CN108032330A - A kind of compact machines people integral joint module and compact machines people - Google Patents
A kind of compact machines people integral joint module and compact machines people Download PDFInfo
- Publication number
- CN108032330A CN108032330A CN201810058074.9A CN201810058074A CN108032330A CN 108032330 A CN108032330 A CN 108032330A CN 201810058074 A CN201810058074 A CN 201810058074A CN 108032330 A CN108032330 A CN 108032330A
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- Prior art keywords
- machines people
- speed reducer
- axis
- fixed
- housing
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 38
- 210000000078 claw Anatomy 0.000 claims abstract description 20
- 230000001681 protective effect Effects 0.000 claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 3
- 230000005622 photoelectricity Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 230000004913 activation Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of compact machines people integral joint module and compact machines people; it is related to robotic technology field, including single cycloidal-pin gear speed reducer, housing, axis, electromagnetic actuator, dynamic pin, integrated circuit modules, end cap, cable protective sleeve, claw brake disc, cable, photoelectric encoder read head, photoelectric coded disk, motor stator and rotor；Single cycloidal-pin gear speed reducer is fixed on the front end of housing, motor stator is fixed in housing, rotor is fixedly connected with axis, the front end of axis is fixedly connected with the input terminal of single cycloidal-pin gear speed reducer, the rear end of axis is fixedly connected with photoelectric coded disk and brake gear successively, photoelectric encoder read head is fixed on enclosure interior, it is and opposite with photoelectric coded disk position, end cap is fixed on the rear end of housing, integrated level of the present invention is high, small, load is conducted oneself with dignity than big, rigid good, hollow structure, collision detection, makes the design of robot, mounting, commissioning and maintenance more easy.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of compact machines people integral joint module and compact
Humanoid robot.
Background technology
Cooperation robot is an important directions of robot development, is the important composition of man-machine coordination work.Cooperation machine
Device people generally uses modularized design, and integral joint module is its most important module.The versatility of integral joint module,
Load dead weight ratio and structure size, greatly affect the performance and application field of cooperation robot.
Existing robot integral joint module is usually passed by harmonic speed reducer, motor, brake, photoelectric encoder and power
Sensor is simply composed in series, its axial dimension is longer, and bearing capacity and dynamic property are limited.
The content of the invention
The technical problems to be solved by the invention are current integral joint module bearing capacity and bad dynamic performance, ruler
It is very little long.
The present invention is to solve above-mentioned technical problem by the following technical programs.
A kind of compact machines people integral joint module, including single cycloidal-pin gear speed reducer, housing, axis, electromagnetic activation
Device, dynamic pin, integrated circuit modules, end cap, cable protective sleeve, claw brake disc, cable, photoelectric encoder read head, photoelectric coding
Disk, motor stator and rotor；
List cycloidal-pin gear speed reducer, axis, photoelectric coded disk, motor stator and the rotor coaxial line；
The list cycloidal-pin gear speed reducer is fixed on the front end of housing, and the motor stator is fixed in housing, and motor turns
Son is fixedly connected with axis, and the front end of axis is fixedly connected with the input terminal of list cycloidal-pin gear speed reducer, the rear end of axis successively with photoelectricity
Coding disk is fixedly connected with brake gear, and photoelectric encoder read head is fixed on enclosure interior, and opposite with photoelectric coded disk position,
The end cap is fixed on the rear end of housing.
Further, single cycloidal-pin gear speed reducer is hollow structure.
Further, cable protective sleeve is further included, the list cycloidal-pin gear speed reducer is hollow structure, the cable protection
Set sequentially passes through single cycloidal-pin gear speed reducer, axis and end cap from front to back, and the front end of cable protective sleeve is slowed down with single cycloidal-pin wheel
Device is fixedly connected, and rear end is connected with end cap.
Further, the brake gear is fixed on including electromagnetic actuator, dynamic pin and claw brake disc, claw brake disc
The rear end of axis, positioned at the rear of photoelectric coded disk, electromagnetic actuator is fixed on the inner side for being located at housing on end cap, and dynamic pin is arranged on
On electromagnetic actuator, and under electromagnetic actuator drive axially movable, one is evenly distributed with claw brake disc circumference in the axial direction
Double wedge is enclosed, pin is moved and is inserted into double wedge or retraction along axial-movement.
Further, integrated circuit modules are further included, the integrated circuit modules are fixed on end cap, determine respectively with motor
Son, electromagnetic actuator are connected with photoelectric coded disk, and cable can be passed through from the through hole on end cap, and are pierced by below housing.
Further, the photoelectric coded disk and claw brake disc are an integral structure.
Further, the integrated circuit modules include motor drive module, feedback signal acquisition module, current monitoring mould
Block and temperature monitoring module, motor drive module are connected with motor stator, feedback signal acquisition module and photoelectric encoder read head
Connection.
Further, single cycloidal-pin gear speed reducer is fixed by screws in the front end of housing.
Further, the front end of single cycloidal-pin gear speed reducer is provided with threaded hole.
A kind of compact machines people for including compact machines people's integral joint module, integral joint module is set
In the joint part of compact machines people.
The advantage of the invention is that：1st, using single cycloidal-pin gear speed reducer, the axial dimension of joint module is reduced, is improved
The bearing capacity and rigidity of joint module；The output terminal of single cycloidal-pin gear speed reducer is defeated directly as integral joint module
Go out；
2nd, single cycloidal-pin gear speed reducer is hollow structure, easy to cabling；
3rd, cable protective sleeve runs through single cycloidal-pin gear speed reducer, axis and end cap, can protect by integral joint module
The cable of centre bore；
4th, electromagnetic actuator makes pin be moved along its own axis direction；When electromagnetic actuator eliminates suction, move pin and stretch out,
It is stuck between the double wedge of jaw brake, limits the rotary motion of the axis and rotor that are fixedly connected with jaw brake, so that
Play the role of brake；When electromagnetic actuator produces suction, move pin and retract, disengaged with claw brake disc, axis and motor turn
Sub- proper motion；
5th, integrated circuit modules are used to driving and controlling integral joint；
6th, electric coding disk and claw brake disc are made of one formula structure；Photoelectric encoder read head and electromagnetic actuator, move
The center of the opposite integral joint module of pin, is symmetrically installed, simplifies the structure of joint module, shorten axial dimension so that
Whole joint module is more compact；
7th, the front end of single cycloidal-pin gear speed reducer is provided with threaded hole, to connect load；
A kind of compact machines people integral joint module integrated level of the present invention is high, small, load dead weight is than big, rigidity
Good, hollow structure, collision detection, make the design of robot, mounting, commissioning and maintenance more easy.
Brief description of the drawings
Fig. 1 is a kind of sectional view of compact machines people integral joint module in the embodiment of the present invention.
Fig. 2 is a kind of configuration schematic diagram of compact machines people integral joint module in the embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts, belong to the scope of protection of the invention.
Embodiment 1
With reference to attached drawing 1 and Fig. 2, a kind of compact machines people integral joint module of the present invention, including single cycloidal-pin wheel subtract
Fast device 1, housing 2, axis 3, electromagnetic actuator 4, dynamic pin 5, integrated circuit modules 6, end cap 7, cable protective sleeve 8, claw brake disc
9th, cable 10, photoelectric encoder read head 11, photoelectric coded disk 12, motor stator 13 and rotor 14；
The list cycloidal-pin gear speed reducer 1, axis 3,14 coaxial line of photoelectric coded disk 12, motor stator 13 and rotor；
The list cycloidal-pin gear speed reducer 1 is fixed on the front end of housing 2, and the motor stator 13 is fixed in housing 2, electricity
Machine rotor 14 is fixedly connected with axis 3, and the front end of axis 3 is fixedly connected with the input terminal of single cycloidal-pin gear speed reducer 1, the rear end of axis 3
It is fixedly connected successively with photoelectric coded disk 12 and brake gear, photoelectric encoder read head 11 is fixed on 2 inner back side of housing, and with
12 position of photoelectric coded disk is opposite, and the end cap 7 is fixed on the rear end of housing 2；
Using single cycloidal-pin gear speed reducer, the axial dimension of joint module is reduced, improves the carrying energy of joint module
Power and rigidity；Output of the output terminal of single cycloidal-pin gear speed reducer directly as integral joint module.
Embodiment 2
With reference to attached drawing 1 and Fig. 2, difference lies in further, further include cable protective sleeve 8, the list with embodiment 1
Cycloidal-pin gear speed reducer 1 is hollow structure, and the cable protective sleeve 8 sequentially passes through single cycloidal-pin gear speed reducer 1, axis from front to back
3 and end cap 7, and positioned at the inside of single cycloidal-pin gear speed reducer 1, axis 3 and end cap 7, the front end of cable protective sleeve 8 and single cycloidal pin
Wheel decelerator 1 is fixedly connected, and rear end is connected with end cap 7, signal wire and power cord can be penetrated from front end out of cable protective sleeve 8 into
Walking line is arranged, can protect the cable by integral joint module centre bore.
Embodiment 3
With reference to attached drawing 1 and Fig. 2, difference lies in further, the brake gear includes electromagnetic activation with embodiment 2
Device 4, dynamic pin 5 and claw brake disc 9, claw brake disc are fixed on the rear end of axis 3, positioned at the rear of photoelectric coded disk 12, electromagnetism
Actuator 4 is fixed on the inner side for being located at housing 2 on end cap 7, and dynamic pin 5 is arranged on electromagnetic actuator 4, and in electromagnetic actuator 4
Under drive axially movable, a circle double wedge is evenly distributed with 9 circumference of claw brake disc in the axial direction, dynamic pin 5 is inserted into along axial-movement
Double wedge or retraction.
Electromagnetic actuator 4 makes pin 5 be moved along its own axis direction；When electromagnetic actuator 4 eliminates suction, dynamic pin 5 is stretched
Go out, be stuck between the double wedge of jaw brake 9, limit the rotation fortune of the axis 3 being fixedly connected with jaw brake 9 and rotor 14
It is dynamic, so as to play the role of brake；When electromagnetic actuator 4 produces suction, dynamic pin 5 is retracted, and is disengaged with claw brake disc 9,
14 proper motion of axis 3 and rotor.
Embodiment 4
With reference to attached drawing 1 and Fig. 2, with embodiment 3 difference lies in, further, further include integrated circuit modules 6, it is described
Integrated circuit modules 6 are fixed on end cap 7, are connected respectively with motor stator 13, electromagnetic actuator 4 and photoelectric coded disk 12, are used
In driving and control integral joint.Cable 10 can be passed through from the through hole on end cap 7, and be pierced by from the lower section of housing 2.
Embodiment 5
With reference to attached drawing 1 and Fig. 2, with embodiment 4 difference lies in, further, the photoelectric coded disk 12 and claw system
Moving plate 9 is an integral structure, and photoelectric coded disk 12 and claw brake disc 9 are made of one formula structure；Photoelectric encoder read head 11
With electromagnetic actuator 4, dynamic pin 5 with respect to the center of integral joint module, it is symmetrically installed, simplifies the structure of joint module, contract
Short axial dimension so that whole joint module is more compact.
Embodiment 6
With reference to attached drawing 1 and Fig. 2, difference lies in further, the integrated circuit modules 6 include motor with embodiment 5
Drive module, feedback signal acquisition module, current monitoring module and temperature monitoring module, motor drive module and motor stator 13
Connection, feedback signal acquisition module are connected with photoelectric encoder read head 11, and current monitoring module is used for the electricity of monitoring ic
Stream information, temperature monitoring module are used for the temperature information for monitoring shutdown module internal.
Embodiment 7
With reference to attached drawing 1 and Fig. 2, difference lies in further, the list cycloidal-pin gear speed reducer 1 passes through with embodiment 6
Screw is fixed on the front end of housing 2, improves the stability of connection.
Embodiment 8
With reference to attached drawing 1 and Fig. 2, difference lies in further, before the list cycloidal-pin gear speed reducer 1 with embodiment 7
End is provided with threaded hole, to connect load.
A kind of compact machines people integral joint module integrated level of the present invention is high, small, load dead weight is than big, rigidity
Good, hollow structure, collision detection, make the design of robot, mounting, commissioning and maintenance more easy.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there are other identical element in process, method, article or equipment including the key element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to foregoing each implementation
Technical solution described in example is modified, or carries out equivalent substitution to which part technical characteristic；And these modification or
Replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical solution.
Claims (10)
1. a kind of compact machines people integral joint module, it is characterised in that including single cycloidal-pin gear speed reducer (1), housing
(2), axis (3), electromagnetic actuator (4), dynamic pin (5), integrated circuit modules (6), end cap (7), cable protective sleeve (8), claw system
Moving plate (9), cable (10), photoelectric encoder read head (11), photoelectric coded disk (12), motor stator (13) and rotor
(14)；
List cycloidal-pin gear speed reducer (1), axis (3), photoelectric coded disk (12), motor stator (13) and the rotor (14) are same
Axis；
The list cycloidal-pin gear speed reducer (1) is fixed on the front end of housing (2), and the motor stator (13) is fixed on housing (2)
Interior, rotor (14) is fixedly connected with axis (3), and the input terminal of the front end of axis (3) and single cycloidal-pin gear speed reducer (1), which is fixed, to be connected
Connect, the rear end of axis (3) is fixedly connected with photoelectric coded disk (12) and brake gear successively, and photoelectric encoder read head (11) is fixed on
Housing (2) is internal, and opposite with photoelectric coded disk (12) position, and the end cap (7) is fixed on the rear end of housing (2).
A kind of 2. compact machines people integral joint module according to claim 1, it is characterised in that the single pendulum line
Pinwheel reducer (1) is hollow structure.
3. a kind of compact machines people integral joint module according to claim 2, it is characterised in that further include cable
Protective case (8), the list cycloidal-pin gear speed reducer (1) is hollow structure, and the cable protective sleeve (8) sequentially passes through from front to back
Single cycloidal-pin gear speed reducer (1), axis (3) and end cap (7), the front end of cable protective sleeve (8) and single cycloidal-pin gear speed reducer (1) are solid
Fixed connection, rear end is connected with end cap (7).
A kind of 4. compact machines people integral joint module according to claim 1-3, it is characterised in that the brake
Device includes electromagnetic actuator (4), dynamic pin (5) and claw brake disc (9), claw brake disc and is fixed on the rear end of axis (3), is located at
The rear of photoelectric coded disk (12), electromagnetic actuator (4) are fixed on the inner side for being located at housing (2) on end cap (7), and dynamic pin (5) sets
Put on electromagnetic actuator (4), and under electromagnetic actuator (4) drive axially movable, edge on claw brake disc (9) circumference
The uniformly distributed circle double wedge of axis direction, moves pin (5) and is inserted into double wedge or retraction along axial-movement.
5. a kind of compact machines people integral joint module according to claim 4, it is characterised in that further include integrated
Circuit module (6), the integrated circuit modules (6) are fixed on end cap (7), respectively with motor stator (13), electromagnetic actuator
(4) connected with photoelectric coded disk (12).Cable (10) can be passed through from the through hole on end cap (7), and be pierced by below housing (2).
6. a kind of compact machines people integral joint module according to claim 4, it is characterised in that the photoelectricity is compiled
Code-disc (12) and claw brake disc (9) are an integral structure.
A kind of 7. compact machines people integral joint module according to claim 5, it is characterised in that the integrated electricity
Road module (6) includes motor drive module, feedback signal acquisition module, current monitoring module and temperature monitoring module, and motor drives
Dynamic model block is connected with motor stator (13), and feedback signal acquisition module is connected with photoelectric encoder read head (11).
8. according to a kind of compact machines people integral joint module of claim 1-3 and 5-7 any one of them, its feature exists
In the list cycloidal-pin gear speed reducer (1) is fixed by screws in the front end of housing (2).
9. according to a kind of compact machines people integral joint module of claim 1-3 and 5-7 any one of them, its feature exists
In the front end of the list cycloidal-pin gear speed reducer (1) is provided with threaded hole.
It is 10. a kind of including a kind of the compact of compact machines people integral joint module of such as claim 1-9 any one of them
Humanoid robot, it is characterised in that integral joint module is arranged to the joint part of compact machines people.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810058074.9A CN108032330A (en) | 2018-01-22 | 2018-01-22 | A kind of compact machines people integral joint module and compact machines people |
| PCT/CN2018/077325 WO2019140736A1 (en) | 2018-01-22 | 2018-02-27 | Integrated joint module for compact robot and compact robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810058074.9A CN108032330A (en) | 2018-01-22 | 2018-01-22 | A kind of compact machines people integral joint module and compact machines people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108032330A true CN108032330A (en) | 2018-05-15 |
Family
ID=62097107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810058074.9A Pending CN108032330A (en) | 2018-01-22 | 2018-01-22 | A kind of compact machines people integral joint module and compact machines people |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108032330A (en) |
| WO (1) | WO2019140736A1 (en) |
Cited By (7)
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| CN110345236A (en) * | 2019-08-13 | 2019-10-18 | 遨博（北京）智能科技有限公司 | A kind of deceleration device of integrated arrestor |
| WO2019242247A1 (en) * | 2018-06-22 | 2019-12-26 | 珠海格力智能装备有限公司 | Wiring structure and robot having same |
| CN111306260A (en) * | 2020-02-27 | 2020-06-19 | 苏州塔可新地机器人有限公司 | Integrated electric joint with hollow motor built in cycloidal reducer |
| CN111376304A (en) * | 2020-02-27 | 2020-07-07 | 苏州塔可新地机器人有限公司 | Built-in solid cycloid electric joint |
| CN112737224A (en) * | 2020-12-07 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Steering engine code control structure and steering engine module |
| CN113500625A (en) * | 2021-06-29 | 2021-10-15 | 苏州艾利特机器人有限公司 | Robot joint, cooperation robot, reduction gear subassembly and stopper |
| CN114174020A (en) * | 2019-05-08 | 2022-03-11 | 弗兰卡埃米卡有限公司 | Brake device for a drive of a robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110744585B (en) * | 2019-12-03 | 2025-03-07 | 敬科(深圳)机器人科技有限公司 | A modular joint of a flexible collaborative robot |
| CN110757497B (en) * | 2019-12-03 | 2025-02-11 | 敬科(深圳)机器人科技有限公司 | A compact modular joint for collaborative robots |
| CN112247973B (en) * | 2020-10-26 | 2021-08-03 | 朱幕松 | Built-in robot integrated joint module |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019242247A1 (en) * | 2018-06-22 | 2019-12-26 | 珠海格力智能装备有限公司 | Wiring structure and robot having same |
| CN114174020A (en) * | 2019-05-08 | 2022-03-11 | 弗兰卡埃米卡有限公司 | Brake device for a drive of a robot |
| CN114174020B (en) * | 2019-05-08 | 2024-05-28 | 弗兰卡埃米卡有限公司 | Brake device for a drive of a robot |
| CN110345236A (en) * | 2019-08-13 | 2019-10-18 | 遨博（北京）智能科技有限公司 | A kind of deceleration device of integrated arrestor |
| CN111306260A (en) * | 2020-02-27 | 2020-06-19 | 苏州塔可新地机器人有限公司 | Integrated electric joint with hollow motor built in cycloidal reducer |
| CN111376304A (en) * | 2020-02-27 | 2020-07-07 | 苏州塔可新地机器人有限公司 | Built-in solid cycloid electric joint |
| CN112737224A (en) * | 2020-12-07 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Steering engine code control structure and steering engine module |
| CN113500625A (en) * | 2021-06-29 | 2021-10-15 | 苏州艾利特机器人有限公司 | Robot joint, cooperation robot, reduction gear subassembly and stopper |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019140736A1 (en) | 2019-07-25 |
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Application publication date: 20180515 |