Patent Application
20250162136
This application claims the benefit of priority to Japanese Patent Application Number 2023-198688 filed on Nov. 22, 2023. The entire contents of the above-identified application are hereby incorporated by reference.
Embodiments of the disclosure relate to a robot and a method for manufacturing the robot.
For example, Patent Literature 1 describes a rotary electric machine attached to an arm of a robot. The rotary electric machine includes a rotary electric machine body configured to rotate a rotating body around an axis, a braking device configured to stop the rotation of the rotating body, and a housing configured to hold the rotary electric machine body and the braking device. The braking device is disposed at a position offset from the axis of the rotating body.
In the related art described above, the braking device is provided so as to protrude in an axial direction from the rotary electric machine body at the position offset from the axis of the rotating body. For this reason, there is room for further improvement in relation to downsizing of the arm.
In light of the foregoing problems, an object of the present invention is to provide a robot and a method for manufacturing the robot with which downsizing of an arm is possible.
In order to resolve the above-described problems, according to an aspect of the present invention, a robot is applied that includes a first arm, a second arm rotatably coupled to the first arm, a first motor housed in the first arm and including a first gear configured to rotate around a first axial center, a first decelerator configured to decelerate rotation of a second gear and transmit the decelerated rotation to a first output shaft, the first decelerator including the second gear configured to rotate, in conjunction with rotation of the first gear, around a second axial center parallel to the first axial center and offset from the first axial center, and the first output shaft coupled to the second arm, and a first brake device configured to brake the rotation of the first gear, the first brake device being housed in the first arm to face the first motor in a direction perpendicular to the first axial center, and including a third gear configured to rotate around a third axial center parallel to the first axial center and the second axial center and offset from each of the first axial center and the second axial center, and rotate in conjunction with the first gear at a position separated from the second gear.
According to another aspect of the present invention, a method for manufacturing a robot is applied to a robot including a first arm, and a second arm rotatably coupled to the first arm, the method including assembling, with respect to a first motor and a first decelerator, a first brake device such that the first brake device faces the first motor in a direction perpendicular to a first axial center, a third axial center is parallel to the first axial center and a second axial center, and is separated from each of the first axial center and the second axial center, and a third gear rotates in conjunction with a first gear at a position separated from a second gear, wherein the first brake device includes the third gear configured to rotate around the third axial center and brake rotation of the first gear, the first motor is housed in the first arm and includes the first gear configured to rotate around the first axial center, and the first decelerator is configured to decelerate rotation of the second gear and transmit the decelerated rotation to a first output shaft, the first decelerator including a second gear configured to rotate, in conjunction with the rotation of the first gear, around the second axial center parallel to the first axial center and offset from the first axial center, and the first output shaft coupled to the second arm.
According to the robot and the like of the present invention, it is possible to downsize an arm.
Embodiments will be described below with reference to the drawings.
An example of a configuration of a robot according to an embodiment will be described with reference to
As illustrated in
The robot 1 includes a base 3, a turning portion 5, and an arm 7. The base 3 is fixed to the floor or a stand, for example.
The turning portion 5 is supported by an upper end portion of the base 3 so as to be pivotable around a rotation axis Ax1 parallel to the vertical direction. The turning portion 5 is driven to pivot around the rotation axis Ax1 with respect to the upper end portion of the base 3 by driving of an actuator Ac1 (not illustrated) provided in the joint portion J1 that rotatably couples the base 3 and the turning portion 5 that are adjacent to each other.
The arm 7 is supported, for example, by a side portion on one side of the turning portion 5. The arm 7 includes a lower arm portion 9, an elbow portion 11, an upper arm portion 13, a wrist portion 15, and a flange portion 17.
The lower arm portion 9 is supported by the side portion on the one side of the turning portion 5 so as to be pivotable around a rotation axis Ax2 perpendicular to the rotation axis Ax1. The lower arm portion 9 is driven to pivot around the rotation axis Ax2 with respect to the side portion on the one side of the turning portion 5 by driving of an actuator Ac2 (not illustrated) provided in the joint portion J2 that rotatably couples the turning portion 5 and the lower arm portion 9 that are adjacent to each other.
The elbow portion 11 is supported by a distal end portion of the lower arm portion 9 so as to be pivotable around a rotation axis Ax3 parallel to the rotation axis Ax2. The elbow portion 11 is driven to pivot around the rotation axis Ax3 with respect to the distal end portion of the lower arm portion 9 by driving of an actuator Ac3 (not illustrated) provided in the joint portion J3 that rotatably couples the lower arm portion 9 and the elbow portion 11 that are adjacent to each other.
The upper arm portion 13 is supported by a distal end portion of the elbow portion 11 so as to be rotatable about a rotation axis Ax4 perpendicular to the rotation axis Ax3. The upper arm portion 13 is driven to rotate around the rotation axis Ax4 with respect to the distal end portion of the elbow portion 11 by driving of an actuator Ac4 (not illustrated) provided in the joint portion J4 that rotatably couples the elbow portion 11 and the upper arm portion 13 that are adjacent to each other.
The wrist portion 15 is supported by a distal end portion of the upper arm portion 13 so as to be pivotable about a rotation axis Ax5 perpendicular to the rotation axis Ax4. The wrist portion 15 is driven to pivot around the rotation axis Ax5 with respect to the distal end portion of the upper arm portion 13 by driving of an actuator Ac5 (see
The flange portion 17 is supported by a distal end portion of the wrist portion 15 so as to be rotatable around a rotation axis Ax6 perpendicular to the rotation axis Ax5. The flange portion 17 is driven to rotate around the rotation axis Ax6 with respect to the distal end portion of the wrist portion 15 by driving of an actuator Ac6 (see
The end effector is attached to the distal end portion 17a of the flange portion 17 and rotates around the rotation axis Ax6 together with the rotation of the flange portion 17 around the rotation axis Ax6.
The robot 1 having the above configuration is the six axis robot including the six joint portions J1 to J6 provided with the six actuators Ac1 to Ac6. Each of the actuators Ac1 to Ac6 that drive the joint portions J1 to J6 is configured by a motor, a brake device, a decelerator, and the like, for example.
Note that, in the above description, the rotation around the rotation axes in the longitudinal direction (or the extending direction) of the arm 7 is referred to as “rotation”, and the rotation around the rotation axes perpendicular to the longitudinal direction (or the extending direction) of the arm 7 is referred to as “pivoting”, in order to distinguish between the two.
Note that the above-described configuration of the robot 1 is an example, and is not limited to the content described above. For example, a torque sensor may be provided in at least one of the actuators Ac1 to Ac6, or a force sensor may be provided in the robot 1. In this case, when the robot 1 receives an external force due to collision with a person or an object, for example, it is possible to immediately stop the operation, avoid the external force in a direction opposite to the direction in which the external force acts, or the like, and the robot 1 can thus be configured as a human-collaborative robot capable of operating together with an operator.
Next, an example of the configuration of the actuator Ac6 provided in the joint portion J6 will be described with reference to
As described above, the wrist portion 15 (an example of a first arm) and the flange portion 17 (an example of a second arm) are coupled to each other by the joint portion J6 so as to be rotatable around the rotation axis Ax6. As illustrated in
The motor 23 (an example of a first motor) is housed in the wrist portion 15. The motor 23 includes a motor housing 31 that houses a rotor, a stator, and the like. The motor 23 includes a first gear 35 that is coupled to a motor shaft 33 protruding from the motor housing 31 and rotates around a motor axial center AxM1 (an example of a first axial center). The motor housing 31 is fixed to a housing 15a of the wrist portion 15. A dimension L1 of the motor 23 in the direction of the motor axial center AxM1 is longer than a dimension L2 of the brake device 27 in the direction of a brake axial center AxB1.
The decelerator 25 (an example of a first decelerator) includes a second gear 39 coupled to an input shaft 37, a fixing portion 41, and an output shaft 43 (an example of a first output shaft). The decelerator 25 decelerates rotation of the second gear 39 and transmits the decelerated rotation to the output shaft 43. The input shaft 37 is supported by a bearing 45 so as to be rotatable with respect to the housing 15a of the wrist portion 15, and the second gear 39 rotates around a decelerator axial center AxR1 (an example of a second axial center) in conjunction with the rotation of the first gear 35 of the motor 23. The decelerator axial center AxR1 is parallel to the motor axial center AxM1 and is offset from the motor axial center AxM1 by a predetermined distance. The bearing 45 is attached to the housing 15a in a state in which an appropriate pressure is applied so as to support both a force in a radial direction and a force in a thrust direction acting on the input shaft 37 and the second gear 39. The fixing portion 41 is fixed to the housing 15a of the wrist portion 15. The output shaft 43 is fixed to a housing 17b of the flange portion 17 and rotates around the decelerator axial center AxR1 with respect to the fixing portion 41. The decelerator axial center AxR1 substantially coincides with the rotation axis Ax6 described above.
The decelerator 25 includes a hollow portion 46 (an example of a first hollow portion) extending along the decelerator axial center AxR1, in the second gear 39, the input shaft 37, the fixing portion 41, and the output shaft 43.
The brake device 27 (an example of a first brake device) is housed in the wrist portion 15 such that at least a portion of the brake device 27 faces the motor 23 in a direction perpendicular to the motor axial center AxM1 (the vertical direction in
The intermediate gear device 29 is housed in the wrist portion 15. The intermediate gear device 29 includes a gear housing 53 that houses a bearing and the like, and a fourth gear 57 that is coupled to a gear shaft 55 protruding from the gear housing 53 and rotates around a gear axial center AxG1 (an example of a fourth axial center). The gear axial center AxG1 is parallel to the motor axial center AxM1, the decelerator axial center AxR1, and the brake axial center AxB1, and is offset by a predetermined distance from each of the motor axial center AxM1, the decelerator axial center AxR1, and the brake axial center AxB1. The fourth gear 57 is disposed between the third gear 51 of the brake device 27 and the first gear 35 of the motor 23, and transmits a braking force of the third gear 51 to the first gear 35. The fourth gear 57 is a so-called idler gear. The gear housing 53 is fixed to the housing 15a of the wrist portion 15.
Note that the first gear 35 and the second gear 39 need not necessarily be configured to be directly coupled to each other, as long as they are configured to rotate in conjunction with each other. For example, a power transmission mechanism, such as another gear, may be configured to be interposed therebetween. Further, a configuration may be adopted in which the third gear 51 and the first gear 35 are directly meshed with each other without the fourth gear 57 interposed therebetween. Further, a configuration may be adopted in which a plurality of the fourth gears 57 are interposed between the third gear 51 and the first gear 35. Further, when necessary, the number of teeth of the third gear 51 may be larger than the number of teeth of the first gear 35.
Next, an example of the configuration of the actuator Ac5 provided in the joint portion J5 will be described with reference to
As described above, the upper arm portion 13 (an example of a third arm) and the wrist portion 15 are coupled to each other by the joint portion J5 so as to be rotatable around the rotation axis Ax5. As illustrated in
The motor 59 (an example of a second motor) is housed in the wrist portion 15. The motor 59 includes a motor housing 67 that houses a rotor, a stator, and the like. The motor 59 includes a fifth gear 71 that is coupled to a motor shaft 69 protruding from the motor housing 67 and rotates around a motor axial center AxM2 (an example of a fifth axial center). The motor housing 67 is fixed to the housing 15a of the wrist portion 15. A dimension L3 of the motor 59 in the direction of the motor axial center AxM2 is longer than a dimension L4 of the brake device 63 in the direction of a brake axial center AxB2.
The decelerator 61 (an example of a second decelerator) includes a sixth gear 75 coupled to an input shaft 73, a fixing portion 77, and an output shaft 79 (an example of a second output shaft). The decelerator 61 decelerates rotation of the sixth gear 75 and transmits the decelerated rotation to the output shaft 79. The input shaft 73 is supported by a bearing 81 so as to be rotatable with respect to the housing 15a of the wrist portion 15, and the sixth gear 75 rotates around a decelerator axial center AxR2 (an example of a sixth axial center) in conjunction with the rotation of the fifth gear 71 of the motor 59. The decelerator axial center AxR2 is parallel to the motor axial center AxM2 and is offset from the motor axial center AxM2 by a predetermined distance. The bearing 81 is attached to the housing 15a in a state in which an appropriate pressure is applied so as to support both a force in a radial direction and a force in a thrust direction acting on the input shaft 73 and the sixth gear 75. The fixing portion 77 is fixed to the housing 15a of the wrist portion 15. The output shaft 79 is fixed to a housing 13a of the upper arm portion 13 and rotates around the decelerator axial center AxR2 with respect to the fixing portion 77. The decelerator axial center AxR2 substantially coincides with the rotation axis Ax5 described above.
The decelerator 61 includes a hollow portion 83 (an example of a second hollow portion) extending along the decelerator axial center AxR2, in the sixth gear 75, the input shaft 73, the fixing portion 77, and the output shaft 79.
The brake device 63 (an example of a second brake device) is housed in the wrist portion 15 such that at least a portion of the brake device 63 faces the motor 59 in a direction perpendicular to the motor axial center AxM2 (the vertical direction in
The intermediate gear device 65 is housed in the wrist portion 15. The intermediate gear device 65 includes a gear housing 91 that houses a bearing and the like, and an eighth gear 95 that is coupled to a gear shaft 93 protruding from the gear housing 91 and rotates around a gear axial center AxG2. The gear axial center AxG2 is parallel to the motor axial center AxM2, the decelerator axial center AxR2, and the brake axial center AxB2, and is offset by a predetermined distance from each of the motor axial center AxM2, the decelerator axial center AxR2, and the brake axial center AxB2. The eighth gear 95 is disposed between the seventh gear 89 of the brake device 63 and the fifth gear 71 of the motor 59, and transmits the braking force of the seventh gear 89 to the fifth gear 71. The eighth gear 95 is a so-called idler gear. The gear housing 91 is fixed to the housing 15a of the wrist portion 15.
Note that the fifth gear 71 and the sixth gear 75 need not necessarily be configured to be directly coupled to each other, as long as they are configured to rotate in conjunction with each other. For example, a power transmission mechanism, such as another gear, may be configured to be interposed therebetween. Further, a configuration may be adopted in which the seventh gear 89 and the fifth gear 71 are directly meshed with each other without the eighth gear 95 interposed therebetween. Further, a configuration may be adopted in which a plurality of the eighth gears 95 are interposed between the seventh gear 89 and the fifth gear 71. Further, when necessary, the number of teeth of the seventh gear 89 may be larger than the number of teeth of the fifth gear 71.
Next, with reference to
As illustrated in
Specifically, as illustrated in
As illustrated in
As illustrated in
As illustrated in
As illustrated in
Further, in order to dispose the brake device 27 so as not to interfere with the two motors 23 and 59, the other brake device 63, and the wiring space S3, the fourth gear 57, which adjusts the relative position between the motor 23 and the brake device 27, may be provided. Similarly, in order to dispose the brake device 63 so as not to interfere with the two motors 23 and 59, the other brake device 27, and the wiring space S3, the eighth gear 95, which adjusts the relative position between the motor 59 and the brake device 63, may be provided.
A method for manufacturing the robot 1 having the above-described configuration includes assembling, with respect to the motor 23 and the decelerator 25, the brake device 27 such that the brake device 27 faces the motor 23 in the direction perpendicular to the motor axial center AxM1, the brake axial center AxB1 is parallel to the motor axial center AxM1 and the decelerator axial center AxR1 and is separated from each of the motor axial center AxM1 and the decelerator axial center AxR1, and the third gear 51 rotates in conjunction with the first gear 35 at a position separated from the second gear 39, wherein the brake device 27 includes the third gear 51 that rotates around the brake axial center AxB1, and brakes the rotation of the first gear 35, the motor 23 is housed in the wrist portion 15 and includes the first gear 35 that rotates around the motor axial center AxM1, and the decelerator 25 decelerates the rotation of the second gear 39 and transmits the decelerated rotation to the output shaft 43, the decelerator 25 including the second gear 39 that rotates, in conjunction with the rotation of the first gear 35, around the decelerator axial center AxR1 parallel to the motor axial center AxM1 and offset from the motor axial center AxM1, and the output shaft 43 coupled to the flange portion 17.
As described above, with the robot 1 according to the present embodiment, as a result of the motor 23 housed in the wrist portion 15 rotating the first gear 35 around the motor axial center AxM1, the second gear 39 of the decelerator 25 rotates in conjunction with the rotation, and the rotation of the second gear 39 is decelerated and transmitted to the output shaft 43 coupled to the flange portion 17. Thus, the flange portion 17 rotates with respect to the wrist portion 15. Further, as a result of the brake device 27 rotating the third gear 51, which rotates in conjunction with the first gear 35 at the position separated from the second gear 39, around the brake axial center AxB1 that is parallel to and offset from the motor axial center AxM1, the rotation of the first gear 35 is braked. According to the present embodiment, the motor 23 and the brake device 27 are disposed so as to be offset from each other and to face each other in the direction perpendicular to the motor axial center AxM1 (the brake axial center AxB1). Accordingly, it is possible to reduce the dimension, in the axial direction, of the actuator Ac6 including the motor 23, the decelerator 25, and the brake device 27. Thus, the wrist portion 15 housing the actuator Ac6 can be downsized. Note that, for the actuator Ac5 also, the same effects can be obtained by using the same configuration described above.
Further, in the present embodiment, the third gear 51 of the brake device 27 need not necessarily be coupled to the second gear 39 of the decelerator 25, and the first gear 35 of the motor 23 may be coupled to the second gear 39 of the decelerator 25. In other words, the third gear 51 of the brake device 27 may be coupled to the first gear 35 of the motor 23 without the second gear 39 of the decelerator 25 being interposed therebetween. In this case, it is possible to reduce a turbulence factor imparted to the second gear 39 of the decelerator 25 by the behavior of the third gear 51 of the brake device 27 resulting from play of the gear or the like. Further, since the number of gears coupled to the second gear 39 of the decelerator 25 can be reduced, wear of the second gear 39 can be reduced. Note that, for the actuator Ac5 also, the same effects can be obtained by using the same configuration described above.
Note that, in the above-described case, since the second gear 39 of the decelerator 25 and the third gear 51 (the fourth gear 57 in the above-described embodiment) of the brake device 27 are coupled to the first gear 35 of the motor 23, there is a possibility that wear of the first gear 35 may increase. However, since the motor 23 is exposed by removing the cover 21 and is easily removed, the first gear 35 is easily replaced. On the other hand, since the decelerator 25 cannot be removed unless the motor 23, the brake device 27, and the like are removed after the cover 21 is removed, it takes time and effort to replace the second gear 39 of the decelerator 25. Therefore, the configuration of the present embodiment has an advantage that maintenance is easier compared to a case in which both the first gear 35 of the motor 23 and the third gear 51 of the brake device 27 are coupled to the second gear 39 of the decelerator 25, for example. Note that, for the actuator Ac5 also, the same effects can be obtained by using the same configuration described above.
Further, in the present embodiment, the dimension L1 of the motor 23 in the direction of the motor axial center AxM1 may be made longer than the dimension L2 of the brake device 27 in the direction of the brake axial center AxB1. In this case, since the dimension of the brake device 27 in the direction of the motor axial center AxM1 (the brake axial center AxB1) can be kept within the dimension of the motor 23, the dimension in the axial direction of the actuator Ac6 can be further downsized. Note that, for the actuator Ac5 also, the same effects can be obtained by using the same configuration described above.
Further, in the present embodiment, the decelerator 25 may include the hollow portion 46 extending along the decelerator axial center AxR1 in the second gear 39 and the output shaft 43. The motor 23 may include the motor housing 31 disposed on the outer side in the radial direction of the wiring space S1 formed by extending the hollow portion 46 in the direction of the decelerator axial center AxR1, and the brake device 27 may include the brake housing 47 disposed on the outer side in the radial direction of the wiring space S1. In this case, since the decelerator 25 includes the hollow portion 46, a cable or the like can be wired through the decelerator 25. Further, since the motor housing 31 of the motor 23 and the brake housing 47 of the brake device 27 are disposed on the outer side in the radial direction of the wiring space S1 that is formed by extending the hollow portion 46, it is possible to suppress the cable and the like drawn out from the hollow portion 46 from interfering with the motor housing 31 and the brake housing 47. Thus, a space for passing the cable or the like pulled out from the hollow portion 46 can be secured in the wrist portion 15. Note that, for the actuator Ac5 also, the same effects can be obtained by using the same configuration described above.
Further, in the present embodiment, the fourth gear 57 that transmits the braking force of the third gear 51 to the first gear 35 may be provided. In this case, since the fourth gear 57 is interposed between the first gear 35 of the motor 23 and the third gear 51 of the brake device 27, a distance between the motor axial center AxM1 and the brake axial center AxB1 can be adjusted. Thus, it is possible to arrange the motor 23 and the brake device 27 so that the motor housing 31 and the brake housing 47 do not interfere with each other while suppressing the sizes of the first gear 35 and the third gear 51, or to arrange the motor 23 and the brake device 27 so that the motor housing 31 and the brake housing 47 do not interfere with the wiring space S1 formed by extending the hollow portion 46. Thus, a freedom of the arrangement of the motor 23 and the brake device 27 can be improved. Note that, for the actuator Ac5 also, the same effects can be obtained by using the same configuration described above.
Further, in the present embodiment, the number of teeth of the third gear 51 may be equal to or less than the number of teeth of the first gear 35. In this case, the braking torque by the brake device 27 can be increased. In this way, for example, it is possible to apply a braking torque equal to or greater than that in a case in which a brake unit similar to the brake device 27 is provided on the anti-load side of the motor 23 (a motor with a brake mechanism). Note that, for the actuator Ac5 also, the same effects can be obtained by using the same configuration described above.
Further, in the present embodiment, the motor 23 and the brake device 27 that relatively drive or stop the wrist portion 15 and the flange portion 17, and the motor 59 and the brake device 63 that relatively drive or stop the wrist portion 15 and the upper arm portion 13 may be housed in the wrist portion 15 with a different arrangement from each other so as not to interfere with each other. In this case, a space in the wrist portion 15 can be effectively utilized to compactly house each of the devices. Further, each of the motor 23, the brake device 27, the motor 59, and the brake device 63 may be disposed so as not to interfere with the wiring space S3 having the bent shape and obtained by connecting the wiring space S1 and the wiring space S2. In this case, a space for passing the cable or the like drawn between the hollow portion 46 and the hollow portion 83 can be secured in the wrist portion 15.
Further, in the present embodiment, the motor axial center AxM1 of the motor 23 may be disposed on one side of the plane P including the decelerator axial center AxR1 and the decelerator axial center AxR2 that intersect each other, and the motor axial center AxM2 of the motor 59 may be disposed on the other side of the plane P. In this case, space for housing the motor 23 and the motor 59 can be made compact while suppressing interference between the motor 23 and the motor 59.
The embodiment of the present disclosure is not limited to the above, and various modifications are possible without departing from the spirit and technical ideas of the present disclosure.
In the above description, the configuration of the above-described embodiment is applied to the actuator Ac6 provided in the joint portion J6 that rotatably couples the wrist portion 15 and the flange portion 17, of the arm 7 of the robot 1, or to the actuator Ac5 provided in the joint portion J5 that rotatably couples the wrist portion 15 and the upper arm portion 13, of the arm 7 of the robot 1. However, the application location is not limited to the actuators Ac5 and Ac6. The configuration of the above-described embodiment may be applied to other portions of the arm 7, such as the actuator Ac4 of the joint portion J4 that rotatably couples the elbow portion 11 and the upper arm portion 13, and the actuator Ac3 of the joint portion J3 that rotatably couples the elbow portion 11 and the lower arm portion 9.
In the above description, the configuration of the above-described embodiment is applied to both the actuators Ac5 and Ac6, but may be applied to only one of the actuators Ac5 and Ac6.
In the above description, when “perpendicular”, “parallel”, “planar”, and the like are used, the meanings are not construed strictly. That is, “perpendicular”, “parallel”, and “planar” mean “substantially perpendicular”, “substantially parallel”, and “substantially planar”, respectively, with allowance for design and manufacturing tolerances and errors.
In the above description, when “the same”, “identical”, “equal”, “different” and the like are used in reference to the external dimensions and sizes, shapes, positions, or the like, the meanings are not construed strictly. That is, “the same”, “identical”, “equal”, and “different” mean “substantially the same”, “substantially identical”, “substantially equal”, and “substantially different”, respectively, with allowance for design and manufacturing tolerances and errors.
In addition to what has already been described above, the techniques according to the embodiment and the modified examples may be used in combination as appropriate. Also, while examples are not described, various modifications may be made to the above-described embodiments or modified examples within a range that does not depart from the technical scope thereof.
The problems to be solved by the above-described embodiment and modified examples and effects are not limited to the contents described above. The embodiment, the modified examples, or the like may solve a problem not described above or produce an effect not described above, or may solve only some of the described problems or produce only some of the described effects.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2023-198688 | Nov 2023 | JP | national |
