CN104015171A - Multifunctional rotary table used for posture adjustment of spacecraft - Google Patents

Multifunctional rotary table used for posture adjustment of spacecraft Download PDF

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Publication number
CN104015171A
CN104015171A CN201410226948.9A CN201410226948A CN104015171A CN 104015171 A CN104015171 A CN 104015171A CN 201410226948 A CN201410226948 A CN 201410226948A CN 104015171 A CN104015171 A CN 104015171A
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CN
China
Prior art keywords
spacecraft
turntable
function
guide rail
screw
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.)
Pending
Application number
CN201410226948.9A
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Chinese (zh)
Inventor
李晓欢
万毕乐
王再成
杨春生
傅浩
祝亚宏
易旺民
张强
张益丹
于兆吉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Spacecraft Environment Engineering
Original Assignee
Beijing Institute of Spacecraft Environment Engineering
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Filing date
Publication date
Application filed by Beijing Institute of Spacecraft Environment Engineering filed Critical Beijing Institute of Spacecraft Environment Engineering
Priority to CN201410226948.9A priority Critical patent/CN104015171A/en
Publication of CN104015171A publication Critical patent/CN104015171A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a multifunctional rotary table used for posture adjustment of a spacecraft. The multifunctional rotary table comprises a supporting framework, a toppling mechanism, a pitching platform, a lifting mechanism, a rotary table body, walking mechanisms, fine adjustment mechanisms and an electronic control system. The fine adjustment mechanisms are arranged at four corners of the bottom of the supporting framework. One side of the upper surface of the supporting framework is connected with one end of the toppling mechanism through a hinge pin. The other end of the toppling mechanism is hinged to the center of the pitching platform through a hinge pin. The lifting mechanism is arranged on the pitching platform. The rotary table body is arranged on the lifting mechanism. The walking mechanisms close to the fine adjustment mechanisms are arranged on the bottom surface of the supporting framework. Compared with the prior art, the multifunctional rotary table used for posture adjustment of the spacecraft achieves the functions of topping, rotation, lifting and electric horizontal movement fine adjustment in the X direction, Y direction and Z direction when the rotary table body carries a large load, the functions of minor-radius movement and turning and the like, solves key technical problems of posture adjustment of the spacecraft, and meets the requirement for posture adjustment in the final assembly process of the spacecraft.

Description

The multi-function turntable of adjusting for spacecraft attitude
Technical field
The invention belongs to spacecraft attitude and adjust class frock technical field, be specifically related to a kind of multi-function turntable, it can realize the multivariant attitude adjustment of spacecraft.
Background technology
Certain spacecraft in total process of assembling, when carrying out instrument and equipment dismounting, antenna and the docking of the sun wing and launch the operations such as test, revolution that need to be by turntable, topple over, the multivariant adjustment such as lifting carries out Spacecraft Attitude Control.Existing spacecraft is all to complete posture adjustment function by two-axle rotating table, and turntable carrying spacecraft can be realized 0 °~90 ° and topples over, and 0 °~360 ° revolutions, and on this both direction, carries out Spacecraft Attitude Control.Spacecraft is toppled over for level is when (central axis is parallel to ground) by plumbness (central axis is perpendicular to ground) by turntable, its central axis is 2300mm~2400mm to the distance on ground, and certain spacecraft is when carrying out large-scale antenna and sun wing docking expansion test, requiring its central axis is 2300mm~3000mm to the distance on ground, and existing turntable cannot meet antenna and launch test user demand.In addition, existing two-axle rotating table is limit by design feature, and radius of turn is large, cannot realize the station conversion in the confined space.Therefore need to develop a kind of Multifunction turntable, to solve this spacecraft complicated posture adjustment technical barrier in total process of assembling.
Summary of the invention
The object of the present invention is to provide a kind of safe and reliable multi-function turntable of adjusting for spacecraft attitude, be intended to solve existing equipment and cannot realize the problems such as elevating function, radius of turn are large, meet the multivariant posture adjustment demand of spacecraft.
For solving the problems of the technologies described above, the present invention has adopted following technical scheme:
A kind of multi-function turntable of adjusting for spacecraft attitude, comprise support frame, tipping mechanism, pitching platform, elevating mechanism, panoramic table, walking mechanism, the micro-adjusting mechanism and the electric-control system that are used for the body self-level(l)ing of multi-function turntable, wherein, tipping mechanism comprises two grip assemblies, be separately positioned on the both sides of support frame upper surface, so that pitching platform is toppled over, every grip assembly includes guide rail, slide block, ball-screw, nut and support bar, guide rail and ball-screw are arranged on the upper surface of support frame, nut is located on ball-screw, one end of slide block and nut is hinged on respectively on pitching platform, by driving ball-screw to rotate, make slide block and nut on guide rail and ball-screw, do rectilinear motion respectively along guide rail direction, drive pitching platform to rotate around support bar simultaneously, thereby realize the adjusting of spacecraft pitch attitude in total process of assembling, can between plumbness and level, change, four angles of support frame bottom are provided with micro-adjusting mechanism, one side of support frame upper surface connects one end of tipping mechanism by bearing pin, the other end of tipping mechanism is hinged on the central authorities of pitching platform by bearing pin, elevating mechanism is arranged on pitching platform, panoramic table is arranged on elevating mechanism again, on the bottom surface of support frame, be also provided with the walking mechanism of contiguous micro-adjusting mechanism.
Wherein, on panoramic table, be provided with the adapter of abutted flange face, there is the interface of carrying spacecraft.
Wherein, turntable bearing and measuring cell are set on panoramic table, when toppling over 0 °~90 ° of optional positions, spacecraft can 0~360 ° of positive and negative continuous rotary around body central axis in realization, and spacecraft is while toppling over 90 °~97 °, can be around central axis ± 6 ° positive and negative continuous rotary.
Wherein, elevating mechanism consists of guide rail leading screw, when spacecraft central axis is poured into level, has the regulatory function in 0~700mm travel range in short transverse.
Wherein, walking mechanism is 4 electronic universal wheels, by different walking control models, turntable is had to advance, retreats, the function such as turning, transverse translation and original place rotation.
Wherein, micro-adjusting mechanism is for the self-level(l)ing of turntable body, by the fine setting of X, Y, tri-directions of Z, makes the car body requirement that is up to the standard, and can realize fine adjustment function by electronic and manual two kinds of modes.
Wherein, electric-control system can realize rotation of rotary table, topple over, the electronic control of the function such as lifting, walking, fine setting.
Two-axle rotating table with respect to prior art, the present invention topples over while having realized the larger carrying of turntable, revolution, lifting, in X, Y, tri-electronic fine settings of direction translational of Z, and minor radius moves the functions such as turning, solve the key technology difficult point that spacecraft attitude is adjusted, met the posture adjustment demand in spacecraft process.
Accompanying drawing explanation
Fig. 1 (a) vertically parks front view for the multi-function turntable spacecraft for spacecraft attitude adjustment of the present invention;
Fig. 1 (b) vertically parks attached view for the multi-function turntable spacecraft for spacecraft attitude adjustment of the present invention;
Fig. 2 is that the multi-function turntable spacecraft level for spacecraft attitude adjustment of the present invention is parked status architecture schematic diagram.
In figure: 1 is that spacecraft, 2 is that panoramic table, 3 is that pitching platform, 4 is that elevating mechanism, 5 is that tipping mechanism, 6 is that support frame, 7 is that walking mechanism, 8 is that micro-adjusting mechanism, 9 is electric-control system.
The specific embodiment
What below introduce is the specific embodiment as content of the present invention, below by the specific embodiment, described content of the present invention is further illustrated.Certainly, describing the following specific embodiment is only the content of example different aspect of the present invention, and should not be construed as the restriction scope of the invention.
Fig. 1 (a) is respectively vertical front view and the top view of parking state of multi-function turntable spacecraft of the present invention with Fig. 1 (b).The multi-function turntable of adjusting for spacecraft attitude of the present invention, comprise panoramic table 2, pitching platform 3, elevating mechanism 4, tipping mechanism 5, support frame 6, walking mechanism 7, micro-adjusting mechanism 8, the micro-adjusting mechanism 8 and the electric-control system 9 that are used for the body self-level(l)ing of multi-function turntable, wherein, tipping mechanism 5 comprises two grip assemblies, be separately positioned on the both sides of support frame upper surface, so that pitching platform 3 is toppled over, every grip assembly includes guide rail, slide block, ball-screw, nut and support bar, guide rail and ball-screw are arranged on the upper surface of support frame, nut is located on ball-screw, one end of slide block and nut is hinged on respectively on pitching platform, support bar one end is hinged on support frame 6 by bearing pin, the support bar other end is hinged on the central authorities of pitching platform 3 by bearing pin, by driving ball-screw to rotate, make slide block and nut on guide rail and ball-screw, do rectilinear motion respectively along guide rail direction, drive pitching platform 3 to rotate around support bar simultaneously, thereby realize the adjusting of spacecraft pitch attitude in total process of assembling, can between plumbness and level, change, four angles of support frame 6 bottoms are provided with micro-adjusting mechanism 8, elevating mechanism 4 is arranged on pitching platform 3, panoramic table 2 is arranged on elevating mechanism 4 again, on the bottom surface of support frame 6, be also provided with the walking mechanism 7 of contiguous micro-adjusting mechanism 8.
The adapter with abutted flange is installed on panoramic table 2, and spacecraft is connected and fixed by bolt and adapter.Elevating mechanism 4 adopts guide rail guide screw movement mechanism, comprise two grip assemblies, every grip assembly comprises guide rail, slide block, ball-screw and nut, guide rail and ball-screw are separately positioned on the both sides inner surface of pitching platform 3 frameworks, panoramic table 2 is arranged on the slide block and nut of elevating mechanism 4, nut is located on ball-screw, by driving ball-screw to rotate, make slide block and nut along guide rail direction moving linearly on guide rail and leading screw respectively, thereby drive panoramic table 2 to carry out elevating movement, realize spacecraft and under state shown in Fig. 2, highly regulate lifting, outside framework one end of pitching platform 3 is articulated and connected by two groups of slide blocks and the nut of bearing pin and tipping mechanism 5, two groups of support bars of the outside framework centre position of pitching platform 3 and tipping mechanism 5 are hinged, the guide rail of tipping mechanism 5 and ball-screw are arranged on the upper surface of support frame 6, support bar one end of tipping mechanism 5 is hinged on support frame 6 upper surfaces, the support bar other end is hinged on the outside framework central position of pitching platform 3, tipping mechanism 5 adopts crank block motion principle, by driving leading screw to rotate, make slide block and nut along guide rail direction moving linearly on guide rail and ball-screw respectively, by slide block and nut, drive the support bar of pitching platform 3 on tipping mechanism 5 to rotate, can make spacecraft be turned to the walking mechanism of level shown in Fig. 27 and adopt the identical omnidirectional's Electric Motor Wheel of 4 cover, by bolt, be arranged on respectively the position, the symmetrical dead angle of lower surface of support frame 6, Mei Tao omnidirectional Electric Motor Wheel comprises bearing, steering mechanism, walking mechanism, roller mount, roller, bearing upper end is bolted on the lower surface of support frame 6, steering mechanism is arranged on bearing lower surface, and be fixedly connected with seat upper end, bolt Yu Gun road, by driving steering mechanism to drive roller mount to turn to, thereby drive, be arranged on the roller steering in roller mount, steering mechanism is arranged on roller mount side, with hinged by bearing pin and roller, by bearing pin, roller is hinged in roller mount simultaneously, by driving walking mechanism to realize the walking of roller, and by controlling the synergy of steering mechanism and walking mechanism, realize turntable and advance, the functions such as turning backward, the original place rotation of transverse translation machine, micro-adjusting mechanism 8 adopts the 4 identical mechanisms of cover, is arranged on respectively the lower surface corner location of support frame 6 by bolt, and Mei Tao mechanism comprises X-direction guide rail lead-screw drive mechanism, Y-direction guide rail lead-screw drive mechanism, Z-direction spiral lifting mechanism, base for supporting, connecting plate upper surface on X-direction guide rail lead-screw drive mechanism is fixed by bolt and support frame 6 lower surfaces, guide rail and leading screw are arranged on X-direction connecting plate lower surface, slide block and nut are arranged on Y-direction guide rail lead-screw drive mechanism connecting plate upper surface, Y-direction guide rail and leading screw are arranged on Y-direction connecting plate lower surface, Y-direction slide block and nut are arranged on Z-direction spiral lifting mechanism connecting plate upper surface, Z-direction spiral lifting mechanism is connected with base for supporting by spherical hinge, by the coordinated movement of various economic factors of X, Y, tri-directions of Z, adjust turntable car body attitude, state is up to the standard.Electric-control system 9 comprises control element and electrical control cubicles, control element is arranged in electrical control cubicles, electrical control cubicles base plate is bolted to install and is connected to the upper surface at support frame 6, gauge tap is arranged on the panel of electrical control cubicles, realizes rotation of rotary table, topples over, the control of the function such as lifting, walking and fine setting.
In one embodiment, panoramic table is comprised of turntable bearing, high accuracy worm couple transmission component, motor, angle detection device, insulating part etc., so that adapter is realized 0 °~360 ° rotations.
In one embodiment, adapter and spacecraft launching site flange face adopt flanging form, can realize in outside, carrying out securing member and tightening measuring moment operation; On adapter, be evenly distributed 8 lightening cores, can realize from the inner mounting screw of adapter.
In one embodiment, between the adapter of panoramic table 2 and turntable bearing, nonmetal insulation board has been installed, has been guaranteed that spacecraft and turntable body insulate.
In one embodiment, elevating mechanism 4 is comprised of motor, guide rail, leading screw, decelerator, position detecting element, limit switch etc., can realize 0~700mm highly to regulate, and at the head of lifting, is not provided with machinery and electric limiting switch in position.
In one embodiment, tipping mechanism 5 is comprised of motor, guide rail, leading screw, decelerator, position detecting element, limit switch etc., realizes pitching platform 3 and topple over function in optional position within the scope of 0 °~97 °.
In one embodiment, 4 cover omnidirectional Electric Motor Wheel of walking mechanism 7 are respectively by walking servomotor with turn to servomotor that power is provided, by different walking modes control make before and after the having of turntable to left and right sides to functions such as both direction translation, pivot studs.
In one embodiment, micro-adjusting mechanism 8 is mainly by drive motors, precision lead screw, screw, the composition such as guide rail and position detector, between micro-adjusting mechanism and turntable car body, spherical hinge is installed, by 4 coordinated movements of various economic factors, can be realized the interior low-angle adjusting of rocking of turntable car body level-off and plane.
In one embodiment, electric-control system is mainly by industrial computer with control box and form, and can provide that working state of system shows, systematic parameter is set, indication is reported to the police in fault detect, the anxious functions such as processing of stopping.
Although above the specific embodiment of the present invention is described in detail and is illustrated, but what should indicate is, we can make various changes and modifications above-mentioned embodiment, but these do not depart from the scope that spirit of the present invention and appended claim are recorded.

Claims (8)

1. a multi-function turntable of adjusting for spacecraft attitude, comprise support frame, tipping mechanism, pitching platform, elevating mechanism, panoramic table, walking mechanism, the micro-adjusting mechanism and the electric-control system that are used for the body self-level(l)ing of multi-function turntable, wherein, tipping mechanism comprises two grip assemblies, be separately positioned on the both sides of support frame upper surface, so that pitching platform is toppled over, every grip assembly includes guide rail, slide block, ball-screw, nut and support bar, guide rail and ball-screw are arranged on the upper surface of support frame, nut is located on ball-screw, one end of slide block and nut is hinged on respectively on pitching platform, by driving ball-screw to rotate, make nut and slide block on guide rail and ball-screw, do rectilinear motion respectively along guide rail direction, drive pitching platform to rotate around support bar simultaneously, thereby realize the adjusting of spacecraft pitch attitude in total process of assembling, can between plumbness and level, change, four angles of support frame bottom are provided with micro-adjusting mechanism, one side of support frame upper surface connects one end of tipping mechanism by bearing pin, the other end of tipping mechanism is hinged on the central authorities of pitching platform by bearing pin, elevating mechanism is arranged on pitching platform, panoramic table is arranged on elevating mechanism again, on the bottom surface of support frame, be also provided with the walking mechanism of contiguous micro-adjusting mechanism.
2. multi-function turntable as claimed in claim 1, wherein, is provided with the adapter of abutted flange face on panoramic table, has the interface of carrying spacecraft.
3. multi-function turntable as claimed in claim 2, wherein, turntable bearing and measuring cell are also set on panoramic table, can be when toppling over 0 °~90 ° of optional positions spacecraft around 0~360 ° of positive and negative continuous rotary of body central axis, and spacecraft is while toppling over 90 °~97 °, ° positive and negative continuous rotary around central axis ± 6.
4. the multi-function turntable as described in claim 1-3 any one, wherein, elevating mechanism includes guide rail and leading screw, when spacecraft central axis is poured into level, has the regulatory function in 0~700mm travel range in short transverse.
5. multi-function turntable as claimed in claim 4, wherein elevating mechanism is comprised of motor, guide rail, leading screw, decelerator, position detecting element, limit switch.
6. the multi-function turntable as described in claim 1-3 any one, wherein, walking mechanism is four electronic universal wheels, by different walking control models, turntable is had to advance, retreats, turning, transverse translation and original place spinfunction.
7. the multi-function turntable as described in claim 1-3 any one, wherein, micro-adjusting mechanism is for the self-level(l)ing of turntable body, by the fine setting of X, Y, tri-directions of Z, makes the car body requirement that is up to the standard, and can realize fine adjustment function by electronic and manual two kinds of modes.
8. the multi-function turntable as described in claim 1-3 any one, wherein, electric-control system can be realized rotation of rotary table, topples over, the electronic control of lifting, walking, fine adjustment function.
CN201410226948.9A 2014-05-27 2014-05-27 Multifunctional rotary table used for posture adjustment of spacecraft Pending CN104015171A (en)

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Application Number Priority Date Filing Date Title
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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105187702A (en) * 2015-09-14 2015-12-23 南京理工大学 Gravity balance monitoring turntable mechanism
CN105538259A (en) * 2016-01-21 2016-05-04 北京林业大学 Three-degree-of-freedom altitude adjustment platform
CN105973187A (en) * 2016-06-20 2016-09-28 上海卫星装备研究所 High-precision motion measurement device for satellite
CN106227245A (en) * 2016-09-07 2016-12-14 西安交通大学 Improve electrostriction micromotion structure and the control method thereof of two-axis platcform tracking accuracy
CN106404346A (en) * 2015-07-31 2017-02-15 北京航天计量测试技术研究所 Apparatus for testing influence of large-aperture camera gravity deformation on image quality
CN107340001A (en) * 2017-05-23 2017-11-10 中国人民解放军军械工程学院 Magnetic survey error compensation experimental rig
CN107546606A (en) * 2017-10-11 2018-01-05 浙江中新电力发展集团有限公司萧山科技分公司 Fulgurite person's integration O&M monitoring system
CN107775611A (en) * 2017-10-10 2018-03-09 北京卫星环境工程研究所 Spacecraft posture adjustment cantilevered multi-axis turntable
CN107908192A (en) * 2017-10-17 2018-04-13 上海卫星装备研究所 A kind of attitude of satellite quick level adjusting device
CN108454889A (en) * 2018-04-16 2018-08-28 北京卫星环境工程研究所 Spacecraft large size bay section automates vertical butt joint/decomposing system
CN108775876A (en) * 2018-05-04 2018-11-09 王晓伟 Satellite tune dress detection integrated mobile platform
CN109129349A (en) * 2018-09-19 2019-01-04 燕山大学 Six degree of freedom posture adjustment docking platform
CN109605299A (en) * 2019-01-21 2019-04-12 北京卫星环境工程研究所 Three Degree Of Freedom posture adjustment platform for the assembly of spacecraft large scale bay section
CN110199662A (en) * 2019-04-09 2019-09-06 广州市丹爵通讯科技有限公司 A kind of mowing apparatus with regulatory function for gardens gardening

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CN202388489U (en) * 2011-12-06 2012-08-22 华侨大学 Novel displacement working table
CN203509481U (en) * 2013-09-29 2014-04-02 天津航天机电设备研究所 Rotary table device capable of being lifted in wide range

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EP0116872A2 (en) * 1983-01-26 1984-08-29 Rolf Kerp Work bench for wood-engraving and sculpture
CN102303310A (en) * 2011-09-07 2012-01-04 天津市百成油田采油设备制造有限公司 Automatic overturning work table of protector and operating method of automatic overturning work table
CN202388489U (en) * 2011-12-06 2012-08-22 华侨大学 Novel displacement working table
CN203509481U (en) * 2013-09-29 2014-04-02 天津航天机电设备研究所 Rotary table device capable of being lifted in wide range

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106404346A (en) * 2015-07-31 2017-02-15 北京航天计量测试技术研究所 Apparatus for testing influence of large-aperture camera gravity deformation on image quality
CN105187702B (en) * 2015-09-14 2018-07-31 南京理工大学 Gravitational equilibrium monitors turntable mechanism
CN105187702A (en) * 2015-09-14 2015-12-23 南京理工大学 Gravity balance monitoring turntable mechanism
CN105538259A (en) * 2016-01-21 2016-05-04 北京林业大学 Three-degree-of-freedom altitude adjustment platform
CN105973187A (en) * 2016-06-20 2016-09-28 上海卫星装备研究所 High-precision motion measurement device for satellite
CN106227245B (en) * 2016-09-07 2019-10-11 西安交通大学 Improve the electrostriction micromotion structure and its control method of two-axis platcform tracking accuracy
CN106227245A (en) * 2016-09-07 2016-12-14 西安交通大学 Improve electrostriction micromotion structure and the control method thereof of two-axis platcform tracking accuracy
CN107340001A (en) * 2017-05-23 2017-11-10 中国人民解放军军械工程学院 Magnetic survey error compensation experimental rig
CN107340001B (en) * 2017-05-23 2020-02-28 中国人民解放军军械工程学院 Geomagnetic measurement error compensation test device
CN107775611A (en) * 2017-10-10 2018-03-09 北京卫星环境工程研究所 Spacecraft posture adjustment cantilevered multi-axis turntable
CN107546606B (en) * 2017-10-11 2019-09-10 浙江中新电力工程建设有限公司自动化分公司 Fulgurite person's integration O&M monitoring system
CN107546606A (en) * 2017-10-11 2018-01-05 浙江中新电力发展集团有限公司萧山科技分公司 Fulgurite person's integration O&M monitoring system
CN107908192A (en) * 2017-10-17 2018-04-13 上海卫星装备研究所 A kind of attitude of satellite quick level adjusting device
CN108454889A (en) * 2018-04-16 2018-08-28 北京卫星环境工程研究所 Spacecraft large size bay section automates vertical butt joint/decomposing system
CN108775876A (en) * 2018-05-04 2018-11-09 王晓伟 Satellite tune dress detection integrated mobile platform
CN109129349A (en) * 2018-09-19 2019-01-04 燕山大学 Six degree of freedom posture adjustment docking platform
CN109605299A (en) * 2019-01-21 2019-04-12 北京卫星环境工程研究所 Three Degree Of Freedom posture adjustment platform for the assembly of spacecraft large scale bay section
CN110199662A (en) * 2019-04-09 2019-09-06 广州市丹爵通讯科技有限公司 A kind of mowing apparatus with regulatory function for gardens gardening

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Application publication date: 20140903