CN114872074A - Soft machine gripper based on gear motor and twisted fiber hybrid drive - Google Patents
Soft machine gripper based on gear motor and twisted fiber hybrid drive Download PDFInfo
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- CN114872074A CN114872074A CN202210381096.5A CN202210381096A CN114872074A CN 114872074 A CN114872074 A CN 114872074A CN 202210381096 A CN202210381096 A CN 202210381096A CN 114872074 A CN114872074 A CN 114872074A
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- artificial muscle
- motor
- finger
- soft
- fingers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Abstract
The invention discloses a soft machine gripper based on a speed reducing motor and twist fiber artificial muscle driving, which comprises soft machine fingers, a speed reducing motor, a motor support, pulleys, twist fiber artificial muscles and a fixed base, wherein: the motor support is installed on unable adjustment base, gear motor fixed mounting is on the motor support, and gear motor is connected with pulley transmission, twist with fingers the artificial muscle of bent fibre one end of twisting with fingers the artificial muscle configuration hole of bent fibre and connect the software machine, twist with fingers the artificial muscle fixed orifices of bent fibre on the pulley of other end connection. The twisted fiber artificial muscle replaces a common rope, and compared with the common rope, the twisted fiber artificial muscle can contract when being heated, the twisted fiber artificial muscle is pulled by the speed reducing motor to bend fingers to a certain degree and then is electrified, so that the fingers can contract, the finger output force is increased, and the fingers can obtain a larger bending angle.
Description
Technical Field
The invention belongs to the technical field of soft robot devices, and particularly relates to a soft robot gripper based on hybrid drive of a speed reduction motor and twisted fiber artificial muscles.
Background
The traditional rigid robot has been developed for decades, and has been widely used in the fields of industry, medical treatment, education, etc. due to its excellent control precision and bearing capacity. With the rapid development of robot technology, people have made new requirements on the aspects of environmental adaptability, safe Human-computer interaction (HRI) and the like of robots, and thus soft robots are produced and gradually started. The soft robot gripper is an important component of the soft robot, and is increasingly concerned by people due to excellent flexibility, good environmental adaptability and safe man-machine interaction capability. The main driving modes of the soft mechanical gripper comprise pneumatic, hydraulic, Shape Memory Alloy (SMA), motor and rope, intelligent material and the like, but the single driving mode can not meet the requirements of the soft mechanical gripper in various aspects at present. Therefore, soft body machine grippers integrating multiple driving methods are developed successively. For example, the national patent CN 109746907A adopts a driving mode of combining pneumatics and shape memory alloy, and utilizes the mixture of gasification of low-boiling-point volatile liquid after being heated and SMA to drive the multi-cavity silicon body soft finger to bend. A hybrid antagonist system based on shape memory alloy and twisted fiber Artificial Muscle (SCPAM) was developed and developed based on the publication of International journal IEEE Robotics and Automation Letters (Sangg Yul Yang, Kihyeon Kim, Sungwon Seo, Dongsu Shin, Jae Hyeong Park, Young Jin Gong, and Hyouk Rheol Choi. hybrid antagonist system with a woven shape memory and twisted and linked Polymer activator for light weight robot arm). In the existing soft robot finger structure, the flexibility and the driving speed of the gripper are difficult to obtain good technical effects at the same time.
Disclosure of Invention
The invention aims to provide a novel driving mode for driving a machine gripper by combining twisted fiber artificial muscles made of conductive twisted fibers and a speed reduction motor, aiming at the current situation that the driving mode of the conventional soft machine gripper is single. The traditional motor and rope driven machine gripper has larger output force and control precision, but has the defects of small power density, lack of inherent flexibility and the like; the driving mode of the twisted fiber artificial muscle has the advantages of low cost, low weight, high power density and the like, but has the defects of low energy efficiency, low driving speed and the like. The machine gripper driven by the twisted fiber artificial muscle and the speed reducing motor in a mixed mode can reduce the defect of a single driving mode, improve the driving speed of the soft machine gripper, enable the soft machine gripper to have certain flexibility, and increase the output force of the soft machine gripper, so that the soft machine gripper can grip an object more firmly.
In the invention, the gripper of the soft body machine is driven by a driving mode of combining twisted fiber artificial muscles and a speed reducing motor. This design aims at alleviateing the respective shortcoming of two kinds of drive methods, combines to twist with the artifical muscle of bent fibre and gear motor's advantage, improves driving speed when not influencing the machine tongs compliance.
The invention aims to provide a design of a soft machine gripper based on hybrid driving of a speed reduction motor and twisted fiber artificial muscles. Specifically, the technical scheme is as follows:
the utility model provides a software machine tongs based on gear motor and twist with bent fibre artificial muscle drive, includes software machine finger, gear motor, motor support, pulley, twists with bent fibre artificial muscle and unable adjustment base, wherein:
the utility model discloses a flexible machine finger, including motor support, gear motor, flexible machine finger, setting end and unable adjustment base, motor support installs on unable adjustment base, gear motor fixed mounting is on motor support, and gear motor is connected with pulley drive, the installation end and the unable adjustment base fixed connection of software machine finger, the inboard of software machine finger is opened has twists with the fingers artificial muscle of bent fibre configuration hole, twist with the fingers the artificial muscle of bent fibre configuration hole and run through whole software machine finger, twist with the fingers artificial muscle of bent fibre configuration hole and connect the software machine finger with the one end of twisting with the fingers artificial muscle of bent fibre, the other end connection pulley on twist with the fingers artificial muscle fixed orifices of bent fibre.
Furthermore, the soft robot finger is made of soft materials and can be bent and deformed under the action of external force.
Furthermore, the soft robot finger comprises phalanges, joints and metacarpals, wherein every two phalanges are connected through the joints, the phalanges are all installed on the same side of the metacarpals, a groove is formed between every two phalanges, and when one side of each joint is subjected to external force, the soft robot finger can bend at the position of the groove.
Furthermore, twisted fiber artificial muscle configuration holes are formed in the phalanges.
Further, unable adjustment base includes motor fixed platform, finger fixed part and arm connecting portion, motor fixed platform fixed connection is in the side tip of arm connecting portion, finger fixed part fixed connection is in the lower tip of arm connecting portion.
Furthermore, a mechanical arm connecting hole is formed in the mechanical arm connecting part and used for connecting the gripper of the soft machine to the mechanical arm as an end effector;
the motor fixing platform is provided with a second motor fixing hole, two ends of the motor bracket are provided with first motor fixing holes, and the first motor fixing holes are matched with the second motor fixing holes for fixedly connecting the motor bracket to the motor fixing platform;
the finger fixing part is provided with a second finger fixing hole, the metacarpal bone is provided with a first finger fixing hole, and the first finger fixing hole is matched with the second finger fixing hole to be used for installing the soft robot finger on the finger fixing part.
Further, the intermediate position department of pulley is provided with twists with fingers the artificial muscle fixed orifices of bent fibre, twist with fingers one end fixed connection that the artificial muscle of bent fibre kept away from software machine finger twists with fingers the artificial muscle fixed orifices of bent fibre, works as the pulley rotates, twists with fingers the artificial muscle of bent fibre and can twine on the pulley.
Furthermore, the twisted fiber artificial muscle has a negative thermal expansion coefficient, generates joule heat when being electrified, generates contraction, and returns to the original shape when being cooled when being powered off.
The invention provides a design of a soft machine gripper based on hybrid driving of a speed reduction motor and twisted fiber artificial muscles, which comprises the following steps:
the structure is simple, raw materials are easy to obtain, the soft mechanical fingers and the fixed base can be obtained in a 3D printing mode, the commercial speed reduction motor and the twisted fiber artificial muscle can be easily obtained, and the speed reduction motor and the twisted fiber artificial muscle can be well connected into a whole through the fixing effect of the screws;
the driving mode adopted by the invention reduces the defect of single driving mode based on the speed reducing motor or the twisted fiber artificial muscle, and combines the respective advantages of the speed reducing motor and the twisted fiber artificial muscle, so that the soft machine gripper has higher driving speed and certain flexibility;
the twisted fiber artificial muscle replaces a common rope, and compared with the common rope, the twisted fiber artificial muscle can contract when being heated, the twisted fiber artificial muscle is pulled by the speed reducing motor to bend fingers to a certain degree and then is electrified, so that the fingers can contract, the finger output force is increased, and the fingers can obtain a larger bending angle.
Drawings
FIG. 1 is a general schematic view of the soft body machine gripper of the present invention.
FIG. 2 is a schematic diagram of the structure of the soft robot finger of the present invention.
Fig. 3 is a schematic view of the reduction motor of the present invention.
Fig. 4 is a schematic view of the motor bracket and its parts according to the present invention.
Fig. 5 is a schematic view of the pulley of the present invention.
FIG. 6 is a schematic view of a fixing base and its components according to the present invention.
Fig. 7 is a schematic diagram of the thermal driving principle of the twisted fiber artificial muscle of the invention.
Figure 8 is a schematic view of the soft body machine gripper of the present invention.
Figure 9 is a schematic diagram of the soft body machine gripper of the present invention.
Description of reference numerals:
1. a soft robotic finger; 11. a phalanx; 12. a joint; 13. a metacarpal bone; 14. a twisted fiber artificial muscle configuration hole; 15. a first finger fixing hole; 16. a groove; 2. a reduction motor; 3. a motor bracket; 31. a first motor fixing hole; 32. a first fixing screw; 33. a second fixing nut; 4. a pulley; 41. a twisted fiber artificial muscle fixing hole; 42. a pulley fixing hole; 5. artificial muscle made of twisted fiber; 6. a fixed base; 61. a motor fixing platform; 62. a finger fixing section; 63. a mechanical arm connecting part; 64. a finger fixing screw; 65. a finger fixing nut 611 and a second motor fixing hole; 621. a second finger fixing hole; 631. a mechanical arm connecting hole; 7. a power source; 8. an object.
Detailed Description
The technical solution 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; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
As shown in figures 1-8, the invention provides a soft machine gripper based on a speed reduction motor and twisted fiber artificial muscle driving, which comprises six parts, namely a soft machine finger 1, a speed reduction motor 2, a motor bracket 3, a pulley 4, a twisted fiber artificial muscle 5 and a fixed base 6.
The number of the soft mechanical fingers 1 is two, the two soft mechanical fingers correspond to the two speed reducing motors 2 one by one, one end of the twist fiber artificial muscle 5 is connected with the soft mechanical fingers 1, and the other end of the twist fiber artificial muscle is connected with the twist fiber artificial muscle fixing holes 41 on the pulley 4.
In the implementation of the invention, firstly, a three-dimensional drawing software is adopted to model the models of the soft machine finger 1 and the fixed base 6, and then the 3D printing technology is adopted to print the soft machine finger 1 and the fixed base 6, in the invention, the soft machine finger 1 is made of soft material and can generate bending deformation under the action of external force, in the embodiment, the soft machine finger 1 is made of silicon rubber with Shore hardness of 70A, and the fixed base 6 is made of resin.
The structure schematic diagram of the soft robot finger 1 is shown in fig. 2, the soft robot finger 1 is long and is composed of three phalanges 11, two joints 12 and a whole metacarpal bone 13, every two phalanges 11 are connected through the joint 12, the phalanges 11 are installed on the same side of the metacarpal bone 13, two identical grooves 16 are formed in the inner side of the soft robot finger 1, namely, one groove 16 is formed in the back side of each joint 12, and when external force is applied to one side of each joint 12, the soft robot finger 1 is easy to bend at the groove 16.
The inner side of the soft robot finger 1, namely the phalanx 11 is provided with twist fiber artificial muscle configuration holes 14 which are equal in size and are positioned on the same horizontal line, the twist fiber artificial muscle configuration holes 14 penetrate through the whole soft robot finger 1, and the twist fiber artificial muscle configuration holes 14 are used for configuring twist fiber artificial muscles 5.
The end of the soft robot finger 1 is designed to be slender and has three circular holes with the same size on the side, namely a first finger fixing hole 15 opened on the side of the metacarpal bone 13 as shown in fig. 2, and is used for connecting the fixing base 6.
The fixing base 6 comprises a motor fixing platform 61, a finger fixing part 62 and a mechanical arm connecting part 63, the motor fixing platform 61 is two, the motor fixing platform is respectively and fixedly connected to the end parts of the two sides of the mechanical arm connecting part 63, a second motor fixing hole 611 is formed in the motor fixing platform 61 and is used for fixedly mounting the speed reducing motor 2, the motor fixing platform 61 is matched with the motor support 3 for use, as shown in fig. 4, the two ends of the motor support 3 are provided with first motor fixing holes 31, the first motor fixing holes 31 correspond to the second motor fixing holes 611, the speed reducing motor 2 is arranged in the motor support 3 during use, the first fixing screws 32 penetrate through the first motor fixing holes 31 and the first motor fixing holes 31, and the speed reducing motor 2 can be fixed by installing the first fixing nuts 33.
The number of the finger fixing portions 62 is two, and both the finger fixing portions are fixedly connected to the lower end portion of the mechanical arm connecting portion 63. (ii) a The finger fixing part 62 is provided with a second finger fixing hole 621 which is matched with the first finger fixing hole 15 and used for connecting the soft robot finger 1, when in installation, the finger fixing screw 64 penetrates through the first finger fixing hole 15 and the second finger fixing hole 621, and then the finger fixing nut 65 is installed; the robot arm connecting portion 63 is provided with a robot arm connecting hole 631, which is four circular holes having the same size, for connecting the soft robot gripper as an end effector to a commercial robot arm.
The twist fiber artificial muscle 5 penetrates through a twist fiber artificial muscle configuration hole 14 on the soft robot finger 1, one end of the twist fiber artificial muscle is fixed to the tail end of the soft robot finger 1, the other end of the twist fiber artificial muscle is fixed to a twist fiber artificial muscle fixing hole 41 on the pulley 4 connected with the speed reducing motor 2, and when the pulley 4 rotates, the twist fiber artificial muscle 5 can be wound on the pulley 4.
The commercial conductive nylon yarn material (namely the conductive twisted fiber) has negative thermal expansion coefficient, and the twisted fiber artificial muscle 5 driven by heat can be prepared by axial contraction and radial expansion during heating, spiral coiling and annealing treatment.
The twisted fiber artificial muscle 5 is formed by twisting a conductive nylon wire (namely conductive fiber) with a silver-plated coating, has a negative thermal expansion coefficient, generates joule heat when electrified due to the thermal contraction characteristic, generates contraction similar to that of muscles, and returns to the original shape when cooled down after power failure.
Fig. 7 shows a schematic diagram of a thermal driving principle of the twisted fiber artificial muscle 5, because of the characteristics of silver plating on the surface of the twisted fiber artificial muscle 5 and thermal contraction thereof, the twisted fiber artificial muscle 5 can contract by simple electrical heating, and after the power supply of the twisted fiber artificial muscle 5 is removed, the twisted fiber artificial muscle 5 gradually recovers to the original state under the action of air convection. Assuming that the initial length of the twisted fiber artificial muscle 5 before being electrified is x1, and the length after being electrified and contracted is x2, the contraction stroke Δ x obtained in the electrifying process is the difference between the initial length x1 and the contraction length x2 of the twisted fiber artificial muscle 5.
Under the driving action of the speed reducing motor 2, the twisted fiber artificial muscle 5 embedded into the soft robot finger 1 is stretched and shortened in length, so that the soft robot finger 1 is bent. After the twisted fiber artificial muscle 5 is stretched to a certain degree by the speed reducing motor 2, the twisted fiber artificial muscle 5 is electrified to contract, so that the output force of the soft robot finger 1 is increased.
The assembled soft robotic gripper is shown in fig. 8 (initial stage with the gearmotor 2 not operating and the power supply 7 to the twisted fiber artificial muscle 5 not switched on). The working schematic of the soft body machine gripper is shown in fig. 9:
firstly, an initial stage: the speed reducing motor 2 does not work, the twisted fiber artificial muscle 5 is not electrified, and the soft robot finger 1 is not bent at the moment.
II, the working stage of the speed reducing motor: the speed reducing motor 2 is driven, the rotating shaft of the speed reducing motor 2 continuously rotates, so that the length of the twisted fiber artificial muscle 5 connected with the tail end of the finger 1 is continuously reduced until the two soft mechanical fingers 1 contact with the object 8 and grab the object 8.
Thirdly, working stage of the twisted fiber artificial muscle 5: when the twisted fiber artificial muscle 5 is electrified, a large amount of joule heat is generated on the surface of the twisted fiber artificial muscle 5, and the heat contraction characteristic of the twisted fiber artificial muscle 5 causes the twisted fiber artificial muscle 5 to continuously contract. During the energisation of the twisted fibre artificial muscle 5 the force output by each finger 1 will be increased compared to during the non-energisation, which will result in the soft body machine gripper gripping the object 8 in a more secure manner.
Fourthly, an end stage: the power 7 of the twist fiber artificial muscle 5 is removed, and the twist fiber artificial muscle 5 is gradually restored to the original state under the action of air convection. The speed reducing motor 2 is driven reversely, the length of the twisted fiber artificial muscle 5 embedded in the fingers 1 is increased continuously until the two robot fingers 1 recover to the initial state, and the object 8 is placed back in the process of restoring the soft robot fingers 1.
The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.
Claims (8)
1. The utility model provides a software machine tongs based on gear motor and twist with fingers artifical muscle drive of bent fibre which characterized in that: including software machine finger (1), gear motor (2), motor support (3), pulley (4), twist with fingers bent fibre artificial muscle (5) and unable adjustment base (6), wherein:
motor support (3) are installed on unable adjustment base (6), and gear motor (2) fixed mounting is on motor support (3), and gear motor (2) are connected with pulley (4) transmission, the installation end and unable adjustment base (6) fixed connection of software machine finger (1), open the inboard of software machine finger (1) has set up hole (14) with the fingers of bent fibre artificial muscle, set up hole (14) with the fingers of bent fibre artificial muscle and run through whole software machine finger (1), set up hole (14) with the fingers of bent fibre artificial muscle and connect software machine finger (1) with the fingers of bent fibre artificial muscle (5) one end run through set up hole (14) with the fingers of bent fibre artificial muscle and connect, the other end connect set up hole (41) with the fingers of bent fibre artificial muscle on pulley (4).
2. The soft machine gripper based on the speed reduction motor and the twisted fiber artificial muscle driving of claim 1, wherein the soft machine gripper comprises: the soft mechanical finger (1) is made of soft materials and can be bent and deformed under the action of external force.
3. The soft machine gripper based on the speed reduction motor and the twisted fiber artificial muscle driving of claim 2, wherein the soft machine gripper comprises: the soft mechanical finger (1) comprises phalanges (11), joints (12) and metacarpal bones (13), wherein every two phalanges (11) are connected through the joints (12), the phalanges (11) are all installed on the same side of the metacarpal bones (13), a groove (16) is formed between every two phalanges (11), and when external force is applied to one side of each joint (12), the soft mechanical finger (1) can bend at the position of the groove (16).
4. The soft body machine gripper based on the speed reduction motor and the twisted fiber artificial muscle driving of the claim 3, wherein the soft body machine gripper comprises: the phalanx (11) is provided with a twisted fiber artificial muscle configuration hole (14).
5. The soft body machine gripper based on the speed reduction motor and the twisted fiber artificial muscle driving of claim 4, wherein the soft body machine gripper comprises: the fixing base (6) comprises a motor fixing platform (61), a finger fixing part (62) and a mechanical arm connecting part (63), the motor fixing platform (61) is fixedly connected to the side end part of the mechanical arm connecting part (63), and the finger fixing part (62) is fixedly connected to the lower end part of the mechanical arm connecting part (63).
6. The soft robotic gripper based on a geared motor and twisted fiber artificial muscle drive of claim 5, wherein: the mechanical arm connecting part (63) is provided with a mechanical arm connecting hole (631) for connecting the soft machine gripper as an end effector to the mechanical arm;
a second motor fixing hole (611) is formed in the motor fixing platform (61), first motor fixing holes (31) are formed in two ends of the motor support (3), and the first motor fixing holes (31) are matched with the second motor fixing holes (611) to fixedly connect the motor support (3) to the motor fixing platform (61);
the finger fixing part (62) is provided with a second finger fixing hole (621), the metacarpal bone (13) is provided with a first finger fixing hole (15), and the first finger fixing hole (15) and the second finger fixing hole (621) are matched for installing the soft robot finger (1) on the finger fixing part (62).
7. The soft robotic gripper based on a geared motor and twisted fiber artificial muscle drive of claim 6, wherein: the intermediate position department of pulley (4) is provided with twists with fingers fibre artificial muscle fixed orifices (41), twist with fingers one end fixed connection that soft machine finger (1) was kept away from in twists with fingers fibre artificial muscle fixed orifices (41), works as pulley (4) rotate, twist with fingers fibre artificial muscle (5) and can twine on pulley (4).
8. The soft robotic gripper based on a geared motor and twisted fiber artificial muscle drive of claim 7, wherein: the twisted fiber artificial muscle (5) has a negative thermal expansion coefficient, generates joule heat when electrified, generates contraction, and returns to the original shape when the power is off and the muscle is cooled.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210381096.5A CN114872074A (en) | 2022-04-12 | 2022-04-12 | Soft machine gripper based on gear motor and twisted fiber hybrid drive |
| NL2034228A NL2034228B1 (en) | 2022-04-12 | 2023-02-27 | Software Machine Gripper Based on Hybrid Drive of a Deceleration Motor and Twisted Fiber Artificial Muscle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210381096.5A CN114872074A (en) | 2022-04-12 | 2022-04-12 | Soft machine gripper based on gear motor and twisted fiber hybrid drive |
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| CN114872074A true CN114872074A (en) | 2022-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210381096.5A Pending CN114872074A (en) | 2022-04-12 | 2022-04-12 | Soft machine gripper based on gear motor and twisted fiber hybrid drive |
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| NL (1) | NL2034228B1 (en) |
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| NL2034228B1 (en) | 2024-01-18 |
| NL2034228A (en) | 2023-10-25 |
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