CN110282038A - Field detection robot - Google Patents
Field detection robot Download PDFInfo
- Publication number
- CN110282038A CN110282038A CN201910578968.5A CN201910578968A CN110282038A CN 110282038 A CN110282038 A CN 110282038A CN 201910578968 A CN201910578968 A CN 201910578968A CN 110282038 A CN110282038 A CN 110282038A
- Authority
- CN
- China
- Prior art keywords
- setting
- big arm
- mounting base
- component
- field detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of field detection robot, the robot assemblies that the supporting mechanism of setting is connect including walking mechanism, with walking mechanism and is set on supporting mechanism；Walking mechanism includes track assembly, first motor, the first steering engine and quadrangle regulating mechanism；Supporting mechanism includes supporing shell, installation cavity and support plate in parallel；The chassis rotary components for driving robot assemblies to be rotated are provided in the installation cavity body；The robot assemblies component includes big arm component, small arm component and the wrist component that setting is connect with chassis rotary components；The robot dexterity of the technical program is high, cross-country power is strong, using parallelogram adjustment structure, regulating arm is swung up and down, it is connected by multiple steering engines, it rotates up and down, so that it is adjusted angle in face of different terrain, then rise by multiple hydraulic stems, makes it under unstable landform, can steady up and down adjustment, most rough topographys can be coped with.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of field detection robot.
Background technique
With the rapid development of economy, gradually using sniffing robot at present in the place of hazard detection detect operation
Replace the work of people.For own strategic significance, resources domain has become the focus that each science and technology power vies each other, for
The considerations of factors such as manpower and safety, to the researching and designing of sniffing robot also become exploitative important hardware it
One, its realization can be engaged in special detection operation, and general production, affairs can be completed.Existing existing wheeled spy
Although surveying, robot speed is fast, and obstacle climbing ability, landform adaptability are poor.And legged type robot motion profile is series of discrete
Footmark flexibility is stronger, but speed is slow and polypody control is cumbersome, and production is accurate and complicated.In view of above-mentioned insufficient and application
Demand be to overcome the problems, such as this, need to devise that a kind of flexibility is high, cross-country power is strong, particularly walking process and rugged
Rugged road surface stability with super strength when working, adapts to the field detection robot detected under field extreme environment.
Summary of the invention
In view of this, the present invention provides a kind of field detection robot, flexibility is high, cross-country power is strong, adapts to field is disliked
Detected under bad environment the characteristics of, using parallelogram adjustment structure, amplitude peak regulating arm is swung up and down, then by more
A steering engine be connected, rotate up and down, make its in face of different terrain adjust angle, then by multiple hydraulic stems rise, make its
Under unstable landform, can steady up and down adjustment, most rough topographys can be coped with, and do not influence its normal work, instead of
Work of the people under poor environment.
A kind of field detection robot connect supporting mechanism and the setting of setting including walking mechanism, with walking mechanism
In the robot assemblies on supporting mechanism；The walking mechanism includes track assembly, first for driving track assembly walking
Motor, for adjusting the first steering engine that track assembly is turned to and carrying out the quadrangle tune of up and down adjustment for track assembly
Save mechanism；The supporting mechanism include supporing shell, with supporing shell be used cooperatively and formed installation cavity support baseboard with
And it is set to the support plate in parallel below support baseboard；It is provided in the installation cavity body for driving robot assemblies to be turned
Dynamic chassis rotary components；The robot assemblies component include connect with chassis rotary components setting big arm component, with
The small arm component of big arm component connection setting and the wrist component that setting is connect with small arm component.
Further, setting is fixedly installed multiple hydraulic cylinders component in the installation cavity body, and hydraulic pressure cylinder assembly one end is fixed
Connection is arranged in supporing shell, and the hydraulic pressure cylinder assembly other end connect setting with the support plate in parallel below support baseboard.
Further, the supporing shell overall structure is in " quadrangle star " type structure, and support baseboard is provided with for installing liquid
The opening of cylinder pressure component, the hydraulic pressure cylinder assembly have three groups altogether in pairs；Hydraulic pressure cylinder assembly is arranged in the opening and along perpendicular
Straight direction controlling parallel connection support plate is moved.
Further, the chassis rotary components include the second driving motor being set on support baseboard and the second driving
The turbine disk that the worm screw and worm screw of motor drive setting are engaged.
Further, the third driving motor of driving quadrangle regulating mechanism movement is provided on the support baseboard, it is described
Quadrangle regulating mechanism includes the company that setting is connect with the first connecting rod of third driving motor transmission connection setting, with first connecting rod
The third connecting rod for connecing frame, the second connecting rod of setting being connect with first connecting rod and is hingedly arranged with connection frame.
Further, the big arm component includes the big arm mounting base for connecting setting with rotary components, is set to big hand
The big arm and be set to big arm mounting base that the 4th driving motor and big arm mounting base in arm mounting base are hingedly arranged
Interior big arm cycloid reduction component.
Further, the small arm component includes the small arm mounting base being hingedly arranged with big arm, is set to small arm
Interior planetary gear and the small arm transmission shaft with Planetary Gear Transmission setting.
Further, the wrist component include wrist mounting base, the bevel gear assembly that is engaged with the small arm transmission shaft
And the inductor mounting base being hingedly arranged with wrist mounting base.
Further, the big arm mounting base is hingedly provided with big arm link, the big arm link other end with it is small
Arm mounting base is hingedly arranged.
The beneficial effects of the present invention are: the present invention provides a kind of field detection robot, flexibility is high, cross-country power is strong,
Adapt to field extreme environment under detect the characteristics of, using parallelogram adjustment structure, the upper bottom of amplitude peak regulating arm
It is dynamic, then be connected by multiple steering engines, it rotates up and down, so that it is adjusted angle in face of different terrain, then rely on multiple hydraulic stems
Rise, make it under unstable landform, can steady up and down adjustment, most rough topographys can be coped with, and do not influence it just
Often work, instead of work of the people under poor environment.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is overall structure of the present invention；
Fig. 2 is the first schematic diagram of robot assemblies of the present invention；
Fig. 3 is the second schematic diagram of robot assemblies of the present invention；
Fig. 4 is robot assemblies third schematic diagram of the present invention；
Fig. 5 is supporting mechanism structural schematic diagram of the present invention；
Fig. 6 is supporting mechanism schematic diagram of internal structure of the present invention；
Fig. 7 is the first schematic diagram of walking mechanism of the present invention；
Fig. 8 is the second schematic diagram of walking mechanism of the present invention；
Fig. 9 is worm and gear first structure diagram of the present invention；
Figure 10 is the second structural schematic diagram of worm and gear of the present invention.
Appended drawing reference
Robot assemblies 1；Supporting mechanism 2；Walking mechanism 3；Turbine wheel shaft 4；Turbine wheel shaft upper flange oil sealing 5；On the turbine wheel shaft of bottom
Blind flange 6；Chassis blind flange 7；The turbine disk 8, the second driving motor 9；Second driving motor flange 11；Scroll bar 12；Big arm peace
Fill seat 17；Big arm link 18；Connecting rod bearing cap 19；Small arm motor 20；Small arm planetary reduction gear 21；Small arm motor tooth
Roller box 22；Small arm transmission shaft 23；Wrist mounting base 24；Inductor mounting base 25；Cycloid speed reducer 26, the 4th driving motor method
Blue 27, the 4th driving motor 28；Big arm second connecting rod 29；Small arm mounting base 30；Supporing shell 41；Hydraulic cylinder support plate
42；Hydraulic cylinder 43；Support baseboard 44；Third driving motor 45；Third driving motor mounting rack 46；Nut 47；Hinge bar 48；The
One connecting rod 49；Connection frame 50；Support plate 52 in parallel；Steamboat 53；Crawler belt 54；Bull wheel 55；Take turns connecting shaft 56；First motor outer housing
57；First steering engine outer housing 58；Second connecting rod 60；Third connecting rod 61.
Specific embodiment
Fig. 1 is overall structure of the present invention；Fig. 2 is the first schematic diagram of robot assemblies of the present invention；Fig. 3 is the present invention
The second schematic diagram of robot assemblies；Fig. 4 is robot assemblies third schematic diagram of the present invention；Fig. 5 is supporting mechanism structure of the present invention
Schematic diagram；Fig. 6 is supporting mechanism schematic diagram of internal structure of the present invention；Fig. 7 is the first schematic diagram of walking mechanism of the present invention；Fig. 8 is
The second schematic diagram of walking mechanism of the present invention；Fig. 9 is worm and gear first structure diagram of the present invention；Figure 10 is worm gear snail of the present invention
The second structural schematic diagram of bar；As shown, a kind of field detection robot, including walking mechanism 3, it connect and sets with walking mechanism 3
The supporting mechanism 2 set and the robot assemblies 1 being set on supporting mechanism；The walking mechanism 3 includes track assembly, is used for
Drive the first motor of track assembly walking, for adjusting the first steering engine and be used for track assembly that track assembly is turned to
Carry out the quadrangle regulating mechanism of up and down adjustment；The supporting mechanism includes supporing shell 41, is used cooperatively with supporing shell 41
And it forms the support baseboard 44 of installation cavity and is set to the support plate in parallel 52 of 44 lower section of support baseboard；The installation cavity
Inside it is provided with the chassis rotary components for driving robot assemblies to be rotated；The robot assemblies component includes and chassis
The big arm component of rotary components connection setting, connect with big arm component the small arm component being arranged and with small arm component
Connect the wrist component of setting；Field detection robot in the technical program, flexibility is high, cross-country power is strong, adapts to field
Detected under adverse circumstances the characteristics of, using parallelogram adjustment structure, amplitude peak regulating arm is swung up and down, then is relied on
Multiple steering engines are connected, and rotate up and down, so that it is adjusted angle in face of different terrain, then rise by multiple hydraulic stems, make it
Under unstable landform, can steady up and down adjustment, most rough topographys can be coped with, and do not influence its normal work, generation
The work of people in the presence of a harsh environment is replaced.
In the present embodiment, setting is fixedly installed multiple hydraulic cylinders component, hydraulic pressure cylinder assembly one end in the installation cavity body
Setting is fixedly connected in supporing shell 41, the hydraulic pressure cylinder assembly other end connect with the support plate in parallel 52 of 44 lower section of support baseboard and sets
It sets；41 overall structure of supporing shell is in " quadrangle star " type structure, and support baseboard 44 is provided with for installing hydraulic pressure cylinder assembly
Opening, the hydraulic pressure cylinder assembly in pairs have altogether three groups；Hydraulic pressure cylinder assembly is arranged in the opening and controls along the vertical direction
Support plate 52 in parallel is made to be moved；The supporing shell 41 of " quadrangle star " type structure and the lid conjunction of support baseboard 44 formation one are hollow
Cavity, be convenient to installation all parts, supporing shell 41 and support baseboard 44 are provided with circular installation through-hole, hydraulic cylinder
43 are fixedly installed in hollow inside cavity by hydraulic cylinder support plate 42, and it is logical that the hydraulic stem other end of hydraulic cylinder 43 passes through installation
Hole connect setting with support plate 52 in parallel, and hydraulic cylinder has three groups altogether in pairs, is evenly arranged in support plate 52 in parallel, works as machine
To when rough ground work, multiple groups hydraulic cylinder 43 drives support plate 52 in parallel to move downward (in downward i.e. Fig. 1 simultaneously for device people walking
Vertically downward direction), it is supported support plate 52 in parallel smoothly with ground and contacts, the setting of support plate 52 in parallel is promoted
Whole stationary performance is convenient to the stability of enhancing machine man-hour, and as the robot moves, hydraulic pressure cylinder assembly is transported upwards
It is dynamic to pack up support plate 52 in parallel, it is simple and convenient, it is practical.
In the present embodiment, the chassis rotary components include the second driving motor 11 being set on support baseboard 44, with
The turbine disk 8 that the worm screw 12 and worm screw 12 of second driving motor 11 transmission setting are engaged；Second driving motor 9 passes through the
Two driving motor flanges 11 are fixedly installed in hollow cavity, and the second driving motor 9 drives scroll bar 12 to rotate and then drives turbine
Disk 8 is rotated and then is driven and rotates with the robot assemblies of the transmission setting of turbine wheel shaft 4, using the installation of chassis blind flange 7, is convenient to
The installation of all parts, the setting of turbine wheel shaft upper flange oil sealing 5 ensure the leakproofness of component.
In the present embodiment, the third driving motor of driving quadrangle regulating mechanism movement is provided on the support baseboard 44
45, the quadrangle regulating mechanism includes the first connecting rod 49 and first connecting rod with the transmission connection setting of third driving motor 45
The connection frames 50 of 49 connection settings connect with first connecting rod 49 second connecting rod 60 being arranged and is hingedly arranged with connection frame 50
Third connecting rod 61；Recessing groove is offered between four angles of supporing shell 41, quadrangle regulating mechanism is convenient to and adjusts movement, the
Three driving motors 45 are installed on support baseboard 44 by third driving motor mounting rack 46, and third driving motor 45 drives four sides
The movement of shape adjustment structure, the structure of parallelogram motion connecting rod, four feet of certain robot are all made of identical design, by
Steering engine drive keeps its amplitude peak up and down adjustment running gear whole, allows to cope with the landform of different complexity.
In the present embodiment, the big arm component includes the big arm mounting base 17 that setting is connect with rotary components, setting
In in big arm mounting base 17 the 4th driving motor 28, the big arm that is hingedly arranged with big arm mounting base 17 and be set to
Big arm cycloid reduction component in big arm mounting base 17.The small arm component includes the small hand being hingedly arranged with big arm
Arm mounting base 30, the planetary gear being set in small arm and the small arm transmission shaft 23 with Planetary Gear Transmission setting.Institute
Wrist component is stated to include wrist mounting base 24, the bevel gear assembly engaged with the small arm transmission shaft 23 and install with wrist
The inductor mounting base 25 that seat is hingedly arranged, the 4th driving motor 28 drive big arm to realize that rotation adjusts and then drive small arm
Mounting base 30 realizes that rotation is adjusted, and small arm motor 20 is driven small by small arm planetary reduction gear 21 and the gear set of inside
Arm transmission shaft 23 rotates, and small arm transmission shaft 23 drives inductor mounting base by the bevel gear assembly in wrist mounting base 24
25 realize rotation (function of nodding), and robot assemblies integrally realize flexible, revolution and pitching (nodding) movement.
In the present embodiment, the big arm mounting base is hingedly provided with big arm link 18, and the big arm link 18 is another
One end and the hingedly setting of small arm mounting base 30, form link mechanism between the setting and big arm of big arm link 18, into one
Walk the motion stabilization performance of elevating mechanism arm.
In the present embodiment, the first motor driving bull wheel 55 inside the first motor outer housing 57 is rotated and then is driven small
Wheel 53 and crawler belt 54 move, and the setting of wheel connecting shaft 56 is convenient to the installation of each wheel, transport it integrally using caterpillar belt structure
Row is more steady, is adapted to various landform, the first steering engine is set to inside the first steering engine outer housing 58, the first servo driving first
The rotation of motor housing body realization horizontal direction.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (9)
1. a kind of field detection robot, it is characterised in that: connect the supporting mechanism of setting including walking mechanism, with walking mechanism
And it is set to the robot assemblies on supporting mechanism；
The walking mechanism includes track assembly, the first motor for driving track assembly to walk, for adjusting track assembly
The first steering engine turned to and the quadrangle regulating mechanism for track assembly progress up and down adjustment；
The supporting mechanism includes supporing shell, is used cooperatively with supporing shell and formed the support baseboard of installation cavity and sets
The support plate in parallel being placed in below support baseboard；It is provided in the installation cavity body for driving robot assemblies to be rotated
Chassis rotary components；
The robot assemblies component includes connecting the big arm component being arranged with chassis rotary components, connecting with big arm component
The small arm component that is arranged and the wrist component that setting is connect with small arm component.
2. field detection robot according to claim 1, it is characterised in that: setting fixed setting in the installation cavity body
There is multiple hydraulic cylinders component, hydraulic pressure cylinder assembly one end is fixedly connected with setting in supporing shell, the hydraulic pressure cylinder assembly other end and support
Support plate in parallel below bottom plate connects setting.
3. field detection robot according to claim 2, it is characterised in that: the supporing shell overall structure is in " four
Angle star " type structure, support baseboard are provided with the opening for installing hydraulic pressure cylinder assembly, and the hydraulic pressure cylinder assembly has altogether in pairs
Three groups；Hydraulic pressure cylinder assembly is arranged in the opening and controls support plate in parallel along the vertical direction and moved.
4. field detection robot according to claim 3, it is characterised in that: the chassis rotary components include being set to
The turbine that the worm screw and worm screw of the second driving motor and the transmission setting of the second driving motor on support baseboard are engaged
Disk.
5. field detection robot according to claim 4, it is characterised in that: be provided with driving four on the support baseboard
The third driving motor of side shape regulating mechanism movement, the quadrangle regulating mechanism include setting with the transmission connection of third driving motor
The first connecting rod set, the connection frame that setting is connect with first connecting rod, connect with first connecting rod the second connecting rod being arranged and with company
Connect the third connecting rod that frame is hingedly arranged.
6. field detection robot according to claim 1, it is characterised in that: the big arm component includes and rotation group
The big arm mounting base of part connection setting, the 4th driving motor being set in big arm mounting base are cut with scissors with big arm mounting base
The big arm cycloid reduction component for connecing the big arm of setting and being set in big arm mounting base.
7. field detection robot according to claim 6, it is characterised in that: the small arm component includes and big arm
The small arm mounting base being hingedly arranged, the planetary gear being set in small arm and the small arm being arranged with Planetary Gear Transmission
Transmission shaft.
8. field detection robot according to claim 7, it is characterised in that: the wrist component includes wrist installation
Seat, the bevel gear assembly engaged with the small arm transmission shaft and the inductor mounting base being hingedly arranged with wrist mounting base.
9. field detection robot according to claim 8, it is characterised in that: the big arm mounting base is hingedly provided with
Big arm link, the big arm link other end are hingedly arranged with small arm mounting base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910578968.5A CN110282038A (en) | 2019-06-28 | 2019-06-28 | Field detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910578968.5A CN110282038A (en) | 2019-06-28 | 2019-06-28 | Field detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110282038A true CN110282038A (en) | 2019-09-27 |
Family
ID=68019787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910578968.5A Pending CN110282038A (en) | 2019-06-28 | 2019-06-28 | Field detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110282038A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587586A (en) * | 2019-09-29 | 2019-12-20 | 纳博特南京科技有限公司 | Six arms |
| CN111619682A (en) * | 2020-06-09 | 2020-09-04 | 国网冀北综合能源服务有限公司 | Crawler-type conveying device for field power equipment |
| NL2024288B1 (en) * | 2019-11-22 | 2021-08-23 | Baars Gerrit | A mobile apparatus for lifting an object |
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| JP2005111595A (en) * | 2003-10-07 | 2005-04-28 | Rikogaku Shinkokai | Crawler type traveling robot |
| CN101279618A (en) * | 2007-10-24 | 2008-10-08 | 杨德智 | Crawler type multi-arm rod mobile robot |
| CN105835977A (en) * | 2016-05-24 | 2016-08-10 | 邵萌 | Crawler-type wall climbing robot |
| CN106088197A (en) * | 2016-06-23 | 2016-11-09 | 安庆市蒲公英水电安装工程有限公司 | A kind of highway ditch cleaning intelligent robot |
| CN207328636U (en) * | 2017-10-12 | 2018-05-08 | 山东科技大学 | A kind of novel crawler-type sniffing robot |
| CN208629439U (en) * | 2018-05-28 | 2019-03-22 | 广州舜领教育咨询有限公司 | Six-axis robot |
-
2019
- 2019-06-28 CN CN201910578968.5A patent/CN110282038A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005111595A (en) * | 2003-10-07 | 2005-04-28 | Rikogaku Shinkokai | Crawler type traveling robot |
| CN101279618A (en) * | 2007-10-24 | 2008-10-08 | 杨德智 | Crawler type multi-arm rod mobile robot |
| CN105835977A (en) * | 2016-05-24 | 2016-08-10 | 邵萌 | Crawler-type wall climbing robot |
| CN106088197A (en) * | 2016-06-23 | 2016-11-09 | 安庆市蒲公英水电安装工程有限公司 | A kind of highway ditch cleaning intelligent robot |
| CN207328636U (en) * | 2017-10-12 | 2018-05-08 | 山东科技大学 | A kind of novel crawler-type sniffing robot |
| CN208629439U (en) * | 2018-05-28 | 2019-03-22 | 广州舜领教育咨询有限公司 | Six-axis robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587586A (en) * | 2019-09-29 | 2019-12-20 | 纳博特南京科技有限公司 | Six arms |
| NL2024288B1 (en) * | 2019-11-22 | 2021-08-23 | Baars Gerrit | A mobile apparatus for lifting an object |
| CN111619682A (en) * | 2020-06-09 | 2020-09-04 | 国网冀北综合能源服务有限公司 | Crawler-type conveying device for field power equipment |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20190927 |