CN106289056A - A kind of dise knife storehouse tool-changing mechanical arm device for detecting performance and method - Google Patents
A kind of dise knife storehouse tool-changing mechanical arm device for detecting performance and method Download PDFInfo
- Publication number
- CN106289056A CN106289056A CN201610607531.6A CN201610607531A CN106289056A CN 106289056 A CN106289056 A CN 106289056A CN 201610607531 A CN201610607531 A CN 201610607531A CN 106289056 A CN106289056 A CN 106289056A
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- China
- Prior art keywords
- laser displacement
- displacement sensor
- knife
- tool magazine
- horizontal stand
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 79
- 238000001514 detection method Methods 0.000 claims abstract description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000009471 action Effects 0.000 abstract description 3
- 238000012360 testing method Methods 0.000 abstract description 3
- 238000002474 experimental method Methods 0.000 abstract description 2
- 238000002360 preparation method Methods 0.000 abstract description 2
- 238000011160 research Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- IXSZQYVWNJNRAL-UHFFFAOYSA-N etoxazole Chemical compound CCOC1=CC(C(C)(C)C)=CC=C1C1N=C(C=2C(=CC=CC=2F)F)OC1 IXSZQYVWNJNRAL-UHFFFAOYSA-N 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
Abstract
A kind of disc tool magazine mechanical hand device for detecting performance and method, belong to Digit Control Machine Tool functional part performance detection field.Disc tool magazine and mechanical hand knife-changing system are mounted on pedestal top, and disc tool magazine is driven by motor and required cutter is sent to prepare tool change position, then is overturn by electrical control broach shell, and handle of a knife is parked in tool change position.Meanwhile, motor drives tool-changing mechanical arm action, and mechanical hand is parked in preparation tool change position.When handle of a knife and mechanical hand all arrive tool change position, it is arranged near tool change position five laser displacement sensors and records five position numerical value, industrial computer calculate horizontal direction position, the handle of a knife center of circle, position, manipulator clamping central horizontal direction and vertical direction position, mechanical hand bottom surface.Contrast horizontal direction position, the handle of a knife center of circle and position, manipulator clamping central horizontal direction, it is judged that the registration at two centers.The reliability that the present invention is research disc tool magazine and mechanical hand provides experiment basis, and provides factory testing for disc tool magazine production firm.
Description
Technical field
The present invention is a kind of disc tool magazine mechanical hand device for detecting performance and method, belongs to Digit Control Machine Tool functional part performance
Detection field.
Background technology
Tool magazine and automatic tool changer thereof are to provide in automatization's course of processing a kind of dress of required storage cutter and tool changing demand
Put, be the core component of numerical control machining center.Its automatic tool changer and cutter storage function, change tradition with artificial master's
The mode of production, decreases the non-cutting time, improves working (machining) efficiency, reduce production cost.Tool magazine its by computer program control,
Various different process requirements can be completed, such as boring, milling, tapping, bore hole etc..The action that tool magazine and mechanical hand perform is many,
Speed is fast, high to positioning accuracy request.During complex parts are processed, needing to change frequently cutter, this allows for cutter
Storehouse and automatic tool changer thereof become the weak link affecting machining center reliability.
Tool magazine and automatic tool changer mainly include tool magazine, mechanical hand tool changing device and driving means etc..The effect of tool magazine
It is to store various cutters, and under the control of digital control system, it is achieved select cutter function, cutter to be changed is delivered to specify cutter spacing.Domestic
The most the more commonly used tool magazine has disc type tool magazine, bamboo hat type tool holder, magazine and rotary type tower tool magazine etc..Disc type tool magazine structure
Simply, compact, easy to control, Application comparison is extensive.Mechanical hand is the main execution unit of automatic tool changer, and Main Function is real
The automatic exchange between main shaft and tool magazine of the existing cutter.Driving means, then be driving tool magazine and manipulator behavior, realize its function
Mechanism, have hydraulic pressure, motor, three kinds of modes of cylinder.
At present, tool magazine and mechanical hand automatic tool changer thereof, still rely primarily on import.Setting of external tool magazine and mechanical hand
Meter, manufacture and context of detection have had more ripe technology, and occupy major part market.Similar detecting system is made
Valency is high and structure is complicated, and the inspection before disc tool magazine dispatches from the factory of the domestic tool magazine factory is then mostly is pure to detect manually.
In terms of the in-placing precision of handle of a knife and mechanical hand, domestic detection needs special handle of a knife and instrument, and detection process is cumbersome and takes
Time laborious, and this kind of detection mode can only substantially judge whether precision meets the requirements and be unable to obtain concrete precision information.
Therefore a kind of tool magazine and mechanical hand device for detecting performance it are highly desirable to.
Summary of the invention
Pure manual type and precise information can not be obtained is relied in order to solve the performance detection of dispatching from the factory of Present Domestic disc tool magazine
With external this kind of detecting system cost problem high, baroque, the invention provides a kind of disc tool magazine knife-changing system
Device can be detected.The technical scheme taked is as described below:
Disc tool magazine is driven by motor and required cutter is sent to prepare tool change position, then is overturn by electrical control broach shell,
Handle of a knife is parked in tool change position.Meanwhile, motor drives tool-changing mechanical arm action, and mechanical hand is parked in preparation tool change position.Work as cutter
When handle and mechanical hand all arrive tool change position, five laser displacement sensors are started working, and record five high precision position setting values,
Numerical value sends industrial computer to by capture card, then is calculated horizontal direction position, the handle of a knife center of circle, manipulator clamping by industrial computer
Position, central horizontal direction and vertical direction position, mechanical hand bottom surface.Contrast horizontal direction position, the handle of a knife center of circle and machinery further
Horizontal direction position, hands Clamping Center, it is judged that the registration at two centers.
Described disc tool magazine automatic tool changer performance detecting system includes frame for movement module and signal acquisition module.
The frame for movement module of this system include disc tool magazine, handle of a knife, cutter-exchange mechanism for manipulator, the first horizontal stand,
Two horizontal stands and vertical support frame.
The signal acquisition module of this system includes that laser displacement sensor A1, laser displacement sensor A2, laser displacement pass
Sensor B1, laser displacement sensor B2, laser displacement sensor C, data collecting card, industrial computer and display screen.
According to the disc tool magazine knife-changing system device for detecting performance described in technical scheme and method, it is characterised in that: disc type
Tool magazine is bolted on the mounting plane being arranged on pedestal top, welds welded plate, the first water below tool change position
Flat support and the second horizontal stand are bolted on welded plate.Welded plate is provided with groove, the first horizontal stand and second
Horizontal stand all can move forward and backward in groove, it is simple to trim locations.Vertical support frame is bolted at the first horizontal stand
Middle and lower part.Laser displacement sensor A1 is arranged on the first horizontal stand upper brace, laser displacement sensor B1 by bolt
Being arranged on the first horizontal stand middle deck by bolt, laser displacement sensor C is vertically installed at vertical support frame by bolt
On, laser displacement sensor A2 is arranged on the second horizontal stand upper brace by bolt, and laser displacement sensor B2 passes through spiral shell
Bolt is arranged on the second horizontal stand middle deck.By fine setting installation site, it is ensured that mounting plane level, projecting light path are vertical,
And the light path intersection point of laser displacement sensor A1 and laser displacement sensor A2 is positioned at handle of a knife center for center of circle radius 1mm scope
In, the light path intersection point of laser displacement sensor B1 and laser displacement sensor B2 is positioned at manipulator clamping center for center of circle radius
In the range of 1mm, laser displacement sensor C light projector face level.
According to the disc tool magazine knife-changing system device for detecting performance described in technical scheme and method, it is characterised in that: laser
Displacement transducer A1, laser displacement sensor A2, laser displacement sensor B1, laser displacement sensor B2 and laser displacement sensing
Device C is all transferred to industrial computer by capture card signal, then by display screen output detections result.
According to the disc tool magazine knife-changing system device for detecting performance described in technical scheme and method, it is characterised in that: support
On five laser displacement sensors are installed, two of which arranges detection handle of a knife outer round surface range sensor in the horizontal plane and throws
The distance of bright finish, can calculate the position in the handle of a knife center of circle accordingly；Two arrange in the horizontal plane inspecting manipuator outer surface away from
From the distance in sensor light projector face, the position at manipulator clamping center can be calculated accordingly；One is arranged on vertical direction, inspection
Survey the distance away from sensor light projector face bottom mechanical hand.
The present invention is a little:
(1) the invention provides a kind of disc tool magazine knife-changing system device for detecting performance and method, to disc tool magazine tool changing
Time handle of a knife and the in-placing precision of mechanical hand detect, the reliability for research disc tool magazine and mechanical hand provides experiment basis,
And can be that disc tool magazine production firm provides factory testing, it is ensured that tool magazine quality.
(2) present invention can detect the concrete in-placing precision of handle of a knife and mechanical hand, by high precision laser displacement sensor its
Accuracy of detection can reach micron order, with conventional tool magazine factory by compared with property metering system, more accurate precision can be obtained
Information, beneficially manufacturing enterprise are deeper into the performance state understanding current bamboo hat type tool holder.
(3) present invention detects the in-placing precision of handle of a knife and mechanical hand simultaneously, by the center superposition degree calculated, determines essence
It is the most qualified to spend.Guarantee that mechanical hand can quickly, accurately clamp handle of a knife, it is to avoid hit cutter phenomenon.
Accompanying drawing explanation
Fig. 1 detects device schematic diagram
Fig. 2 welded plate, the first horizontal stand and vertical support frame assembly schematic diagram
Fig. 2-1 first horizontal stand normal axomometric drawing
Fig. 2-2 second horizontal stand normal axomometric drawing
Fig. 2-3 vertical support frame normal axomometric drawing
Fig. 2-4 welded plate normal axomometric drawing
Fig. 3 sensor assembly normal axomometric drawing
Fig. 3-1 sensor mounting location layout front view
Fig. 3-2 sensor mounting location layout right view
Fig. 3-3 sensor mounting location layout top view
In figure, 1 disc tool magazine, 2 handle of a knifes, 3 mechanical hands, 4 laser displacement sensor A1,5
Laser displacement sensor B1,6 laser displacement sensor C, 7 first horizontal stands, 8 vertical support frames, 9
Two horizontal stands, 10 laser displacement sensor A2,11 laser displacement sensor B2,12 welded plates, 13
Pedestal, 14 capture cards, 15 industrial computers, 16 display screens.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described:
Fig. 1 is detection device schematic diagram.Detection device is made up of frame for movement module and signal acquisition module two parts.Its
Middle frame for movement module include disc tool magazine (1), handle of a knife (2), mechanical hand (3), the first horizontal stand (7), vertical support frame (8),
Second horizontal stand (9), welded plate (12) and pedestal (13).Signal acquisition module includes laser displacement sensor A1 (4), laser
Displacement transducer A2 (10), laser displacement sensor B1 (5), laser displacement sensor B2 (11), laser displacement sensor C (6),
Data collecting card (14), industrial computer (15) and display screen (16).
Pedestal (13) is the benchmark of whole detection device, and disc tool magazine (1) is arranged on the mounting plane of pedestal top, is changing
By welded and installed welded plate (12) on pedestal below cutter position.Fig. 2 is welded plate, the first horizontal stand and vertical support frame dress
Part schematic diagram, Fig. 2-1 is the first horizontal stand normal axomometric drawing, and Fig. 2-2 is the second horizontal stand normal axomometric drawing, and Fig. 2-3 is vertical
Straight bracket normal axomometric drawing, Fig. 2-4 is welded plate normal axomometric drawing.First horizontal stand (7) and the second horizontal stand (9) pass through bolt
It is connected on welded plate (12).Welded plate (12) is provided with groove, and the first horizontal stand (7) and the second horizontal stand (9) all can be
Move forward and backward in groove, it is simple to trim locations.Vertical support frame (8) is bolted the middle and lower part in the first horizontal stand (7).
Laser displacement sensor C (6) is vertically installed on vertical support frame (8) by bolt, laser displacement sensor A2
(10) being arranged on the second horizontal stand (9) upper brace by bolt, laser displacement sensor B2 (11) is arranged on by bolt
Second horizontal stand (9) middle deck.By fine setting installation site, it is ensured that mounting plane level, projecting light path are vertical, and laser
The light path intersection point of displacement transducer A1 (4) and laser displacement sensor A2 (10) is positioned at handle of a knife center for center of circle radius 1mm model
In enclosing, the light path intersection point of laser displacement sensor B1 (5) and laser displacement sensor B2 (11) is positioned at mechanical hand folder as the center of circle
In the range of radius 1mm, laser displacement sensor C (6) light projector face water.
Fig. 3 is sensor assembly normal axomometric drawing, and Fig. 3-1 is sensor mounting location layout front view, and Fig. 3-2 is sensing
Device installation site layout top view, Fig. 3-3 is sensor mounting location layout right view.Test device is established by sensor
One with laser displacement sensor B1 (5) and laser displacement sensor B2 (11) light cross-over the rectangular coordinate system as initial point, and
Using two light paths as Two coordinate axle.The light path that laser displacement sensor C launches is vertical coordinate axes.When handle of a knife (2) and mechanical hand
(3), when all arriving tool change position, laser displacement sensor A1 (4) and laser displacement sensor A2 (10) light cross-over are positioned at perpendicular seat
Parameter positive direction is a bit.Laser displacement sensor A1 (4) and laser displacement sensor A2 (10) detects handle of a knife outer round surface distance
The distance in sensor light projector face, can obtain handle of a knife cylindrical coordinate figure accordingly；Laser displacement sensor B1 (5) and laser displacement pass
The distance in sensor B2 (11) inspecting manipuator outer surface range sensor light projector face, can obtain surveying outside mechanical hand coordinate accordingly
Value；Distance away from sensor light projector face bottom laser displacement sensor C inspecting manipuator, can obtain mechanical hand (3) vertically side
To positional precision.
Laser displacement sensor A1 (4), laser displacement sensor A2 (10), laser displacement sensor B1 (5), laser displacement
Sensor B2 (11) and laser displacement sensor C (6) is all transferred to industrial computer (15) by capture card (14) signal, then by showing
Display screen (16) output detections result.
Claims (3)
1. a disc tool magazine knife-changing system device for detecting performance, device is by frame for movement module and signal acquisition module two parts
Constitute；It is characterized in that:
Wherein frame for movement module includes disc tool magazine (1), handle of a knife (2), mechanical hand (3), the first horizontal stand (7), vertically props up
Frame (8), the second horizontal stand (9), welded plate (12) and pedestal (13)；
Pedestal (13) is the benchmark of whole detection device, and disc tool magazine (1) is arranged on the mounting plane of pedestal top, in tool changing position
Put on the pedestal of lower section by welded and installed welded plate (12)；First horizontal stand (7) and the second horizontal stand (9) pass through bolt
It is connected on welded plate (12)；Welded plate (12) is provided with groove, and the first horizontal stand (7) and the second horizontal stand (9) all can be
Move forward and backward in groove, it is simple to trim locations；Vertical support frame (8) is bolted the middle and lower part in the first horizontal stand (7).
Described signal acquisition module includes that laser displacement sensor A1 (4), laser displacement sensor A2 (10), laser displacement pass
Sensor B1 (5), laser displacement sensor B2 (11), laser displacement sensor C (6), data collecting card (14), industrial computer (15) and
Display screen (16).Laser displacement sensor C (6) is vertically installed on vertical support frame (8) by bolt, laser displacement sensor A2
(10) being arranged on the second horizontal stand (9) upper brace by bolt, laser displacement sensor B2 (11) is arranged on by bolt
Second horizontal stand (9) middle deck；By fine setting installation site, it is ensured that mounting plane level, projecting light path are vertical, and laser
The light path intersection point of displacement transducer A1 (4) and laser displacement sensor A2 (10) is positioned at handle of a knife center for center of circle radius 1mm model
In enclosing, the light path intersection point of laser displacement sensor B1 (5) and laser displacement sensor B2 (11) is positioned at manipulator clamping center
In the range of the radius 1mm of the center of circle, laser displacement sensor C (6) light projector face level；Laser displacement sensor A1 (4), laser displacement
Sensors A 2 (10), laser displacement sensor B1 (5), laser displacement sensor B2 (11) and laser displacement sensor C (6) are the most logical
Cross capture card (14) and signal is transferred to industrial computer (15), then by display screen (16) output detections result.
2. according to the disc tool magazine knife-changing system device for detecting performance described in claim 1 and method, it is characterised in that: described
Disc tool magazine (1) uses PLC to control.
3. the method applying device as claimed in claim 1 or 2, it is characterised in that: laser displacement sensor A1 (4) and laser position
Displacement sensor A2 (10) records handle of a knife (2) centre coordinate value, laser displacement sensor B1 (5) and laser displacement sensor B2 (11)
Record mechanical hand (3) Clamping Center coordinate figure；Calculated by industrial computer, contrast Two coordinate value, it is judged that handle of a knife (2) center and machinery
The registration of hands (3) Clamping Center, registration can accurately grab cutter in the range of ± 0.5mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607531.6A CN106289056B (en) | 2016-07-28 | 2016-07-28 | A kind of dise knife library tool-changing mechanical arm device for detecting performance and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607531.6A CN106289056B (en) | 2016-07-28 | 2016-07-28 | A kind of dise knife library tool-changing mechanical arm device for detecting performance and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106289056A true CN106289056A (en) | 2017-01-04 |
| CN106289056B CN106289056B (en) | 2019-01-04 |
Family
ID=57662993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610607531.6A Expired - Fee Related CN106289056B (en) | 2016-07-28 | 2016-07-28 | A kind of dise knife library tool-changing mechanical arm device for detecting performance and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106289056B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283142A (en) * | 2017-06-30 | 2017-10-24 | 北京兴信易成机电工程有限公司 | A kind of axle of robot the 7th is installed, adjusted and detection method |
| CN108381258A (en) * | 2018-02-27 | 2018-08-10 | 北京理工大学 | A kind of large area micro-structure cutting midway cutter replacing method based on film thickness measuring in place |
| CN109108731A (en) * | 2018-06-08 | 2019-01-01 | 南京理工大学 | A kind of magazine kinematic accuracy measurement method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102507228A (en) * | 2011-09-28 | 2012-06-20 | 南京理工大学 | Disc tool magazine reliability testing device and method |
| CN103100936A (en) * | 2013-02-23 | 2013-05-15 | 北京工业大学 | Device and method for testing tool turnover location accuracy in tool magazine |
| CN103551919A (en) * | 2013-10-17 | 2014-02-05 | 北京工业大学 | Measuring device of repeated positioning accuracy of automatic tool changing of rotary manipulator |
| CN105573251A (en) * | 2016-03-07 | 2016-05-11 | 吉林大学 | Disc-type tool magazine and automatic tool-changing system comprehensive performance detection platform |
| CN105643365A (en) * | 2016-03-29 | 2016-06-08 | 青海机数控机床有限责任公司 | Tool magazine and manipulator comprehensive performance detection method and platform |
-
2016
- 2016-07-28 CN CN201610607531.6A patent/CN106289056B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102507228A (en) * | 2011-09-28 | 2012-06-20 | 南京理工大学 | Disc tool magazine reliability testing device and method |
| CN103100936A (en) * | 2013-02-23 | 2013-05-15 | 北京工业大学 | Device and method for testing tool turnover location accuracy in tool magazine |
| CN103551919A (en) * | 2013-10-17 | 2014-02-05 | 北京工业大学 | Measuring device of repeated positioning accuracy of automatic tool changing of rotary manipulator |
| CN105573251A (en) * | 2016-03-07 | 2016-05-11 | 吉林大学 | Disc-type tool magazine and automatic tool-changing system comprehensive performance detection platform |
| CN105643365A (en) * | 2016-03-29 | 2016-06-08 | 青海机数控机床有限责任公司 | Tool magazine and manipulator comprehensive performance detection method and platform |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283142A (en) * | 2017-06-30 | 2017-10-24 | 北京兴信易成机电工程有限公司 | A kind of axle of robot the 7th is installed, adjusted and detection method |
| CN107283142B (en) * | 2017-06-30 | 2021-08-13 | 北京兴信易成机电工程有限公司 | Method for installing, adjusting and detecting seventh shaft of robot |
| CN108381258A (en) * | 2018-02-27 | 2018-08-10 | 北京理工大学 | A kind of large area micro-structure cutting midway cutter replacing method based on film thickness measuring in place |
| CN108381258B (en) * | 2018-02-27 | 2019-05-21 | 北京理工大学 | A kind of large area micro-structure cutting midway cutter replacing method based on film thickness measuring in place |
| CN109108731A (en) * | 2018-06-08 | 2019-01-01 | 南京理工大学 | A kind of magazine kinematic accuracy measurement method |
| CN109108731B (en) * | 2018-06-08 | 2021-06-11 | 南京理工大学 | Method for measuring motion precision of chain type tool magazine |
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| CN106289056B (en) | 2019-01-04 |
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