CN110814184A - Intelligent control system for metal pipe dieless hot forming - Google Patents
Intelligent control system for metal pipe dieless hot forming Download PDFInfo
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- CN110814184A CN110814184A CN201911134245.2A CN201911134245A CN110814184A CN 110814184 A CN110814184 A CN 110814184A CN 201911134245 A CN201911134245 A CN 201911134245A CN 110814184 A CN110814184 A CN 110814184A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/16—Heating or cooling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D31/00—Other methods for working sheet metal, metal tubes, metal profiles
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- Mounting, Exchange, And Manufacturing Of Dies (AREA)
Abstract
The invention discloses a metal pipe die-free thermoforming intelligent control system, which comprises: the mechanical driving module is used for clamping the metal pipe and driving the metal pipe to move and deform; the heating and cooling module is used for rapidly softening, cooling and shaping the local part of the metal pipe; the data monitoring module is used for acquiring the state parameters of the metal pipe in real time, analyzing and processing the state parameters, generating corresponding adjusting instructions and sending the adjusting instructions to the system control module; and the system control module is used for regulating and controlling the mechanical driving module and the heating and cooling module according to the regulating instruction. The invention realizes the closed-loop feedback regulation of motion and temperature fields in the metal pipe thermal forming process, and when the forming parameters captured in real time have deviation from the preset process parameters, the intelligent feedback regulation is carried out in real time, and the invention has the advantages of short response time, good stability, high accuracy and the like.
Description
Technical Field
The invention relates to the technical field of die-free hot forming, in particular to a system for realizing intelligent control of die-free hot forming of metal pipes through closed-loop feedback regulation.
Background
The die is a very common forming tool applied to high-temperature plastic processing of metal materials, the metal materials are contacted with the die with a specific shape under the action of forming pressure, the flowing direction of the materials is changed, and the materials are only accumulated and filled in a die cavity, so that parts with consistent die shapes are formed.
In the conventional high-temperature forming (such as stretching, compressing, bending, etc.) process of metal pipe fittings, a mold is more indispensable, for example, the metal corrugated pipe is a pipe material which is widely applied in the metal pipe fittings, and the mold is an indispensable tool in the hot forming process of the metal corrugated pipe at present. The metal corrugated pipe is hot formed by adopting a hydraulic/pneumatic forming process, the metal pipe is integrally heated to a target temperature before forming, then a plurality of mould pieces are fastened around the metal pipe, and high-pressure liquid or gas is introduced to perform the process steps of 'bulging initial wave-mould closing-pressure maintaining forming', so that the metal corrugated pipe with the same inner contour as the mould pieces is machined. The forming process aims at the metal pipes with different diameters, mold sheets with different specifications are required to be installed, large-tonnage pressure equipment and a complete sealing system are required to be equipped, so that experimental equipment is complex, the input cost is high, and the metal pipes are put into a heating furnace to be integrally heated during heating, so that the energy consumption in the process is high.
In order to solve the above problems, scholars at home and abroad propose a method for hot forming a metal corrugated pipe without a mold, such as a metal corrugated pipe without a mold forming process method with publication number CN104858278A, by heating a local position of a metal round pipe in a circumferential direction, axially compressing two ends of the round pipe when the heating temperature reaches a set value, gradually forming corrugations in a heated and softened annular region, and then cooling and shaping the positions where the corrugations are formed. The die-free forming method can form the metal corrugated pipe without the assistance of any die and a sealing system, greatly reduces the processing cost, and has small energy consumption and forming force because of adopting the forming principle of local rapid heating and axial compression buckling. However, the size precision and reliability of the metal corrugated pipe die-free forming of the die-free hot forming method cannot be guaranteed, and the metal pipe is likely to be seriously deformed and damaged due to the continuous excessive force or high temperature of pressure equipment in the forming process, so that the workpiece damage rate is high.
Therefore, a flexible, reliable, stable and accurate intelligent control system for the dieless hot forming of the metal pipe is needed.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent control system which can accurately control the shape and the size of a metal pipe in the die-free hot forming process.
In order to solve the technical problem, the invention provides an intelligent control system for metal pipe dieless thermoforming, which comprises:
the mechanical driving module is used for clamping the metal pipe and driving the metal pipe to move and deform;
the heating and cooling module is used for rapidly softening, cooling and shaping the local part of the metal pipe;
the data monitoring module is used for acquiring the state parameters of the metal pipe in real time, analyzing and processing the state parameters, generating corresponding adjusting instructions and sending the adjusting instructions to the system control module;
and the system control module is used for regulating and controlling the mechanical driving module and the heating and cooling module according to the regulating instruction.
Preferably, the mechanical drive module comprises a drive device, a clamping assembly, and a transmission assembly connected between the drive device and the clamping assembly.
Preferably, the driving device is a hydraulic cylinder or a servo motor.
Preferably, the clamping assembly comprises a clamp with one end being a three-jaw chuck and the other end being a thimble and a clamp with two ends being the three-jaw chuck.
Preferably, the heating and cooling module comprises a heating assembly and a cooling assembly, the heating assembly is used for heating the local position of the metal pipe in the forming area, and the cooling assembly is used for cooling the local position of the metal pipe after being heated and formed.
Preferably, the heating assembly comprises an induction heating device and an induction coil connected, the induction coil being disposed around the metal tubing.
Preferably, the cooling assembly comprises a water pump and two annular ejectors respectively connected with the water pump, the annular ejectors are arranged around the metal pipe, and the two annular ejectors are arranged on two sides of the induction coil.
Preferably, the data monitoring module comprises a data processing unit, and a temperature monitoring component, a visual camera component and a pressure monitoring component which are respectively connected with the data processing unit,
the temperature monitoring assembly is used for monitoring the temperature field parameters of the metal pipe forming area and sending the temperature field parameters to the data processing unit;
the visual camera shooting assembly is used for acquiring a contour image of the metal pipe forming area and sending the contour image to the data processing unit;
the pressure monitoring assembly is used for monitoring forming force parameters borne by the metal pipe and sending the forming force parameters to the data processing unit;
and the data processing unit analyzes and processes the temperature field parameters, the contour image and the forming force parameters and generates corresponding adjusting instructions.
Preferably, the temperature monitoring assembly comprises a thermal infrared imager, the vision camera assembly comprises a CMOS machine vision camera, and the pressure monitoring assembly comprises a pull pressure sensor.
Preferably, the system control module comprises a heating controller, a motion controller and a cooling controller respectively connected with the data processing unit;
the heating controller is also connected with the heating assembly and used for regulating and controlling the working state of the heating assembly based on the regulating instruction;
the cooling controller is also connected with the cooling assembly and used for regulating and controlling the working state of the cooling assembly based on the regulating instruction;
the motion controller is also connected with the driving device and used for regulating and controlling the working state of the driving device based on the regulating instruction.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
by applying the intelligent control system for the metal pipe dieless thermoforming provided by the embodiment of the invention, the temperature field, the deformation profile and the forming force of the metal pipe are monitored in real time in the metal pipe thermoforming process by arranging the data monitoring module and the system control module, so that the comprehensive data monitoring of the system is realized, and data support is provided for the subsequent defect analysis and process optimization; and the driving device in the mechanical driving module and the heating assembly and the cooling assembly in the heating and cooling module are regulated and controlled in real time based on the state parameters, so that closed-loop feedback regulation of motion and a temperature field is realized, the temperature, the forming force, the workpiece contour image and the like gradually approach preset process parameters, and intelligent control of the dieless thermoforming is realized. The invention realizes the closed-loop feedback adjustment of motion and temperature fields in the metal pipe hot forming process, and when the forming parameters captured in real time have deviation from the preset process parameters, the intelligent feedback adjustment is carried out in real time, and the invention has the advantages of short response time, good stability, high accuracy and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic block diagram of an intelligent control system for dieless thermoforming of metal tubing according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an intelligent control system for the dieless thermoforming of metal pipes according to an embodiment of the present invention;
the system comprises an induction heating device 1, a heating controller 2, a motion controller 3, an industrial control computer 4, a tension and pressure sensor 5, a thermal infrared imager 6, a CMOS machine vision camera 7, a water pump 8, a cooling controller 9, an annular ejector 10, a mechanical driving module 11 and an induction coil 12.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
The mould is the indispensable implementation part among the hot forming technology of traditional metal tubular product, nevertheless need set up different moulds to the tubular product of different models and use in coordination, and this kind of mode has certain limitation, and the equipment that uses is complicated partially, and the input cost is higher, and energy resource consumption is also great. In order to solve the problems, domestic scholars propose a method for forming the metal corrugated pipe in a die-free hot forming mode, the metal corrugated pipe can be formed in the die-free hot forming mode without the assistance of any die and a sealing system, the processing cost is greatly reduced, and in addition, the forming principle of local rapid heating and axial compression buckling is adopted, so the energy consumption and the forming force are both small. However, the dimensional accuracy and reliability of the metal corrugated pipe using the die-free hot forming method cannot be guaranteed, and the metal pipe may be seriously deformed and damaged due to overlarge pressure or overhigh temperature in the die-free hot forming process.
Example one
In order to solve the technical problems in the prior art, the embodiment of the invention provides an intelligent control system for the dieless thermoforming of a metal pipe.
FIG. 1 is a schematic block diagram of an intelligent control system for dieless thermoforming of metal tubing according to an embodiment of the present invention; FIG. 2 is a schematic structural diagram of an intelligent control system for the dieless thermoforming of metal pipes according to an embodiment of the present invention; referring to fig. 1 and 2, the intelligent control system for the metal pipe dieless thermoforming comprises a mechanical driving module 11, a heating and cooling module, a data monitoring module and a system control module.
The mechanical driving module 11 is mainly used for clamping a metal pipe and driving the metal pipe to move and deform so as to provide enough power for the movement and deformation of the metal pipe and control the feeding mode of the push head. The mechanical drive module 11 comprises a drive device, a transmission assembly and a clamping assembly. The driving assembly is in linkage connection with the transmission assembly, and the driving assembly and the transmission assembly can be selected according to the forming force, the forming path and the like; preferably, the driving device is a hydraulic machine or a servo motor, and the transmission assembly is a matched gear transmission assembly. The clamping assembly is arranged on the transmission assembly and is mainly used for fixedly clamping the metal pipe in the hot forming process; the clamping assembly can comprise various types of clamps, and the specific clamps can be selectively replaced according to the size and the stress form of the metal pipe. For example, in the dieless hot compression process, a clamp with a three-jaw chuck at one end and a thimble at the other end can be selected; in the die-free hot stretching process, a clamp with three-jaw chucks at two ends can be selected; for the die-free hot bending process, the clamp with the three-jaw chuck at one end and the rotating arm at the other end can be selected as the clamping assembly, and the clamping assemblies are all in the prior art. It should be noted that the driving assembly, the transmission assembly and the clamp in the clamping assembly may also be of other structures, and the details thereof are not repeated herein.
The heating and cooling module is mainly used for rapidly softening, cooling and shaping the local part of the metal pipe. The metal pipe forming device comprises a heating assembly and a cooling assembly, wherein the heating assembly is used for heating the local position of the metal pipe in a forming area, and the cooling assembly is used for cooling the local position of the metal pipe in the forming area. It should be noted that the local position of the metal pipe to be heat-treated may be plural. A certain position on a moving path of a metal pipe driven by a transmission mechanism is set as a forming area, the middle position of the forming area is set as a heating deformation station, positions away from two ends of the heating deformation station in the forming area by preset distances are set as cooling stations, and the metal pipe installed on a transmission assembly can penetrate through the heating deformation station and the cooling station along with the movement of the transmission assembly. Furthermore, the heating assembly comprises an induction heating device 1 and an induction coil 12, the induction coil 12 is connected with the induction heating device 1, and the induction coil 12 surrounds the metal pipe and is arranged at the heating deformation station so as to be used for rapidly heating the part, corresponding to the heating deformation station, of the metal pipe under the control of the induction heating device 1, so that the metal pipe is rapidly softened, and the induction deformation occurs. It should be noted that the dimensions of the induction coil 12 can be selected according to the heating width and the diameter of the pipe; meanwhile, the heating assembly can also be arranged into a local heating device in other reasonable heating forms, and the invention of the embodiment of the invention is not disclosed herein, so the detailed description thereof is omitted. The cooling assembly comprises a water pump 8 and two annular ejectors 10, the two annular ejectors 10 are respectively connected with the water pump 8, and the two annular ejectors 10 are respectively arranged at cooling stations at two ends of the heating deformation station. The annular ejector 10 and the water pump 8 are used for realizing cooling and shaping of the pipe in the deformed area and preventing the formed pipe from deforming again. The distribution and the acting time of the heating deformation station and the cooling station are reasonably controlled to carry out effective heat treatment, and the mechanical property of the formed workpiece is improved.
The data monitoring module is mainly used for collecting the state parameters of the metal pipe in real time, analyzing and processing the state parameters, generating corresponding adjusting instructions and sending the adjusting instructions to the system control module. The data monitoring module comprises a data processing unit, a temperature monitoring assembly, a visual camera assembly and a pressure monitoring assembly. The temperature monitoring assembly, the visual camera shooting assembly and the pressure monitoring assembly are respectively connected with the data processing unit. The temperature monitoring component is mainly used for monitoring the temperature field parameters of the metal pipe forming area and sending the temperature field parameters to the data processing unit; the visual camera shooting assembly is mainly used for obtaining a contour image of a metal pipe forming area and sending the contour image to the data processing unit; in order to monitor the temperature and the profile of the metal pipe in the hot forming process in real time, the temperature monitoring assembly and the visual camera assembly are arranged corresponding to a heating deformation station. Further preferably, the temperature monitoring component can be selected from a thermal infrared imager 6, and the visual camera component can be selected from a CMOS machine vision camera 7. The thermal infrared imager 6 monitors the temperature field change of the surface of the pipe during forming, and the CMOS machine vision camera 7 shoots the profile picture of the metal pipe during deformation and is used for generating a profile image at each moment, wherein the profile image comprises the real-time shape and size of a deformation area of the metal pipe. The pressure monitoring component is mainly used for monitoring the forming force parameters borne by the metal pipe and sending the forming force parameters to the data processing unit; the pressure monitoring assembly can be arranged between the metal pipe and the clamp, and can monitor the change of the forming force in the hot forming process in real time. Further preferably, the pressure monitoring assembly comprises a pull pressure sensor 5. The tension and pressure sensor 5 monitors the change of the forming force during the process. The data processing unit is mainly used for analyzing and processing the temperature field parameters, the contour images and the forming force parameters and generating corresponding adjusting instructions. Further preferably, the data processing unit is an industrial control computer 4, the industrial control computer 4 receives data correspondingly transmitted by the thermal infrared imager 6, the tension and pressure sensor 5 and the CMOS machine vision camera 7, analyzes and processes the data to generate a corresponding adjusting instruction as an adjusting instruction, and the specific industrial control computer 4 identifies and captures deviation values of the temperature field parameter, the profile image and the forming force parameter and corresponding preset contrast process parameters respectively, and adjusts the instruction based on the deviation values for subsequent real-time feedback adjustment.
The system control module is mainly used for regulating and controlling the mechanical driving module 11 and the heating and cooling module according to the regulating instruction. The system control module specifically comprises a heating controller 2, a motion controller 3 and a cooling controller 9, wherein the heating controller 2, the motion controller 3 and the cooling controller 9 are respectively connected with the data processing unit so as to receive the adjusting instruction correspondingly sent by the data processing unit. Further, the heating controller 2 is also connected with the heating assembly and is used for regulating and controlling the working state of the heating assembly based on the regulating instruction correspondingly sent by the data processing unit; the cooling controller 9 is also connected with the cooling assembly and is used for regulating and controlling the working state of the cooling assembly based on the regulating instruction correspondingly sent by the data processing unit; the motion controller 3 is also connected with the driving device and is used for regulating and controlling the working state of the driving device based on the regulating instruction correspondingly sent by the data processing unit.
In order to further explain the working mode of the intelligent control system for the dieless thermal forming of the metal pipe in the embodiment of the invention, the embodiment describes a specific implementation overall process of the dieless thermal compression process as follows.
The original diameter of the metal pipe is set to be 20mm, and the wall thickness is set to be 1 mm. Selecting a driving device and a transmission assembly according to the size, the stress form, the forming force and the forming path of the metal pipe, and selecting a clamp with a three-jaw chuck at one end and a conical thimble at the other end; selecting an induction coil 12 with the inner diameter of 40mm and the width of 5 mm; the distance between the movement adjusting induction coil 12 and the two ring injectors 10 is 10 mm.
Inputting initial working parameters of the mechanical driving module 11, the induction heating equipment 1 and the water pump 8 on the industrial control computer 4 according to process requirements; specifically, the initial working power of the induction heating apparatus 1 is set to 18 KW; the compression ratio of the metal pipe is 1.7 (the compression ratio is equal to the ratio of the movement speed V1 of the clamping end of the chuck to the initial movement speed V2 of the clamping end of the thimble, and the directions of V1 and V2 are the same); the temperature field range of a metal pipe forming area, namely between the coil and the ejector, is 200-1100 ℃; the height of the corrugations to be formed is set to be 5 mm. And adjusting the irradiation angles and positions of the thermal infrared imager 6 and the CMOS machine vision camera 7 to ensure that the temperature field and the workpiece outline of the forming area can be captured.
And starting the mechanical driving module 11 and the heating and cooling module, wherein the mechanical driving module 11 drives the metal pipe to move along a preset direction and moves to the forming area at the first local position to stop. The thermal infrared imager 6 monitors the temperature distribution of the forming area in real time, when the temperature field of the forming area is close to 200-1100 ℃, the industrial control computer 4 starts to perform intelligent feedback adjustment according to monitoring data, and the working power of the induction heating equipment 1 and the water pump 8 is changed by adjusting the heating controller 2 and the cooling controller 9. And when the temperature field just reaches 200-1100 ℃, starting the mechanical driving module 11. The push heads at two ends of the metal pipe are fed at a preset speed, and the local area of the metal pipe heated and softened is subjected to axial pressure due to V1 being greater than V2, so that buckling deformation is outwards generated, and corrugations are generated. The CMOS machine vision camera 7 continuously shoots the outline picture of the workpiece in the forming area and sends the outline picture to the industrial control computer 4 for analysis, the ripple height of the workpiece is extracted, the real-time captured ripple height value is compared with 5mm of a preset value, and under the condition that the ratio of the push head feeding speeds on two sides is not changed and the temperature field of the forming area is stable, the ripple is controlled to be cooled and shaped in the working area of the annular ejector 10 when the ripple height just reaches 5mm, and deformation does not occur any more. After the first corrugation is generated, the high-temperature area is transferred to the next local position of the metal pipe, so that the intelligent control of heating-deformation-cooling is circulated, and the continuous metal corrugated pipe is formed.
In the whole forming process, the tension and pressure sensor 5 continuously records the forming force, and when the forming force monitored in real time is greater than a preset value (namely the bearing limit value of the device), the industrial control computer 4 can immediately stop all module components in work to prevent the device from being overloaded and causing danger.
By applying the intelligent control system for the metal pipe dieless thermoforming provided by the embodiment of the invention, the temperature field, the deformation profile and the forming force of the metal pipe are monitored in real time in the metal pipe thermoforming process by arranging the data monitoring module and the system control module, so that the comprehensive data monitoring of the system is realized, and data support is provided for the subsequent defect analysis and process optimization; and the driving device in the mechanical driving module and the heating assembly and the cooling assembly in the heating and cooling module are regulated and controlled in real time based on the state parameters, so that closed-loop feedback regulation of motion and a temperature field is realized, the temperature, the forming force, the workpiece contour image and the like gradually approach preset process parameters, and intelligent control of the dieless thermoforming is realized. The invention realizes the closed-loop feedback adjustment of motion and temperature fields in the metal pipe hot forming process, and when the forming parameters captured in real time have deviation from the preset process parameters, the intelligent feedback adjustment is carried out in real time, and the invention has the advantages of short response time, good stability, high accuracy and the like.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a metal tubular product does not have mould hot forming intelligence control system which characterized in that includes:
the mechanical driving module is used for clamping the metal pipe and driving the metal pipe to move and deform;
the heating and cooling module is used for rapidly softening, cooling and shaping the local part of the metal pipe;
the data monitoring module is used for acquiring the state parameters of the metal pipe in real time, analyzing and processing the state parameters, generating corresponding adjusting instructions and sending the adjusting instructions to the system control module;
and the system control module is used for regulating and controlling the mechanical driving module and the heating and cooling module according to the regulating instruction.
2. The system of claim 1, wherein the mechanical drive module comprises a drive device, a clamp assembly, and a transmission assembly connected between the drive device and the clamp assembly.
3. The system of claim 2, wherein the drive means is a hydraulic cylinder or a servo motor.
4. The system of claim 2, wherein the clamping assembly comprises a clamp having a three-jaw chuck at one end and a thimble at the other end and a clamp having three-jaw chucks at both ends.
5. The system of claim 2, wherein the heating and cooling module comprises a heating assembly for heating a localized position of the metal tube in the forming zone and a cooling assembly for cooling the localized position of the metal tube after it has been heated and formed.
6. The system of claim 5, wherein the heating assembly comprises an induction heating device and an induction coil connected, the induction coil disposed around the metal tubing.
7. The system of claim 6, wherein the cooling assembly comprises a water pump and two ring sprayers respectively connected to the water pump, the ring sprayers being disposed around the metal tubing, the two ring sprayers being disposed on opposite sides of the induction coil.
8. The system of claim 5, wherein the data monitoring module comprises a data processing unit, and a temperature monitoring component, a visual camera component and a pressure monitoring component which are respectively connected with the data processing unit,
the temperature monitoring assembly is used for monitoring the temperature field parameters of the metal pipe forming area and sending the temperature field parameters to the data processing unit;
the visual camera shooting assembly is used for acquiring a contour image of the metal pipe forming area and sending the contour image to the data processing unit;
the pressure monitoring assembly is used for monitoring forming force parameters borne by the metal pipe and sending the forming force parameters to the data processing unit;
and the data processing unit analyzes and processes the temperature field parameters, the contour image and the forming force parameters and generates corresponding adjusting instructions.
9. The system of claim 8, wherein the temperature monitoring assembly comprises a thermal infrared imager, the vision camera assembly comprises a CMOS machine vision camera, and the pressure monitoring assembly comprises a pull pressure sensor.
10. The system of claim 8, wherein the system control module comprises a heating controller, a motion controller, and a cooling controller respectively connected to the data processing unit;
the heating controller is also connected with the heating assembly and used for regulating and controlling the working state of the heating assembly based on the regulating instruction;
the cooling controller is also connected with the cooling assembly and used for regulating and controlling the working state of the cooling assembly based on the regulating instruction;
the motion controller is also connected with the driving device and used for regulating and controlling the working state of the driving device based on the regulating instruction.
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| CN201911134245.2A CN110814184A (en) | 2019-11-19 | 2019-11-19 | Intelligent control system for metal pipe dieless hot forming |
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Application publication date: 20200221 |