CN111660283A - Manipulator base of two dimension of high stability motion - Google Patents
Manipulator base of two dimension of high stability motion Download PDFInfo
- Publication number
- CN111660283A CN111660283A CN202010660958.9A CN202010660958A CN111660283A CN 111660283 A CN111660283 A CN 111660283A CN 202010660958 A CN202010660958 A CN 202010660958A CN 111660283 A CN111660283 A CN 111660283A
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- slide rod
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- 230000033001 locomotion Effects 0.000 title claims abstract description 36
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 3
- 230000013011 mating Effects 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses a manipulator base with high stability and two-dimensional motion, which comprises a cylinder bottom plate, a concave lifting plate, a motor, a cylinder and two cylinder side baffles, wherein the cylinder and the two cylinder side baffles are fixedly arranged on the cylinder bottom plate; a hollow rotating platform of the motor is fixedly arranged on the concave lifting plate; the piston rod of the cylinder upwards passes through the piston rod slide hole of the cylinder top plate and is fixedly connected with the bottom of the concave lifting plate, and the slide rod upwards passes through the slide rod through hole of the cylinder top plate and is fixedly connected with the bottom of the concave lifting plate. The utility model provides a manipulator base of two dimension motion, when ventilating for the air inlet of cylinder, the piston rod upward movement of cylinder drives spill lifter plate upward movement in the time, and the rotation of circumference can be realized to the hollow platform of revolving on the motor simultaneously, is a simple structure and stable manipulator base.
Description
Technical Field
The invention relates to a manipulator base with high stability and two-dimensional motion, and belongs to the field of mechanical automation.
Background
The robot generally performs three-dimensional movements, which can be roughly divided into three modes: (1) the motion of the xyz three-axis coordinate is adopted, (2) the motion of a cylindrical coordinate system is adopted, and (3) the motion of a spherical coordinate system is adopted. The first two are most commonly used, in which the cylindrical coordinate system is subject to large torque during axial rotation, so that the structure is subject to shaking.
Disclosure of Invention
To the above-mentioned technical problem that prior art exists, the aim at of this application provides a manipulator base of two dimension motion, and the manipulator base stable in structure of this application, steerable manipulator realize two dimension motions, improve the precision and the stability of manipulator operation greatly.
The manipulator base with the high stability and the two-dimensional motion is characterized by comprising an air cylinder bottom plate, a concave lifting plate, a motor, an air cylinder and two air cylinder side baffles, wherein the air cylinder and the two air cylinder side baffles are fixedly arranged on the air cylinder bottom plate; a hollow rotating platform of the motor is fixedly arranged on the concave lifting plate;
the cylinder top plate is provided with a piston rod sliding hole matched with a piston rod of the cylinder, and is also provided with slide rod through holes matched with the slide rods, and the number of the slide rod through holes is the same as that of the slide rods; a piston rod of the air cylinder upwards penetrates through a piston rod sliding hole of an air cylinder top plate and is fixedly connected with the bottom of the concave lifting plate, meanwhile, a sliding rod which is arranged in the fixed ball sliding block in a sliding and penetrating mode upwards penetrates through a sliding rod through hole of the air cylinder top plate and is fixedly connected with the bottom of the concave lifting plate, and the concave lifting plate is horizontally and fixedly installed right above the air cylinder top plate;
when the piston rod of cylinder drives the spill lifter plate and reciprocates, the slide bar of spill lifter plate bottom fixed connection carries out steady upper and lower slip in the slide bar through-hole of cylinder roof and fixed ball slider to guarantee the stability of spill lifter plate removal process.
The manipulator base with the high stability and the two-dimensional motion is characterized in that a first cylinder limit stop and a second cylinder limit stop are fixedly arranged on a cylinder bottom plate, the first cylinder limit stop and the second cylinder limit stop are both in an L-shaped structure, and the first cylinder limit stop and the second cylinder limit stop surround the cylinder bottom plate to form a square limit frame matched with the shape of the bottom of a cylinder; the bottom of the cylinder is matched and tightly inserted in the square limiting frame, so that the cylinder is fixedly installed on the bottom plate of the cylinder; one side of the square limiting frame is also provided with an opening so that the air cylinder is connected with an air inlet pipe.
A manipulator base of two dimension of high stability motion, the inboard edge in every cylinder side direction baffle top of its characterized in that all is provided with 1 ladder groove, cylinder roof level is placed between the inboard ladder groove of two cylinder side direction baffles, and is connected fixedly cylinder roof and two cylinder side direction baffles through the bolt.
The manipulator base capable of realizing high-stability two-dimensional movement is characterized in that a sliding rod bearing is fixedly installed below each sliding rod through hole of the cylinder top plate, the inner diameter of each sliding rod bearing is the same as the inner diameter of each fixed ball sliding block and the diameter of each sliding rod through hole, and sliding rods which are arranged in the fixed ball sliding blocks in a sliding and penetrating mode upwards fit and penetrate through the sliding rod bearings, then upwards penetrate through the sliding rod through holes of the cylinder top plate and are fixedly connected with the bottoms of the concave lifting plates.
The manipulator base capable of realizing high-stability two-dimensional movement is characterized in that male threads are arranged at the upper end of the sliding rod, matched threaded holes are formed in the concave lifting plate, and the upper end of the sliding rod is in matched threaded connection with the threaded holes in the concave lifting plate and is fixed through the matched nuts.
The manipulator base capable of realizing high-stability two-dimensional motion is characterized in that the cylinder top plate is of an I-shaped plate structure, and the I-shaped plate comprises 4 angle ends; the cylinder roof center be equipped with one the piston rod slide opening, be equipped with 4 on the cylinder roof slide bar through-hole, all wear to be equipped with 1 slide bar on every slide bar through-hole, 4 slide bar through-holes set up respectively in 4 angles of cylinder roof and serve, just 4 slide bar through-holes are positive tetragonal 4 summits and arrange and distribute.
The manipulator base of two dimension movements of a high stability, its characterized in that every slide bar wears outward to be equipped with 2 fixed ball sliders that are close to closely.
The manipulator base of high stability two dimension motion, its characterized in that the spill lifter plate upper surface is equipped with the concave groove, the cavity revolving stage cooperation card of motor is in the concave groove of spill lifter plate upper surface, and is equipped with the screw hole on the cavity revolving stage of motor, through the bolt that matches with the cavity revolving stage fixed mounting of motor in the concave groove of spill lifter plate upper surface.
The application provides a manipulator base of two dimension of high stability motion, when ventilating for the air inlet of cylinder, the piston rod upward movement of cylinder drives spill lifter plate upward movement when the piston rod upward movement, realizes the motion of Z direction. Meanwhile, the hollow rotating platform of the motor can be clamped on the concave lifting plate and fixed by bolts, and the hollow rotating platform on the motor can realize circumferential rotation, so that the manipulator base is simple and stable in structure.
Drawings
FIG. 1 is a perspective view of a high stability two dimensional kinematic manipulator base of the present invention;
FIG. 2 is a front view of the high stability two dimensional motion robot base of the present invention;
FIG. 3 is a side view of the high stability two dimensional motion robot base of the present invention;
in the figure: 1-cylinder bottom plate, 2-first cylinder limit stop, 3-second cylinder limit stop, 4-cylinder, 5-cylinder side baffle, 6-slide bar, 7-fixed ball slide block, 8-slide bar bearing, 9-cylinder top plate, 10-concave lifting plate, and 11-motor.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention. The present invention is described in detail below with reference to the attached drawings.
Example (b): compare FIGS. 1-3
The utility model provides a manipulator base of two dimension movements of high stability, includes cylinder bottom plate 1, spill lifter plate 10, motor 11 and fixes a cylinder 4 and two cylinder side direction baffles 5 that set up on cylinder bottom plate 1. In the comparison figure 1, two cylinder side direction baffle 5 symmetry are installed in the left and right sides of cylinder 4, a cylinder roof 9 of fixed mounting between the inboard edge in two cylinder side direction baffle 5 tops, 5 inboard every cylinder side direction baffle is close to the equal fixed mounting in cylinder roof 9 department and is equipped with fixed ball slider 7, slide bar 6 is worn to be equipped with in the fixed ball slider 7 internal fit slip, be equipped with the through-hole that matches with 6 external diameters of slide bar on the fixed ball slider 7 promptly, slide bar 6 cooperation is worn to establish in the through-hole of fixed ball slider 7.
A piston rod sliding hole matched with a piston rod of the air cylinder 4 is formed in the air cylinder top plate 9, slide rod through holes matched with the slide rods 6 are further formed in the air cylinder top plate 9, and the number of the slide rod through holes is the same as that of the slide rods 6; a piston rod of the air cylinder 4 upwards penetrates through a piston rod sliding hole of an air cylinder top plate 9 and is fixedly connected with the bottom of the concave lifting plate 10, meanwhile, a sliding rod 6 which is slidably arranged in the fixed ball sliding block 7 in a penetrating mode upwards penetrates through a sliding rod through hole of the air cylinder top plate 9 and is fixedly connected with the bottom of the concave lifting plate 10, and the concave lifting plate 10 is horizontally and fixedly installed right above the air cylinder top plate 9; the upper surface of the concave lifting plate 10 is provided with a concave groove, the hollow rotating platform of the motor 11 is clamped in the concave groove on the upper surface of the concave lifting plate 10 in a matching manner, a threaded hole is formed in the hollow rotating platform of the motor 11, and the hollow rotating platform of the motor 11 is fixedly arranged in the concave groove on the upper surface of the concave lifting plate 10 through a matched bolt.
Referring to fig. 1 and 2, a plurality of threaded holes are formed in the cylinder bottom plate 1, and both the first cylinder limit stop 2 and the second cylinder limit stop 3 can be connected to the cylinder bottom plate 1 by bolts. The bottom of the cylinder 4 is square, and in order to fix the cylinder 4 on the cylinder bottom plate 1, the following steps are performed: the first cylinder limit stop 2 and the second cylinder limit stop 3 are both in L-shaped structures, and the first cylinder limit stop 2 and the second cylinder limit stop 3 are arranged on the cylinder bottom plate 1 in a surrounding manner to form a square limit frame matched with the bottom shape of the cylinder 4; the bottom of the cylinder 4 is matched and tightly inserted in the square limiting frame, so that the cylinder 4 is fixedly installed on the cylinder bottom plate 1.
In addition, in order to facilitate the connection of the lower air inlet of the air cylinder 4 with an air inlet pipe, an opening needs to be punched on the first air cylinder limit stop 2 or the second air cylinder limit stop 3, and therefore an opening is formed in one side of the square limit frame. The air inlet pipe can pass through the opening on one side of the square limiting frame to be connected with the lower air inlet of the air cylinder 4.
The cylinder 4 is divided into an upper port and a lower port, namely an upper air inlet and a lower air inlet. The lower air inlet of the air cylinder 4 is filled with air to push the piston rod to rise, the upper air inlet of the air cylinder 4 is filled with air to push the piston rod to fall, and the rising and falling of the piston rod of the air cylinder are controlled.
Every 5 inboard edges in top of cylinder side direction baffle all are provided with 1 ladder groove, and 9 levels of cylinder roof are placed between the ladder groove of two 5 inboard cylinder side direction baffles, can prevent effectively that the piston rod of cylinder 4 from falling to the minimum time, and the motor forms the interference with the cylinder roof. The cylinder top plate 9 and the two cylinder side baffles 5 are fixedly connected through bolts.
Referring to fig. 1, the cylinder top plate 9 is an i-shaped plate structure, and the i-shaped plate includes 4 corner ends; the cylinder roof 9 center be equipped with one the piston rod slide opening, be equipped with 4 on the cylinder roof 9 the slide bar through-hole, all wear to be equipped with 1 slide bar 6 on every slide bar through-hole, 4 slide bar through-holes set up respectively in 4 angles of cylinder roof 9 and serve, just 4 slide bar through-holes are four square 4 summits and distribute.
A slide rod bearing 8 is fixedly installed below each slide rod through hole of the cylinder top plate 9, the inner diameter of each slide rod bearing 8 is the same as the inner diameter of the fixed ball slide block 7 and the diameter of each slide rod through hole, and after the slide rods 6 which are slidably arranged in the fixed ball slide block 7 in a penetrating mode upwards penetrate through the slide rod bearings 8 in a matching mode, the slide rods upwards penetrate through the slide rod through holes of the cylinder top plate 9 and are fixedly connected with the bottom of the concave lifting plate 10. The sliding rod bearing 8 can resist the reaction torque caused by driving the whole mechanism when the motor rotates, and the stability of the whole mechanism is enhanced. Referring to fig. 1, 4 slide rod bearings 8 can be respectively fixed below the 4 corner ends of the cylinder top plate by bolts.
In a comparison graph 3, the upper end of the sliding rod 6 is provided with a male thread, the concave lifting plate 10 is provided with a matched threaded hole, the upper end of the sliding rod 6 is in matched threaded connection with the threaded hole in the concave lifting plate 10 and is fixed through a matched nut, and the sliding rod 6 is prevented from being connected with the concave lifting plate 10 loosely.
In comparison with fig. 1-2, each slide bar 6 is externally provided with 2 fixed ball slide blocks 7 which are closely adjacent to each other.
When a piston rod of the air cylinder 4 drives the concave lifting plate 10 to move up and down, a slide rod 6 fixedly connected with the bottom of the concave lifting plate 10 slides up and down stably in a slide rod through hole of an air cylinder top plate 9, a slide rod bearing 8 and a fixed ball slide block 7, so that the stability of the concave lifting plate 10 in the moving process is ensured.
The hollow rotating platform of the motor converts the original motor into the rotation of the inner ring of the rotating platform through the speed reducer, and the hollow rotating platform of the motor can be matched and connected with a manipulator structure moving in another dimension, so that the hollow rotating platform can be used as a carrier of other manipulator structures, and the development and interchangeability of the manipulator structures are greatly enhanced.
The statements in this specification merely set forth a list of implementations of the inventive concept and the scope of the present invention should not be construed as limited to the particular forms set forth in the examples.
Claims (8)
1. The manipulator base is characterized by comprising a cylinder bottom plate (1), a concave lifting plate (10), a motor (11), a cylinder (4) and two cylinder side baffles (5), wherein the cylinder (4) and the two cylinder side baffles (5) are fixedly arranged on the cylinder bottom plate (1), the two cylinder side baffles (5) are symmetrically arranged on two sides of the cylinder (4), a cylinder top plate (9) is fixedly arranged between the inner side edges of the tops of the two cylinder side baffles (5), a fixed ball sliding block (7) is fixedly arranged on the inner side of each cylinder side baffle (5) close to the cylinder top plate (9), and a sliding rod (6) is arranged in the fixed ball sliding block (7) in a matched and sliding mode; a hollow rotating platform of a motor (11) is fixedly arranged on the concave lifting plate (10);
a piston rod sliding hole matched with a piston rod of the air cylinder (4) is formed in the air cylinder top plate (9), slide rod through holes matched with the slide rods (6) are further formed in the air cylinder top plate (9), and the number of the slide rod through holes is the same as that of the slide rods (6); a piston rod of the air cylinder (4) upwards penetrates through a piston rod sliding hole of an air cylinder top plate (9) and is fixedly connected with the bottom of the concave lifting plate (10), meanwhile, a sliding rod (6) which is slidably arranged in the fixed ball sliding block (7) in a penetrating way upwards penetrates through a sliding rod through hole of the air cylinder top plate (9) and is fixedly connected with the bottom of the concave lifting plate (10), and the concave lifting plate (10) is horizontally and fixedly arranged right above the air cylinder top plate (9);
when a piston rod of the air cylinder (4) drives the concave lifting plate (10) to move up and down, a slide rod (6) fixedly connected with the bottom of the concave lifting plate (10) slides up and down stably in a slide rod through hole of an air cylinder top plate (9) and a fixed ball slide block (7), so that the stability of the moving process of the concave lifting plate (10) is ensured.
2. The manipulator base with high stability and two-dimensional motion is characterized in that a first cylinder limit stop (2) and a second cylinder limit stop (3) are fixedly arranged on a cylinder base plate (1), the first cylinder limit stop (2) and the second cylinder limit stop (3) are both in an L-shaped structure, and the first cylinder limit stop (2) and the second cylinder limit stop (3) are arranged on the cylinder base plate (1) in a surrounding manner to form a square limit frame matched with the shape of the bottom of a cylinder (4); the bottom of the air cylinder (4) is matched and tightly inserted into the square limiting frame, so that the air cylinder (4) is fixedly installed on the air cylinder bottom plate (1); one side of the square limiting frame is also provided with an opening so that the air cylinder (4) is connected with an air inlet pipe.
3. The manipulator base with high stability and two-dimensional motion as claimed in claim 1, wherein 1 step groove is formed in the inner edge of the top of each cylinder side baffle (5), the cylinder top plate (9) is horizontally placed between the step grooves in the inner sides of the two cylinder side baffles (5), and the cylinder top plate (9) and the two cylinder side baffles (5) are fixedly connected through bolts.
4. The manipulator base with high stability and two-dimensional motion as claimed in claim 1, wherein a slide rod bearing (8) is fixedly installed below each slide rod through hole of the cylinder top plate (9), the inner diameter of the slide rod bearing (8) is the same as the inner diameter of the fixed ball slide block (7) and the diameter of the slide rod through hole, and the slide rod (6) which is slidably inserted in the fixed ball slide block (7) upwards penetrates through the slide rod bearing (8) in a matched manner, then upwards penetrates through the slide rod through hole of the cylinder top plate (9) and is fixedly connected with the bottom of the concave lifting plate (10).
5. The manipulator base with high stability and two-dimensional motion is characterized in that the upper end of the slide rod (6) is provided with male threads, the concave lifting plate (10) is provided with matched threaded holes, and the upper end of the slide rod (6) is in matched threaded connection with the threaded holes in the concave lifting plate (10) and is fixed through matched nuts.
6. The manipulator base with high stability and two-dimensional motion as claimed in claim 1, wherein the cylinder top plate (9) is of an I-shaped plate structure, and the I-shaped plate comprises 4 angular ends; the center of the cylinder top plate (9) is provided with one piston rod slide hole, 4 slide rod through holes are formed in the cylinder top plate (9), 1 slide rod (6) is arranged on each slide rod through hole in a penetrating mode, 4 slide rod through holes are arranged at 4 corners of the cylinder top plate (9) respectively, and the 4 slide rod through holes are arranged on 4 vertexes of a regular quadrangle.
7. The manipulator base with high stability and two-dimensional motion as claimed in claim 1, wherein each slide rod (6) is externally provided with 2 fixed ball sliders (7) closely adjacent to each other.
8. The manipulator base with high stability and two-dimensional motion as claimed in claim 1, wherein the concave lifting plate (10) has a concave groove on its upper surface, the hollow rotating platform of the motor (11) is engaged and clamped in the concave groove on the upper surface of the concave lifting plate (10), and the hollow rotating platform of the motor (11) has a threaded hole, and the hollow rotating platform of the motor (11) is fixedly mounted in the concave groove on the upper surface of the concave lifting plate (10) by means of a mating bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010660958.9A CN111660283A (en) | 2020-07-10 | 2020-07-10 | Manipulator base of two dimension of high stability motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010660958.9A CN111660283A (en) | 2020-07-10 | 2020-07-10 | Manipulator base of two dimension of high stability motion |
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| Publication Number | Publication Date |
|---|---|
| CN111660283A true CN111660283A (en) | 2020-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010660958.9A Pending CN111660283A (en) | 2020-07-10 | 2020-07-10 | Manipulator base of two dimension of high stability motion |
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| Country | Link |
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| CN (1) | CN111660283A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013102350A1 (en) * | 2012-01-06 | 2013-07-11 | 沈阳新松机器人自动化股份有限公司 | Vertical column structure |
| KR20140078918A (en) * | 2012-12-18 | 2014-06-26 | 박요섭 | Transfer apparatus |
| CN203833554U (en) * | 2014-05-20 | 2014-09-17 | 山东科技大学 | Novel two-degree-of-freedom pneumatic telescopic structure |
| CN105600382A (en) * | 2015-10-29 | 2016-05-25 | 苏州凡特斯测控科技有限公司 | Semi-automatic rotary turnover mechanism |
| CN205290889U (en) * | 2015-12-31 | 2016-06-08 | 东旭科技集团有限公司 | Tectorial membrane glass substrate for deburring rotation type adsorb strutting arrangement |
| CN106736359A (en) * | 2016-12-21 | 2017-05-31 | 泉州市联控自动化科技有限公司 | A kind of jacking rotating mechanism |
| CN108503206A (en) * | 2018-06-29 | 2018-09-07 | 安徽锐利玻璃机械有限公司 | A kind of glass cutting machine facilitating fastening glass panels material |
| CN210527823U (en) * | 2019-07-24 | 2020-05-15 | 东莞市龙丰电气工程有限公司 | Rotary grabbing mechanism |
| CN212287627U (en) * | 2020-07-10 | 2021-01-05 | 浙江工业大学 | Manipulator base of two-dimensional motion |
-
2020
- 2020-07-10 CN CN202010660958.9A patent/CN111660283A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013102350A1 (en) * | 2012-01-06 | 2013-07-11 | 沈阳新松机器人自动化股份有限公司 | Vertical column structure |
| KR20140078918A (en) * | 2012-12-18 | 2014-06-26 | 박요섭 | Transfer apparatus |
| CN203833554U (en) * | 2014-05-20 | 2014-09-17 | 山东科技大学 | Novel two-degree-of-freedom pneumatic telescopic structure |
| CN105600382A (en) * | 2015-10-29 | 2016-05-25 | 苏州凡特斯测控科技有限公司 | Semi-automatic rotary turnover mechanism |
| CN205290889U (en) * | 2015-12-31 | 2016-06-08 | 东旭科技集团有限公司 | Tectorial membrane glass substrate for deburring rotation type adsorb strutting arrangement |
| CN106736359A (en) * | 2016-12-21 | 2017-05-31 | 泉州市联控自动化科技有限公司 | A kind of jacking rotating mechanism |
| CN108503206A (en) * | 2018-06-29 | 2018-09-07 | 安徽锐利玻璃机械有限公司 | A kind of glass cutting machine facilitating fastening glass panels material |
| CN210527823U (en) * | 2019-07-24 | 2020-05-15 | 东莞市龙丰电气工程有限公司 | Rotary grabbing mechanism |
| CN212287627U (en) * | 2020-07-10 | 2021-01-05 | 浙江工业大学 | Manipulator base of two-dimensional motion |
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Application publication date: 20200915 |
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