CN215548759U - Mechanical arm for quickly assembling and disassembling mechanical claw - Google Patents
Mechanical arm for quickly assembling and disassembling mechanical claw Download PDFInfo
- Publication number
- CN215548759U CN215548759U CN202122003740.9U CN202122003740U CN215548759U CN 215548759 U CN215548759 U CN 215548759U CN 202122003740 U CN202122003740 U CN 202122003740U CN 215548759 U CN215548759 U CN 215548759U
- Authority
- CN
- China
- Prior art keywords
- gripper
- mounting plate
- fixedly connected
- mechanical claw
- movable
- 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.)
- Expired - Fee Related
Links
- 210000000078 claw Anatomy 0.000 title claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 230000000149 penetrating effect Effects 0.000 claims abstract description 8
- 230000000694 effects Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 abstract description 11
- 239000000126 substance Substances 0.000 abstract 1
- 230000008859 change Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to the technical field of mechanical arm equipment, and particularly discloses a mechanical arm for quickly assembling and disassembling a mechanical claw, which comprises a transmission arm whole body, a connecting and mounting plate and a mechanical claw, wherein a movable limiting baffle is movably connected in the middle and front of the transmission arm whole body, a fixing convex column is fixedly connected on the left inner side of the movable limiting baffle, a fastening bolt is connected in the middle of the movable limiting baffle in a penetrating way, a rubber gasket is connected in the periphery of the top of the fastening bolt in a penetrating way, and an abutting fixing mechanism enables a user to quickly perform limiting, abutting and fixing on a mechanical claw connecting block arranged at the bottom end of the connecting and mounting plate by utilizing the abutting fixing mechanism when the mechanical claw needs to be replaced and used according to the shape and the size of a clamped substance, so that the mechanical claw is firmly fixed at the bottom end of the connecting and mounting plate in a limiting and abutting way, the connecting mode can lead a user to more conveniently replace and use the mechanical claw.
Description
Technical Field
The utility model relates to a mechanical arm equipment technical field specifically is a mechanical arm of fast loading and unloading gripper.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection, and in recent years, in the automatic production line in the field of automobile manufacturing, a large number of mechanical arms are basically used to assemble automobile parts, and especially in the process of welding some automobile parts, the mechanical claw is required to be used to grab the part to a fixed position.
The mechanical claw can be replaced according to factors such as size and shape of a grabbed object when the mechanical arm with the mechanical claw is put into use, the mechanical claw can be fixedly arranged at the bottom end of the mechanical arm through a plurality of bolts in the conventional mode for fixing the mechanical claw, the mode is not only tedious, but also long in time and inconvenient, and therefore a user can take a long time to detach, replace and install the mechanical claw, and the working efficiency of the mechanical arm can be affected.
Therefore, how to design a mechanical arm for quickly assembling and disassembling the mechanical claw becomes a problem to be solved at present.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a mechanical arm for quickly assembling and disassembling a mechanical claw, which solves the problems of complicated fixing mode and inconvenience in fixing and installation in the background technology.
In order to achieve the purpose, the utility model provides the following technical scheme: an arm for quickly assembling and disassembling a mechanical claw comprises a transmission arm whole body, a connecting and mounting plate and a mechanical claw, wherein a movable limiting baffle is movably connected to the middle front part of the middle of the transmission arm whole body, a fixed convex column is fixedly connected to the left inner side of the movable limiting baffle, a fastening bolt is connected to the middle part of the movable limiting baffle in a penetrating manner, a rubber gasket is connected to the periphery of the top part of the fastening bolt in a penetrating manner, a limiting convex rod is fixedly connected to the right side of the bottom part of the movable limiting baffle, the connecting and mounting plate is fixedly connected to the front part of the bottom of the transmission arm whole body, a limiting jack is connected to the rear end of the surface of the top part of the connecting and mounting plate in an embedded manner, connecting chutes are connected to the surfaces of the two front parts of the connecting and mounting plate in an embedded manner, a mechanical claw connecting block is connected to the bottom of the connecting and a mechanical claw is fixedly connected to the bottom of the mechanical claw connecting block, the bottom swing joint of gripper has the clamping jaw, the holistic dead ahead fixedly connected with magnet piece in top of driving arm, the embedding is connected with the preformed hole in the middle of the dead ahead of magnet piece, the fixedly connected with connecting axle in the middle of the rear end of activity limit baffle, the spacing movable convex block of rear end fixedly connected with of connecting axle, the bottom both sides embedding of connecting the mounting panel is connected with first recess, the bottom middle part fixedly connected with second convex block of connecting the mounting panel, the embedding is connected with the second recess in the middle of the top of gripper connecting block.
Preferably, the top both sides fixedly connected with first lug of mechanical claw connecting block, the size and the first recess adaptation that sets up in connecting mounting panel bottom both sides of first lug.
Preferably, the magnet piece is square, and the middle part embedding is provided with the annular preformed hole of circle, activity limit baffle carries out swing joint through connecting axle and spacing movable lug.
Preferably, the fastening bolts are T-shaped, threads are arranged on the periphery of the bottoms of the fastening bolts, and the two groups of fixing convex columns are matched with the connecting sliding grooves arranged on the two sides of the front of the connecting installation plate in size.
Compared with the prior art, the utility model has the beneficial effects that:
1. this quick loading and unloading gripper's arm, spacing actuation mechanism makes the user when needs will make used gripper change through such setting, user's accessible utilizes spacing actuation mechanism will be used for spacing fixed activity limit baffle actuation at the dead ahead surface of magnet piece, thereby make the user can be absorbed in more that the gripper connecting block with the gripper top is lighter take out from the bottom of connecting the mounting panel and come out, and then make the user be used for spacing fixed activity limit baffle when changing the gripper can not influence the user with the bottom of gripper dismouting at the connection mounting panel.
2. This quick loading and unloading gripper's arm, conflict fixed establishment makes the user change the use according to shape and the volume variation in size that are got the material by clamp through such setting, the user accessible utilizes conflict fixed establishment quick carry out spacing conflict fixedly with spacing mechanical gripper connecting block of installing in connecting the mounting panel bottom, thereby make the gripper fix in the bottom of connecting the mounting panel by spacing conflict firmly and use, this kind of connected mode can let the more convenient change of user to the gripper use.
Drawings
FIG. 1 is a schematic view of the overall structure of the driving arm of the present invention;
FIG. 2 is an enlarged schematic view of the structure at A of the present invention;
FIG. 3 is an enlarged view of the structure at B of the present invention;
fig. 4 is a schematic side sectional view of the movable limit baffle of the present invention.
The labels in the figure are: 1. the transmission arm is integral; 2. a movable limit baffle; 201. fixing the convex column; 202. fastening a bolt; 203. a rubber gasket; 204. a limit convex rod; 3. connecting the mounting plate; 4. limiting the jacks; 5. connecting the sliding chute; 6. a mechanical jaw connection block; 7. a gripper; 8. a clamping jaw; 9. a magnet block; 10. reserving a hole; 11. limiting the movable bump; 12. a connecting shaft; 13. a first bump; 14. a first groove; 15. a second bump; 16. a second groove.
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 embodiments, and based on the embodiments of the present invention, other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a mechanical arm for quickly assembling and disassembling a mechanical claw comprises a transmission arm whole body 1, a connecting mounting plate 3 and a mechanical claw 7, wherein a movable limiting baffle 2 is movably connected in the middle and in front of the transmission arm whole body 1, a fixed convex column 201 is fixedly connected to the left inner side of the movable limiting baffle 2, a fastening bolt 202 is connected in the middle of the movable limiting baffle 2 in a penetrating manner, a rubber gasket 203 is connected in the periphery of the top of the fastening bolt 202 in a penetrating manner, a limiting convex rod 204 is fixedly connected to the right side of the bottom of the movable limiting baffle 2, the connecting mounting plate 3 is fixedly connected in front of the bottom of the transmission arm whole body 1, a limiting jack 4 is connected in an embedded manner to the rear end of the top surface of the connecting mounting plate 3, connecting chutes 5 are connected in an embedded manner to the surfaces of two sides in front of the connecting mounting plate 3, a mechanical claw connecting block 6 is connected in an embedded manner to the bottom of the connecting mounting plate 3, and a mechanical claw 7 is fixedly connected to the bottom of the mechanical claw connecting block 6, the bottom swing joint of gripper 7 has clamping jaw 8, the whole 1 top dead ahead fixedly connected with magnet piece 9 of driving arm, embedding is connected with preformed hole 10 in the middle of the dead ahead of magnet piece 9, fixedly connected with connecting axle 12 in the middle of the rear end of activity limit baffle 2, the spacing movable lug 11 of rear end fixedly connected with of connecting axle 12, the bottom both sides embedding of connecting mounting panel 3 is connected with first recess 14, the bottom middle part fixedly connected with second lug 15 of connecting mounting panel 3, the embedding is connected with second recess 16 in the middle of the top of gripper connecting piece 6.
Preferably, the two sides of the top of the gripper connecting block 6 are fixedly connected with first protruding blocks 13, the size of the first protruding blocks 13 is matched with first grooves 14 arranged on the two sides of the bottom of the connecting mounting plate 3, when a user needs to replace and mount the gripper 7, the user can manually jack up the gripper 7 to be replaced and mounted, then align the first protruding blocks 13 arranged on the two sides of the top of the gripper connecting block 6 with the first grooves 14 arranged on the two sides of the bottom of the connecting mounting plate 3, align a second protruding block 15 arranged in the middle of the top of the gripper connecting block 6 with a second groove 16 arranged in the middle of the bottom of the connecting mounting plate 3, and then push the gripper 7 backwards, so that the first protruding blocks 13 and the second protruding blocks 15 are embedded and limited in the inner sides of the first grooves 14 and the second grooves 16, so that the gripper 7 is limited to be placed at the current position, so that the user can use other ways to fix the mechanical claw 7 at the current position for use more easily and conveniently.
Preferably, the movable limiting baffle 2 is matched with the magnet block 9, the preformed hole 10, the limiting movable lug 11 and the connecting shaft 12 for use together to form a limiting suction mechanism, the magnet block 9 is square, the circular preformed hole 10 is embedded in the middle of the magnet block, the movable limiting baffle 2 is movably connected with the limiting movable lug 11 through the connecting shaft 12, when a user needs to replace the mechanical claw 7, the user can manually rotate the fastening bolt 202 anticlockwise to enable the movable limiting baffle 2 to be separated from the top of the connecting and mounting plate 3, then the user can manually hold the movable limiting baffle 2 to drive the limiting movable lug 11 to move upwards along the peripheral preformed groove, and after the movable limiting baffle 2 is moved upwards in place, the user can manually hold the position right ahead of the movable limiting baffle 2 to drive the movable limiting baffle 2 to clockwise turn around the connecting shaft 12, make 2 top surfaces of activity limit baffle and the position magnetism that is provided with magnet piece 9 be inhaled together, and when activity limit baffle 2 received magnetic attraction and magnet piece 9 close adhesion, the fastening bolt 202 that sets up in the middle of the 2 top of activity limit baffle can be accomodate at preformed hole 10 inboardly, then, the user can more be concentrated in and take out gripper connecting block 6 from the bottom of connecting mounting panel 3, make the user when needs will make used gripper 7 change through such setting, user's accessible utilizes spacing actuation mechanism will be used for spacing fixed activity limit baffle 2 actuation at the dead ahead surface of magnet piece 9, thereby make the user can more concentrate in and take out the gripper connecting block 6 at gripper 7 top from the bottom of connecting mounting panel 3 more easily, and then make the user use spacing fixed activity limit baffle 2 can not influence the user and tear gripper 7 open when changing gripper 7 Is mounted on the bottom of the connection mounting plate 3.
Preferably, the movable limiting baffle 2 is matched with the fixed convex column 201, the fastening bolt 202, the rubber gasket 203, the limiting convex rod 204, the limiting jack 4 and the connecting chute 5 for use to form a butting fixing mechanism, the fastening bolt 202 is T-shaped, the periphery of the bottom of the fastening bolt 202 is provided with two groups of threads, the fixed convex columns 201 are provided with two groups of threads, and the two groups of threads are matched with the connecting chutes 5 arranged at two sides of the right front of the connecting mounting plate 3 in size, when a user utilizes the limiting suction mechanism to suck the movable limiting baffle 2 on the surface of the right front of the magnet block 9, the user can more easily and conveniently disassemble and assemble the mechanical claw 7, when the replaced mechanical claw 7 is arranged at the bottom end of the connecting mounting plate 3 in a limiting way, the user can manually hold the top position of the movable limiting baffle 2 to drive the movable limiting baffle 2 to turn anticlockwise by ninety degrees by taking the connecting shaft 12 as the center of a circle, the movable limiting baffle 2 is separated from the magnetic attraction of the magnet block 9, then the movable limiting baffle 2 is driven to move downwards, the limiting movable lug 11 can move downwards when the movable limiting baffle 2 moves downwards, when the movable limiting baffle 2 moves downwards to a certain position, the fixed convex column 201 arranged at the left inner side of the movable limiting baffle 2 can be inserted into the connecting sliding chutes 5 arranged at the two sides right in front of the connecting mounting plate 3, the arranged limiting convex rod 204 can be inserted into the limiting jack 4 at the top of the connecting mounting plate 3, the limiting jack 4 arranged in the middle of the top of the connecting mounting plate 3 is internally provided with a thread groove matched with the periphery at the bottom of the fastening bolt 202, when the movable limiting baffle 2 can not move downwards any more, a user can drive the fastening bolt 202 to rotate clockwise by using a tool, so that the fastening bolt 202 can move downwards along the thread groove at the inner side of the current nested limiting jack 4, when the fastening bolt 202 rotates downwards to a proper position, the rubber gasket 203 is extruded, when the extrusion is generated, the rubber gasket 203 can effectively fill the gap between the fastening bolt 202 and the movable limiting baffle 2, so that the movable limiting baffle 2 is firmly limited at the current position, because when the movable limiting baffle 2 is firmly fixed at the current position, the first lug 13 and the second lug 15 inserted into the first groove 14 and the inner side of the second groove 16 can be effectively limited and abutted, so that the mechanical claw 7 is firmly limited and fixed at the current position, and by the arrangement, when a user needs to replace the mechanical claw 7 according to the shape and the size of the clamped material, the user can quickly limit, abut and fix the mechanical claw connecting block 6 arranged at the bottom end of the connecting and mounting plate 3 by using the abutting and fixing mechanism, thereby make gripper 7 fixed in the bottom of connecting mounting panel 3 by spacing conflict firmly use, this kind of connected mode can let the more convenient use of changing gripper 7 of user.
The working principle is as follows: firstly, when a user clamps and transmits an object by using the transmission arm whole body 1 and the mechanical claw 7 to operate in a matching way, the user needs to take the shape, the size, the volume and other factors of the clamped object into consideration by using the clamping claw 8 of the type, after the determination, the user can suck and store the movable limiting baffle 2 in front of the magnet block 9 by using the limiting sucking mechanism, then the old mechanical claw 7 is more conveniently taken out from the bottom of the connecting and mounting plate 3, the selected mechanical claw 7 is limited and mounted at the bottom of the connecting and mounting plate 3 after the selection, after the mounting is finished, the mechanical claw connecting block 6 mounted at the bottom of the connecting and mounting plate 3 can be limited and collided by using the movable limiting baffle 2 through the collision mounting mechanism, and therefore the replaced mechanical claw 7 can be more firmly fixed at the current position to be put into use, finally, the user can clamp the object by using the gripper 7, which is the working principle of the robot arm for quick loading and unloading of the gripper.
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 utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a fast loading and unloading gripper's arm, includes that the transmission arm is whole (1), connect mounting panel (3) and gripper (7), its characterized in that: the middle-middle front movable connection of the whole transmission arm (1) is provided with a movable limit baffle (2), the left inner side of the movable limit baffle (2) is fixedly connected with a fixed convex column (201), the middle part of the movable limit baffle (2) is connected with a fastening bolt (202) in a penetrating way, the top periphery of the fastening bolt (202) is connected with a rubber gasket (203) in a penetrating way, the bottom right side of the movable limit baffle (2) is fixedly connected with a limit convex rod (204), the bottom front of the whole transmission arm (1) is fixedly connected with a connecting mounting plate (3), the rear end of the top surface of the connecting mounting plate (3) is embedded and connected with a limit jack (4), the surfaces of the two sides in the front of the connecting mounting plate (3) are embedded and connected with a connecting chute (5), and the bottom of the connecting mounting plate (3) is embedded and connected with a mechanical claw connecting block (6), the bottom fixedly connected with gripper (7) of gripper connection piece (6), the bottom swing joint of gripper (7) has clamping jaw (8), the top dead ahead fixedly connected with magnet piece (9) of the whole (1) of driving arm, the embedding is connected with preformed hole (10) in the middle of the dead ahead of magnet piece (9), fixedly connected with connecting axle (12) in the middle of the rear end of activity limit baffle (2), the spacing activity lug (11) of rear end fixedly connected with of connecting axle (12).
2. A robot arm for quickly handling a gripper as recited in claim 1, further comprising: the embedding of the bottom both sides of connecting mounting panel (3) is connected with first recess (14), the bottom middle part fixedly connected with second lug (15) of connecting mounting panel (3), the embedding is connected with second recess (16) in the middle of the top of gripper connecting block (6).
3. A robot arm for quickly handling a gripper as recited in claim 1, further comprising: the mechanical claw connecting block is characterized in that first protruding blocks (13) are fixedly connected to two sides of the top of the mechanical claw connecting block (6), and the size of each first protruding block (13) is matched with first grooves (14) formed in two sides of the bottom of the connecting mounting plate (3).
4. A robot arm for quickly handling a gripper as recited in claim 1, further comprising: the magnet block (9) is square, and a circular preformed hole (10) is embedded in the middle of the magnet block.
5. A robot arm for quickly handling a gripper as recited in claim 1, further comprising: the movable limiting baffle (2) is movably connected with the limiting movable bump (11) through a connecting shaft (12).
6. A robot arm for quickly handling a gripper as recited in claim 1, further comprising: the fastening bolt (202) is T-shaped, and threads are arranged on the periphery of the bottom of the fastening bolt (202).
7. A robot arm for quickly handling a gripper as recited in claim 1, further comprising: the fixed convex columns (201) are provided with two groups and are matched with the connecting sliding grooves (5) arranged on two sides right in front of the connecting mounting plate (3) in size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122003740.9U CN215548759U (en) | 2021-08-24 | 2021-08-24 | Mechanical arm for quickly assembling and disassembling mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122003740.9U CN215548759U (en) | 2021-08-24 | 2021-08-24 | Mechanical arm for quickly assembling and disassembling mechanical claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215548759U true CN215548759U (en) | 2022-01-18 |
Family
ID=79841317
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122003740.9U Expired - Fee Related CN215548759U (en) | 2021-08-24 | 2021-08-24 | Mechanical arm for quickly assembling and disassembling mechanical claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215548759U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117428737A (en) * | 2023-09-19 | 2024-01-23 | 井贝科技(浙江)有限公司 | Intelligent multifunctional high-speed mute servo manipulator |
-
2021
- 2021-08-24 CN CN202122003740.9U patent/CN215548759U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117428737A (en) * | 2023-09-19 | 2024-01-23 | 井贝科技(浙江)有限公司 | Intelligent multifunctional high-speed mute servo manipulator |
| CN117428737B (en) * | 2023-09-19 | 2024-04-16 | 井贝科技(浙江)有限公司 | Intelligent multifunctional high-speed mute servo manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215548759U (en) | Mechanical arm for quickly assembling and disassembling mechanical claw | |
| CN202185701U (en) | Automatic welding fixture for front axle welded parts of automobiles | |
| CN211481118U (en) | Permanent magnet motor magnetic steel pasting device | |
| CN205237109U (en) | Three -jaw chuck that can 6 tight work pieces of clamp | |
| CN103801883B (en) | Welding device for flange ring of automobile rear axle housing | |
| CN203611258U (en) | Articulated quick-changing clamping jaw | |
| CN109926857B (en) | Driving method of clamping device | |
| CN102717391B (en) | End picking-up device for robot | |
| CN105728890A (en) | Current-carrying sheet welding machine | |
| CN211805824U (en) | Automatic sleeve replacing device | |
| CN218802340U (en) | Manipulator tool clamp | |
| CN105904475A (en) | Workpiece positioning gripper of intelligent robot rolling and edge covering system | |
| CN205178793U (en) | Exchange general assembly fixture of synchronous cylinder rotor tile formula magnet steel of permanent magnetism | |
| CN215942632U (en) | Anchor clamps drive structure based on multilayer is driven by formula of going forward one by one | |
| CN115122371A (en) | Combined type gripper | |
| CN109514433A (en) | A kind of clamp assembly of quick-replaceable bistrique | |
| CN213497880U (en) | Vacuum fixing clamp capable of adjusting direction | |
| CN207656490U (en) | A kind of grinding machine fixture | |
| CN218226723U (en) | Grabbing mechanism | |
| CN217620673U (en) | Combined type gripper | |
| CN109773389A (en) | The dedicated slide unit of fender | |
| CN220563738U (en) | Transportation fixing mechanism for robot | |
| CN204818567U (en) | Preceding cabin assembly welds clamping utensil upset crab claw clamping mechanism | |
| CN113618354B (en) | Weak-rigidity thin-wall arc assembly device and method | |
| CN114425749B (en) | Automatic ring closing clamp with adjustable clamping force |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220118 |