CN113750499A - But service robot that service mechanism was corrected automatically - Google Patents
But service robot that service mechanism was corrected automatically Download PDFInfo
- Publication number
- CN113750499A CN113750499A CN202110980567.XA CN202110980567A CN113750499A CN 113750499 A CN113750499 A CN 113750499A CN 202110980567 A CN202110980567 A CN 202110980567A CN 113750499 A CN113750499 A CN 113750499A
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- wall
- conveying pipe
- fixed
- fixing plate
- top end
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a pitching machine with a pitching mechanism capable of automatically correcting, which comprises a base and a fixed box at the top end of the base, wherein the inner cavity of the fixed box is rotatably connected with a first conveying pipe through a bearing, the top end of the first conveying pipe extends to the outside of the fixed box, the top end of the first conveying pipe is connected with a first hose, the other end of the first hose is fixedly provided with a launching tube, the outer wall of the first conveying pipe is provided with an angle adjusting component, the right side of the top end of the fixed box is internally embedded with a second conveying pipe, the top end of the second conveying pipe is fixedly provided with a collecting box, the top end of the collecting box is rotatably connected with a protective cover through a pin shaft, and the collecting box is movably connected with the protective cover through the fixed components at the front side and the rear side of the outer wall. The invention relates to the technical field of table tennis service robots, and solves the problems that the service robot is inconvenient to adjust the service angle when in use, and table tennis balls in an inner cavity of a table tennis collecting box often fall off when in use.
Description
Technical Field
The invention relates to the technical field of table tennis serving machines, in particular to a serving machine with a serving mechanism capable of automatically correcting.
Background
The table tennis service robot is a necessary entertainment and training tool for many ball houses and ball friend families. The table tennis serving machine is suitable for being used in society, schools, families and professional training venues, can serve balls with various properties, can be used for entertainment and fitness, is suitable for professional training, and is particularly high in cost performance. But the inconvenient angle to the service of table tennis service robot of prior art when using is adjusted, and the condition that the table tennis of table tennis collecting box inner chamber often can appear dropping when using moreover, to these problems, provides a but service robot of service mechanism automatic correction.
Disclosure of Invention
The embodiment of the invention provides a pitching machine with a pitching mechanism capable of automatically correcting, and aims to solve the problems in the background technology.
In view of the above, the present invention provides a service robot with an automatic correcting function for a service mechanism, which comprises a base and a fixed box disposed at the top end of the base, and is characterized in that the inner wall of the fixed box is rotatably connected with a first conveying pipe through a bearing, the top end of the first conveying pipe extends to the outside of the fixed box and is connected with a first hose, the other end of the first hose is fixedly provided with a launching tube, the outer wall of the first conveying pipe is provided with an angle adjusting assembly, the right side of the top end of the fixed box is embedded with a second conveying pipe, the top end of the second conveying pipe is fixedly provided with a collecting box, the top end of the collecting box is rotatably connected with a protective cover through a pin shaft, the collecting box is movably connected with the protective cover through the fixed assemblies at the front side and the rear side of the outer wall, the bottom end of the first conveying pipe and the bottom end of the second conveying pipe are communicated through the second hose, the second hose is located inside the stationary box.
Preferably, the angle adjusting assembly comprises an upper angle adjusting assembly, a lower angle adjusting assembly and a rotating assembly, and the upper angle adjusting assembly and the lower angle adjusting assembly are respectively used for adjusting the vertical swinging direction and the horizontal rotating direction of the launching tube.
Preferably, the up-down angle adjusting assembly comprises a first fixing plate, a second fixing plate, a first motor, a screw, a sliding block and a connecting rod; the first fixing plate is positioned above the fixing box, the first fixing plate is fixedly sleeved on the outer wall of the first conveying pipe, and the second fixing plate is fixedly installed above the first fixing plate through a support and sleeved on the outer wall of the first conveying pipe; the first motor is located between the first fixing plate and the second fixing plate, the first motor is fixedly installed at the top end of the first fixing plate, one end of the screw rod is connected to the output end of the first motor in a locking mode through a coupler, the other end of the screw rod is connected to the bottom end of the second fixing plate through a bearing in a rotating mode, the slider is in threaded connection with the outer wall of the screw rod and is sleeved on the outer wall of the first conveying pipe in a sliding mode, one end of the connecting rod is connected to the outer wall of the slider in a rotating mode through a pin shaft, and the other end of the connecting rod is connected to the outer wall of the transmitting pipe in a rotating mode through a pin shaft.
Preferably, the rotating assembly is arranged at the bottom end of the inner cavity of the fixed box, and comprises a second motor, a rotating column, a driving bevel gear and a driven bevel gear; second motor fixed mounting be in the inner chamber bottom of fixed case, the one end fixed mounting of column spinner be in the bottom outer wall of first conveyer pipe, the other end pass through the bearing and rotate and connect the inner chamber bottom of fixed case, driven bevel gear interference fit is in the outer wall of column spinner, initiative bevel gear interference fit is in the output of second motor, initiative bevel gear with driven bevel gear meshes mutually.
Preferably, each fixing component comprises a mounting plate, a telescopic rod and a spring; the telescopic device comprises a collecting box, a protective cover, two mounting plates, a spring, a hinge pin and a spring, wherein the two mounting plates are arranged up and down and are respectively fixedly mounted on the outer wall of the collecting box and the outer wall of the protective cover, the upper end and the lower end of the telescopic rod are respectively rotatably connected to the inner sides of the two mounting plates through the hinge pin, the spring is sleeved on the outer wall of the telescopic rod, and the upper end and the lower end of the spring are respectively fixedly mounted on the inner sides of the two mounting plates.
Preferably, the four corners of the bottom end of the base are respectively provided with wheels.
Preferably, the bottom end of the inner cavity of the collecting box is obliquely arranged.
According to the technical scheme, the embodiment of the invention has the following advantages:
one of them, rotatory through first motor area screw rod, under the effect of screw rod outer wall screw thread rotation power, when the screw rod is rotatory, can make the slider slide from top to bottom under the limiting displacement of first conveyer pipe, and then make the connecting rod drive the launching tube luffing motion under the effect of first hose to realized the launching tube to the regulation of launching table tennis direction, convenient training.
Its two, it is rotatory to drive initiative conical gear through the second motor, under the mutually supporting between initiative conical gear and the driven conical gear, when initiative cylindricality gear rotates, can make driven conical gear drive column spinner and first conveyer pipe rotate, and then realized the angle modulation to the launching tube at the horizontal direction, convenient training, when first conveyer pipe rotates, because first fixed plate is the outer wall of certain cup jointing at first conveyer pipe, when first conveyer pipe rotates, can drive first fixed plate and second fixed plate and rotate, thereby make the device's operation stability more.
Third, through the setting of visor, the condition that drops appears in the table tennis that can avoid the collecting box inner chamber, when opening the visor, can make the telescopic link rotate and tensile length under the effect of its upper and lower both ends round pin axle, make the spring receive the effect of tensile force, elastic deformation can take place, then produce corresponding pulling force, when loosening the visor, under the pulling force effect of spring, can make the visor buckle closure steadily on the top of collecting box, avoid the condition that drops to appear in the table tennis when using, the stability of the device when using has been improved.
Drawings
FIG. 1 is a schematic view of a southeast axial structure of the present invention;
FIG. 2 is a front cross-sectional view of the present invention;
FIG. 3 is an enlarged view taken at A of FIG. 1 in accordance with the present invention;
FIG. 4 is a schematic perspective view of the collection bin of the present invention;
wherein the reference numerals are:
1. a base; 2. a fixed box; 3. a launch tube; 4. a first delivery pipe; 5. a first fixing plate; 6. a second fixing plate; 7. a first motor; 8. a screw; 9. a slider; 10. a connecting rod; 11. a first hose; 12. a second motor; 13. a spin column; 14. a driven bevel gear; 15. a driving bevel gear; 16. a wheel; 17. a collection box; 18. a second delivery pipe; 19. a second hose; 20. a protective cover; 21. mounting a plate; 22. a telescopic rod; 23. a spring.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless explicitly stated or limited otherwise; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
For easy understanding, referring to fig. 1 to 4, an embodiment of a service robot with an automatic correcting serving mechanism provided by the present invention includes a base 1 and a fixed box 2 disposed at a top end of the base 1, an inner wall of the fixed box 2 is rotatably connected with a first conveying pipe 4 through a bearing, a top end of the first conveying pipe 4 extends to an outside of the fixed box 2 and is connected with a first hose 11, another end of the first hose 11 is fixedly installed with a launching tube 3, an outer wall of the first conveying pipe 4 is provided with an angle adjusting assembly, a right side of the top end of the fixed box 2 is embedded with a second conveying pipe 18, a top end of the second conveying pipe 18 is fixedly installed with a collecting box 17, a top end of the collecting box 17 is rotatably connected with a protective cover 20 through a pin shaft, the collecting box 17 is movably connected with the protective cover 20 through the fixed assemblies at front and rear sides of the outer wall, a bottom end of the first conveying pipe 4 and a bottom end of the second conveying pipe 18 are communicated through a second hose 19, the second hose 19 is located inside the stationary box 2.
It should be noted that the joint of the second hose 19 and the first delivery pipe 4 and the second delivery pipe 18 is arc-shaped, so that the table tennis ball can be launched smoothly. The inner cavity of the collecting box 17 is provided with a ball serving device, the ball serving device is the prior art, and the description is not repeated, wherein a ball outlet of the ball serving device is communicated with the upper end of the second conveying hose 18, and the table tennis balls in the collecting box 17 pass through the ball serving device and then are sequentially emitted through the second conveying pipe 18, the second hose 19, the first conveying pipe 4 and the emitting pipe 3, so that the ball serving is realized. Through the setting of angle adjustment subassembly, can make the transmission angle of launching tube 3 change to the angle that makes the ball of launching obtains adjusting in a flexible way, makes the use of device more nimble. Through the arrangement of the fixing component, the protective cover 20 can be stably buckled and covered at the top end of the collecting box 17, so that table tennis balls can be prevented from falling on the ground, and the stability of the device in use is improved.
Preferably, the angle adjusting assembly comprises an up-down angle adjusting assembly and a rotating assembly, which are respectively used for adjusting the up-down swinging direction and the horizontal rotating direction of the launching tube 3.
Preferably, as shown in fig. 2, the vertical angle adjusting assembly includes a first fixing plate 5, a second fixing plate 6, a first motor 7, a screw 8, a slider 9, and a connecting rod 10. First fixed plate 5 is located the top of fixed case 2, first fixed plate 5 is fixed to cup joint at the outer wall of first conveyer pipe 4, second fixed plate 6 passes through support fixed mounting in the top of first fixed plate 5 and cup joints the outer wall at first conveyer pipe 4, first motor 7 is located between first fixed plate 5 and second fixed plate 6, first motor 7 fixed mounting is on the top of first fixed plate 5, shaft coupling locking connection is passed through at the output of first motor 7 to screw rod 8's one end, the other end passes through the bearing and rotates the bottom of connecting at second fixed plate 6, slider 9 spiro union cup joints the outer wall at first conveyer pipe 4 at screw rod 8's outer wall and slidable, the one end of connecting rod 10 rotates the outer wall of connecting at slider 9 through the round pin axle, the other end rotates the outer wall of connecting at launching tube 3 through the round pin axle.
It should be noted that, drive screw rod 8 through first motor 7 and rotate, under the effect of the 8 outer wall screw threads of screw rod rotating force, when screw rod 8 is rotatory, can make slider 9 slide from top to bottom under the limiting displacement of first conveyer pipe 4, and then make connecting rod 10 drive launching tube 3 luffing motion under the effect of first hose 11 to realized launching tube 3 to the regulation of launching table tennis direction, convenient training.
As a preferred scheme, as shown in fig. 2, furthermore, the rotating assembly is disposed at the bottom end of the inner cavity of the fixed box 2, the rotating assembly includes a second motor 12, a rotating column 13, a driving bevel gear 15 and a driven bevel gear 14, the second motor 12 is fixedly mounted at the bottom end of the inner cavity of the fixed box 2, one end of the rotating column 13 is fixedly mounted on the outer wall of the bottom of the first conveying pipe 4, the other end of the rotating column is rotatably connected to the bottom end of the inner cavity of the fixed box 2 through a bearing, the driven bevel gear 14 is in interference fit with the outer wall of the rotating column 13, the driving bevel gear 15 is in interference fit with the output end of the second motor 12, and the driving bevel gear 15 is meshed with the driven bevel gear 14.
It should be noted that, drive initiative conical tooth wheel 15 through second motor 12 and rotate, under the mutual cooperation between initiative conical tooth wheel 15 and the driven conical tooth wheel 14, when initiative conical tooth wheel 15 rotated, can make driven conical tooth wheel 14 drive column spinner 13 and first conveyer pipe 4 rotate, and the existence of second hose 19 guarantees rotatory going on smoothly, and then has realized the angle modulation at the horizontal direction to launching tube 3, convenient training. When first conveyer pipe 4 rotated, because first fixed plate 5 is fixed cup joints the outer wall at first conveyer pipe 4, when first conveyer pipe 4 rotated, can drive first fixed plate 5 and second fixed plate 6 and rotate to make the device's operation more stable.
Preferably, as shown in fig. 3 and 4, each of the fixing assemblies includes a mounting plate 21, a telescopic rod 22, and a spring 23. The mounting panel 21 is two, and two mounting panels 21 set up from top to bottom and respectively fixed mounting at the outer wall of collecting box 17 and the outer wall of visor 20, and the upper and lower both ends of telescopic link 22 rotate respectively through the round pin axle and connect in the inboard of two mounting panels 21, and spring 23 cup joints the outer wall at telescopic link 22, and the upper and lower both ends of spring 23 are fixed mounting respectively in the inboard of two mounting panels 21.
It should be noted that, by the arrangement of the protective cover 20, the table tennis balls in the inner cavity of the collecting box 17 can be prevented from falling, when the protective cover 20 is opened, the telescopic rod 22 can rotate and stretch under the action of the pin shafts at the upper end and the lower end of the telescopic rod, so that the spring 23 is under the action of tensile force and can elastically deform, and then generates corresponding tensile force; when the protective cover 20 is loosened, the protective cover 20 can be stably buckled and covered at the top end of the collecting box 17 under the action of the contraction force of the spring 23, the condition that table tennis balls fall off when the table tennis ball collecting device is used is avoided, and the stability of the table tennis ball collecting device in use is improved.
Preferably, the four corners of the bottom end of the base 1 are respectively provided with wheels 16, and the wheels 16 are arranged to facilitate the position transfer of the device, thereby facilitating the use of the device.
As a preferred scheme, furthermore, the bottom end of the inner cavity of the collection box 17 is arranged in an inclined manner, so that the table tennis balls in the inner cavity of the collection box 17 can slide to the inner cavity of the second delivery pipe 18 through the ball serving device along the inclined inner cavity under the action of gravity, and the table tennis balls are prevented from remaining in the inner cavity of the collection box 17.
The detailed connection means is a known technology in the field, and the following main introduction working principle and process specifically work as follows:
when using, start first motor 7, make first motor 7 drive screw rod 8 and rotate, under the effect of the 8 outer wall screw threads of screw rod rotating force, when screw rod 8 is rotatory, can make slider 9 slide from top to bottom under the limiting displacement of first conveyer pipe 4, and then make connecting rod 10 drive launching tube 3 luffing motion under the effect of first hose 11 to realized the regulation to launching tube 3's transmission table tennis direction, convenient training. Start second motor 12, make second motor 12 drive initiative conical gear 15 rotate, under the mutually supporting between initiative conical gear 15 and driven conical gear 14, when initiative cylindricality gear rotates, can make driven conical gear 14 drive column spinner 13 and first conveyer pipe 4 rotate, and then realized the angle modulation to launching tube 3 at the horizontal direction, convenient training. When first conveyer pipe 4 rotated, because first fixed plate 5 is fixed cup joints the outer wall at first conveyer pipe 4, when first conveyer pipe 4 rotated, can drive first fixed plate 5 and second fixed plate 6 and rotate to make the device's operation more stable.
Through the arrangement of the protective cover 20, the condition that table tennis balls in the inner cavity of the collecting box 17 fall off can be avoided, when the protective cover 20 is opened, the telescopic rod 22 can rotate and stretch the length under the action of the pin shafts at the upper end and the lower end of the telescopic rod, the spring 23 can elastically deform under the action of tensile force, and then corresponding tensile force is generated; when loosening visor 20, under the contractile force effect of spring 23, can make visor 20 buckle closure at the top of collecting box 17 steadily, the condition that the table tennis appears dropping when avoiding using, the stability of the device when using has been improved, the device compact structure, and reasonable in design can realize the regulation to 3 angles of launching tube, make the table tennis launch each angle, still can realize the sealed to collecting box 17, the condition that the table tennis of avoiding collecting box 17 inner chamber appears dropping, and is simple in operation and convenient to use.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (7)
1. A service robot with a service mechanism capable of automatically correcting, which comprises a base and a fixed box arranged at the top end of the base, it is characterized in that the inner wall of the fixed box is rotatably connected with a first conveying pipe through a bearing, the top end of the first conveying pipe extends to the outside of the fixed box and is connected with a first hose, the other end of the first hose is fixedly provided with a transmitting tube, the outer wall of the first conveying pipe is provided with an angle adjusting component, a second conveying pipe is embedded in the right side of the top end of the fixed box, a collecting box is fixedly arranged at the top end of the second conveying pipe, the top end of the collecting box is rotatably connected with a protective cover through a pin shaft, the collecting box is movably connected with the protective cover through fixed components on the front side and the rear side of the outer wall, the bottom of first conveyer pipe and the bottom of second conveyer pipe passes through the second hose intercommunication, the second hose is located fixed incasement portion.
2. The automatic correcting pitching machine of claim 1, wherein said angle adjusting assembly comprises an up-down angle adjusting assembly and a rotating assembly, which are respectively used for adjusting the vertical swing direction and the horizontal rotation direction of said launching tube.
3. The automatic-correcting pitching machine of the pitching mechanism according to claim 2, wherein the up-down angle adjusting assembly comprises a first fixing plate, a second fixing plate, a first motor, a screw, a slider and a connecting rod;
the first fixing plate is positioned above the fixing box, the first fixing plate is fixedly sleeved on the outer wall of the first conveying pipe, and the second fixing plate is fixedly installed above the first fixing plate through a support and sleeved on the outer wall of the first conveying pipe;
the first motor is located between the first fixing plate and the second fixing plate, the first motor is fixedly installed at the top end of the first fixing plate, one end of the screw rod is connected to the output end of the first motor in a locking mode through a coupler, the other end of the screw rod is connected to the bottom end of the second fixing plate through a bearing in a rotating mode, the slider is in threaded connection with the outer wall of the screw rod and is sleeved on the outer wall of the first conveying pipe in a sliding mode, one end of the connecting rod is connected to the outer wall of the slider in a rotating mode through a pin shaft, and the other end of the connecting rod is connected to the outer wall of the transmitting pipe in a rotating mode through a pin shaft.
4. The automatic correcting service robot of claim 2, wherein the rotating assembly is disposed at the bottom end of the inner cavity of the fixed box, and the rotating assembly comprises a second motor, a rotating column, a driving bevel gear and a driven bevel gear;
second motor fixed mounting be in the inner chamber bottom of fixed case, the one end fixed mounting of column spinner be in the bottom outer wall of first conveyer pipe, the other end pass through the bearing and rotate and connect the inner chamber bottom of fixed case, driven bevel gear interference fit is in the outer wall of column spinner, initiative bevel gear interference fit is in the output of second motor, initiative bevel gear with driven bevel gear meshes mutually.
5. The automatic correcting pitching machine of claim 1, wherein each of said fixed components comprises a mounting plate, a telescopic rod and a spring;
the telescopic device comprises a collecting box, a protective cover, two mounting plates, a spring, a hinge pin and a spring, wherein the two mounting plates are arranged up and down and are respectively fixedly mounted on the outer wall of the collecting box and the outer wall of the protective cover, the upper end and the lower end of the telescopic rod are respectively rotatably connected to the inner sides of the two mounting plates through the hinge pin, the spring is sleeved on the outer wall of the telescopic rod, and the upper end and the lower end of the spring are respectively fixedly mounted on the inner sides of the two mounting plates.
6. The automatic correcting service robot of claim 1, wherein the four corners of the bottom of the base are respectively provided with wheels.
7. The automatic correcting service robot of claim 1, wherein the bottom end of the inner cavity of the collecting box is inclined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110980567.XA CN113750499A (en) | 2021-08-25 | 2021-08-25 | But service robot that service mechanism was corrected automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110980567.XA CN113750499A (en) | 2021-08-25 | 2021-08-25 | But service robot that service mechanism was corrected automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113750499A true CN113750499A (en) | 2021-12-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110980567.XA Withdrawn CN113750499A (en) | 2021-08-25 | 2021-08-25 | But service robot that service mechanism was corrected automatically |
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| Country | Link |
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| CN (1) | CN113750499A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114949811A (en) * | 2022-04-25 | 2022-08-30 | 丽水学院 | Special training device for basketball pass |
-
2021
- 2021-08-25 CN CN202110980567.XA patent/CN113750499A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114949811A (en) * | 2022-04-25 | 2022-08-30 | 丽水学院 | Special training device for basketball pass |
| CN114949811B (en) * | 2022-04-25 | 2024-04-30 | 丽水学院 | Special trainer of basketball pass |
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Application publication date: 20211207 |