunk according to claim 4 robot is characterized in that, described telescopic drive mechanism is cylinder.
8. bionical trunk according to claim 4 robot is characterized in that, described telescopic drive mechanism is the combination of motor, leading screw, saddle and connecting-rods with constant lengh, and described saddle is positioned at the end of leading screw, and described connecting-rods with constant lengh is connected with saddle.
9. any one described bionical trunk robot is characterized in that the size of each lower platform and upper mounting plate reduces to the operation paw successively from frame according to claim 2-8.
10. any one described bionical trunk robot is characterized in that according to claim 2-8, and described upper mounting plate and lower platform are equipped with three block-shaped identical and equally distributed fan-shaped hollow section territories along the circumferential direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105146886A CN102990645A (en) | 2012-12-04 | 2012-12-04 | Bionic proboscis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105146886A CN102990645A (en) | 2012-12-04 | 2012-12-04 | Bionic proboscis robot |
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| CN102990645A true CN102990645A (en) | 2013-03-27 |
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| CN2012105146886A Pending CN102990645A (en) | 2012-12-04 | 2012-12-04 | Bionic proboscis robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895012A (en) * | 2014-04-25 | 2014-07-02 | 清华大学 | Trunk-simulating mechanical arm unit device |
| CN105209223A (en) * | 2012-11-14 | 2015-12-30 | 法国原子能源和替代能源委员会 | Articulated arm |
| CN106041913A (en) * | 2016-08-16 | 2016-10-26 | 上海航天控制技术研究所 | Bionic flexible drive robot based on magnetic repulsive force |
| CN106346464A (en) * | 2016-11-10 | 2017-01-25 | 燕山大学 | Rigid-flexible series-parallel transverse zooming-type flexible manipulator |
| CN108555883A (en) * | 2018-03-26 | 2018-09-21 | 江苏大学 | A kind of bionical trunk software mechanical arm |
| CN109107170A (en) * | 2018-08-02 | 2019-01-01 | 海宁哈工联新投资合伙企业(有限合伙) | A kind of bionical trunk mechanism and the amusement facility using it |
| CN109605392A (en) * | 2019-01-04 | 2019-04-12 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connection spray robot |
| CN110247534A (en) * | 2019-06-10 | 2019-09-17 | 广州丰谱信息技术有限公司 | The integrated multidirectional controlled motion device of electromagnet and permanent magnet combination drive push-and-pull unit |
| CN111331581A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Partially-decoupled crossed four-degree-of-freedom parallel mechanism |
| CN111923032A (en) * | 2020-10-12 | 2020-11-13 | 中国科学院沈阳自动化研究所 | Modular reconfigurable orthogonal joint chain type robot |
| CN113290550A (en) * | 2021-05-26 | 2021-08-24 | 北京理工大学 | Scalable bionical trunk device based on pneumatic artificial muscle drive of Mckiben type |
| CN114888845A (en) * | 2022-05-24 | 2022-08-12 | 株洲华匠科技有限公司 | Bionic multi-degree-of-freedom mechanical equipment based on combination principle |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105209223A (en) * | 2012-11-14 | 2015-12-30 | 法国原子能源和替代能源委员会 | Articulated arm |
| CN105209223B (en) * | 2012-11-14 | 2017-07-04 | 法国原子能源和替代能源委员会 | Joint arm |
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| CN103895012A (en) * | 2014-04-25 | 2014-07-02 | 清华大学 | Trunk-simulating mechanical arm unit device |
| CN106041913A (en) * | 2016-08-16 | 2016-10-26 | 上海航天控制技术研究所 | Bionic flexible drive robot based on magnetic repulsive force |
| CN106346464A (en) * | 2016-11-10 | 2017-01-25 | 燕山大学 | Rigid-flexible series-parallel transverse zooming-type flexible manipulator |
| CN108555883B (en) * | 2018-03-26 | 2020-08-28 | 江苏大学 | Bionic trunk soft mechanical arm |
| CN108555883A (en) * | 2018-03-26 | 2018-09-21 | 江苏大学 | A kind of bionical trunk software mechanical arm |
| CN109107170A (en) * | 2018-08-02 | 2019-01-01 | 海宁哈工联新投资合伙企业(有限合伙) | A kind of bionical trunk mechanism and the amusement facility using it |
| CN109605392A (en) * | 2019-01-04 | 2019-04-12 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connection spray robot |
| CN109605392B (en) * | 2019-01-04 | 2023-09-01 | 杭州龙盛工贸有限公司 | Multi-joint parallel spraying robot |
| CN110247534A (en) * | 2019-06-10 | 2019-09-17 | 广州丰谱信息技术有限公司 | The integrated multidirectional controlled motion device of electromagnet and permanent magnet combination drive push-and-pull unit |
| CN111331581A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Partially-decoupled crossed four-degree-of-freedom parallel mechanism |
| CN111331581B (en) * | 2020-03-17 | 2022-07-01 | 中国民航大学 | Partially-decoupled crossed four-degree-of-freedom parallel mechanism |
| CN111923032A (en) * | 2020-10-12 | 2020-11-13 | 中国科学院沈阳自动化研究所 | Modular reconfigurable orthogonal joint chain type robot |
| CN113290550A (en) * | 2021-05-26 | 2021-08-24 | 北京理工大学 | Scalable bionical trunk device based on pneumatic artificial muscle drive of Mckiben type |
| CN114888845A (en) * | 2022-05-24 | 2022-08-12 | 株洲华匠科技有限公司 | Bionic multi-degree-of-freedom mechanical equipment based on combination principle |
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Application publication date: 20130327 |