CN113352090A - Robot part matching and assembling device for intelligent manufacturing - Google Patents
Robot part matching and assembling device for intelligent manufacturing Download PDFInfo
- Publication number
- CN113352090A CN113352090A CN202110748719.3A CN202110748719A CN113352090A CN 113352090 A CN113352090 A CN 113352090A CN 202110748719 A CN202110748719 A CN 202110748719A CN 113352090 A CN113352090 A CN 113352090A
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- Prior art keywords
- screwdriver
- motor
- intelligent manufacturing
- rotating disc
- assembling device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- 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
- B25J19/007—Means or methods for designing or fabricating manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The invention belongs to the technical field of robot assembly, and discloses a robot part matching assembly device for intelligent manufacturing. The gear and the first motor drive the gear ring and the rotating disc to rotate, the screwdriver can synchronously and axially rotate due to the rotation of the rotating disc, the second motor, the ball screw, the moving block and the transmission rod jointly form a linear transmission mechanism, and the transmission screwdriver can radially move along the diameter direction of the rotating disc, so that the screwdriver has the functions of axial and radial movement, can realize covering type screwing on the positioning hole in an annular plane, and improves the working efficiency of the device in practical application.
Description
Technical Field
The invention belongs to the technical field of robot assembly, and particularly relates to a robot part matching assembly device for intelligent manufacturing.
Background
The assembly process of the robot is generally to assemble and connect the circuit board, the related parts and the housing, and the like, and this process is the assembly process, that is, the assembly body combining process.
The existing robot assembly is manually realized on a production line, the manual assembly is one of the common assembly methods with high cost, the efficiency of the manual assembly is relatively low, and occasionally extreme conditions such as missing screwing and the like occur, so that the quality is not over-qualified and the re-repair is needed.
The invention provides a novel assembling device which can realize the screwing operation of a positioning hole in a plane in the robot assembling process and has higher working efficiency.
Disclosure of Invention
The invention aims to provide a robot part matching and assembling device for intelligent manufacturing, which aims to solve the problems in the background technology.
In order to achieve the above purpose, the invention provides the following technical scheme: the robot part matching and assembling device for intelligent manufacturing comprises a device support and a rotating disc, wherein a linear transmission mechanism composed of a second motor, a ball screw, a moving block and a transmission rod is arranged at the top of the rotating disc, the front end of the transmission rod penetrates through a support rod and is fixedly connected with a first sliding block which is slidably installed on the rotating disc, an air cylinder, a third motor and a screwdriver are fixedly installed at the bottom of the first sliding block to form an automatic telescopic screwdriver, two guide rods are further installed on the rotating disc, and the second sliding block is movably sleeved on the surfaces of the guide rods and is fixedly connected with the first sliding block through a connecting rod.
Preferably, the top fixed mounting of device support has the bracing piece, the bottom of bracing piece is passed through the rotation axis and is connected with the rolling disc, the outer lane fixed mounting of rolling disc has the ring gear, the middle part fixed mounting of device support has a motor, the output shaft transmission of a motor is connected with the gear, the gear is connected with the ring gear meshing, two No. two slider still fixed mounting has the support frame, the bottom fixed mounting of support frame has No. four motors, the bottom fixed mounting of No. four motors has the assembly ring, be equipped with supporting mechanism and be located the below of screwdriver on the assembly ring.
Preferably, the second motor in the linear transmission mechanism is in transmission connection with the ball screw, the moving block is in transmission connection with the transmission rod, and the moving block is movably sleeved on the ball screw.
Preferably, the bottom of the ball screw is fixedly provided with a wheel-type upper lifting frame and a feeder, an upper roller and a lower roller of the wheel-type upper lifting frame are respectively in rolling contact with the upper surface and the lower surface of the assembly ring, the wheel-type upper lifting frame clamps the assembly ring to provide a certain supporting force for the assembly ring, relative motion is realized by using rolling friction force of the wheel-type upper lifting frame, the resistance of the assembly ring is relatively less, and a bottom output port of the feeder is positioned right above the bearing mechanism.
Preferably, the supporting mechanism comprises an installation shell, two fixed shafts are fixedly installed in the installation shell, the clamping plates and the torsion springs are movably sleeved on the surfaces of the fixed shafts, two ends of each torsion spring respectively support half surfaces of the wall body and the corresponding clamping plate, the end portions of the two clamping plates are overlapped and butted, and the installation shell is movably installed in the assembly ring.
Preferably, the end parts of the clamping plates are provided with a semicircular through groove, the end parts of the two clamping plates are overlapped and butted to form a complete circular through groove, the butting state can be changed, the two clamping plates can still keep a horizontal state after bearing one screw, the two clamping plates are supported by the torsion spring, when the bearing mechanism bearing the screw rotates to the position below the screwdriver, the cylinder drives the third motor and the screwdriver to move downwards, the screwdriver can finally be butted with the nut and pushes the nut to move downwards, the pressure can overcome the elasticity of the torsion spring to open the two torsion springs, the screwdriver can retract along with the contraction of the cylinder after fixing the screw, and the two clamping plates are closed again due to the elasticity.
Preferably, the cylindrical shaft of a screw can be clamped in a circular through groove formed after the end portions of the two clamping plates are overlapped and butted, the nut of the screw is located above the end portions of the two clamping plates, as shown in fig. 7, the cylindrical shaft of the screw is clamped between the end portions of the two clamping plates and cannot fall off, and due to the blocking of the clamped screw, the screw still located inside the feeder cannot fall off any more, but along with the rotation of the assembling ring and the bearing mechanism, the bottom end of the clamped screw slides across the top surface of the assembling ring and enters the next empty bearing mechanism.
Preferably, eighteen bearing mechanisms are arranged on the assembly ring at equal intervals, the fourth motor drives the assembly ring to intermittently rotate, and the rotation angle of each motor is twenty degrees.
Preferably, the output port of the feeder and the bottom end of the screwdriver are both located right above the circular through groove formed in the end portions of the two clamping plates, and the feeder and the screwdriver are located above the two ends of the diameter of the assembly ring.
Preferably, two sliding rails are further arranged above the rotating disc, the extending directions of the sliding rails, the ball screw and the moving block are in the same diameter direction of the rotating disc, the first sliding block is mounted on the sliding rails of the rotating disc, the sliding rails, the ball screw and the moving block are determined to be on the same straight line, and the directional motion state of the first sliding block after being controlled is limited.
The invention has the following beneficial effects:
1. the gear and the first motor drive the gear ring and the rotating disc to rotate, the screwdriver can synchronously and axially rotate due to the rotation of the rotating disc, the second motor, the ball screw, the moving block and the transmission rod jointly form a linear transmission mechanism, and the transmission screwdriver can radially move along the diameter direction of the rotating disc, so that the screwdriver has the functions of axial and radial movement, can realize covering type screwing on the positioning hole in an annular plane, and improves the working efficiency of the device in practical application.
2. According to the invention, the screw driver is arranged right above the bearing mechanism, the assembling ring for mounting the bearing mechanism can synchronously move along with the axial movement and the radial movement of the screw driver, so that the bearing mechanism can be always positioned below the screw driver, the air cylinder is arranged as a telescopic mechanism, the third motor is used as a screwing power source of the screw driver, the screw driver can be matched to finish the operation of screwing, the multi-axis operation of the screw driver is realized by matching with the axial movement of the linear transmission mechanism and the rotating disc, and the functionality is improved.
3. According to the invention, the position set by the feeder and the screwdriver is matched with the fourth motor to drive the assembly ring to rotate, so that the bearing mechanism arranged on the assembly ring can always come under the feeder and the screwdriver, the fixed shaft, the clamping plate and the torsion spring are arranged to be matched to clamp the screw unloaded from the feeder, and the screwdriver can be pressed downwards to release the screw.
Drawings
FIG. 1 is a schematic overall view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a top view of the destacking apparatus rack of the present invention;
FIG. 4 is a schematic side view of the removal device bracket of the present invention;
FIG. 5 is a rear view of the second motor of the present invention;
FIG. 6 is a top view of the mounting ring of the present invention;
FIG. 7 is a schematic view showing the relative movement of the receiving mechanism and the feeder according to the present invention;
FIG. 8 is a top view of the receiving mechanism of the present invention.
In the figure: 1. a device holder; 2. a support bar; 3. a rotating shaft; 4. rotating the disc; 5. a toothed ring; 6. a gear; 7. a first motor; 8. a second motor; 9. a ball screw; 10. a wheel type upper lifting frame; 11. a moving block; 12. a transmission rod; 13. a first sliding block; 14. a cylinder; 15. a third motor; 16. a second sliding block; 17. a connecting rod; 18. a guide bar; 19. a support frame; 20. a fourth motor; 21. assembling a ring; 22. a carrying mechanism; 221. mounting a shell; 222. a fixed shaft; 223. clamping a plate; 224. a torsion spring; 23. a blanking device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 8, in the embodiment of the present invention, the intelligent manufacturing robot part matching assembly apparatus includes an apparatus bracket 1 and a rotary disk 4, a linear transmission mechanism including a second motor 8, a ball screw 9, a moving block 11 and a transmission rod 12 is disposed at the top of the rotary disk 4, the front end of the transmission rod 12 passes through the support rod 2 and is fixedly connected with a first slider 13 slidably mounted on the rotary disk 4, an air cylinder 14, a third motor 15 and a screwdriver are fixedly mounted at the bottom of the first slider 13 to form an automatic telescopic screwdriver, the rotary disk 4 is further mounted with two guide rods 18, a second slider 16 is movably sleeved on the surface of each guide rod 18, and the second slider 16 is fixedly connected with the first slider 13 through a connecting rod 17.
Wherein, the top fixed mounting of device support 1 has bracing piece 2, the bottom of bracing piece 2 is passed through rotation axis 3 and is connected with rolling disc 4, the outer lane fixed mounting of rolling disc 4 has ring gear 5, the middle part fixed mounting of device support 1 has motor 7, the output shaft transmission of motor 7 is connected with gear 6, gear 6 is connected with ring gear 5 meshing, two No. two slider 16 still fixed mounting have support frame 19, the bottom fixed mounting of support frame 19 has motor 20 No. four, the bottom fixed mounting of motor 20 No. four has assembly ring 21, be equipped with supporting mechanism 22 on the assembly ring 21 and supporting mechanism 22 is located the below of screwdriver.
The second motor 8 in the linear transmission mechanism is in transmission connection with the ball screw 9, the moving block 11 is in transmission connection with the transmission rod 12, and the moving block 11 is movably sleeved on the ball screw 9.
The bottom of the ball screw 9 is also fixedly provided with a wheel type upper lifting frame 10 and a lower feeder 23, an upper roller and a lower roller of the wheel type upper lifting frame 10 are respectively in rolling contact with an upper surface and a lower surface of the assembling ring 21, the wheel type upper lifting frame 10 clamps the assembling ring 21 to provide a certain supporting force for the assembling ring 21, relative motion is realized by using rolling friction force of the wheel type upper lifting frame 10, the resistance is relatively less, and a bottom output port of the lower feeder 23 is positioned right above the bearing mechanism 22.
The supporting mechanism 22 comprises a mounting shell 221, two fixing shafts 222 are fixedly mounted in the mounting shell 221, clamping plates 223 and torsion springs 224 are movably sleeved on the surfaces of the fixing shafts 222, two ends of each torsion spring 224 respectively support against half surfaces of a wall body and the corresponding clamping plate 223, the end portions of the two clamping plates 223 are overlapped and butted, and the mounting shell 221 is movably mounted in the assembling ring 21.
The end parts of the clamping plates 223 are provided with a semicircular through groove, the end parts of the two clamping plates 223 are overlapped and butted to form a complete circular through groove, the butting state can be changed, the two clamping plates 223 can still keep a horizontal state after bearing a screw, the two clamping plates 223 are supported by the torsion spring 224, when the bearing mechanism 22 bearing the screw rotates to the lower part of the screwdriver, the cylinder 14 drives the third motor 15 and the screwdriver to move downwards, the screwdriver is finally butted with the nut and pushes the nut to move downwards, the pressure overcomes the elasticity of the torsion spring 224, so that the two torsion springs 224 are opened, after the screwdriver finishes fixing the screw, the two clamping plates 223 are retreated along with the contraction of the cylinder 14, and the two clamping plates 223 are reclosed due to the elasticity.
The cylindrical shaft of a screw can be clamped in the circular through groove formed after the end parts of the two clamping plates 223 are overlapped and butted, the nut of the screw is positioned above the end parts of the two clamping plates 223, as shown in fig. 7, the cylindrical shaft of the screw is clamped between the end parts of the two clamping plates 223 and cannot fall off, and due to the blocking of the clamped screw, the screw still positioned in the feeder 23 cannot fall off any more, but along with the rotation of the assembling ring 21 and the bearing mechanism 22, the bottom end of the clamped screw slides across the top surface of the assembling ring 21 and enters the next empty bearing mechanism 22.
Eighteen of the receiving mechanisms 22 are equidistantly arranged on the assembling ring 21, the fourth motor 20 drives the assembling ring 21 to intermittently rotate, and the rotating angle of each time is twenty degrees.
As can be seen from the above, if the position of each receiving mechanism 22 is connected with the circular connecting line of the assembly ring 21, the included angle between the two adjacent lines is twenty degrees, and the fourth motor 20 drives the assembly ring 21 to intermittently rotate, and the rotation angle is twenty degrees at each time, the screwdriver and the receiving mechanism 23 will still be located right above the receiving mechanism 22 after each rotation, so that the screwdriver can vertically and downwardly screw the screws in the receiving mechanism 22, and the receiving mechanism 23 will discharge the screws into the circular through holes of the receiving mechanism 22 after each discharge of the receiving mechanism 23.
Two sliding rails are further arranged above the rotating disc 4, the extending directions of the sliding rails, the ball screw 9 and the moving block 11 are the same diameter direction of the rotating disc 4, the first sliding block 13 is installed on the sliding rails of the rotating disc 4, the sliding rails, the ball screw 9 and the moving block 11 are determined to be on the same straight line, and the directional movement state of the first sliding block 13 after being controlled is limited.
The working principle and the using process are as follows:
when a robot is assembled, generally, an assembly task is performed among assemblies formed by various parts of the robot, one surface of one assembly may include a plurality of positioning holes, the arrangement among the positioning holes may be irregular, and the operation track of an assembly device needs to be set;
mainly aiming at the running track of a screwdriver, the screwdriver needs to accurately move to the position above a positioning hole, then the screwdriver is screwed into the positioning hole, when an assembly body is conveyed on a conveyor belt, the assembly surface faces an assembly device, the assembly device can move the screwdriver to the position above each positioning hole according to a preset track, and the screwdriver is screwed into the positioning hole, the screwdriver needs to have the functions of radial and axial movement on a plane, firstly, the axial movement of the screwdriver is obviously realized by driving a toothed ring 5 to rotate through a gear 6, a first sliding block 13 is pushed to move along the diameter direction of a rotating disc 4 through a linear traditional mechanism, a cylinder 14, a third motor 15 and the screwdriver are driven to move radially by the bottom of the first sliding block 13, so that the running track of the screwdriver can cover an annular plane, and as long as the positioning hole of the assembly body is arranged in the annular plane, the screwdriver can be moved to the upper part of the corresponding positioning hole for assembly;
the screw falling from the feeder 23 can be received by the receiving mechanism 22, the assembly ring 21 is controlled to rotate by the fourth motor 20, the receiving mechanism 22 rotates the screwdriver, the cylinder 14 is started to extend the screwdriver, the screwdriver ejects the screw out of the receiving mechanism 22, the third motor 15 is screwed into the positioning hole of the assembly body, the receiving mechanism 22 losing the screw reaches the lower part of the feeder 23 due to the rotation of the assembly ring 21, and the screw is installed again, so that the cycle is repeated.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Spare part cooperation assembly device of robot for intelligent manufacturing, including device support (1) and rolling disc (4), its characterized in that: the top of the rotating disc (4) is provided with a linear transmission mechanism consisting of a second motor (8), a ball screw (9), a moving block (11) and a transmission rod (12), the front end of the transmission rod (12) penetrates through the support rod (2) and is fixedly connected with a first sliding block (13) which is slidably mounted on the rotating disc (4), the bottom of the first sliding block (13) is fixedly provided with an air cylinder (14), a third motor (15) and a screwdriver to form an automatic telescopic screwdriver, the rotating disc (4) is further provided with two guide rods (18), and the surface of each guide rod (18) is movably sleeved with a second sliding block (16) and a second sliding block (16) which is fixedly connected with the first sliding block (13) through a connecting rod (17).
2. The intelligent manufacturing robot part fitting and assembling device according to claim 1, wherein: the top fixed mounting of device support (1) has bracing piece (2), the bottom of bracing piece (2) is passed through rotation axis (3) and is connected with rolling disc (4), the outer lane fixed mounting of rolling disc (4) has ring gear (5), the middle part fixed mounting of device support (1) has motor (7) No. one, the output shaft transmission of motor (7) No. one is connected with gear (6), gear (6) are connected with ring gear (5) meshing, two No. two slider (16) still fixed mounting has support frame (19), the bottom fixed mounting of support frame (19) has motor (20) No. four, the bottom fixed mounting of motor (20) No. four has assembly ring (21), be equipped with on assembly ring (21) and accept mechanism (22) and be located the below of screwdriver.
3. The intelligent manufacturing robot part fitting and assembling device according to claim 1, wherein: in the linear transmission mechanism, the second motor (8) is in transmission connection with the ball screw (9), the moving block (11) is in transmission connection with the transmission rod (12), and the moving block (11) is movably sleeved on the ball screw (9).
4. The intelligent manufacturing robot part fitting and assembling device according to claim 1, wherein: the bottom of the ball screw (9) is also fixedly provided with a wheel type upper lifting frame (10) and a lower feeder (23), the upper and lower rollers of the wheel type upper lifting frame (10) are respectively in rolling contact with the upper and lower surfaces of the assembly ring (21), and a bottom output port of the lower feeder (23) is positioned right above the bearing mechanism (22).
5. The intelligent manufacturing robot part fitting and assembling device according to claim 1, wherein: the supporting mechanism (22) comprises a mounting shell (221), two fixing shafts (222) are fixedly mounted in the mounting shell (221), a clamping plate (223) and a torsion spring (224) are movably sleeved on the surface of each fixing shaft (222), two ends of each torsion spring (224) respectively support against half surfaces of a wall body and the corresponding clamping plate (223), the end portions of the two clamping plates (223) are overlapped and butted, and the mounting shell (221) is movably mounted in the assembling ring (21).
6. The intelligent manufacturing robot part fitting and assembling device according to claim 5, wherein: the end parts of the clamping plates (223) are provided with semicircular through grooves, and the end parts of the two clamping plates (223) are overlapped and butted to form a complete circular through groove.
7. The intelligent manufacturing robot part fitting and assembling device according to claim 6, wherein: the column body of a screw can be clamped in a circular through groove formed after the end parts of the two clamping plates (223) are overlapped and butted, and the screw cap of the screw is positioned above the end parts of the two clamping plates (223).
8. The intelligent manufacturing robot part fitting and assembling device according to claim 5, wherein: eighteen bearing mechanisms (22) are arranged on the assembly ring (21) at equal intervals, the fourth motor (20) drives the assembly ring (21) to intermittently rotate, and the rotation angle is twenty degrees each time.
9. The intelligent manufacturing robot part fitting and assembling device according to claim 4, wherein: the output port of the feeder (23) and the bottom end of the screwdriver are both positioned right above the circular through groove formed at the end part of the two clamping plates (223), and the feeder (23) and the screwdriver are positioned above the two ends of the diameter of the assembling ring (21).
10. The intelligent manufacturing robot part fitting and assembling device according to claim 1, wherein: two sliding rails are further arranged above the rotating disc (4), the extending directions of the sliding rails, the ball screw (9) and the moving block (11) are the same diameter direction of the rotating disc (4), and the first sliding block (13) is installed on the sliding rails of the rotating disc (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110748719.3A CN113352090A (en) | 2021-07-02 | 2021-07-02 | Robot part matching and assembling device for intelligent manufacturing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110748719.3A CN113352090A (en) | 2021-07-02 | 2021-07-02 | Robot part matching and assembling device for intelligent manufacturing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113352090A true CN113352090A (en) | 2021-09-07 |
Family
ID=77537927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110748719.3A Withdrawn CN113352090A (en) | 2021-07-02 | 2021-07-02 | Robot part matching and assembling device for intelligent manufacturing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113352090A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114193794A (en) * | 2021-11-17 | 2022-03-18 | 蒋雪飞 | Production and processing equipment for marine inflatable rubber fender |
| CN114453875A (en) * | 2022-03-02 | 2022-05-10 | 何斌 | Automatic assembly equipment of robot spare part based on intelligence is made |
| CN115256053A (en) * | 2022-08-12 | 2022-11-01 | 吉林大学 | Impeller processing machine of automobile hydraulic retarder |
-
2021
- 2021-07-02 CN CN202110748719.3A patent/CN113352090A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114193794A (en) * | 2021-11-17 | 2022-03-18 | 蒋雪飞 | Production and processing equipment for marine inflatable rubber fender |
| CN114193794B (en) * | 2021-11-17 | 2023-11-24 | 湖南众钧科技有限公司 | Production and processing equipment for marine inflatable rubber fender |
| CN114453875A (en) * | 2022-03-02 | 2022-05-10 | 何斌 | Automatic assembly equipment of robot spare part based on intelligence is made |
| CN115256053A (en) * | 2022-08-12 | 2022-11-01 | 吉林大学 | Impeller processing machine of automobile hydraulic retarder |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210907 |
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| WW01 | Invention patent application withdrawn after publication |