CN116729916A - Cargo handling robot - Google Patents
Cargo handling robot Download PDFInfo
- Publication number
- CN116729916A CN116729916A CN202310543814.9A CN202310543814A CN116729916A CN 116729916 A CN116729916 A CN 116729916A CN 202310543814 A CN202310543814 A CN 202310543814A CN 116729916 A CN116729916 A CN 116729916A
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- CN
- China
- Prior art keywords
- limiting
- lifting
- step hole
- cargo handling
- handling robot
- 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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- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 16
- 239000007788 liquid Substances 0.000 claims description 26
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims 1
- 238000005452 bending Methods 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 29
- 239000010720 hydraulic oil Substances 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention belongs to the technical field of logistics carrying, and particularly relates to a cargo carrying robot, which can synchronously limit and fix supporting legs of a goods shelf when carrying goods on the goods shelf through the arrangement of a stabilizing mechanism, so that the problems of instability and easy dumping caused by simple jacking are avoided, and the stability of cargo carrying is improved; the arrangement of the synchronizer can further carry out more stable limit support on the shelf, and further improve the stability; the support mechanism is arranged, so that other parts such as the limiting arm and the like can be further stressed and supported, bending damage caused by overlarge stress on the parts is avoided, and the protection of the parts is improved.
Description
Technical Field
The invention belongs to the technical field of logistics carrying, and particularly relates to a cargo carrying robot.
Background
With the development of modern science and technology, advanced technology is gradually radiated to various industries, wherein logistics industry is a benefit of modern science and technology, wherein the logistics industry bursts in spring with the development of the internet and online shopping, and logistics service is not satisfied in order to satisfy the increasing service volume, so that the conventional manual treatment is not satisfied, and the use of a robot for treating goods is one of the most mainstream methods at present.
The robot is utilized to carry goods, so that the robot is one of important means for saving manpower, at present, the robot is utilized to carry the goods, the goods are mainly stored on the goods shelves, then the robot is utilized to carry the goods shelves to a designated area in a concentrated mode, the goods are loaded and unloaded by matching with other robots, most of the conventional robot carrying equipment directly adopts a goods lifting mode, and therefore, the goods shelves are easy to be influenced by the outside or the gravity center change of the goods on the goods shelves, and the goods shelves are easy to topple, so that the stability is not high, and the safety requirement of logistics goods carrying cannot be met.
Disclosure of Invention
The purpose of the invention is that: it is intended to provide a cargo handling robot for solving the problems mentioned in the background art.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
the cargo handling robot comprises a vehicle body, a jack, a control panel and a storage battery, wherein the jack is arranged at the upper end of the vehicle body and is electrically connected with the control panel and the storage battery, the control panel is electrically connected with the storage battery, and a stabilizing mechanism is further arranged between the jack and the vehicle body;
the stabilizing mechanism comprises a driving assembly and a limiting assembly, wherein the driving assembly is arranged in the middle of the jack, the limiting assemblies are two in number and comprise racks, limiting arms and guide strips, the two limiting assemblies are symmetrically distributed around the center of the driving assembly, the racks are in transmission connection with the driving assembly and are in sliding connection with the jack, the limiting arms are elastically hinged to the lower end of one side of the racks, and the guide strips are connected with the jack and are matched with the limiting arms.
The lifter comprises a plurality of lifting cylinders and lifting plates, wherein the lifting cylinders are distributed in the middle and four corners of the upper end of the vehicle body, and the lifting plates are connected with output shafts of the lifting cylinders.
The driving assembly comprises a motor and a gear, the motor is embedded in an output shaft of the lifting oil cylinder, the lifting plate is of a hollow rectangular structure as a whole, the gear is rotationally arranged in a hollow part of the lifting plate and is in transmission connection with the output shaft of the motor, and the rack is meshed with the gear.
The limiting arm comprises a swing arm and a plurality of elastic clamping pieces, the swing arm is elastically hinged with the rack, the elastic clamping pieces are uniformly arranged on the side face of the swing arm, a first liquid guide groove matched with the elastic clamping pieces is formed in the swing arm, a second liquid guide groove communicated with the first liquid guide groove is formed in the rack, and the second liquid guide groove is communicated with an oil storage device embedded in a vehicle body through a hose and is provided with a first on-off valve.
The elastic clamping piece comprises a clamping piece, two sliding rods, two limiting pieces and two springs, wherein the swing arm is provided with a first step hole matched with the elastic clamping piece, the limiting pieces are arranged in the first step hole in a sliding sealing mode, the sliding rods are connected with the limiting pieces and extend out of the first step hole, the springs are sleeved on the sliding rods and located in the first step hole, the clamping piece is connected with the two sliding rods, and the first step hole is communicated with the first liquid guide groove; therefore, the expansion of the card can be realized rapidly and conveniently through the on-off of the hydraulic oil, and the limit protection of the goods shelf is further achieved.
The other end of the rack is also provided with a synchronizer, the synchronizer comprises a long rod, a circular sheet and a carrying block, the other side of the rack is provided with a second step hole, the circular sheet is arranged in the second step hole in a sliding manner, the long rod is connected with the circular sheet and extends out of the second step hole, the carrying block is connected with the other end of the long rod, the lower end of the carrying block is also provided with a limiting arm, two limiting arms, which are positioned on the same side, of the two racks are connected through a connecting rod, and the connecting rod is provided with a liquid dividing groove matched with the first liquid guiding groove; therefore, the goods shelf can be further limited, and the stability is improved.
The stabilizing mechanism comprises an oil cylinder, a piston and a piston column, a movable groove matched with the stabilizing mechanism is formed in the middle of the lower end of the lifting plate, the oil cylinder is hinged with the vehicle body and matched with the movable groove, the piston is slidably and hermetically arranged in the oil cylinder, the piston column is connected with the piston and slidably extends out of the oil cylinder to be hinged with the connecting rod, and the other end of the oil cylinder is connected with an oil storage device embedded in the vehicle body through a guide pipe and is provided with a second switching valve; therefore, the bearing support and protection can be provided for the parts, and damage caused by overlarge bearing can be avoided.
The upper end of the lifting plate is uniformly provided with a plurality of friction strips; thus, the goods shelf can be supported more effectively.
Compared with the prior art, the invention has at least the following advantages:
through the arrangement of the stabilizing mechanism, when goods on the goods shelf are carried, the supporting legs of the goods shelf can be synchronously limited and fixed, so that the problems of instability and easy dumping caused by simple jacking are avoided, and the stability of goods carrying is improved; the arrangement of the synchronizer can further carry out more stable limit support on the shelf, and further improve the stability; the support mechanism is arranged, so that other parts such as the limiting arm and the like can be further stressed and supported, bending damage caused by overlarge stress on the parts is avoided, and the protection of the parts is improved.
Drawings
The invention may be further illustrated by means of non-limiting examples given in the accompanying drawings.
Fig. 1 is a schematic structural view of a cargo handling robot according to the present invention.
Fig. 2 is a cross-sectional view of the structure of the present invention.
Fig. 3 is an enlarged schematic view at a in fig. 2.
Fig. 4 is a schematic structural view of the stabilizing mechanism of the present invention.
Fig. 5 is a cross-sectional view of another angular configuration of the stabilization mechanism of the present invention.
Fig. 6 is a partial structural cross-sectional view of the present invention.
Fig. 7 is a schematic structural view of a limiting arm according to the present invention.
The device comprises a vehicle body 1, a rack 11, a guide bar 12, a lifting oil cylinder 13, a lifting plate 2, a gear 21, a swing arm 3, a first liquid guide groove 31, a second liquid guide groove 32, a card 4, a slide bar 41, a limiting piece 42, a spring 43, a first step hole 44, a long rod 5, a wafer 51, a carrier block 52, a second step hole 53, a connecting rod 54, a liquid dividing groove 55, an oil cylinder 6, a piston 61, a piston column 62, a movable groove 63 and a friction bar 7.
Detailed Description
In order that those skilled in the art will better understand the present invention, the following technical scheme of the present invention will be further described with reference to the accompanying drawings and examples.
Example 1: as shown in fig. 1-7, the cargo handling robot comprises a vehicle body 1, a jack, a control panel and a storage battery, wherein the jack is arranged at the upper end of the vehicle body 1 and is electrically connected with the control panel and the storage battery, the control panel is electrically connected with the storage battery, and a stabilizing mechanism is further arranged between the jack and the vehicle body 1;
the stabilizing mechanism comprises a driving assembly and a limiting assembly, the driving assembly is arranged in the middle of the lifter, the number of the limiting assemblies is two and comprises racks 11, limiting arms and guide strips 12, the two limiting assemblies are symmetrically distributed around the center of the driving assembly, the racks 11 are in transmission connection with the driving assembly and are in sliding connection with the lifter, the limiting arms are elastically hinged with the lower end of one side of each rack 11, and the guide strips 12 are connected with the lifter and are matched with the limiting arms.
When the device is used for carrying and moving the goods shelves, the vehicle body 1 moves along a preset moving track on the ground through wheels arranged on the vehicle body 1 and a control panel, the principle and the implementation mode of the device are known in the art, and are not repeated in detail, when the vehicle body 1 moves to the position below a target goods shelf to be carried, the vehicle body 1 is positioned to the middle part of the goods shelf, and then a stabilizing mechanism and a lifter are sequentially started to position and lift the goods shelf through the control panel;
when the stabilizing mechanism starts, the driving assembly starts transmission power, and then the limiting assemblies arranged in the two central symmetry are pushed out, so that the rack 11 moves outwards along the jack, and expands, when the rack 11 drives the limiting arms to move outwards, the limiting arms gradually separate from the guide strips 12, and then the vertical state of the rack 11 is formed through the rotating force of the limiting arms, namely, the limiting arms are in a cross vertical state with the vertical goods shelf supporting legs, until the limiting arms move and abut the supporting legs of the goods shelf, at the moment, the limiting arms limit and clamp the supporting legs of the goods shelf, the two limiting assemblies are matched, the supporting legs of the goods shelf can be effectively limited, and finally the jack lifts the bottom of the goods shelf to be separated from the ground, so that the goods shelf can be carried through the vehicle body 1.
The lifter comprises a plurality of lifting oil cylinders 13 and lifting plates 2, wherein the lifting oil cylinders 13 are distributed in the middle and four corners of the upper end of the vehicle body 1, and the lifting plates 2 are connected with output shafts of the lifting oil cylinders 13; the lifting oil cylinder 13 is used for providing lifting power, and the lifting plate 2 is used for supporting the lower end of the goods shelf in a contact way.
The driving assembly comprises a motor and a gear 21, the motor is embedded in an output shaft of the lifting oil cylinder 13, the lifting plate 2 is of a hollow rectangular structure as a whole, the gear 21 is rotationally arranged in a hollow part of the lifting plate 2 and is in transmission connection with the output shaft of the motor, and the rack 11 is meshed with the gear 21; when the goods shelf needs to be stabilized, the motor starts the output shaft of the motor to drive the gear 21 to rotate, and at the moment, the rack 11 meshed with the gear 21 moves along the lifting plate 2 to extend outwards, so that the two limiting assemblies can be synchronously driven to move, and the synchronism of the parts is ensured.
The limiting arm comprises a swing arm 3 and a plurality of elastic clamping pieces, the swing arm 3 is elastically hinged with the rack 11, the elastic clamping pieces are uniformly arranged on the side surface of the swing arm 3, the swing arm 3 is provided with a first liquid guide groove 31 matched with the elastic clamping pieces, the rack 11 is provided with a second liquid guide groove 32 communicated with the first liquid guide groove 31, and the second liquid guide groove 32 is communicated with an oil storage device embedded in the vehicle body 1 through a hose and is provided with a first on-off valve; the swing arm 3 is used for cooperating the supporting legs of goods shelves to carry out the butt, and elasticity fastener contracts in swing arm 3 under the initial condition, after the supporting legs of swing arm 3 butt goods shelves completely, outside oil reservoir output hydraulic oil and pour into first drain groove 31 through second drain groove 32 this moment, finally promote elasticity fastener, the elasticity fastener that receives the supporting legs of goods shelves at this moment and blockked then can not stretch out, corresponding unblocked then can stretch out, and then form one to enclose and keep off spacing effect to the supporting legs of goods shelves, after spacing completion, first break-make valve is closed this moment for hydraulic oil can't flow back, and then make a plurality of elasticity fastener can't stretch out and draw back.
The elastic clamping piece comprises a clamping piece 4, two slide bars 41, two limiting pieces 42 and two springs 43, the swing arm 3 is provided with a first step hole 44 matched with the elastic clamping piece, the limiting pieces 42 are arranged in the first step hole 44 in a sliding sealing mode, the slide bars 41 are connected with the limiting pieces 42 and extend out of the first step hole 44, the springs 43 are sleeved on the slide bars 41 and are positioned in the first step hole 44, the clamping piece 4 is connected with the two slide bars 41, and the first step hole 44 is communicated with the first liquid guide groove 31; the limiting piece 42 is kept to be retracted into the first step cavity under the action of the spring 43 in the initial state, at the moment, the sliding rod 41 is retracted to drive the card 4 to be retracted, when hydraulic oil is input into the first liquid guide groove 31, the hydraulic oil is synchronously input into the first step hole 44, the limiting piece 42 in the first step hole 44 is pushed, the card 4 is pushed through the sliding rod 41, the card 4 is enabled to move outwards, and the card 4 blocked by the supporting leg is different from being unable to move, so that the effect of stably fixing the goods shelf supporting leg can be achieved.
The upper end of the lifting plate 2 is uniformly provided with a plurality of friction strips 7; the friction effect of the lifting plate 2 on the goods shelf can be increased by the aid of the friction strips 7, and the stability of support is further improved.
Example 2: as shown in fig. 2-3, according to a further improvement on the basis of embodiment 1, the other end of the rack 11 is further provided with a synchronizer, the synchronizer comprises a long rod 5, a circular plate 51 and a carrying block 52, the other side of the rack 11 is provided with a second step hole 53, the circular plate 51 is slidably arranged in the second step hole 53, the long rod 5 is connected with the circular plate 51 and extends out of the second step hole 53, the carrying block 52 is connected with the other end of the long rod 5, the lower end of the carrying block 52 is further provided with a limiting arm, two limiting arms of the two racks 11 positioned on the same side are connected through a connecting rod 54, and the connecting rod 54 is provided with a liquid separating groove 55 matched with the first liquid guiding groove 31.
In order to further improve the effect of supporting stability, when the limiting assembly is used for fixing a goods shelf, the connecting rod 54 in the synchronizer moves synchronously with the limiting arms, at the moment, the extending movement of the rack 11 on one side drives the other limiting arm in the synchronizer to extend synchronously through the connecting rod 54, at the moment, the long rod 5, the wafer 51 and the carrying block 52 move simultaneously, and further the extending and expanding of the two limiting arms are realized, so that the two supporting legs on the same side of the goods shelf can be simultaneously limited in position, the fixing effect of the goods shelf is further improved, and the arrangement of the liquid distributing groove 55 can meet the opening and closing requirements of elastic clamping pieces on the two limiting arms.
Example 3: as shown in fig. 2, on the basis of the further improvement of the embodiment 2, a supporting mechanism is symmetrically arranged between the vehicle body 1 and the connecting rod 54, the supporting mechanism comprises an oil cylinder 6, a piston 61 and a piston 61 column, a movable groove 63 matched with the stabilizing mechanism is formed in the middle of the lower end of the lifting plate 2, the oil cylinder 6 is hinged with the vehicle body 1 and matched with the movable groove 63, the piston 61 is slidably sealed in the oil cylinder 6, the piston 61 column is connected with the piston 61 and slidably extends out of the oil cylinder 6 to be hinged with the connecting rod 54, and the other end of the oil cylinder 6 is connected with an oil reservoir embedded in the vehicle body 1 through a conduit and provided with a second on-off valve.
Because the arm of force of the spacing arm is increased after stretching out, in order to avoid that the arm of force of the spacing arm is too much and then is subjected to deformation and bending caused by external influence, when the spacing arm stretches out, the connecting rod 54 pulls the piston 61 column to stretch out synchronously, at the moment, the piston 61 column pulls the piston 61 to move in the oil cylinder 6, the second break valve is opened under the condition, hydraulic oil in the oil reservoir is pumped into the oil cylinder 6 through the guide pipe along with the movement of the piston 61, so that the normal movement of the component is not influenced, until the spacing arm finishes the fixing and limiting of the supporting leg of the goods shelf, the second break valve is closed at the moment to cut off the communication between the oil reservoir and the oil cylinder 6, so that even if the spacing arm is subjected to the bearing force, hydraulic oil in the oil cylinder 6 can not flow and can not be compressed almost, and force support can be carried out through the stabilizing mechanism, and the effect of protecting the component is further achieved.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims of this invention, which are within the skill of those skilled in the art, can be made without departing from the spirit and scope of the invention disclosed herein.
Claims (8)
1. The utility model provides a cargo handling robot, includes automobile body, jacking ware, control panel and battery, the jacking ware is located automobile body upper end and with control panel and battery electrical signal connection, control panel with battery electrical signal connection, its characterized in that: a stabilizing mechanism is arranged between the jack and the vehicle body;
the stabilizing mechanism comprises a driving assembly and a limiting assembly, wherein the driving assembly is arranged in the middle of the jack, the limiting assemblies are two in number and comprise racks, limiting arms and guide strips, the two limiting assemblies are symmetrically distributed around the center of the driving assembly, the racks are in transmission connection with the driving assembly and are in sliding connection with the jack, the limiting arms are elastically hinged to the lower end of one side of the racks, and the guide strips are connected with the jack and are matched with the limiting arms.
2. A cargo handling robot as recited in claim 1, wherein: the lifter comprises a plurality of lifting cylinders and lifting plates, wherein the lifting cylinders are distributed in the middle and four corners of the upper end of the vehicle body, and the lifting plates are connected with output shafts of the lifting cylinders.
3. A cargo handling robot as recited in claim 2, wherein: the driving assembly comprises a motor and a gear, the motor is embedded in an output shaft of the lifting oil cylinder, the lifting plate is of a hollow rectangular structure as a whole, the gear is rotationally arranged in a hollow part of the lifting plate and is in transmission connection with the output shaft of the motor, and the rack is meshed with the gear.
4. A cargo handling robot according to claim 3, wherein: the limiting arm comprises a swing arm and a plurality of elastic clamping pieces, the swing arm is elastically hinged with the rack, the elastic clamping pieces are uniformly arranged on the side face of the swing arm, a first liquid guide groove matched with the elastic clamping pieces is formed in the swing arm, a second liquid guide groove communicated with the first liquid guide groove is formed in the rack, and the second liquid guide groove is communicated with an oil storage device embedded in a vehicle body through a hose and is provided with a first on-off valve.
5. A cargo handling robot as recited in claim 4, wherein: the elastic clamping piece comprises a clamping piece, two sliding rods, two limiting pieces and two springs, wherein the swing arm is provided with a first step hole matched with the elastic clamping piece, the limiting pieces are arranged in the first step hole in a sliding sealing mode, the sliding rods are connected with the limiting pieces and extend out of the first step hole, the springs are sleeved on the sliding rods and located in the first step hole, the clamping pieces are connected with the two sliding rods, and the first step hole is communicated with the first liquid guide groove.
6. A cargo handling robot as recited in claim 5, wherein: the novel hydraulic lifting device is characterized in that a synchronizer is further arranged at the other end of the rack, the synchronizer comprises a long rod, a disc and a carrying block, a second step hole is formed in the other side of the rack, the disc is slidably arranged in the second step hole, the long rod is connected with the disc and extends out of the second step hole, the carrying block is connected with the other end of the long rod, a limiting arm is further arranged at the lower end of the carrying block, two racks are located on the same side and connected with the two limiting arms through a connecting rod, and a liquid distributing groove matched with the first liquid guiding groove is formed in the connecting rod.
7. A cargo handling robot as recited in claim 6, wherein: the automobile body with still bilateral symmetry is equipped with supporting mechanism between the connecting rod, supporting mechanism includes hydro-cylinder, piston and piston post, open in the middle part of lifting board lower extreme with stabilizing mean assorted movable groove, the hydro-cylinder with the automobile body articulates and with movable groove assorted, the piston sliding seal locates in the hydro-cylinder, the piston post with piston connection and slip stretch out the hydro-cylinder with the connecting rod articulates, the hydro-cylinder other end is connected and is equipped with the second break-make valve with the oil storage ware of inlaying the locating the automobile body through the pipe.
8. A cargo handling robot as recited in claim 7, wherein: and a plurality of friction strips are uniformly arranged at the upper end of the lifting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310543814.9A CN116729916A (en) | 2023-05-15 | 2023-05-15 | Cargo handling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310543814.9A CN116729916A (en) | 2023-05-15 | 2023-05-15 | Cargo handling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116729916A true CN116729916A (en) | 2023-09-12 |
Family
ID=87910595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310543814.9A Withdrawn CN116729916A (en) | 2023-05-15 | 2023-05-15 | Cargo handling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116729916A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117184713A (en) * | 2023-09-14 | 2023-12-08 | 上海乐橘云果包装技术有限公司 | Logistics cargo transportation equipment |
| CN117246953A (en) * | 2023-11-14 | 2023-12-19 | 广东铭信供应链管理有限公司 | Transportation device for logistics transportation of supply chain management |
-
2023
- 2023-05-15 CN CN202310543814.9A patent/CN116729916A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117184713A (en) * | 2023-09-14 | 2023-12-08 | 上海乐橘云果包装技术有限公司 | Logistics cargo transportation equipment |
| CN117246953A (en) * | 2023-11-14 | 2023-12-19 | 广东铭信供应链管理有限公司 | Transportation device for logistics transportation of supply chain management |
| CN117246953B (en) * | 2023-11-14 | 2024-03-19 | 广东铭信供应链管理有限公司 | Transportation device for logistics transportation of supply chain management |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20230912 |
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| WW01 | Invention patent application withdrawn after publication |