CN112514798A - Milk cup storage mechanism - Google Patents
Milk cup storage mechanism Download PDFInfo
- Publication number
- CN112514798A CN112514798A CN202011391184.0A CN202011391184A CN112514798A CN 112514798 A CN112514798 A CN 112514798A CN 202011391184 A CN202011391184 A CN 202011391184A CN 112514798 A CN112514798 A CN 112514798A
- Authority
- CN
- China
- Prior art keywords
- milk
- teat cup
- cylinder
- movable pulley
- receiving
- 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
- 210000004080 milk Anatomy 0.000 title claims abstract description 90
- 239000008267 milk Substances 0.000 title claims abstract description 90
- 235000013336 milk Nutrition 0.000 title claims abstract description 90
- 230000007246 mechanism Effects 0.000 title claims abstract description 54
- 210000003437 trachea Anatomy 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims 1
- 235000013365 dairy product Nutrition 0.000 abstract description 2
- 241000283690 Bos taurus Species 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 238000005086 pumping Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000481 breast Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
Abstract
The invention discloses a milk cup containing mechanism, which belongs to the technical field of automatic equipment of a dairy farm and comprises a milk cup containing frame, wherein a mouth of a milk cup is vertically placed on the milk cup containing frame downwards. The milk cup in the milk cup containing mechanism has a larger movement stroke, so that the milk cup containing mechanism is suitable for being matched with a mechanical arm to automatically milk the milk cow.
Description
Technical Field
The invention belongs to the technical field of automatic equipment of dairy farms, and particularly relates to a milk cup accommodating mechanism for milking cows.
Background
At present, the automation degree of milking of a domestic large farm is low, the milking process is a dynamic process, and the traditional automation equipment field is not wanted. The automatic milking process relates to a milk cow with vital characteristics, and during the milking process, the artificial milking needs to be simulated as much as possible to improve the comfort of the milk, and meanwhile, the milking efficiency needs to be considered.
Along with the increase of labor cost, related automatic equipment is urgently needed in domestic large-scale pastures, and equipment for efficiently milking cows can be realized. The chinese patent application CN111699976A discloses a milk milking device, which is used for milking milk under a milk lying device, and needs to manually guide the cows to lie down and go up and down stairs, and has low milking efficiency and different posture from the traditional manual milking posture, and puts high requirements on compliance of the cows.
Chinese patent CN210226483U discloses a teat cup tray for a milking robot, in which the moving stroke of the teat cups is limited and the automation degree of milking is limited.
Disclosure of Invention
The invention aims at the technical problem and provides the teat cup containing mechanism, and the teat cups in the teat cup containing mechanism have larger movement stroke, so that the teat cup containing mechanism is suitable for being matched with a mechanical arm to automatically milk cows.
The technical scheme adopted by the invention is as follows: the utility model provides a teatcup receiving mechanism, including the teatcup storage rack, the vertical placing of teatcup rim of a cup is at the teatcup storage rack down, drive mechanism sets up the one side at the teatcup storage rack, the cylinder is vertical to be installed in pulling the frame, drive mechanism is including pulling the frame, fixed pulley and movable pulley, the trachea connects, milk pipe joint all sets up the up end at pulling the frame, the fixed pulley rotates to be set up on pulling frame upper portion, the movable pulley support links to each other with the jar pole of cylinder, the movable pulley rotates to be installed on the movable pulley support, the cylinder drives the vertical motion of movable pulley, the trachea passes through the vacuum interface of teatcup in proper order, the fixed pulley, the movable pulley inserts the trachea and connects, milk flow siphunculus is through the milk channel interface of teatcup in proper order.
Furthermore, the milk collecting rack further comprises a guiding mechanism, the guiding mechanism is arranged between the milk cup collecting rack and the fixed pulley, the milk flow pipe sequentially enters the fixed pulley through the milk channel interface and the guiding mechanism of the milk cup, and the air pipe sequentially enters the fixed pulley through the vacuum interface and the guiding mechanism of the milk cup.
Furthermore, guiding mechanism includes two parallel arrangement's guide bar, and the cylinder cover is in the outside of guide bar, and trachea and milk circulation pipe are located between two guide bars.
The device further comprises a guide mechanism, wherein the guide mechanism comprises a guide sliding rail and a sliding block, the guide sliding rail is arranged on the traction frame along the movement direction of the cylinder rod in the cylinder, the sliding block is embedded on the guide sliding rail, the sliding block is connected with the cylinder rod in the cylinder through a connecting plate, and the sliding block is fixedly connected with the movable pulley support.
Furthermore, the slider is split type slider, the slider includes top shoe and lower slider, the lower slider with the jar pole of cylinder passes through the connecting plate and links to each other, and the top shoe links to each other with the movable pulley support, links firmly through the connecting axle between top shoe and the lower slider.
Further, the cylinder is a rodless cylinder.
Furthermore, the milk channel interface and the vacuum interface are both arranged on the upper end surface of the milk cup.
The milk collecting device is characterized by further comprising a containing disc, the lower end face of the containing disc is fixed to the upper end face of the milk cup, the containing disc is of a hollow structure, the milk channel interface and the vacuum interface are located inside the containing disc, the upper portion of the containing disc is provided with a through groove similar to a runway shape, and the middle portions of the milk circulating pipe and the air pipe penetrate through the through groove.
Further, the outer side of the upper part of the containing disc is provided with a boss shape.
Further, the rack is accomodate to the teatcup from the bottom down opens in proper order and has the manhole, accomodate the hole, and the aperture from the top down of manhole reduces gradually, accomodates the hole and is vertical through-hole, and the middle part of teatcup is run through and is accomodate the hole, and the lower part of teatcup sets up the fender ring, keeps off the ring and passes through the hole and be the profile modeling design.
The beneficial effect of this scheme: through the cooperation of fixed pulley and movable pulley, guarantee when not needing to milking that the teatcup is placing steadily and accomodate the frame at the teatcup, accomodate the frame with the teatcup and take out from the teatcup when milking, the motion stroke of teatcup is big, is adapted to automatic milking operation.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus of the present invention.
Fig. 2 is a left side view of fig. 1.
FIG. 3 is a schematic structural diagram of a movable pulley in the device of the present invention.
Fig. 4 is a schematic structural view of the mounting of the vertical rod and its upper part in the device of the present invention.
Fig. 5 is a schematic cross-sectional view of a teat cup holder in the arrangement according to the invention.
Fig. 6 is a schematic view of the structure of the teat cups in the arrangement according to the invention.
In the figure: 1. a cylinder; 2. a guide mechanism; 2-1, an upper sliding block; 2-2, a lower sliding block; 2-3, connecting the shaft; 2-4, connecting plates; 3. a tractor frame; 4. a gas pipe joint; 5. a milk tube connector; 6. a fixed pulley bracket; 7. a fixed pulley; 8. a guide mechanism; 8-1, a guide rod; 8-2, a roller; 9. milk cups; 9-1, a milk channel interface; 9-2. vacuum interface; 9-3, a storage disc; 9-4, a through groove; 9-5, a baffle ring; 10. a teat cup accommodating rack; 10-1, an entrance hole; 10-2. a receiving hole; 11. a movable pulley; 12. a movable pulley bracket; 13. and (5) mounting a vertical rod.
Detailed Description
As shown in fig. 1-6, a teatcup accommodating mechanism includes a teatcup accommodating frame 10, a teatcup 9 is vertically placed on the teatcup accommodating frame 10 with a cup opening facing downward, a traction mechanism is disposed on one side of the teatcup accommodating frame 10, the traction mechanism includes a traction frame 3, a fixed pulley 7 and a movable pulley 11, a gas pipe joint 4 and a milk pipe joint 5 are both disposed on an upper end face of the traction frame 3, the traction frame 3 includes a fixing base, a connecting vertical plate and an upper plate, the connecting vertical plate is vertically disposed, and the upper plate and the fixing base are respectively disposed at upper and lower ends of the connecting vertical plate. The fixed pulley support 6 is installed on the lower end face of the upper plate, the fixed pulley 7 is rotatably installed on the fixed pulley support 6, the air cylinder 1 is vertically installed in the traction rack 3 and connected with the vertical plate, the movable pulley support 12 is connected with a cylinder rod of the air cylinder 1, the movable pulley 11 is rotatably installed on the movable pulley support 12, the air cylinder 1 drives the movable pulley 11 to vertically move, the air pipe sequentially passes through a vacuum interface 9-2 of the milk cup 9, the fixed pulley 7 and the movable pulley 11 to be connected into the air pipe connector 4, and the milk flow pipe sequentially passes through a milk channel interface 9-1 of the milk cup 9, the fixed pulley 7 and the movable pulley 11 to be connected into the milk pipe connector 5.
The outer diameter of the middle part of the teat cup 9 is smaller than the smallest aperture of the teat cup receiving rack 10, and the teat cup 9 is held on the teat cup receiving rack 10 by means of the friction between the milk flow duct and the milk passage port 9-1 on the teat cup 9.
The milk cup 9 is taken down from the lower part of the milk cup containing frame 10, the cylinder 1 drives the movable pulley 11 to move upwards, the air pipe and the milk circulating pipe slide along the fixed pulley 7 and the movable pulley 11, and the moving stroke of the milk cup 9 is equal to the stroke of the cylinder 1, namely the distance for the cylinder 1 to drive the movable pulley 11 to slide.
For the retraction stroke of the teat cups 9, the cylinder 1 is a rodless cylinder, so that the distance of movement of the movable pulley 11 is increased within the same vertical length.
In order to reduce the bending of the air pipe and the milk circulating pipe, a guiding mechanism 8 is arranged between the milk cup storage rack 10 and the fixed pulley 7, the milk circulating pipe is connected to the lower end of the milk pipe joint 5 through a milk channel interface 9-1, the guiding mechanism 8, the fixed pulley 7 and the movable pulley 11 of the milk cup 9 in sequence, and the air pipe is connected to the lower end of the air pipe joint 4 through a vacuum interface 9-2, the guiding mechanism 8, the fixed pulley 7 and the movable pulley 11 of the milk cup 9 in sequence.
As shown in fig. 4, the guide mechanism 8 comprises two rotating guide rods 8-1 arranged in parallel, the roller 8-2 is sleeved outside the guide rods 8-1, and the air pipe and the milk flowing pipe are positioned between the two guide rods 8-1. The guide mechanism 8 limits the moving area and direction of the air pipe and the milk circulating pipe.
As shown in fig. 4, the teat cup accommodating frame 10 and the guiding mechanism 8 are both detachably mounted on one side of the mounting vertical rod 13, a vertical chute is formed on the mounting vertical rod 13, and the positions of the teat cup accommodating frame 10 and the guiding mechanism 8 relative to the mounting vertical rod 13 can be adjusted in the vertical direction, i.e. the height difference between the teat cup accommodating frame 10 and the fixed pulley 7 can be adjusted.
For the motion stability of the air cylinder 1, a guide mechanism 2 is arranged, the guide mechanism 2 comprises a guide sliding rail and a sliding block, the guide sliding rail is arranged along the motion direction of a cylinder rod in the air cylinder 1, the sliding block is embedded on the guide sliding rail, the sliding block is connected with the cylinder rod in the air cylinder 1 through a connecting plate 2-4, and the sliding block is fixedly connected with a movable pulley support 12, so that the air cylinder 1 drives a movable pulley 11 to vertically move through the sliding block.
In order to ensure the installation space of the movable pulley 11, the sliding block is a split type sliding block, the sliding block comprises an upper sliding block 2-1 and a lower sliding block 2-2, the lower sliding block 2-2 is connected with a cylinder rod of the cylinder 1 through a connecting plate 2-4, the upper sliding block 2-1 is connected with a movable pulley bracket 12, and the upper sliding block 2-1 is fixedly connected with the lower sliding block 2-2 through a connecting shaft 2-3, so that the synchronous movement of the upper sliding block 2-1 and the lower sliding block 2-2 is ensured.
In order to improve the milking efficiency of the cows, a plurality of teat cup accommodating units, preferably four in the embodiment, are arranged on the teat cup accommodating frame 10, one teat cup 9 is placed in each teat cup accommodating unit, each teat cup accommodating unit is matched with one traction mechanism, and the traction mechanisms move independently. Therefore, multiple teat positions of the same milk can be milked, the milking time of single milk is shortened, and the milking efficiency is improved.
As shown in fig. 6, in order to facilitate the removal and replacement of the teat cups 9 from and to the teat cup storage rack 10, the milk passage ports 9-1 are provided on the upper end surface of the teat cups, and the vacuum ports 9-2 of the teat cups are also provided on the upper end surface of the teat cups, which is an improvement that facilitates the removal and replacement of the teat cups 9 from and to the lower side of the teat cup storage rack 10 by changing the conventional arrangement in which the vacuum ports 9-2 are offset to the outer surfaces of the teat cups.
And (3) when the milk cup 9 is put back, the manipulator clamps the milk cup 9, the vacuum interface 9-2 stops pumping air, the milk channel interface 9-1 stops pumping air, the manipulator takes down the milk cup 9 from the breast part of milk to drive the milk cup 9 to return, the cylinder 1 drives the movable pulley 11 to move downwards, and the milk cup 9 enters the milk cup storage rack 10.
As shown in fig. 6, in order to prevent the rotation of the air pipe and the milk circulating pipe, the milk circulating device further comprises a receiving tray 9-3, the lower end surface of the receiving tray 9-3 is fixed on the upper end surface of the milk cup 9, the receiving tray 9-3 is of a hollow structure, the milk passage port 9-1 and the vacuum port 9-2 are located inside the receiving tray 9-3, the upper part of the receiving tray 9-3 is provided with a through groove 9-4 similar to a standard runway shape, and the milk circulating pipe and the air pipe pass through the through groove 9-4. The outer surfaces of the air pipe and the milk circulating pipe are contacted with the through groove 9-4 to prevent the air pipe and the milk circulating pipe from rotating. On the other hand, when the manipulator is prevented from returning, the manipulator interferes with the vacuum port 9-2 and the milk passage port 9-1, which adversely affects the airtightness and prevents the teat cup 9 from falling.
The upper outer side of the receiving tray 9-3 is provided with a boss shape to facilitate the entry of the teat cups 9 into the teat cup receiving rack 10.
As shown in fig. 5, the teat cup storage rack 10 is provided with an inlet hole 10-1 and a receiving hole 10-2 in sequence from bottom to bottom, the aperture of the inlet hole 10-1 is gradually reduced from top to bottom so as to facilitate the entry of the teat cup 9, the receiving hole 10-2 is a vertical through hole, the middle part of the teat cup 9 penetrates through the receiving hole 10-2, the lower part of the teat cup 9 is provided with a retaining ring 9-5, and the retaining ring 9-5 and the inlet hole 10-1 are of a profile design. The upper part of the teat cup 9 enters the teat cup receiving rack 10 from the lower part, and when the baffle ring 9-5 is contacted with the access hole 10-1, the teat cup 9 is limited to move upwards continuously, and a limiting effect is achieved. The bore diameter of the receiving hole 10-2 is larger than the outer diameter of the middle part of the teatcup 9.
Above-mentioned teatcup receiving mechanism cooperation manipulator can carry out automatic milking to milk, practices thrift the manual work, and milk quality is high.
The invention and its embodiments have been described above schematically, without limitation, and the illustrations shown in the drawings are only one embodiment of the invention, and the actual construction may be varied in many ways. Without departing from the spirit of the invention, the invention also falls into the protection scope of the invention without creatively designing the similar structural mode and implementation example to the technical proposal.
Claims (10)
1. The utility model provides a teatcup accommodating mechanism, including teatcup accommodating frame (10), vertical placing is accomodate at teatcup accommodating frame (10) down in teatcup (9) rim of a cup, a serial communication port, drive mechanism sets up the one side of accomodating frame (10) at the teatcup, cylinder (1) is vertical to be installed on pulling frame (3), drive mechanism is including pulling frame (3), fixed pulley (7) and movable pulley (11), air pipe joint (4), milk pipe joint (5) all set up the up end of pulling frame (3), fixed pulley (7) rotate to be set up on pulling frame (3) upper portion, movable pulley support (12) link to each other with the jar pole of cylinder (1), movable pulley (11) rotate to be installed on movable pulley support (12), cylinder (1) drive movable pulley (11) vertical motion, the trachea passes through vacuum interface (9-2) of teatcup (9) in proper order, fixed pulley (7), The movable pulley (11) is connected into the air pipe joint (4), and the milk circulating pipe is connected into the milk pipe joint (5) through the milk channel interface (9-1) of the milk cup (9), the fixed pulley (7) and the movable pulley (11) in sequence.
2. A teat cup receiving mechanism according to claim 1, further comprising a guiding mechanism (8), the guiding mechanism (8) being arranged between the teat cup receiving rack (10) and the fixed pulley (7), the milk flow conduit passing through the milk passage port (9-1) of the teat cup (9), the guiding mechanism (8) and entering the fixed pulley (7) in sequence, and the air conduit passing through the vacuum port (9-2) of the teat cup (9), the guiding mechanism (8) and entering the fixed pulley (7) in sequence.
3. A teat cup receiving mechanism according to claim 2, characterised in that the guiding mechanism (8) comprises two parallel arranged guiding bars (8-1), the roller (8-2) being sleeved outside the guiding bars (8-1), the air duct and the milk flow duct being located between the two guiding bars (8-1).
4. A teat cup receiving mechanism according to claim 1, further comprising a guiding mechanism (2), wherein the guiding mechanism (2) comprises a guiding slide rail and a slider, the guiding slide rail is arranged on the traction frame (3) along the moving direction of the cylinder rod in the cylinder (1), the slider is nested on the guiding slide rail, the slider is connected with the cylinder rod in the cylinder (1) through a connecting plate (2-4), and the slider is fixedly connected with the movable pulley bracket (12).
5. A teat cup receiving mechanism according to claim 4, characterised in that the slide is a split slide comprising an upper slide (2-1) and a lower slide (2-2), the lower slide (2-2) being connected to the cylinder rod of the cylinder (1) via a connecting plate (2-4), the upper slide (2-1) being connected to a movable pulley carrier (12), the upper slide (2-1) and the lower slide (2-2) being fixedly connected via a connecting shaft (2-3).
6. A teat cup receiving mechanism according to any one of claims 1, 4 and 5, characterised in that the cylinder (1) is a rodless cylinder.
7. A teat cup receiving mechanism according to claim 1, characterised in that the milk channel interface (9-1), the vacuum interface (9-2) are both on an upper end surface of a teat cup (9).
8. A teat cup receiving mechanism according to claim 7, further comprising a receiving tray (9-3), wherein the lower end surface of the receiving tray (9-3) is fixed on the upper end surface of the teat cup (9), the receiving tray (9-3) is of a hollow structure, the milk passage port (9-1) and the vacuum port (9-2) are located inside the receiving tray (9-3), the upper part of the receiving tray (9-3) is provided with a through groove (9-4) similar to a track shape, and the middle parts of the milk circulating pipe and the air pipe pass through the through groove (9-4).
9. A teat cup receiving mechanism according to claim 8, characterised in that the upper outer side of the receiving tray (9-3) is provided in the shape of a boss.
10. A teat cup receiving rack (10) according to claim 9, wherein the teat cup receiving rack (10) is provided with an inlet hole (10-1) and a receiving hole (10-2) in sequence from bottom to bottom, the diameter of the inlet hole (10-1) is gradually reduced from top to bottom, the receiving hole (10-2) is a vertical through hole, the middle part of the teat cup (9) penetrates through the receiving hole (10-2), the lower part of the teat cup (9) is provided with a retaining ring (9-5), and the retaining ring (9-5) and the transition hole are of profile design.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011391184.0A CN112514798A (en) | 2020-12-02 | 2020-12-02 | Milk cup storage mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011391184.0A CN112514798A (en) | 2020-12-02 | 2020-12-02 | Milk cup storage mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112514798A true CN112514798A (en) | 2021-03-19 |
Family
ID=74996231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011391184.0A Pending CN112514798A (en) | 2020-12-02 | 2020-12-02 | Milk cup storage mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112514798A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0728411A2 (en) * | 1995-02-15 | 1996-08-28 | Maasland N.V. | An implement for milking animals |
| US20090007848A1 (en) * | 2007-03-22 | 2009-01-08 | Bernard Schulze Wartenhorst | Method and device for milking of animals with four teats |
| CN201467788U (en) * | 2009-09-04 | 2010-05-19 | 农业部南京农业机械化研究所 | Movable milking device |
| CN102438441A (en) * | 2009-04-16 | 2012-05-02 | 利拉伐控股有限公司 | A milking parlour and method for operating the same |
| CN103068221A (en) * | 2010-09-07 | 2013-04-24 | 利拉伐控股有限公司 | A cabinet in a milking parlour |
| CN105941165A (en) * | 2016-06-22 | 2016-09-21 | 中国农业科学院农业信息研究所 | Intelligent milking system |
| CN107318658A (en) * | 2017-08-30 | 2017-11-07 | 扬州品尚玉器有限公司 | A kind of milk cow milking device |
| CN109169294A (en) * | 2018-11-23 | 2019-01-11 | 泉州市真匠体育用品有限公司 | A kind of milk production milking machine with filtering function |
| CN210226483U (en) * | 2019-07-04 | 2020-04-03 | 北京拓博尔机器人科技有限公司 | Milk cup tray for milk squeezing robot |
| CN111264395A (en) * | 2020-04-02 | 2020-06-12 | 安徽科技学院 | A milking device for milking robot |
-
2020
- 2020-12-02 CN CN202011391184.0A patent/CN112514798A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0728411A2 (en) * | 1995-02-15 | 1996-08-28 | Maasland N.V. | An implement for milking animals |
| US20090007848A1 (en) * | 2007-03-22 | 2009-01-08 | Bernard Schulze Wartenhorst | Method and device for milking of animals with four teats |
| CN102438441A (en) * | 2009-04-16 | 2012-05-02 | 利拉伐控股有限公司 | A milking parlour and method for operating the same |
| CN201467788U (en) * | 2009-09-04 | 2010-05-19 | 农业部南京农业机械化研究所 | Movable milking device |
| CN103068221A (en) * | 2010-09-07 | 2013-04-24 | 利拉伐控股有限公司 | A cabinet in a milking parlour |
| CN105941165A (en) * | 2016-06-22 | 2016-09-21 | 中国农业科学院农业信息研究所 | Intelligent milking system |
| CN107318658A (en) * | 2017-08-30 | 2017-11-07 | 扬州品尚玉器有限公司 | A kind of milk cow milking device |
| CN109169294A (en) * | 2018-11-23 | 2019-01-11 | 泉州市真匠体育用品有限公司 | A kind of milk production milking machine with filtering function |
| CN210226483U (en) * | 2019-07-04 | 2020-04-03 | 北京拓博尔机器人科技有限公司 | Milk cup tray for milk squeezing robot |
| CN111264395A (en) * | 2020-04-02 | 2020-06-12 | 安徽科技学院 | A milking device for milking robot |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210319 |
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