CN106438866A - Output mechanism of squirrel-cage type RV (rotate vector) reducer - Google Patents
Output mechanism of squirrel-cage type RV (rotate vector) reducer Download PDFInfo
- Publication number
- CN106438866A CN106438866A CN201611138958.2A CN201611138958A CN106438866A CN 106438866 A CN106438866 A CN 106438866A CN 201611138958 A CN201611138958 A CN 201611138958A CN 106438866 A CN106438866 A CN 106438866A
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- China
- Prior art keywords
- gear
- eccentric
- bearing
- double
- disk
- 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
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses an output mechanism of a squirrel-cage type RV (rotate vector) reducer. The output mechanism comprises a fixing disc and a rigid disc mounted in the fixing disc. A gear input shaft is mounted in the rigid disc rotationally. A first big bearing and a second big bearing are arranged in the inner circle of the fixing disc. A plurality of pins are connected between the first big bearing and the second big bearing. The gear input shaft extends from one end of the rigid disc to the outer surface of the other end of the rigid disc. At least two planetary gears are connected to the gear input shaft through input gears. Double eccentric shafts are in driving connection with the planetary gears. A left RV gear and a right RV gear are in driving connection with the double eccentric shafts. The eccentric shafts of double eccentric wheels are mounted in the rigid disc through eccentric shaft bearings. The gear input shaft is mounted in the rigid disc through an input gear bearing. The rigid disc is connected with an output disc through combination of a plurality of bolts and end-joint screws. The output disc is one of the planetary gears. By the output mechanism, production cost is reduced remarkably, and precision is high.
Description
Technical field
The present invention relates to reductor field, and in particular to a kind of rational in infrastructure compact, stable transmission reliability, manufacture and later stage
Maintenance cost is low, the squirrel-cage RV decelerator output mechanism of install convenient.
Background technology
Chinese Patent Application No.：201310497049.8, a kind of bearing-type RV decelerator is disclosed, belongs to decelerator technology
Field.Including pin wheel housing, rotating in pin wheel housing has installing rack, and installing rack is provided with two and is in transmission connection by needle roller and pin wheel housing
Cycloidal Wheel, is rotatablely equipped with a power input shaft on installing rack, the power intake of power input shaft stretches out installing rack, and power is defeated
Enter axle be provided with two driving eccentrics, two drive eccentric be each passed through two Cycloidal Wheel centers and with corresponding cycloid
Wheel is adapted；At least two locating shafts are rotatablely equipped with installing rack, and two locating shafts are with respect to the centre of gyration pair of power input shaft
Claim arrange, be equipped with each locating shaft two transmission eccentrics, two transmission eccentric be each passed through two Cycloidal Wheel and with
Corresponding Cycloidal Wheel is adapted.
Chinese Patent Application No.：201510125096.9, a kind of RV reductor of new structure is disclosed, is slowed down including RV
Casing body, arranges primary planet reducing gear, two grades of cycloid reduction mechanisms in RV the decelerator body body, primary planet reducing gear
Planetary gear is engaged with the central gear of input shaft one end, and input shaft is same axis with the output shaft of servomotor, centre tooth
Wheel is to be processed in the end of servo motor output shaft；One end of RV reducer shell is with Servomotor shells by flange even
Connect, sealed by backbone sealing ring between servo motor output shaft and flange, the other end of RV reducer shell arranges outfan
Lid.
Chinese Patent Application No.：201520828116.4, disclose RV reductor, including gear shaft, input disc,
Planetary gear, pin wheel housing, crank axle and output panel, gear part is provided with input tooth, and left end axle portion is provided with output gear, along the circle of output gear
Zhou Junbu is engaged with least two planetary gears, and the shaft end of left end axle portion is arranged with left end bearing, and left end bearing is installed on input disc,
Crank portion is arranged with left eccentric bushing and right eccentric bushing, and left eccentric bushing, right eccentric bushing are arranged with left swing line wheel, right Cycloidal Wheel respectively,
The inner chamber of pin wheel housing is provided with pin ring gear, left inside bearing and right inner bearing, and left swing line wheel, the wheel rim of right Cycloidal Wheel are all engaged in pin tooth
Ring, left swing line wheel, right Cycloidal Wheel are connected with output panel, and the shaft end in left axle portion is arranged with left bearing, and right axle portion is arranged with right bearing,
The shaft end in right axle portion is engaged with the interior teeth portion of corresponding planetary gear, and left bearing, right bearing are respectively arranged in output panel, input disc.
Foregoing invention creates complex structure, and production, processing and later maintenance cost are high, and transmission accuracy is poor.
Content of the invention
It is an object of the invention to, overcome the drawbacks described above of prior art, a kind of rational in infrastructure compact, stable transmission is provided
Reliable, manufacture and later maintenance cost is low, the squirrel-cage RV decelerator output mechanism of install convenient.
For achieving the above object, the technical scheme that the present invention is provided is as follows：A kind of squirrel-cage RV decelerator output mechanism, bag
A fixed disk and the rigid disk being installed in fixed disk is included, in the rigid disk, gear input shaft is rotatablely equipped with, the fixation
The inner ring of disk is provided with the first big bearing and second largest bearing, is connected with some needle pins between the first big bearing and second largest bearing,
Gear input shaft extends to the outer surface of the other end from one end of rigid disk, on gear input shaft by input gear be connected with to
Few two planetary gears, planetary gear is located in the first big bearing, and on planetary gear, drive connection has double-eccentric shaft, double-eccentric shaft
With left part eccentric, right part eccentric, on the left part eccentric of double-eccentric shaft, drive connection has left RV gear, double-eccentric shaft
On right part eccentric, drive connection has right RV gear, and double eccentric wheel is each passed through left RV gear, the bias for opening up on right RV gear
Take turns through hole and be adapted with corresponding left RV gear, right RV gear by the needle bearing on double eccentric wheel respectively,
The eccentric shaft of double eccentric wheel is installed in rigid disk by eccentric shaft bearing, and gear input shaft is installed on by input gear bearing
In rigid disk, if rigid disk is connected with an output panel by arranging bolt stem with end connection screw association, the output panel is at least two
A wherein planetary gear in individual planetary gear.
According to above technical requirements, the bolt sequentially passes through right RV gear from rigid disk, opens up on left RV gear
Bolt beat through hole is connected with output panel.
According to above technical requirements, the bolt coat is provided with beat set, the beat set and left RV gear, right RV gear
The activity of bolt beat through hole is abutted.
According to above technical requirements, some needle pin rings are set in the inner ring for being fixed on a pin wheel housing, and pin wheel housing is by setting
Put hexagon socket head cap screw to be connected with fixed disk.
According to above technical requirements, the outside of the pin wheel housing is provided with bearing positioning ring, and hexagon socket head cap screw is from fixed disk
The outer surface of bearing positioning ring is extended to through after pin wheel housing, and fixed disk, pin wheel housing and bearing positioning ring are sequentially connected fixation.
Usefulness of the present invention is：By input gear input power, first planet gear, first planet tooth is passed to
Wheel couples the first double-eccentric shaft by spline, and the first double-eccentric shaft is passed motion to respectively and is in 180 ° of left sides being arranged symmetrically
RV gear, right RV gear so that eccentric motion made by left RV gear, right RV gear, and pin wheel housing is fixed in fixed disk, left RV tooth
Wheel, right RV gear while the positive revolution in one side, also by reverse rotation, the spinning motion of wherein left RV gear and right RV gear
First double-eccentric shaft and first planet gear work are driven around the revolution motion of input gear by needle bearing, and passes through second pair
The output mechanism that eccentric shaft is constituted as output panel and the second planetary gear is by movement output, and end connection screw is with bolt as fastening
Output panel is flexibly connected by connector with rigid disk, rational in infrastructure compact, by holding connection screw and bolt by output panel and rigidity
Disk is fastenedly connected, and manufacture, processing and maintenance cost, stable transmission reliability, high precision is greatly reduced.
Description of the drawings
Fig. 1 is the top view of squirrel-cage RV decelerator output mechanism of the present invention；
Fig. 2 is the A-A generalized section of Fig. 1；
Fig. 3 is the elevational schematic view of squirrel-cage RV decelerator output mechanism of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and preferred embodiment is further described with regard to technical scheme.
As shown in Figure 1-Figure 3, a kind of squirrel-cage RV decelerator output mechanism of the present invention, including a fixed disk 1 and
The rigid disk 11 being installed in fixed disk 1, is rotatablely equipped with gear input shaft 10 in the rigid disk 11, the fixed disk 1
Inner ring is provided with the first big bearing 91 and second largest bearing 91, is connected with some pins between the first big bearing 91 and second largest bearing 92
Pin 9, gear input shaft 10 extends to the outer surface of the other end from one end of rigid disk 11, by being input into tooth on gear input shaft 10
Wheel 100 is connected with first planet gear 21, the second planetary gear 22, and first planet gear 21, the second planetary gear 22 are located at the
In one big bearing 91, on first planet gear 21, the second planetary gear 22, drive connection has the first double-eccentric shaft 31, second respectively
Double-eccentric shaft (attached not shown), the first double-eccentric shaft 31 has the first left part eccentric 41, a first right part eccentric 42, second pair
Eccentric shaft has the second left part eccentric, the second right part eccentric, drives on the first left part eccentric 41 and the second left part eccentric
Being dynamically connected has left RV gear 51, and on the first right-hand member eccentric 42 and the second right-hand member eccentric, drive connection has right RV gear 52, the
The eccentric through hole that one double-eccentric shaft 31, the second double-eccentric shaft be each passed through left RV gear 51, opens up on right RV gear 52 is (attached
Not shown) and by installed in the first double-eccentric shaft 31, each two needle bearings 32 on the second double-eccentric shaft respectively with corresponding
Left RV gear 51, right RV gear 52 be adapted, the eccentric shaft of the first double-eccentric shaft 31 and the second double-eccentric shaft is by arranging
Multiple eccentric shaft bearings 61 are installed in rigid disk 11, and gear input shaft 10 is installed on rigid disk 11 by input gear bearing 62
In, if rigid disk 11 is connected with an output panel 2 by arranging bolt stem 71 and holding connection screw 72 to combine, the output panel 2 is second
Planetary gear 22.
Further, the bolt 71 sequentially passes through right RV gear 52 from rigid disk 11, opens up on left RV gear 51
Bolt beat through hole (attached not shown) is connected with output panel 2.
Further, beat set 7 is arranged with outside the bolt 71, beat set 7 and left RV gear 51, right RV gear 52
The activity of bolt beat through hole is abutted.
Further, 9 ring of some needle pins is set in the inner ring for being fixed on a pin wheel housing 8, and pin wheel housing 8 is by arranging interior six
Corner bolt 81 is connected with fixed disk 1.
Further, the outside of the pin wheel housing 8 is provided with bearing positioning ring 82, and hexagon socket head cap screw 81 is worn from fixed disk 1
The outer surface of bearing positioning ring 82 is extended to after crossing pin wheel housing 8, and fixed disk 1, pin wheel housing 8 and bearing are positioned by hexagon socket head cap screw 81
Ring 82 is sequentially connected fixation.
Further, second largest bearing 92 is located at the inner ring of bearing positioning ring 82.
Further, the first double-eccentric shaft 31, be all socketed with back-up ring 30 on the second double-eccentric shaft and supported located at first respectively
Planetary gear 21, the surface of the second planetary gear 22.
Further, the first double-eccentric shaft 31, the second double-eccentric shaft and the first big bearing 91, between junction respectively
Spacing collar 90 is provided with, spacing collar 90 is located between first planet gear 21 and eccentric shaft bearing.
More than, the rotary motion of actuating motor is input into from input gear 100, passes to first planet gear 21 and the second row
Star gear 22, it is inclined that first planet gear 21, the second planetary gear 22 couple the first double-eccentric shaft 31, second pair respectively by spline
Heart axle, the first double-eccentric shaft 31, the second double-eccentric shaft are passed motion to respectively and are in 180 ° of left RV gears being arranged symmetrically
51st, right RV gear 52 so that eccentric motion made by left RV gear 51, right RV gear 52, and pin wheel housing 8 is fixed in fixed disk 1, left
RV gear 51, right RV gear 52 while the positive revolution in one side, also by reverse rotation, wherein left RV gear 51 and right RV gear
52 spinning motion drives the first double-eccentric shaft 31 and first planet gear 21 to make around input gear 100 by needle bearing 32
Revolution motion, and the output mechanism for being constituted as output panel 2 and the second planetary gear 22 by the second double-eccentric shaft will move defeated
Go out, output panel 2 is flexibly connected with rigid disk 11 as fastening connection piece by end connection screw 72 with bolt 71.
Above-described be only the present invention principle and preferred embodiment.It should be pointed out that the ordinary skill people to this area
For member, under the premise without departing from the principles of the invention, moreover it is possible to make some modifications and improvement, also should be regarded as belonging to the present invention
Protection domain.
Claims (5)
1. a kind of squirrel-cage RV decelerator output mechanism, including a fixed disk and the rigid disk being installed in fixed disk, described firm
Gear input shaft is rotatablely equipped with property disk, it is characterised in that：The inner ring of the fixed disk be provided with the first big bearing with second largest
Bearing, is connected with some needle pins between the first big bearing and second largest bearing, and gear input shaft is extended to from one end of rigid disk
The outer surface of the other end, is connected with least two planetary gears by input gear on gear input shaft, and planetary gear is located at the
In one big bearing, on planetary gear, drive connection has double-eccentric shaft, and double-eccentric shaft has left part eccentric, right part eccentric, double
On the left part eccentric of eccentric shaft, drive connection has left RV gear, and on the right part eccentric of double-eccentric shaft, drive connection has right RV tooth
Wheel, double eccentric wheel is each passed through left RV gear, the eccentric through hole for opening up on right RV gear and by installed in double eccentric wheel
On needle bearing be adapted with corresponding left RV gear, right RV gear respectively, the eccentric shaft of double eccentric wheel passes through eccentric shaft axle
Hold and be installed in rigid disk, gear input shaft is installed in rigid disk by input gear bearing, rigid disk is some by arranging
Bolt is connected with an output panel with end connection screw association, and the output panel is the wherein planet tooth at least two planetary gears
Wheel.
2. squirrel-cage RV decelerator output mechanism according to claim 1, it is characterised in that：The bolt is from rigid disk
The bolt beat through hole for sequentially pass through right RV gear, opening up on left RV gear is connected with output panel.
3. squirrel-cage RV decelerator output mechanism according to claim 1, it is characterised in that：The bolt coat is provided with partially
Swing set, the beat set is abutted with the bolt beat through hole activity of left RV gear, right RV gear.
4. squirrel-cage RV decelerator output mechanism according to claim 1, it is characterised in that：Some needle pin rings set solid
In the inner ring of a pin wheel housing, pin wheel housing is connected with fixed disk by arranging hexagon socket head cap screw.
5. squirrel-cage RV decelerator output mechanism according to claim 4, it is characterised in that：The outside of the pin wheel housing sets
There is bearing positioning ring, hexagon socket head cap screw extends to the outer surface of bearing positioning ring from fixed disk through after pin wheel housing, will be fixing
Disk, pin wheel housing and bearing positioning ring are sequentially connected fixation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611138958.2A CN106438866A (en) | 2016-12-12 | 2016-12-12 | Output mechanism of squirrel-cage type RV (rotate vector) reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611138958.2A CN106438866A (en) | 2016-12-12 | 2016-12-12 | Output mechanism of squirrel-cage type RV (rotate vector) reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106438866A true CN106438866A (en) | 2017-02-22 |
Family
ID=58216296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611138958.2A Pending CN106438866A (en) | 2016-12-12 | 2016-12-12 | Output mechanism of squirrel-cage type RV (rotate vector) reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106438866A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108050212A (en) * | 2018-01-11 | 2018-05-18 | 武汉市精华减速机制造有限公司 | Compact-sized cycloid reducer |
| CN108533693A (en) * | 2017-03-02 | 2018-09-14 | 安徽欢颜机器人有限公司 | A kind of totally-enclosed hollow RV speed reducers of robot |
| CN111255862A (en) * | 2020-03-23 | 2020-06-09 | 深圳市荣德机器人科技有限公司 | RV reduction gear and robot |
| CN112855867A (en) * | 2021-01-05 | 2021-05-28 | 国工信(沧州)机器人有限公司 | Robot high-precision multipurpose speed reducer input gear shaft connecting structure |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202833878U (en) * | 2012-09-04 | 2013-03-27 | 华创机器人制造有限公司 | Robot recreational vehicle (RV) speed reducer |
| US20140171250A1 (en) * | 2009-06-15 | 2014-06-19 | Nabtesco Corporation | Eccentric oscillating gear device and assembling method for crankshaft in eccentric oscillating gear device |
| CN203686041U (en) * | 2014-01-23 | 2014-07-02 | 天津职业技术师范大学 | Precision 2K-V-type speed reducer |
| CN204677734U (en) * | 2015-05-18 | 2015-09-30 | 南通振康焊接机电有限公司 | All-sealed one-piece type RV speed reducer |
| CN206246609U (en) * | 2016-12-12 | 2017-06-13 | 重庆澜循科技有限公司 | Squirrel-cage RV decelerator output mechanisms |
-
2016
- 2016-12-12 CN CN201611138958.2A patent/CN106438866A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140171250A1 (en) * | 2009-06-15 | 2014-06-19 | Nabtesco Corporation | Eccentric oscillating gear device and assembling method for crankshaft in eccentric oscillating gear device |
| CN202833878U (en) * | 2012-09-04 | 2013-03-27 | 华创机器人制造有限公司 | Robot recreational vehicle (RV) speed reducer |
| CN203686041U (en) * | 2014-01-23 | 2014-07-02 | 天津职业技术师范大学 | Precision 2K-V-type speed reducer |
| CN204677734U (en) * | 2015-05-18 | 2015-09-30 | 南通振康焊接机电有限公司 | All-sealed one-piece type RV speed reducer |
| CN206246609U (en) * | 2016-12-12 | 2017-06-13 | 重庆澜循科技有限公司 | Squirrel-cage RV decelerator output mechanisms |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108533693A (en) * | 2017-03-02 | 2018-09-14 | 安徽欢颜机器人有限公司 | A kind of totally-enclosed hollow RV speed reducers of robot |
| CN108050212A (en) * | 2018-01-11 | 2018-05-18 | 武汉市精华减速机制造有限公司 | Compact-sized cycloid reducer |
| CN111255862A (en) * | 2020-03-23 | 2020-06-09 | 深圳市荣德机器人科技有限公司 | RV reduction gear and robot |
| CN112855867A (en) * | 2021-01-05 | 2021-05-28 | 国工信(沧州)机器人有限公司 | Robot high-precision multipurpose speed reducer input gear shaft connecting structure |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170222 |