CN110303511A - A kind of Tension frame for mechanical arm processing low profile flexible material - Google Patents
A kind of Tension frame for mechanical arm processing low profile flexible material Download PDFInfo
- Publication number
- CN110303511A CN110303511A CN201910701060.9A CN201910701060A CN110303511A CN 110303511 A CN110303511 A CN 110303511A CN 201910701060 A CN201910701060 A CN 201910701060A CN 110303511 A CN110303511 A CN 110303511A
- Authority
- CN
- China
- Prior art keywords
- flexible material
- low profile
- mechanical arm
- profile flexible
- outer frame
- 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
Links
- 239000000463 material Substances 0.000 title claims abstract description 66
- 238000012545 processing Methods 0.000 title claims abstract description 32
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 8
- 239000004810 polytetrafluoroethylene Substances 0.000 claims description 8
- 239000000314 lubricant Substances 0.000 claims description 4
- -1 polytetrafluoroethylene Polymers 0.000 claims description 4
- 238000005553 drilling Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 239000010410 layer Substances 0.000 description 4
- 238000003754 machining Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 239000000123 paper Substances 0.000 description 2
- 239000002985 plastic film Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 239000011247 coating layer Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003913 materials processing Methods 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
Abstract
The present invention relates to a kind of Tension frames for mechanical arm processing low profile flexible material, including rectangular outer frame, hold-down mechanism and strainer, wherein: hold-down mechanism is formed by being located at two pressure plates on the inside of two relative edges of rectangular outer frame, for clamping two opposite sides of low profile flexible material；Strainer is made of the two tension bolt groups for being set in rectangular outer frame corresponding with pressure plate and acting on pressure plate, and for driving pressure plate to move, low profile flexible material is tensioned.Compared with prior art, Tension Adjustable of the present invention, applicability is good, long service life, and the replacement of low profile flexible material is convenient.
Description
Technical field
The present invention relates to low profile flexible materials processing technology fields, slim soft for mechanical arm processing more particularly, to one kind
The Tension frame of property material.
Background technique
When mechanical arm processes a variety of materials, the attribute difference of rapidoprint will will lead to different machining accuracies.
When mechanical arm processes hard material, the high-precision processing to material can be realized very well.But when mechanical arm is to low profile flexible material
It is past due to the easily-deformable feature of low profile flexible material when expecting (such as the soft thin slice of metal, cloth, plastic sheet or paper etc.) processing
It is past that required machining accuracy is not achieved.
Required precision is processed in order to reach low profile flexible material, needs to be tensioned low profile flexible material, still, mesh
Preceding tension equipment is according to the customed product for the material processed, poor universality mostly, and using very inconvenient, this is big
The development of industry is limited greatly.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to add for mechanical arm
The Tension frame of work low profile flexible material.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of Tension frame for mechanical arm processing low profile flexible material, comprising:
Rectangular outer frame,
Hold-down mechanism is formed by being located at two pressure plates on the inside of two relative edges of rectangular outer frame, thin for clamping
Two opposite sides of type flexible material,
Strainer, by two tension bolts for being set in rectangular outer frame corresponding with pressure plate and acting on pressure plate
Group is constituted, and for driving pressure plate to move, low profile flexible material is tensioned.
As currently preferred technical solution, the rectangular outer frame passes through connection in the profile of rectangular arranged by four
It is bolted to be formed.
As currently preferred technical solution, under the pressure plate includes the compression upper plate being oppositely arranged and compresses
Plate, and tension bolt group act on compress lower plate on, the compression lower plate be equipped with multiple screw holes, compress upper plate be equipped with
Each screw hole corresponding through-hole is equipped with hold-down bolt in screw hole and through-hole.
As currently preferred technical solution, the inside on other two side of rectangular outer frame is equipped with guide rail, for carrying
It compresses lower plate and guides and compress lower plate movement.
As currently preferred technical solution, the guide rail is equipped with polytetrafluoroethylene (PTFE) lubricant layer.
As currently preferred technical solution, the tensioning bolt group includes a tensioning bolt and two guide rods,
The head end of the tensioning bolt passes through the side of rectangular outer frame and is rotatably connected with lower plate is compressed, and the head end of two guide rods passes through
The side of rectangular outer frame is simultaneously fixed in compression lower plate.
As currently preferred technical solution, two guide rods are symmetrically disposed on the two sides of tensioning bolt.
As currently preferred technical solution, the rectangular outer frame is horizontally disposed.
As currently preferred technical solution, the rectangular outer frame is equipped with scale corresponding with pressure plate.
When to the tensioning of low profile flexible material, low profile flexible material is placed in Tension frame, is compressed with pressure plate.According to need
The tension wanted is moved to pressure plate on the corresponding scale of outline border, until reaching required effect.
Compared with prior art, the general Tension frame that the present invention designs, can be right by tensioning bolt and hold-down bolt
Various low profile flexible materials are fixed and are tensioned (fine tuning), and low profile flexible material tension is adjustable, and applicability is good；Service life
Long, the replacement of low profile flexible material is convenient.The present invention uses modular design, can use the plate and profile of different size,
Achieve the purpose that the different but thin flexible materials of adaptation, improves the versatility of the system.
Detailed description of the invention
Fig. 1 is the schematic diagram for the mechanical arm system that Tension frame of the invention is applied to processing low profile flexible material；
Fig. 2 is the structural schematic diagram of three pointed drills in Fig. 1；
Fig. 3 is the structural schematic diagram of Tension frame of the invention.
In figure, 1 is mechanical arm, and 2 be fixture, and 3 be drilling motor, and 4 be three pointed drills, and 41 be shank, and 42 be working portion,
421 be intermediate blade, and 422 be working edge, and 423 be arc angle, and 5 be Tension frame, and 51 be rectangular outer frame, and 511 be profile, and 512 are
Chain connecting bolt, 5111 be guide rail, and 52 be pressure plate, and 521 is compress upper plate, and 522 is compress lower plate, and 523 be hold-down bolt, and 53 are
Tensioning bolt group, 531 be tensioning bolt, and 532 be guide rod, and 6 be bracket, and 61 be rack body, and 62 be horizontal object disposing platform, and 63 are
Clamping plate bolt, 64 be clamping plate, and 7 be pedestal, and 8 be low profile flexible material.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of Tension frame for mechanical arm processing low profile flexible material, can be used for processing the mechanical arm of low profile flexible material
System, as shown in Figure 1, the mechanical arm system includes mechanical arm 1, processing unit (plant), fixture 2, Tension frame 5 and bracket 6, in which: machine
Tool arm 1 is set on pedestal 7；Drilling motor 3 of the processing unit (plant) by three pointed drills 4 and for driving three to bore 4 rotations forms；Fixture
2 are set to the end of mechanical arm 1, the connection for processing unit (plant) and mechanical arm 1；Tension frame 5 is set to the activity of processing unit (plant)
Fixation and tensioning in range, for low profile flexible material 8；Bracket 6 is detachably connected with Tension frame 5, is used to support Tension frame
5。
As shown in Fig. 2, three pointed drills 4 include the shank 41 and working portion 42 being sequentially arranged in the present embodiment, shank 41 is
Staight shank, for being sequentially connected with drilling motor 3, for transmitting torque and axial force, the end of working portion 42 is cutting portion, tool
There are three the collinear cutting edge being smoothly connected is in, the end of three cutting edges is located at sustained height.
More specifically, three cutting edges in the present embodiment are respectively the intermediate blade for being used for fixing thin type flexible material 8
421 and two working edges 422 of intermediate 421 two sides of blade are symmetrically disposed on, when processing to low profile flexible material, they are simultaneously
Contact material is (if intermediate blade elder generation contact material, can make material recessed around contact point, be deformed, to reduce processing
Precision), wherein two cutting edges in outside process material, intermediate cutting edge fixing thin type flexible material (is prevented soft
Property material under the rotation cutting of two working edges 422, corrugation occurs or part displacement generates tearing), can reach fabulous
Processing effect, promoted machining accuracy substantially shut out by testing the soft thin slice of metal, cloth, plastic sheet and paper etc.
Corrugation or tearing absolutely, effect is far better than normal drill bit.It is equipped with arc angle 423 between three cutting blades in the present embodiment, with
Promote the rigidity of cutter.Intermediate blade 422 can be taper, truncated cone-shaped, cylinder or cuboid.In the present embodiment preferably in
Between blade 422 it is tapered, and taper is 5:1, under the taper ratio, can play better fixed function.Further, this implementation
In example, the lateral surface of two working edges 422 is flushed with the lateral surface of working portion 42.And the end of two working edges 422
Pointed, what it is due to processing is low profile flexible material, it does so, its service life can't be substantially reduced.
Fixture 2 in the present embodiment is Hafu-type fixture, is detachably connected with drilling motor 3, by drilling motor 3 into
Row obvolvent, to fix drilling motor 3, the clamp structure is simple, convenient disassembly, and stability is good.
As shown in figure 3, the Tension frame 5 in the present embodiment includes rectangular outer frame 51, hold-down mechanism and strainer, in which:
Hold-down mechanism is formed by being located at two pressure plates 52 on the inside of 51 two relative edges of rectangular outer frame, for clamping low profile flexible
Two opposite sides of material 8；Strainer is by being set in rectangular outer frame 51 corresponding with pressure plate 52 and acting on compression
Two tensioning bolt groups 53 of plate 52 are constituted, and for driving pressure plate 52 to move, low profile flexible material 8 is tensioned.
More specifically, rectangular outer frame 51 is horizontally disposed, rectangular outer frame 51 passes through company in the profile 511 of rectangular arranged by four
The connection of connecting bolt 512 is formed.By using profile 511, phase therewith is assembled into according to the size of material to be processed with can be convenient
Matched rectangular outer frame 51.Pressure plate 52 in the present embodiment includes the compression upper plate 521 being oppositely arranged and compression lower plate 522,
And tensioning bolt group 53 is acted on and is compressed in lower plate 522, is compressed lower plate 522 and is equipped with multiple screw holes, is compressed upper plate 521 and is equipped with
Through-hole corresponding with each screw hole is equipped with hold-down bolt 523 in screw hole and through-hole.Generally, along length on each pressure plate 52
Be arranged two hold-down bolts 523 can (hold-down bolt is more, compress effect it is better, while will cause use it is also number
It is tired), it still, is required according to the difference of the material of processing and to the difference of precision, upper plate 521 can compressed and compressing lower plate
More setting some reserved screw holes and through-hole, according to circumstances select appropriate number of hold-down bolt 523 on 522.Further, originally
It can be equipped with guide rail 5111 in the inside on other two side of rectangular outer frame 51 in embodiment, compress lower plate 522 simultaneously for carrying
Guidance compresses lower plate 522 and moves.Guide rail 5111 be equipped with polytetrafluoroethylene (PTFE) lubricant layer (similar non-stick pan coating layer it is very thin like that one
Layer, too thick to have an adverse effect to machining accuracy).The presence of the guide rail 5111 and polytetrafluoroethylene (PTFE) lubricant layer,
Then be conducive to promote the smoothness during material tensioning, and enhance the accuracy of low profile flexible material positioning, and then promoted and added
Work precision.In the present embodiment, tensioning bolt group 53 includes a tensioning bolt 531 and two guide rods 532, tensioning bolt 531
Head end passes through the side of rectangular outer frame 51 and is rotatably connected with lower plate 522 is compressed, and the head end of two guide rods 532 passes through rectangular outer frame
51 side is simultaneously fixed in compression lower plate 522, in use, only need to rotate tensioning bolt, it is easy to use.Two guide rods
532 are symmetrically disposed on the two sides of tensioning bolt 531.It is also settable corresponding with pressure plate in rectangular outer frame in the present embodiment
Scale.When to the tensioning of low profile flexible material, low profile flexible material is placed in Tension frame, is compressed with pressure plate.As required
Tension, pressure plate is moved on the corresponding scale of outline border, until reach required effect.
Bracket 6 in the present embodiment includes rack body 61 and multiple outline border fixtures, in which: is had at the top of rack body 61
For carrying the horizontal object disposing platform 62 of Tension frame 5；Multiple outline border fixtures are set on horizontal object disposing platform 62, each outline border fixture
It is made of the clamping plate bolt 63 being connected on horizontal object disposing platform vertically and the clamping plate 64 being sheathed on clamping plate bolt 63.
Using the method for the processing low profile flexible material of above-mentioned mechanical arm system, comprising the following steps:
S1: low profile flexible material is fixed and is tensioned with Tension frame 5；
S2: mechanical arm 1 drives processing unit (plant) to adjust horizontal position, and makes three pointed drills 4 relative to the low profile flexible material of tensioning
Expect that 8 surfaces are vertical；
S3: when three pointed drills 4 move to preset coordinate, drilling motor 3 drives three pointed drills, 4 high speed rotation；
S4: when three pointed drills 4 will touch low profile flexible material 8, feeding rate is reduced, and in three pointed drills 4 to slim
When flexible material 8 is processed, feeding rate is further decreased；
S5: after completing processing, mechanical arm 1 drives three pointed drills 4 to reset, and completes the processing of low profile flexible material 8.
In the present embodiment, obtained by setting motor side angular transducer and three pointed drill side angle degree sensor (not shown)s
The angle for taking mechanical arm 1 and three pointed drills 4, for adjusting three pointed drills 4 perpendicular to 8 surface of low profile flexible material of tensioning；By setting
Set industrial camera obtain three pointed drills 4 and low profile flexible material 8 relative position (industrial camera is not shown in the figure, in practice can be with
It is set as needed, as long as the image of corresponding position can be obtained).
The above-mentioned description to embodiment is for ease of ordinary skill in the art to understand and use the invention.It is ripe
The personnel for knowing art technology obviously easily can make various modifications to these embodiments, and general original described herein
It ought to use in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, this field
Technical staff's announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be in guarantors of the invention
Within the scope of shield.
Claims (9)
1. a kind of Tension frame for mechanical arm processing low profile flexible material characterized by comprising
Rectangular outer frame,
Hold-down mechanism is formed by being located at two pressure plates on the inside of two relative edges of rectangular outer frame, slim soft for clamping
Two opposite sides of property material,
Strainer, by the two tension bolt group structures for being set in rectangular outer frame corresponding with pressure plate and acting on pressure plate
At for driving pressure plate to move, low profile flexible material is tensioned.
2. a kind of Tension frame for mechanical arm processing low profile flexible material according to claim 1, which is characterized in that institute
The rectangular outer frame stated is bolted by connection by four profiles in rectangular arranged and is formed.
3. a kind of Tension frame for mechanical arm processing low profile flexible material according to claim 1, which is characterized in that institute
The pressure plate stated includes the compression upper plate being oppositely arranged and compresses lower plate, and tension bolt group is acted on and compressed in lower plate, described
Compression lower plate be equipped with multiple screw holes, compress upper plate and be equipped with through-hole corresponding with each screw hole, be equipped in screw hole and through-hole
Hold-down bolt.
4. a kind of Tension frame for mechanical arm processing low profile flexible material according to claim 3, which is characterized in that square
The inside on other two side of shape outline border is equipped with guide rail, compresses lower plate movement for carrying to compress lower plate and guide.
5. a kind of Tension frame for mechanical arm processing low profile flexible material according to claim 4, which is characterized in that institute
The guide rail stated is equipped with polytetrafluoroethylene (PTFE) lubricant layer.
6. a kind of Tension frame for mechanical arm processing low profile flexible material according to claim 3, which is characterized in that institute
The tensioning bolt group stated includes a tensioning bolt and two guide rods, and the head end of the tensioning bolt passes through the side of rectangular outer frame
And be rotatably connected with lower plate is compressed, the head end of two guide rods passes through the side of rectangular outer frame and is fixed on and compresses in lower plate.
7. a kind of Tension frame for mechanical arm processing low profile flexible material according to claim 6, which is characterized in that two
A guide rod is symmetrically disposed on the two sides of tensioning bolt.
8. a kind of Tension frame for mechanical arm processing low profile flexible material according to claim 1, which is characterized in that institute
The rectangular outer frame stated is horizontally disposed.
9. a kind of Tension frame for mechanical arm processing low profile flexible material according to claim 1, which is characterized in that institute
The rectangular outer frame stated is equipped with scale corresponding with pressure plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910701060.9A CN110303511A (en) | 2019-07-31 | 2019-07-31 | A kind of Tension frame for mechanical arm processing low profile flexible material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910701060.9A CN110303511A (en) | 2019-07-31 | 2019-07-31 | A kind of Tension frame for mechanical arm processing low profile flexible material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110303511A true CN110303511A (en) | 2019-10-08 |
Family
ID=68082523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910701060.9A Pending CN110303511A (en) | 2019-07-31 | 2019-07-31 | A kind of Tension frame for mechanical arm processing low profile flexible material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110303511A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02237709A (en) * | 1989-03-09 | 1990-09-20 | Mitsubishi Heavy Ind Ltd | Twist drill |
| CN202607096U (en) * | 2012-01-19 | 2012-12-19 | 昆山思拓机器有限公司 | Tensioning frame applicable to steel plates with different lengths |
| CN103212877A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Large-format sheet fixing device and fixing method for laser precise cutting |
| CN103212876A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Mechanism for clamping thin steel sheet by using needle type cylinder |
| CN103212881A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Clamping device for thin steel piece |
| CN103212879A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Tensioning frame for improving constancy of tensile force |
| US20140290509A1 (en) * | 2013-03-26 | 2014-10-02 | Ricky Paul Bennett | Balanced stencil foil tensioning frame with foil alignment fixture |
| KR20190048163A (en) * | 2017-10-30 | 2019-05-09 | 한국생산기술연구원 | Robot system for controlling load of machine depending on tool wear and method for controlling load of machine using the same |
| CN109773067A (en) * | 2019-02-28 | 2019-05-21 | 苏州欧方电子科技有限公司 | Accurate steel disc tensioning apparatus |
| CN211030014U (en) * | 2019-07-31 | 2020-07-17 | 上海建桥学院 | Tensioning frame for mechanical arm to process thin flexible material |
-
2019
- 2019-07-31 CN CN201910701060.9A patent/CN110303511A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02237709A (en) * | 1989-03-09 | 1990-09-20 | Mitsubishi Heavy Ind Ltd | Twist drill |
| CN202607096U (en) * | 2012-01-19 | 2012-12-19 | 昆山思拓机器有限公司 | Tensioning frame applicable to steel plates with different lengths |
| CN103212877A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Large-format sheet fixing device and fixing method for laser precise cutting |
| CN103212876A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Mechanism for clamping thin steel sheet by using needle type cylinder |
| CN103212881A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Clamping device for thin steel piece |
| CN103212879A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Tensioning frame for improving constancy of tensile force |
| US20140290509A1 (en) * | 2013-03-26 | 2014-10-02 | Ricky Paul Bennett | Balanced stencil foil tensioning frame with foil alignment fixture |
| KR20190048163A (en) * | 2017-10-30 | 2019-05-09 | 한국생산기술연구원 | Robot system for controlling load of machine depending on tool wear and method for controlling load of machine using the same |
| CN109773067A (en) * | 2019-02-28 | 2019-05-21 | 苏州欧方电子科技有限公司 | Accurate steel disc tensioning apparatus |
| CN211030014U (en) * | 2019-07-31 | 2020-07-17 | 上海建桥学院 | Tensioning frame for mechanical arm to process thin flexible material |
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Application publication date: 20191008 |