CN107662200A - It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application - Google Patents
It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application Download PDFInfo
- Publication number
- CN107662200A CN107662200A CN201711084830.7A CN201711084830A CN107662200A CN 107662200 A CN107662200 A CN 107662200A CN 201711084830 A CN201711084830 A CN 201711084830A CN 107662200 A CN107662200 A CN 107662200A
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- CN
- China
- Prior art keywords
- sprocket wheel
- sprocket
- motor
- large arm
- forearm
- 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.)
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- 239000000428 dust Substances 0.000 title claims abstract description 25
- 210000000245 forearm Anatomy 0.000 claims abstract description 36
- 238000000034 method Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 2
- 238000013475 authorization Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of suitable for four axis robot devices of high temperature with high dust environment and its application, including from bottom to top set gradually base, revolving bed, large arm, forearm and manipulator；Revolving bed is located on base and the driving rotation of the first motor by being arranged on base, large arm bottom is connected with revolving bed and the second motor by being arranged on revolving bed drives rotation; forearm bottom is connected with large arm top and the driving of the 3rd motor by being arranged on revolving bed rotates, and manipulator is connected with forearm top and the driving rotation of the 4th motor by being arranged in large arm.This four axis robot device uses chain drive, and to the working environment better tolerance of high temperature with high dust, maintaining is convenient, ensure that the reliability that manipulator works long hours.And there are four frees degree, flexible movements, arm exhibition is longer, and operative radius is big, can adjust movement posture according to production requirement, advantageously reduce production cost, reduction in the numbers of seconds, improve product quality.
Description
Technical field
The present invention relates to a kind of suitable for four axis robot devices of high temperature with high dust environment and its application, more particularly to one
Manipulator of the kind for the special high temperature with high dust environment of glassware machining production line, belongs to manipulator technical field.
Background technology
Glassware production line will be realized puts conveyer belt to carry out in next step by the glassware pickup after the demoulding
The operation of technological process, generally there are two methods, one kind is manually to carry operation using clamp, and one kind is manipulator automatic transporting
Operation.Because working environment is severe, labor intensity is big, and manual operation efficiency is low, and cost of labor is high, therefore manual operation is only applicable
Small lot in small processing workshop produces, and is not suitable for the large-scale continuous productive process of enterprise.
It is picked up using manipulator and puts operation, if Authorization Notice No. is CN202781155U utility model patent institute
A kind of disclosed highly effective and safe robot device for being used to transmit glassware, is CN103395063A patents of invention with notification number
A kind of disclosed convertible full-automatic mechanical hand suitable for Production Line for Making Pressed Glassware.Such scheme have it is certain not
Foot, as the former is influenceed by cylinder self character, action impact is big, and velocity of displacement is uncontrollable, directly affects the reliability of pickup,
And there is certain potential safety hazard in it；Otherwise the latter's reversal rate when being operated can not can throw away vessel very much soon, this is straight
Connect the operating efficiency that have impact on manipulator；Both manipulator degrees-of-freedoms are few, very flexible, and radius of action is small to limit streamline
Arrangement.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of four axis robots suitable for high temperature with high dust environment and filled
Put.
The present invention also provides a kind of method of work of above-mentioned four axis robot devices suitable for high temperature with high dust environment.
Technical scheme is as follows：
A kind of four axis robot devices suitable for high temperature with high dust environment, including from bottom to top set gradually base, return
Swivel base, large arm, forearm and manipulator；Revolving bed is located on base and the driving rotation of the first motor by being arranged on base,
Large arm bottom is connected with revolving bed and the driving rotation of the second motor by being arranged on revolving bed, forearm bottom and large arm top
Connect and the driving rotation of the 3rd motor by being arranged on revolving bed, manipulator are connected with forearm top and by being arranged on greatly
The 4th motor driving rotation on arm.
Preferably, the base is a cylinder, and the first motor is installed in cylinder and by the first decelerator with returning
Swivel base bottom driving connects.
Preferably, the revolving bed upper surface is relatively set with two risers, and large arm bottom is located between two risers, the
Two motors are arranged on riser side and are connected by the second decelerator with large arm bottom.
Preferably, the 3rd motor be arranged on riser opposite side and by the 3rd decelerator and be arranged in large arm the
One chain gear transmission connects, and is provided with the second sprocket wheel in the forearm and the second sprocket wheel is fixedly connected with forearm bottom, the first sprocket wheel
It is connected with the second sprocket wheel by chain drive.
Preferably, the center of first sprocket wheel is provided with the first sprocket shaft to stretch out, and first sprocket shaft one end is run through
It is connected behind large arm bottom with the 3rd decelerator, the other end is connected by bearing with large arm bottom.
Preferably, the center of second sprocket wheel is provided with the second sprocket shaft to stretch out, and the second sprocket shaft runs through forearm
Both ends at the top of large arm with being connected behind bottom, and the second sprocket shaft is fixedly connected with forearm bottom.
Preferably, the 4th motor is arranged in large arm, and the 4th motor is by the 4th decelerator and is arranged in large arm
The connection of the 3rd chain gear transmission, forearm bottom and top be respectively arranged with the 4th sprocket wheel and the 5th sprocket wheel, and the 4th sprocket wheel is arranged on
On second sprocket shaft；The center of 5th sprocket wheel is provided with the 3rd sprocket shaft that stretches out, the both ends of the 3rd sprocket shaft respectively with it is small
Connection and the 3rd sprocket shaft is also fixedly connected with manipulator at the top of arm, between the 3rd sprocket wheel and the 4th sprocket wheel, the 4th sprocket wheel and the
Pass through chain drive respectively between five sprocket wheels.
Preferably, by bearing with being connected at the top of large arm, the 4th sprocket wheel is pacified by bearing at the both ends of second sprocket shaft
On the second sprocket shaft.
Preferably, first sprocket wheel, the second sprocket wheel, the 3rd sprocket wheel, the 5th sprocket wheel are simple chainwheel, the 4th chain
Take turns as duplex chain wheel.
Preferably, the both ends of the 3rd sprocket shaft are connected by bearing with forearm top.
A kind of method of work of four axis robot devices suitable for high temperature with high dust environment, comprises the following steps：
During operation, by starting the first motor, the first motor operation driving revolving bed rotates on base；By starting the
Two motors, the second motor operation drive large arm to be rotated around the first sprocket shaft；By starting the 3rd motor, the 3rd motor operation drives
First sprocket shaft rotates, and the first sprocket shaft rotates by the sprocket shaft of chain-driving second, and the second sprocket shaft drives while rotation
Forearm rotates around the second sprocket shaft；By starting the 4th motor, the 4th motor operation drives the 3rd sprocket wheel to rotate, and the 3rd sprocket wheel is borrowed
The sprocket wheel of chain-driving the 4th is helped to rotate, the 4th sprocket wheel rotates by the sprocket shaft of chain-driving the 3rd, and the 3rd sprocket shaft rotates same
When driving mechanical hand rotate.
The beneficial effects of the present invention are：
1. the motor of a four axis robot device install concentratedly base, revolving bed, large arm bottom, reduce manipulator
Center of gravity, alleviate manipulator actuating station weight, reduce the load of motor, reduce idle work consumption.
2. a four axis robot device uses chain drive, to the working environment better tolerance of high temperature with high dust, safeguard and protect
It is convenient to support, and ensure that the reliability that manipulator works long hours.
3. a four axis robot device has four frees degree, flexible movements, arm exhibition is longer, and operative radius is big, can basis
Production requirement adjusts movement posture, advantageously reduces production cost, reduction in the numbers of seconds, improves product quality, improves production efficiency,
Mitigate labor strength.
4. four axis robot apparatus structures of the invention are simple, reliable operation, operating speed is fast, maintainability is good, can be in high temperature
Using glassware is picked and placeed in the particular surroundings of high dust, in addition the invention is not limited in glassware produces, also can use
Target object is picked up in other high temperature with high dust production environments and puts operation, is had a wide range of application.
Brief description of the drawings
Fig. 1 is the overall structure diagram of four axis robot devices of the invention；
Fig. 2 is the internal structure schematic diagram of four axis robot devices of the invention；
Wherein：1st, base；2nd, revolving bed；3rd, large arm；4th, forearm；5th, manipulator；6th, the first motor；7th, the second motor；8、
3rd motor；9th, the 4th motor；10th, the first decelerator；11st, the second decelerator；12nd, the 3rd decelerator；13rd, the 4th decelerator；
14th, the first sprocket wheel；15th, chain；16th, the second sprocket wheel；17th, the 3rd sprocket wheel；18th, chain；19th, the 4th sprocket wheel；20th, chain；21st,
Five sprocket wheels；22nd, riser.
Embodiment
The present invention will be further described by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1：
As depicted in figs. 1 and 2, the present embodiment provides a kind of four axis robot devices suitable for high temperature with high dust environment,
Including from bottom to top setting gradually base 1, revolving bed 2, large arm 3, forearm 4 and manipulator 5；Revolving bed 2 is located on base 1 and led to
The the first motor 6 driving rotation being arranged on base 1 is crossed, the bottom of large arm 3 is connected with revolving bed 2 and by being arranged on revolving bed 2
On the driving rotation of the second motor 7, be connected at the top of the bottom of forearm 4 and large arm 3 and the 3rd motor by being arranged on revolving bed 2
8 driving rotations, manipulator 5 is connected with the top of forearm 4 and the driving of the 4th motor 9 by being arranged in large arm 3 rotates.
Wherein, base 1 is a cylinder, and the first motor 6 is installed on cylindrical cavity and is connected with the first decelerator 10, the
The output shaft of one speed reducer 10 is directly connected with the bottom driving of revolving bed 2.The power of first motor 6 output passes through the first decelerator
Driving revolving bed 2 rotates after 10 decelerations, realizes the waist action of four axis robots of the invention.
The profile of revolving bed 2 is a cylinder, and two risers 22, the bottom position of large arm 3 have been mounted opposite in the upper surface of revolving bed 2
Between two risers 22, the second motor 7 is arranged on riser side and is connected by the second decelerator 11 with the bottom of large arm 3, the
The output shaft of two decelerators 11 is directly rigidly connected with large arm bottom outside, and the second motor 7 is directly driven by the second decelerator 11
Dynamic large arm 3 rotates.
3rd motor 8 is arranged on riser opposite side and the drive shaft of the 3rd motor 8 enters inside large arm through riser, large arm
It is connected with the 3rd decelerator 12 being arranged on inside large arm, the 3rd decelerator 12 and the first sprocket wheel 14 being arranged in large arm
It is connected by the first sprocket shaft, the first sprocket wheel 14 is structure as a whole with the first sprocket shaft, and the other end of the first sprocket shaft leads to
Bearing is crossed to be connected with the bottom of large arm 3 (large arm bottom is provided with the bearing block for being used for installing bearing)；The second sprocket wheel is provided with forearm 4
16 and second sprocket wheel 16 be fixedly connected with the bottom of forearm 4, the first sprocket wheel 14 is connected with the second sprocket wheel 16 by chain 15.
The center of second sprocket wheel 16 is provided with the second sprocket shaft to stretch out, and the second sprocket shaft runs through two behind the bottom of forearm 4
End is connected by bearing with the top of large arm and (is provided with corresponding bearing block at the top of large arm), and the second sprocket shaft is fixed with the bottom of forearm 4
Connect, then the second sprocket shaft can drive forearm 4 to rotate in the lump when rotating, so as to realize that passing through the 3rd by the 3rd motor 8 slows down
Device 12, the first sprocket wheel 14, chain 15, the second sprocket wheel 16 driving forearm 4 rotate.
4th motor 9 is arranged in large arm 3, as shown in figure 1, on the outside of large arm.4th motor 9 passes through the 4th decelerator
13 are connected with the 3rd sprocket wheel 17 being arranged in large arm 3, and the bottom of forearm 4 and top are respectively arranged with the 4th sprocket wheel 19 and
Five sprocket wheels 21, the 4th sprocket wheel 19 is arranged on the second sprocket shaft by bearing (will not drive the 4th chain during the rotation of the second sprocket shaft
Wheel 19 rotates)；The center of 5th sprocket wheel 21 is provided with the 3rd sprocket shaft that stretches out, the both ends of the 3rd sprocket shaft respectively with forearm
4 tops connect by bearing and (are provided with corresponding bearing block at the top of forearm) and the 3rd sprocket shaft is also fixedly connected with manipulator 5, the
It is driven respectively by chain 18,20 between three sprocket wheels 17 and the 4th sprocket wheel 19, between the 4th sprocket wheel 19 and the 5th sprocket wheel 21.
The operation principle of the axis robot device of the present embodiment four：
When robot device works, manipulator closes in the driving lower gripper of source of the gas, clamps glassware, each by controlling
The rotation adjustment gripper pose of individual motor, manipulator movable glass vessel to specified location, by controlling source of the gas to unclamp
Clamping jaw, put down glassware.
Embodiment 2：
A kind of method of work of the four axis robot devices suitable for high temperature with high dust environment described in embodiment 1, specifically
The course of work is as follows：
During operation, by starting the first motor 6, the operation of the first motor 6 drives revolving bed 2 bottom of at by the first decelerator 10
Rotated on seat 1,360 degree of rotations of whole robot device can be achieved；By starting the second motor 7, the operation of the second motor 7 passes through
Second decelerator 11 drives large arm to be rotated around the first sprocket shaft；By starting the 3rd motor 8, the operation of the 3rd motor 8 passes through the 3rd
Decelerator 12 drives the first sprocket shaft to rotate, and the first sprocket shaft rotates by the sprocket shaft of chain-driving second, and the second sprocket shaft turns
Forearm 4 is driven to be rotated around the second sprocket shaft while dynamic；By starting the 4th motor 9, the operation of the 4th motor 9 is slowed down by the 4th
Device 13 drive the 3rd sprocket wheel 17 rotate, the 3rd sprocket wheel 17 by chain 18 drive the 4th sprocket wheel 19 rotate, the 4th sprocket wheel 19 by
Chain 20 drives the 5th sprocket wheel 21 and the 3rd sprocket shaft to rotate, and driving mechanical hand 5 rotates while the 3rd sprocket shaft rotates.
Manipulator 5 is existing product, is closed in the driving lower gripper of source of the gas.First sprocket wheel 14, the second sprocket wheel 16, the 3rd chain
It is simple chainwheel to take turns the 17, the 5th sprocket wheel 21, and the 4th sprocket wheel 19 is duplex chain wheel, is both connected by chain 18 and the 3rd sprocket wheel 17
Connect, be connected further through chain 20 with the 5th sprocket wheel 21, realize the power transmission of the 4th motor 9.
Claims (10)
1. a kind of four axis robot devices suitable for high temperature with high dust environment, it is characterised in that including from bottom to top setting successively
Bottom set seat, revolving bed, large arm, forearm and manipulator；Revolving bed is located on base and the first motor by being arranged on base
Driving rotation, large arm bottom is connected with revolving bed and the driving rotation of the second motor by being arranged on revolving bed, forearm bottom
It is connected with large arm top and the driving of the 3rd motor by being arranged on revolving bed rotates, manipulator is connected and led to at the top of forearm
Cross the 4th motor driving rotation being arranged in large arm.
2. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 1, it is characterised in that the bottom
Seat is a cylinder, and the first motor is installed in cylinder and is connected by the first decelerator with revolving bed bottom driving.
3. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 1, it is characterised in that described time
Swivel base upper surface is relatively set with two risers, and between two risers, the second motor is arranged on riser side for large arm bottom
And it is connected by the second decelerator with large arm bottom.
4. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 1, it is characterised in that described the
Three motors are arranged on riser opposite side and are connected by the 3rd decelerator with the first chain gear transmission being arranged in large arm, described small
The second sprocket wheel is provided with arm and the second sprocket wheel is fixedly connected with forearm bottom, the first sprocket wheel and the second sprocket wheel pass through chain drive
Connection.
5. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 4, it is characterised in that described the
The center of one sprocket wheel is provided with the first sprocket shaft for stretching out, first sprocket shaft one end run through behind large arm bottom with the 3rd decelerator
Connection, the other end are connected by bearing with large arm bottom.
6. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 4, it is characterised in that described the
The center of two sprocket wheels is provided with the second sprocket shaft to stretch out, and both ends at the top of large arm with connecting after the second sprocket shaft runs through forearm bottom
Connect, and the second sprocket shaft is fixedly connected with forearm bottom.
7. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 6, it is characterised in that described the
Four motors are arranged in large arm, and the 4th motor is connected by the 4th decelerator with the 3rd chain gear transmission being arranged in large arm, small
Arm bottom and top are respectively arranged with the 4th sprocket wheel and the 5th sprocket wheel, and the 4th sprocket wheel is arranged on the second sprocket shaft；5th sprocket wheel
Center be provided with the 3rd sprocket shaft that stretches out, the both ends of the 3rd sprocket shaft at the top of forearm respectively with being connected and the 3rd sprocket shaft
Also it is fixedly connected with manipulator, passes through chain respectively between the 3rd sprocket wheel and the 4th sprocket wheel, between the 4th sprocket wheel and the 5th sprocket wheel
Transmission.
8. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 7, it is characterised in that described the
By bearing with being connected at the top of large arm, the 4th sprocket wheel is arranged on the second sprocket shaft by bearing at the both ends of two sprocket shafts.
9. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 7, it is characterised in that described the
One sprocket wheel, the second sprocket wheel, the 3rd sprocket wheel, the 5th sprocket wheel are simple chainwheel, and the 4th sprocket wheel is duplex chain wheel；
The both ends of 3rd sprocket shaft are by bearing with being connected at the top of forearm.
A kind of 10. work of four axis robot devices suitable for high temperature with high dust environment as described in claim any one of 1-9
Make method, comprise the following steps：
During operation, by starting the first motor, the first motor operation driving revolving bed rotates on base；By starting the second electricity
Machine, the second motor operation drive large arm to be rotated around the first sprocket shaft；By starting the 3rd motor, the 3rd motor operation drives first
Sprocket shaft rotates, and the first sprocket shaft rotates by the sprocket shaft of chain-driving second, and the second sprocket shaft drives forearm while rotation
Rotated around the second sprocket shaft；By starting the 4th motor, the 4th motor operation drives the 3rd sprocket wheel to rotate, and the 3rd sprocket wheel is by chain
Article drive the 4th sprocket wheel rotate, the 4th sprocket wheel by the sprocket shaft of chain-driving the 3rd rotate, the 3rd sprocket shaft rotate while band
Dynamic manipulator rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711084830.7A CN107662200A (en) | 2017-11-07 | 2017-11-07 | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711084830.7A CN107662200A (en) | 2017-11-07 | 2017-11-07 | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107662200A true CN107662200A (en) | 2018-02-06 |
Family
ID=61143989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711084830.7A Pending CN107662200A (en) | 2017-11-07 | 2017-11-07 | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107662200A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927799A (en) * | 2018-09-10 | 2018-12-04 | 广东宏穗晶科技服务有限公司 | A kind of machining robot mechanical arm |
| CN111186610A (en) * | 2019-12-27 | 2020-05-22 | 浙江瑞涛包装制品有限公司 | Multifunctional packaging mechanical arm |
| CN112775954A (en) * | 2020-12-28 | 2021-05-11 | 航天科工智能机器人有限责任公司 | Novel light mechanical arm |
| CN114393572A (en) * | 2022-03-03 | 2022-04-26 | 沈阳工业大学 | Cross-joint rope driving mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927799A (en) * | 2018-09-10 | 2018-12-04 | 广东宏穗晶科技服务有限公司 | A kind of machining robot mechanical arm |
| CN111186610A (en) * | 2019-12-27 | 2020-05-22 | 浙江瑞涛包装制品有限公司 | Multifunctional packaging mechanical arm |
| CN112775954A (en) * | 2020-12-28 | 2021-05-11 | 航天科工智能机器人有限责任公司 | Novel light mechanical arm |
| CN114393572A (en) * | 2022-03-03 | 2022-04-26 | 沈阳工业大学 | Cross-joint rope driving mechanical arm |
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Application publication date: 20180206 |