CN112874645A - Land work robot - Google Patents
Land work robot Download PDFInfo
- Publication number
- CN112874645A CN112874645A CN202110042969.5A CN202110042969A CN112874645A CN 112874645 A CN112874645 A CN 112874645A CN 202110042969 A CN202110042969 A CN 202110042969A CN 112874645 A CN112874645 A CN 112874645A
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- China
- Prior art keywords
- controller
- air
- work robot
- movable
- land
- 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.)
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Links
- 230000000694 effects Effects 0.000 claims abstract description 11
- 230000007306 turnover Effects 0.000 claims abstract description 9
- 230000005484 gravity Effects 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 10
- 238000005086 pumping Methods 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 4
- 230000009194 climbing Effects 0.000 abstract description 15
- 238000005096 rolling process Methods 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention discloses a land operation robot, which comprises a vehicle body and a plurality of wheels, wherein the wheels are arranged on the vehicle; the wheel comprises a wheel shell, a driving mechanism and a plurality of movable leaves; the wheel shell is provided with a containing groove, and the containing groove is arranged in a circle along the circumferential direction of the wheel shell; the plurality of movable pages are arranged at intervals along the arrangement track of the accommodating groove, and are movably connected with the accommodating groove in a turnover mode; the driving mechanism is connected with the movable pages and is used for driving the movable pages to turn over to the outside of the accommodating groove and turn over to the inside of the accommodating groove; so when the activity page or leaf is collected in accomodating the inslot, the wheel will realize land work robot's level land removal through wheel shell and ground rolling contact, when the activity page or leaf was turned out, the wheel will be through activity page or leaf and ladder butt, realizes land work robot's climbing, has solved the problem that current land work robot can't realize the ladder climbing conscientiously.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a land operation robot.
Background
With the development of science and technology, robots have been used in various industries, such as existing onshore robots can move to a destination by themselves and then perform related operation; however, the existing onshore operation robot can only move on the flat ground, and cannot climb stairs, so that the application range of the onshore operation robot is severely limited, and a technical scheme capable of solving the problem is urgently needed.
Disclosure of Invention
The invention aims to provide a land operation robot, which solves the problem that the existing land operation robot cannot realize ladder climbing.
In order to solve the technical problem, the invention provides a land work robot, which comprises a vehicle body and a plurality of wheels, wherein the wheels are arranged on the vehicle; the wheel comprises a wheel shell, a driving mechanism and a plurality of movable leaves; the wheel shell is provided with a containing groove, and the containing groove is arranged in a circle along the circumferential direction of the wheel shell; the movable pages are arranged at intervals along the arrangement track of the accommodating groove, and are movably connected with the accommodating groove in a turnover mode; the driving mechanism is connected with the plurality of movable pages and is used for driving the plurality of movable pages to overturn to the outside of the accommodating groove and to overturn to the inside of the accommodating groove.
In one embodiment, a controller is arranged in the vehicle body and is electrically connected with the driving mechanism; the automobile body the place ahead is equipped with the camera, the camera with controller electric connection, the camera is used for shooing environmental information and sends to the controller, the controller is used for the basis whether the ladder needs to be scrambleed in the shooting result judgement of camera the controller judges when needing to scramble the ladder, the controller control actuating mechanism drive is a plurality of the activity page or leaf upset extremely accomodate the groove outside.
In one embodiment, the plurality of wheels are internally provided with a gravity sensor, the plurality of gravity sensors are electrically connected with the controller, the plurality of gravity sensors are used for detecting height information of the plurality of wheels and sending the height information to the controller so that the controller can judge the front-back height difference of the vehicle body, and when the controller judges that the front-back height difference of the vehicle body is within a preset range, the controller controls the driving mechanism to drive the plurality of movable pages to be turned into the accommodating groove.
In one embodiment, the driving mechanism includes a plurality of hydraulic rods, one ends of the plurality of hydraulic rods are hinged in the accommodating grooves, the other ends of the plurality of hydraulic rods are hinged with the inner surfaces of the plurality of movable leaves, respectively, and one sides of the plurality of movable leaves are hinged in the accommodating grooves.
In one embodiment, the wheel shell is sleeved with two rubber rings, and the two rubber rings are respectively sleeved on two side walls of the accommodating groove.
In one embodiment, the outer surface of the movable page is covered with a non-slip mat, and the non-slip mat is provided with a plurality of non-slip lines.
In one embodiment, a plurality of shielding units are arranged in the accommodating groove, each shielding unit comprises an inflation port, an air exhaust port and an air bag, the inflation ports and the air exhaust ports are connected and communicated with the air bags, and the air bags are inflated to wrap and shield the plurality of movable pages; an inflator pump and an air pump are arranged in the vehicle body; the inflation pump is connected and communicated with the inflation port and is used for inflating the air bag; the air pump is connected and communicated with the air pumping opening and is used for pumping air to the air bag.
In one embodiment, the shielding units are disposed on two side walls of the accommodating groove, the air bag in an inflated state is arc-shaped and extends into the accommodating groove, and the air bags in the inflated state and aligned with each other are abutted against each other.
In one embodiment, the shielding unit further comprises a winding motor and a pull rope, one end of the pull rope is connected with the winding motor, and the other end of the pull rope is connected with the air bag; when the air pump pumps air to the air bag, the operation of the coiler motor is used for coiling and recovering the pull rope; when the inflator pumps the air bags, the winding motor releases the winding of the pull ropes.
The invention has the following beneficial effects:
the movable pages are arranged at intervals along the arrangement track of the containing groove, the movable pages are in turnover mode and are movably connected with the containing groove, the driving mechanism is connected with the movable pages, and the driving mechanism is used for driving the movable pages to turn outside the containing groove and turn inside the containing groove, so that when the movable pages are contained in the containing groove, the wheels are in rolling contact with the ground through the wheel shells, the flat ground movement of the land work robot is realized, when the movable pages are turned out, the wheels are in butt joint with the steps through the movable pages, the climbing of the land work robot is realized, and the problem that the existing land work robot cannot realize the step climbing is practically solved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a structure provided by an embodiment of a land-based work robot of the present invention;
FIG. 2 is a schematic view of the FIG. 1 active page in a flipped-out state;
FIG. 3 is a perspective structural schematic view of the wheel of FIG. 2;
FIG. 4 is a schematic illustration of the active page stow state of FIG. 3;
FIG. 5 is a schematic view of a first visual inflation condition of the bladder of FIG. 1;
FIG. 6 is a schematic view of the bladder of FIG. 1 in a first visual uninflated state;
FIG. 7 is a schematic view of a second visual inflation condition of the bladder of FIG. 1;
FIG. 8 is a schematic view of the airbag of FIG. 1 in a second visual uninflated state.
The reference numbers are as follows:
10. a vehicle body; 11. a controller; 12. a camera; 13. an inflator pump; 14. an air pump;
20. a wheel; 21. a wheel housing; 211. a receiving groove; 22. a drive mechanism; 23. a live page; 231.
a non-slip mat; 232. anti-skid lines; 24. a gravity sensor; 25. a shielding unit; 251. an inflation inlet; 252.
an air extraction opening; 253. an air bag; 254. a winding motor; 255. pulling a rope;
30. a rubber ring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a land work robot, an embodiment of which is shown in fig. 1 to 8, comprising a vehicle body 10 and a plurality of wheels 20, wherein the wheels 20 are arranged on the vehicle; the wheel 20 comprises a wheel shell 21, a driving mechanism 22 and a plurality of movable leaves 23; the wheel shell 21 is provided with a receiving groove 211, and the receiving groove 211 is arranged in a circle along the circumferential direction of the wheel shell; the plurality of movable pages 23 are arranged at intervals along the arrangement track of the accommodating groove 211, and the plurality of movable pages 23 are movably connected with the accommodating groove 211 in a turnover mode; the driving mechanism 22 is connected to the plurality of movable sheets 23, and the driving mechanism 22 is configured to drive the plurality of movable sheets 23 to be turned out of the storage groove 211 and to be turned into the storage groove 211.
So when activity page or leaf 23 is collected in holding the inslot 211, wheel 20 will realize land work robot's level land removal through wheel shell 21 and ground rolling contact, when activity page or leaf 23 turned out, wheel 20 will realize land work robot's climbing through activity page or leaf 23 and ladder butt, has solved the problem that current land work robot can't realize the ladder climbing conscientiously.
As shown in fig. 1 to 4 and 6, a controller 11 is disposed in the vehicle body 10 of the embodiment, and the controller 11 is electrically connected to the driving mechanism 22; the front of the vehicle body 10 is provided with a camera 12, the camera 12 is electrically connected with the controller 11, the camera 12 is used for shooting environmental information and sending the environmental information to the controller 11, the controller 11 is used for judging whether a ladder needs to be climbed according to a shooting result of the camera 12, and when the controller 11 judges that the ladder needs to be climbed, the controller 11 controls the driving mechanism 22 to drive the movable pages 23 to turn over outside the accommodating groove 211.
Because controller 11 embeds there is the judgement procedure, so after camera 12 shoots the environment in the front of the vehicle, controller 11's built-in procedure alright judge whether need carry out the ladder climbing to a plurality of activity pages 23 of automatic control are toward outwards upset when the ladder climbing is carried out to needs, realize land work robot's ladder climbing.
As shown in fig. 1 to 4 and 6, the plurality of wheels 20 are each provided with a gravity sensor 24 therein, the plurality of gravity sensors 24 are each electrically connected to the controller 11, the plurality of gravity sensors 24 are configured to detect height information of the plurality of wheels 20 and send the height information to the controller 11, so that the controller 11 can determine a front-rear height difference of the vehicle body 10, and when the controller 11 determines that the front-rear height difference of the vehicle body 10 is within a preset range, the controller 11 controls the driving mechanism 22 to drive the plurality of movable leaves 23 to turn into the accommodating groove 211.
For example, during climbing stairs, the gravity sensors 24 of the front and rear wheels 20 will obtain different height information, thereby indicating that the climbing process is not finished; after the ladder climbing is finished, the gravity sensors 24 in the front and rear wheels 20 obtain approximately same height information, so that the land operation robot can move on the ground, and at the moment, the movable page 23 is turned into the accommodating groove 211, so that the self-conversion of ladder climbing and ground running can be realized.
As shown in fig. 2 and 4 to 8, the driving mechanism 22 includes a plurality of hydraulic rods, one ends of the plurality of hydraulic rods are hinged in the receiving groove 211, the other ends of the plurality of hydraulic rods are hinged with the inner surfaces of the plurality of movable leaves 23, respectively, and one sides of the plurality of movable leaves 23 are hinged in the receiving groove 211.
When the folding type folding mechanism is applied, if the hydraulic rod is in an extension state, the movable leaf 23 can be pushed out of the accommodating groove 211, and if the hydraulic rod is in a contraction state, the movable leaf 23 can be driven to be retracted into the accommodating groove 211, so that the turnover control of the movable leaf 23 is realized.
As shown in fig. 1, 2 and 6, two rubber rings 30 are sleeved on the wheel housing 21, and the two rubber rings 30 are respectively sleeved on two side walls of the receiving groove 211.
Therefore, when the wheel housing 21 is in contact with the ground, the rubber ring 30 is in contact with the ground, so that the wheel 20 has a buffer function, thereby ensuring that the land operation robot runs more smoothly and stably and providing better protection for the land operation robot.
As shown in fig. 6 to 8, the outer surface of the movable leaf 23 is covered with a non-slip pad 231, and the non-slip pad 231 is provided with a plurality of non-slip stripes 232.
Usable rubber of slipmat 231, silica gel etc. make, because be equipped with anti-skidding line 232 on the slipmat 231, so when activity page or leaf 23 and ladder butt, will strengthen the frictional force between activity page or leaf 23 and the ladder to be convenient for the ladder climbing that carries on that land work robot can be better.
As shown in fig. 1 and fig. 5 to 8, a plurality of shielding units 25 are disposed in the accommodating groove 211, each shielding unit 25 includes an inflation port 251, an air pumping port 252 and an air bag 253, the inflation port 251 and the air pumping port 252 are both connected and communicated with the air bag 253, and the air bag 253 is inflated to wrap and shield the plurality of movable leaves 23; an inflator pump 13 and an air pump 14 are arranged in the vehicle body 10; the inflator 13 is connected and communicated with the inflation port 251, and the inflator 13 is used for inflating the airbag 253; the suction pump 14 is connected to and communicated with the suction port 252, and the suction pump 14 is used for sucking the air bag 253.
When the land work robot moves on the flat ground, the air bag 253 is inflated by the inflator 13, so that the air bag 253 can wrap and cover the movable leaf 23, and the movable leaf 23 is protected; when the onshore operation robot needs to climb, the air pump 14 can be used for pumping the air bag 253 so as to conveniently overturn the movable leaf 23 out of the accommodating groove 211.
As shown in fig. 6 and 7, a plurality of shielding units 25 are provided on both side walls of the receiving groove 211, the air bag 253 in an inflated state is arc-shaped extending into the receiving groove 211, and the air bags 253 in an inflated state and aligned with each other are abutted against each other.
In the illustrated direction, the shielding units 25 are disposed on the left and right inner walls of the receiving groove 211, and since the left and right airbags 253 abut against each other after being inflated, a gap can be prevented from being formed, thereby providing better protection for the movable sheet 23.
As shown in fig. 1, 7 and 8, the shielding unit 25 further includes a coiler motor 254 and a pulling rope 255, one end of the pulling rope 255 is connected to the coiler motor 254, and the other end of the pulling rope 255 is connected to the air bag 253; when the air bag 253 is evacuated by the air pump 14, the winding motor 254 is operated to wind and recover the pulling rope 255; when the inflator 13 inflates the airbag 253, the wind-up motor 254 releases the wind-up of the pulling rope 255.
That is, in a state where the airbag 253 is inflated, the pulling rope 255 does not generate a pulling force on the airbag 253, thereby ensuring sufficient inflation of the airbag 253; when the air bag 253 is evacuated, the recovery of the draw cord 255 can ensure that the air bag 253 is drawn to an edge position, thereby preventing the flap 23 from being caught.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (9)
1. A land work robot is characterized in that,
the vehicle comprises a vehicle body and a plurality of wheels, wherein the wheels are arranged on the vehicle;
the wheel comprises a wheel shell, a driving mechanism and a plurality of movable leaves;
the wheel shell is provided with a containing groove, and the containing groove is arranged in a circle along the circumferential direction of the wheel shell;
the movable pages are arranged at intervals along the arrangement track of the accommodating groove, and are movably connected with the accommodating groove in a turnover mode;
the driving mechanism is connected with the plurality of movable pages and is used for driving the plurality of movable pages to overturn to the outside of the accommodating groove and to overturn to the inside of the accommodating groove.
2. A land based work robot according to claim 1,
a controller is arranged in the vehicle body and is electrically connected with the driving mechanism;
the automobile body the place ahead is equipped with the camera, the camera with controller electric connection, the camera is used for shooing environmental information and sends to the controller, the controller is used for the basis whether the ladder needs to be scrambleed in the shooting result judgement of camera the controller judges when needing to scramble the ladder, the controller control actuating mechanism drive is a plurality of the activity page or leaf upset extremely accomodate the groove outside.
3. The land work robot as claimed in claim 2, wherein a plurality of the wheels are provided with a gravity sensor therein, the gravity sensors are electrically connected to the controller, the gravity sensors are configured to detect height information of the wheels and send the height information to the controller, so that the controller can determine a front-rear height difference of the vehicle body, and when the controller determines that the front-rear height difference of the vehicle body is within a predetermined range, the controller controls the driving mechanism to drive the movable leaves to be turned into the storage groove.
4. The land work robot as claimed in claim 1, wherein the driving mechanism includes a plurality of hydraulic rods, one ends of the plurality of hydraulic rods are hinged in the receiving grooves, the other ends of the plurality of hydraulic rods are hinged to inner surfaces of the plurality of movable leaves, respectively, and one sides of the plurality of movable leaves are hinged in the receiving grooves.
5. The land work robot as claimed in claim 1, wherein the wheel housing is fitted with two rubber rings, and the two rubber rings are fitted over both side walls of the receiving groove, respectively.
6. A land work robot as claimed in claim 1, wherein the outer surface of the leaf is covered with a non-slip mat having a plurality of non-slip lines thereon.
7. A land based work robot according to claim 1,
a plurality of shielding units are arranged in the accommodating groove and comprise an inflation opening, an air exhaust opening and an air bag, the inflation opening and the air exhaust opening are both connected and communicated with the air bag, and the air bag is inflated to wrap and shield the movable pages;
an inflator pump and an air pump are arranged in the vehicle body; the inflation pump is connected and communicated with the inflation port and is used for inflating the air bag; the air pump is connected and communicated with the air pumping opening and is used for pumping air to the air bag.
8. A land work robot as claimed in claim 7, wherein the housing groove is provided with a plurality of said shielding units on both side walls thereof, the air cells in an inflated state are arc-shaped extending toward the inside of the housing groove, and the air cells in an inflated state and aligned with each other abut against each other.
9. A land based work robot according to claim 7,
the shielding unit further comprises a winding motor and a pull rope, one end of the pull rope is connected with the winding motor, and the other end of the pull rope is connected with the air bag;
when the air pump pumps air to the air bag, the operation of the coiler motor is used for coiling and recovering the pull rope;
when the inflator pumps the air bags, the winding motor releases the winding of the pull ropes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110042969.5A CN112874645B (en) | 2021-01-13 | 2021-01-13 | Land work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110042969.5A CN112874645B (en) | 2021-01-13 | 2021-01-13 | Land work robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112874645A true CN112874645A (en) | 2021-06-01 |
| CN112874645B CN112874645B (en) | 2022-06-28 |
Family
ID=76045487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110042969.5A Expired - Fee Related CN112874645B (en) | 2021-01-13 | 2021-01-13 | Land work robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112874645B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116117836A (en) * | 2023-04-19 | 2023-05-16 | 苏州依岚机器人科技有限公司 | Search and rescue robot with positioning function |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0872501A (en) * | 1994-09-06 | 1996-03-19 | Ishikawajima Harima Heavy Ind Co Ltd | Running mechanism |
| CN101767613A (en) * | 2009-01-05 | 2010-07-07 | 何廷华 | Horizontal-running and stair-climbing motor vehicle wheel with clutch mechanism |
| CN106697097A (en) * | 2017-01-03 | 2017-05-24 | 北京交通大学 | Under-actuated deforming wheel type obstacle crossing robot |
| CN206407010U (en) * | 2017-01-03 | 2017-08-15 | 北京交通大学 | A kind of drive lacking deforms wheeled barrier-surpassing robot |
| CN107472390A (en) * | 2017-09-05 | 2017-12-15 | 刘哲 | A kind of robot foot section for being suitable for complex environment |
| CN108163075A (en) * | 2017-11-29 | 2018-06-15 | 昆明理工大学 | A kind of stair climbing robot and its application |
| CN211107765U (en) * | 2019-12-16 | 2020-07-28 | 中国人民武装警察部队工程大学 | Stair climbing robot with telescopic wheel structure |
-
2021
- 2021-01-13 CN CN202110042969.5A patent/CN112874645B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0872501A (en) * | 1994-09-06 | 1996-03-19 | Ishikawajima Harima Heavy Ind Co Ltd | Running mechanism |
| CN101767613A (en) * | 2009-01-05 | 2010-07-07 | 何廷华 | Horizontal-running and stair-climbing motor vehicle wheel with clutch mechanism |
| CN106697097A (en) * | 2017-01-03 | 2017-05-24 | 北京交通大学 | Under-actuated deforming wheel type obstacle crossing robot |
| CN206407010U (en) * | 2017-01-03 | 2017-08-15 | 北京交通大学 | A kind of drive lacking deforms wheeled barrier-surpassing robot |
| CN107472390A (en) * | 2017-09-05 | 2017-12-15 | 刘哲 | A kind of robot foot section for being suitable for complex environment |
| CN108163075A (en) * | 2017-11-29 | 2018-06-15 | 昆明理工大学 | A kind of stair climbing robot and its application |
| CN211107765U (en) * | 2019-12-16 | 2020-07-28 | 中国人民武装警察部队工程大学 | Stair climbing robot with telescopic wheel structure |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116117836A (en) * | 2023-04-19 | 2023-05-16 | 苏州依岚机器人科技有限公司 | Search and rescue robot with positioning function |
| CN116117836B (en) * | 2023-04-19 | 2023-07-04 | 苏州依岚机器人科技有限公司 | Search and rescue robot with positioning function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112874645B (en) | 2022-06-28 |
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Granted publication date: 20220628 |
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