CN110509253A - It is a kind of for grabbing the micro-nano robot of targeted drug - Google Patents
It is a kind of for grabbing the micro-nano robot of targeted drug Download PDFInfo
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- CN110509253A CN110509253A CN201910801281.3A CN201910801281A CN110509253A CN 110509253 A CN110509253 A CN 110509253A CN 201910801281 A CN201910801281 A CN 201910801281A CN 110509253 A CN110509253 A CN 110509253A
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- clamping
- fixedly installed
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- block
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of for grabbing the micro-nano robot of targeted drug, including mounting base, the bottom of the mounting base offers mounting groove, rotating block is rotatably equipped in mounting groove, the bottom of the rotating block is fixedly installed with mounting plate, the bottom of mounting plate offers rotation slot, rotor plate is rotatably equipped in rotation slot, the bottom of the rotor plate opens up fluted, there are two worm screws for rotational installation in groove, the outside of two worm screws is fixedly installed with the first clamping limb, one end of two the first clamping limbs is fixedly installed with first clamping plate, there are two rotating bars for rotational installation in the groove, worm gear is fixedly installed on the outside of a rotating bar in two rotating bars, two worm screws are meshed with two worm gears respectively, thread rotary orientation on two worm screws is opposite, the present invention can control the dynamics of clamping according to the size of drug , damage drug is avoided, while the angle of clamping can be adjusted, structure is simple, easy to use.
Description
Technical field
It is specially a kind of for grabbing the micro-nano robot of targeted drug the present invention relates to micro-nano robotic technology field.
Background technique
With the rapid development of robot science and technology, robot is widely used in modern production and life.Robot has
Multiple types, overall dimensions are differed from microcosmic to macroscopic view.In general, can see in industrial production, service industry and military war
The figure of macroscopical robot.However, in certain specific conditions, such as vivo inserted diagnosing and treating, macroscopical robot often by
In oversized and apply limited.Therefore, micro-nano robot comes into being, such robot can execute task on micro/nano-scale
And have excellent flexibility, adaptability, in addition, such robot can also in a manner of cluster work compound.Past several
10 years, micro-nano robot just like developed into a new research field.It has widest application in field of biomedicine
Prospect, such as targeted drug transmission and release, disease diagnosis and therapy.In addition, also there is act in micro-nano robot in military aspect
The status of sufficient weight, the application among nanoprocessing, high-end manufacture and environmental monitoring also should not be underestimated.
Existing micro-nano robot cannot control clamping force according to the size of clamping article, be easy to cause the damage of article
It is bad, therefore we have proposed a kind of for grabbing the micro-nano robot of targeted drug, for solving the above problems.
Summary of the invention
The purpose of the present invention is to provide a kind of for grabbing the micro-nano robot of targeted drug, to solve above-mentioned micro-nano machine
Device people cannot be according to the size of clamping article come the problem of controlling clamping force, be easy to cause the damage of article.
To achieve the above object, the invention provides the following technical scheme: it is a kind of for grabbing the micro-nano machine of targeted drug
People, including mounting base, the bottom of the mounting base offer mounting groove, and rotating block, the rotation are rotatably equipped in mounting groove
The bottom of block is fixedly installed with mounting plate, and the bottom of mounting plate offers rotation slot, and rotor plate, institute are rotatably equipped in rotation slot
The bottom for stating rotor plate opens up fluted, and there are two worm screws for rotational installation in groove, and the outside of two worm screws is fixedly installed with
First clamping limb, one end of two the first clamping limbs is fixedly installed with first clamping plate, in the groove there are two rotational installations
Rotating bar, is fixedly installed with worm gear on the outside of a rotating bar in two rotating bars, two worm screws respectively with two worm gear phases
It engages, the thread rotary orientation on two worm screws is on the contrary, the outside of two rotating bars is fixedly installed with first gear, two the first teeth
Wheel is meshed, and the outside of two rotating bars is fixedly installed with the second clamping limb, the fixed peace in one end of two the second clamping limbs
Equipped with second clamping plate, cylindrical groove, the outside of rotating bar and the side walls of cylindrical groove are offered on the side inner wall of the groove
Connection, the inner wall of cylindrical groove offer annular groove, and annular slab, the fixed peace in the inside of annular slab are rotatably equipped in the annular groove
Equipped with block, fixed block, side and the block phase of fixed block are fixedly installed on the outside of a rotating bar in two rotating bars
It contacts, is fixedly installed with annular rack on the outside of the annular slab, is fixedly installed with first motor on the side inner wall of annular groove.
Preferably, be fixedly installed with the second motor on the side inner wall of the mounting groove, the output shaft of the second motor with turn
It mutually welds the side of motion block.
Preferably, first motor slot is offered on the side inner wall of the rotation slot, on the side inner wall of first motor slot
It is fixedly installed with third motor, the output shaft of third motor is mutually welded with the side of rotor plate.
Preferably, the second motor slot is offered on the side inner wall of the groove, is consolidated on the side inner wall of the second motor slot
Dingan County is equipped with the 4th motor, and the output shaft of the 4th motor is mutually welded with one end of rotating bar.
Preferably, annular groove is offered on the two sides inner wall of the annular groove, the two sides of annular slab are fixedly mounted
There are two arc sliding block, the side walls of arc sliding block and annular groove are connected.
Preferably, cylinder groove is offered on the side inner wall of the rotation slot, cylindrical piece is rotatably equipped in cylinder groove, circle
It is mutually welded with rotor plate the side of column block.
Preferably, second gear, second gear and annular rack phase are fixedly installed on the output shaft of the first motor
Engagement.
Preferably, it is opened up on the two sides inner wall of the groove there are two link slot, the both ends of two worm screws are fixed to pacify
Equipped with link block, the side walls of link block and link slot are connected.
Preferably, specifically used method are as follows:
(A1), in use, driving a rotating bar rotation by the 4th motor, rotating bar drives a first gear rotation, by
It is engaged in two first gears, it is possible to drive another rotating bar to rotate, the rotation direction of two rotating bars is on the contrary, pass through
Two rotating bars drive two the second clamping limb rotations, and two the second clamping limbs drive two second clamping plates close to each other；
(A2), two worm gear rotations are driven by rotating bar, two worm gears drive two worm screw rotations, the screw thread on two worm screws
It is oppositely oriented, so the rotation direction of two worm screws is on the contrary, drive two the first clamping limbs rotations by two worm screws, two the
One clamping limb drives two first clamping plates close to each other, cooperates two second clamping plates to grip drug, passes through rotation
Bar drives fixed block rotation, and when fixed block is contacted with block, fixed block can not be continued to rotate, and rotating bar can not also turn at this time
It is dynamic, so that the dynamics to clamping controls, avoid damage drug；
(A3), second gear rotation being driven by first motor, the rotation of second gear makes annular rack drive annular slab rotation,
Annular slab drives block rotation, so that the position to block is adjusted, the position of block is adjusted according to the size of clamping drug
It sets, rotating block rotation is driven by the second motor, so as to which the left and right angle of clamping is adjusted, passes through third motor band
Turn movable plate rotation, so as to which the front and rear angles of clamping are adjusted；
(A4), the present invention can control the dynamics of clamping according to the size of drug, avoid damage drug, while can be right
The angle of clamping is adjusted, and structure is simple, easy to use.
Compared with prior art, the beneficial effects of the present invention are:
1. the present invention is in use, drive two the second clamping limb rotations by two rotating bars, two the second clamping limbs drive two
A second clamping plate is close to each other；
2. the present invention drives two the first clamping limb rotations by two worm screws, two the first clamping limbs drive two first clamping plates
It is close to each other, cooperate two second clamping plates to grip drug；
3. the present invention, which makes rotating bar also by block, to be rotated, so that the dynamics to clamping controls, damage drug is avoided；
4. the present invention drives block rotation by annular slab, so that the position to block is adjusted, according to the big of clamping drug
The small position to adjust block；
5. the present invention drives rotating block rotation by the second motor, so as to which the left and right angle of clamping is adjusted, pass through
Third motor drives rotor plate rotation, so as to which the front and rear angles of clamping are adjusted；
6. the present invention can control the dynamics of clamping according to the size of drug, damage drug is avoided, while can be to folder
The angle held is adjusted, and structure is simple, easy to use.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the structural schematic diagram of part A of the present invention；
Fig. 3 is the structural schematic diagram of part B of the present invention；
The side structure schematic view that Fig. 4 is rotating bar of the present invention, annular slab, block, fixed block are connected with annular rack；
Fig. 5 is the schematic perspective view that the first clamping limb of the invention is connect with first clamping plate.
In figure: 1, mounting base；2, mounting groove；3, rotating block；4, mounting plate；5, rotation slot；6, rotor plate；7, groove；8,
Worm screw；9, the first clamping limb；10, first clamping plate；11, rotating bar；12, the second clamping limb；13, second clamping plate；14, worm gear；15,
First gear；16, first motor slot；17, third motor；18, the second motor slot；19, the 4th motor；20, annular groove；21, ring
Shape plate；22, block；23, fixed block；24, annular rack；25, first motor；26, second gear.
Specific embodiment
Clamping force cannot be controlled according to the size of clamping article to solve micro-nano robot, be easy to cause article
The problem of damage, the present invention provides a kind of for grabbing the micro-nano robot of targeted drug.Implement below in conjunction with the present invention
Attached drawing in example, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment
Only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Embodiment 1
Fig. 1-5 is please referred to, a kind of for grabbing the micro-nano robot of targeted drug, including mounting base 1, peace is present embodiments provided
The bottom of dress seat 1 offers mounting groove 2, rotating block 3 is rotatably equipped in mounting groove 2, the bottom of rotating block 3 is fixedly installed with peace
Loading board 4, the bottom of mounting plate 4 offer rotation slot 5, and rotor plate 6 is rotatably equipped in rotation slot 5, and the bottom of rotor plate 6 opens up
Fluted 7, there are two worm screw 8, the outside of two worm screws 8 is fixedly installed with the first clamping limb 9 for rotational installation in groove 7, and two
One end of a first clamping limb 9 is fixedly installed with first clamping plate 10, rotating bar 11 there are two rotational installations in groove 7, and two
The outside of a rotating bar 11 in rotating bar 11 is fixedly installed with worm gear 14, and two worm screws 8 nibble with two 14 phases of worm gear respectively
It closing, the thread rotary orientation on two worm screws 8 is on the contrary, the outside of two rotating bars 11 is fixedly installed with first gear 15, and two the
One gear 15 is meshed, and the outside of two rotating bars 11 is fixedly installed with the second clamping limb 12, two the second clamping limbs 12
One end is fixedly installed with second clamping plate 13, and cylindrical groove, the outside of rotating bar 11 and cylindricality are offered on the side inner wall of groove 7
The side walls of slot connect, and the inner wall of cylindrical groove offers annular groove 20, annular slab 21 is rotatably equipped in annular groove 20, annular
The inside of plate 21 is fixedly installed with block 22, and the outside of a rotating bar 11 in two rotating bars 11 is fixedly installed with fixed block
23, the side of fixed block 23 is in contact with block 22, and the outside of annular slab 21 is fixedly installed with annular rack 24, annular groove 20
First motor 25 is fixedly installed on the inner wall of side.
Wherein, the thread rotary orientation on two worm screws 8 can make two worm screws 8 on the contrary, so when two worm gears 14 rotate
It is rotated towards opposite direction, two first gears 15 are meshed, so the rotation direction of two first gears 15 is on the contrary, thus
The rotation direction of two rotating bars 11 can be made opposite.
In the present embodiment, in use, driving a rotating bar 11 to rotate by the 4th motor 19, rotating bar 11 drives one
First gear 15 rotates, since two first gears 15 engage, it is possible to drive another rotating bar 11 to rotate, two rotations
The rotation direction of bar 11 is on the contrary, drive two the second clamping limb 12 rotations, two the second clamping limbs 12 by two rotating bars 11
It drives two second clamping plates 13 close to each other, drives two worm gears 14 to rotate by rotating bar 11, two worm gears 14 drive two
Worm screw 8 rotates, and the thread rotary orientation on two worm screws 8 is on the contrary, so the rotation direction of two worm screws 8 is on the contrary, pass through two worm screws 8
The rotation of two the first clamping limbs 9 is driven, two the first clamping limbs 9 drive two first clamping plates 10 close to each other, cooperation two the
Second splint 13 grips drug, drives fixed block 23 to rotate by rotating bar 11, when fixed block 23 and block 22 connect
When touching, fixed block 23 can not be continued to rotate, and rotating bar 11 can not also rotate at this time, so that the dynamics to clamping controls, be kept away
Exempt to damage drug.
Embodiment 2
Fig. 1-5 is please referred to, is further improved on the basis of embodiment 1: being fixedly installed on the side inner wall of mounting groove 2
Second motor, the output shaft of the second motor are mutually welded with the side of rotating block 3, offer first on the side inner wall of rotation slot 5
Motor slot 16, is fixedly installed with third motor 17 on the side inner wall of first motor slot 16, the output shaft of third motor 17 with turn
The side of movable plate 6 is mutually welded, and the second motor slot 18, the side inner wall of the second motor slot 18 are offered on the side inner wall of groove 7
On be fixedly installed with the 4th motor 19, the output shaft of the 4th motor 19 is mutually welded with one end of rotating bar 11, the two of annular groove 20
Offer annular groove on the inner wall of side, the two sides of annular slab 21 are fixedly mounted that there are two arc sliding block, arc sliding blocks
It is connect with the side walls of annular groove, the rotation that annular slab 21 can be made stable, offers circle on the side inner wall of rotation slot 5
Column slot is rotatably equipped with cylindrical piece in cylinder groove, and the side of cylindrical piece and 6 phase of rotor plate are welded, and rotor plate 6 can be made stable
It rotates, is fixedly installed with second gear 26 on the output shaft of first motor 25, second gear 26 is meshed with annular rack 24, recessed
Opened up on the two sides inner wall of slot 7 there are two link slot, the both ends of two worm screws 8 are fixedly installed with link block, link block with
The side walls of link slot connect, the rotation that two worm screws 8 can be made stable.
In the present embodiment, second gear 26 is driven to rotate by first motor 25, the rotation of second gear 26 makes annular tooth
Item 24 drives annular slab 21 to rotate, and annular slab 21 drives block 22 to rotate, to the position of block 22 be adjusted, according to folder
The size of drug is held to adjust the position of block 22, drives rotating block 3 to rotate by the second motor, so as to the left side to clamping
Right angular is adjusted, and drives rotor plate 6 to rotate by third motor 17, so as to adjust to the front and rear angles of clamping
Section.
In description of the invention, it should be noted that the orientation of the instructions such as term "vertical", "upper", "lower", "horizontal" or
Person's positional relationship is orientation based on the figure or positional relationship, is merely for convenience of description of the present invention and simplification of the description,
Rather than the device or element of instruction or hint meaning must have a particular orientation, and are constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.In addition, " first ", " second " are used for description purposes only, and should not be understood as
Instruction implies relative importance.
In description of the invention, it is also necessary to explanation, unless otherwise specific regulation and limitation, term " setting ", " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection, can be mechanical connection, is also possible to be electrically connected, can be and be directly connected to, and be also possible to be connected by intermediary, can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of for grabbing the micro-nano robot of targeted drug, including mounting base (1), it is characterised in that: the mounting base (1)
Bottom offer mounting groove (2), is rotatably equipped with rotating block (3) in mounting groove (2), the bottom of the rotating block (3) is fixed
It is equipped with mounting plate (4), the bottom of mounting plate (4) offers rotation slot (5), is rotatably equipped with rotor plate in rotation slot (5)
(6), the bottom of the rotor plate (6) opens up fluted (7), and there are two worm screw (8), two worm screws for rotational installation in groove (7)
(8) outside is fixedly installed with the first clamping limb (9), and one end of two the first clamping limbs (9) is fixedly installed with the first folder
Plate (10), there are two the interior rotational installations of the groove (7) rotating bar (11), a rotating bar (11) in two rotating bars (11)
Outside be fixedly installed with worm gear (14), two worm screws (8) are meshed with two worm gears (14) respectively, on two worm screws (8)
Thread rotary orientation is on the contrary, the outside of two rotating bars (11) is fixedly installed with first gear (15), two first gear (15) phases
Engagement, the outside of two rotating bars (11) are fixedly installed with the second clamping limb (12), one end of two the second clamping limbs (12)
It is fixedly installed with second clamping plate (13), cylindrical groove, the outside of rotating bar (11) is offered on the side inner wall of the groove (7)
It is connect with the side walls of cylindrical groove, the inner wall of cylindrical groove offers annular groove (20), rotational installation in the annular groove (20)
Have annular slab (21), is fixedly installed on the inside of annular slab (21) block (22), a rotating bar in two rotating bars (11)
(11) it is fixedly installed on the outside of fixed block (23), the side of fixed block (23) is in contact with block (22), the annular slab
(21) it is fixedly installed on the outside of annular rack (24), is fixedly installed with first motor on the side inner wall of annular groove (20)
(25).
2. according to claim 1 a kind of for grabbing the micro-nano robot of targeted drug, it is characterised in that: the installation
The second motor is fixedly installed on the side inner wall of slot (2), the side of the output shaft and rotating block (3) of the second motor is mutually welded.
3. according to claim 1 a kind of for grabbing the micro-nano robot of targeted drug, it is characterised in that: the rotation
It is offered on the side inner wall of slot (5) first motor slot (16), is fixedly installed on the side inner wall of first motor slot (16)
It mutually welds the side of three motors (17), the output shaft and rotor plate (6) of third motor (17).
4. according to claim 1 a kind of for grabbing the micro-nano robot of targeted drug, it is characterised in that: the groove
(7) it is offered on side inner wall the second motor slot (18), is fixedly installed with the 4th on the side inner wall of the second motor slot (18)
Motor (19), the output shaft of the 4th motor (19) and one end of rotating bar (11) are mutually welded.
5. according to claim 1 a kind of for grabbing the micro-nano robot of targeted drug, it is characterised in that: the annular
Offer annular groove on the two sides inner wall of slot (20), the two sides of annular slab (21) are fixedly mounted that there are two arc slidings
The side walls of block, arc sliding block and annular groove connect.
6. according to claim 1 a kind of for grabbing the micro-nano robot of targeted drug, it is characterised in that: the rotation
Cylinder groove is offered on the side inner wall of slot (5), and cylindrical piece, the side of cylindrical piece and rotor plate are rotatably equipped in cylinder groove
(6) it mutually welds.
7. according to claim 1 a kind of for grabbing the micro-nano robot of targeted drug, it is characterised in that: described first
It is fixedly installed on the output shaft of motor (25) second gear (26), second gear (26) is meshed with annular rack (24).
8. according to claim 1 a kind of for grabbing the micro-nano robot of targeted drug, it is characterised in that: the groove
(7) link slot there are two opening up on two sides inner wall, the both ends of two worm screws (8) are fixedly installed with link block, link block
It is connect with the side walls of link slot.
9. according to claim 1 a kind of for grabbing the micro-nano robot of targeted drug, specifically used method are as follows:
(A1), in use, driving rotating bar (11) rotation by the 4th motor (19), rotating bar (11) drives one first
Gear (15) rotation, since two first gears (15) are engaged, it is possible to drive another rotating bar (11) to rotate, two turn
The rotation direction of lever (11) by two rotating bars (11) two the second clamping limbs (12) of drive on the contrary, rotated, two second
Clamping limb (12) drives two second clamping plates (13) close to each other；
(A2), two worm gear (14) rotations being driven by rotating bar (11), two worm gears (14) drive two worm screw (8) rotations,
Thread rotary orientation on two worm screws (8) is on the contrary, so the rotation direction of two worm screws (8) by two worm screws (8) on the contrary, driven
Two the first clamping limb (9) rotations, two the first clamping limbs (9) drive two first clamping plates (10) close to each other, cooperate two
Second clamping plate (13) grips drug, fixed block (23) rotation is driven by rotating bar (11), when fixed block (23)
When contacting with block (22), fixed block (23) can not be continued to rotate, and rotating bar (11) can not also rotate at this time, thus to clamping
Dynamics is controlled, and damage drug is avoided；
(A3), second gear (26) rotation is driven by first motor (25), the rotation of second gear (26) makes annular rack
(24) annular slab (21) rotation is driven, annular slab (21) drives block (22) rotation, to adjust to the position of block (22)
Section adjusts the position of block (22) according to the size of clamping drug, drives rotating block (3) rotation by the second motor, thus
The left and right angle of clamping can be adjusted, rotor plate (6) rotation be driven by third motor (17), so as to clamping
Front and rear angles be adjusted；
(A4), the present invention can control the dynamics of clamping according to the size of drug, avoid damage drug, while can be right
The angle of clamping is adjusted, and structure is simple, easy to use.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910801281.3A CN110509253B (en) | 2019-08-28 | 2019-08-28 | Micro-nano robot for grabbing targeted drugs |
| PCT/CN2020/089661 WO2021036342A1 (en) | 2019-08-28 | 2020-05-11 | Micro-nano robot for grabbing targeted drug |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910801281.3A CN110509253B (en) | 2019-08-28 | 2019-08-28 | Micro-nano robot for grabbing targeted drugs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110509253A true CN110509253A (en) | 2019-11-29 |
| CN110509253B CN110509253B (en) | 2020-08-07 |
Family
ID=68627746
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910801281.3A Active CN110509253B (en) | 2019-08-28 | 2019-08-28 | Micro-nano robot for grabbing targeted drugs |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110509253B (en) |
| WO (1) | WO2021036342A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021036342A1 (en) * | 2019-08-28 | 2021-03-04 | 南京驭逡通信科技有限公司 | Micro-nano robot for grabbing targeted drug |
| CN113977616A (en) * | 2021-10-29 | 2022-01-28 | 九江学院 | Manipulator is used in electronic component production |
| CN114933164A (en) * | 2022-06-20 | 2022-08-23 | 安徽工程大学 | Transfer robot for intelligent automobile manufacturing production line |
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| CN108544521A (en) * | 2016-12-22 | 2018-09-18 | 朱文祥 | A kind of Multi-shaft mechanical hand |
| CN108582121A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of bulb pick device of hydraulic oil cylinder driving |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021036342A1 (en) * | 2019-08-28 | 2021-03-04 | 南京驭逡通信科技有限公司 | Micro-nano robot for grabbing targeted drug |
| CN113977616A (en) * | 2021-10-29 | 2022-01-28 | 九江学院 | Manipulator is used in electronic component production |
| CN114933164A (en) * | 2022-06-20 | 2022-08-23 | 安徽工程大学 | Transfer robot for intelligent automobile manufacturing production line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110509253B (en) | 2020-08-07 |
| WO2021036342A1 (en) | 2021-03-04 |
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