CN107838950A - It is a kind of for robot can dynamometry end performs device - Google Patents
It is a kind of for robot can dynamometry end performs device Download PDFInfo
- Publication number
- CN107838950A CN107838950A CN201710861555.9A CN201710861555A CN107838950A CN 107838950 A CN107838950 A CN 107838950A CN 201710861555 A CN201710861555 A CN 201710861555A CN 107838950 A CN107838950 A CN 107838950A
- Authority
- CN
- China
- Prior art keywords
- flexible member
- bearing part
- robot
- elastic portion
- performs device
- 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.)
- Granted
Links
- 239000011888 foil Substances 0.000 claims abstract description 35
- 238000005452 bending Methods 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 abstract description 5
- 238000001338 self-assembly Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 6
- 238000007654 immersion Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses it is a kind of for robot can dynamometry end performs device, including：Terminus body, terminus body include the polylith connected bearing part of bending successively；The inwall of the flexible member being arranged on the inside of bearing part, the elastic portion that flexible member is set including at least the department of assembly that can be fastenedly connected on the load bearing member and the extension of self-assembly portion, elastic portion and bearing part maintains a certain distance；And it is arranged on the foil gauge in the side wall towards bearing part inwall direction of elastic portion.Implement the present invention be used for robot can dynamometry end performs device, real-time strain can be measured in operation process, with reduce manipulation difficulty；Structure is simplified, and can reduce rigid collision rigid damage to caused by end and mechanical arm, highly reliable, adaptability is extensive, easily controllable cost.
Description
Technical field
The present invention relates to robot field, more particularly to it is a kind of for robot can dynamometry end performs device.
Background technology
Execution structure of the prior art for robot end is primarily present two finger translation manipulators, three finger industrial machines
Tool hand, combined machine hand and the mankind emulate the types such as handgrip.The manipulator of the above-mentioned type because structure design is unreasonable, exist as
Lower technological deficiency, is mainly reflected in：
1st, the cost of two finger translation manipulators and three finger industry mechanical arms is relatively low, and control system is simple, but makees in gripping tool etc.
Underaction in industry mode, and be directed to when enabling operation clamps and can produce endogenetic process to mechanical arm；
2nd, combined machine hand and mankind's emulation handgrip controlled motion joint are more, but system is therefore considerably complicated, and control system is multiple
Miscellaneous, cost is high.
The content of the invention
The technical problems to be solved by the invention are, there is provided it is a kind of for robot can dynamometry end performs device,
Real-time strain can be measured in operation process, to reduce the difficulty of manipulation；Structure is simplified, and can reduce rigid collision to end
Rigid damage caused by end and mechanical arm, highly reliable, adaptability is extensive, easily controllable cost.
In order to solve the above-mentioned technical problem, the embodiment provides it is a kind of for robot can dynamometry end hold
Luggage is put, and can be carried to the end of mechanical arm, by Operation control mechanical arm to be linked to it, including：Terminus body,
Terminus body includes the polylith connected bearing part of bending successively；The flexible member being arranged on the inside of bearing part, flexible member is at least
Including the elastic portion that can be fastenedly connected department of assembly on the load bearing member and the extension of self-assembly portion and set, elastic portion and bearing part
Inwall maintains a certain distance；And the foil gauge in the side wall towards bearing part inwall direction of elastic portion is arranged on, wherein：
Foil gauge produces micro- deformation with flexible member, causes resistance variations, by straining the change of analog electrical signal with feedback characteristics member
The change of part contact force.
Wherein, bearing part includes position and is set to the connection that relative side bearing part is connected with by side bearing part carrying
Part, wherein：The flexible member being arranged on the bearing part of side is the first flexible member, the elasticity member being arranged on connection bearing part
Part is the second flexible member.
Wherein, the first flexible member also includes the quiet sliding part being connected in elastic portion, and quiet sliding part keeps holding with side
The wall of holder is in relatively movable state, the quiet sliding part in the case where there is active force is kept sliding mode, keeps away
Exempt from bearing stress.
Wherein, the department of assembly of the first flexible member is the plate once bending, and the elastic portion of the first flexible member is connection
A flat part on bending plate, the quiet sliding part of the first flexible member be connected to the first flexible member elastic portion it is flat
The plate through bending of plate opposite other end.
Wherein, the first flexible member by opened up on the plate through bending of department of assembly pilot hole be adapted to be connected to end
On the bearing part of side.
Wherein, the foil gauge being arranged on the first flexible member be set to the flat part bearing of trend along the first flexible member and
If two panels active gage on the same line；Foil gauge also includes：It is arranged on relative with the flat part of the first flexible member
Two panels on the inwall of the side bearing part of terminus body is offsetting the temperature due to error is strained and its brought caused by temperature
Spend compensating plate.
Wherein, the department of assembly of the second flexible member and elastic portion are respectively two flat parts, wherein：Two flat parts are parallel relative
And join end to end；Second flexible member by opened up in the flat part of department of assembly pilot hole be adapted to be connected to connection bearing part
On.
Wherein, the foil gauge being arranged on the second flexible member is set to the flat part of the elastic portion along the second flexible member
Bearing of trend and the two panels active gage on the same line set；Foil gauge also includes：It is arranged on the assembling of the second flexible member
Two panels in the flat part in portion is offsetting the temperature-compensating plate due to error is strained and its brought caused by temperature.
Wherein, the line of two panels temperature-compensating plate is set to vertical with the line of two panels active gage, wherein：Worked by two panels
Piece and two panels temperature-compensating plate carry out the relative two-arm metering system under full-bridge wiring.
Wherein, the section of terminus body is in n shapes.
It is provided by the present invention for robot can dynamometry end performs device, have the advantages that：
Firstth, flexible member comprises at least the department of assembly that can be fastenedly connected on bearing part inwall and the extension of self-assembly portion and set
Elastic portion, the inwall of elastic portion and bearing part maintains a certain distance, can play cushioning effect, reduce rigid collision to end
Rigid damage caused by end and mechanical arm.
Secondth, towards foil gauge is set in the side wall in bearing part inwall direction, foil gauge produces elastic portion with flexible member
Micro- deformation, causes resistance variations, by straining the change of analog electrical signal with the change of feedback characteristics element contact force, can drop
Low performance accuracy requirement, makes remote operating personnel obtain more preferable feeling of immersion, reduces the difficulty of manipulation.
3rd, structure is simplified, highly reliable, easily controllable cost.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 be the embodiment of the present invention be used for robot can dynamometry end performs device structural representation.
Fig. 2 be the present invention be used for robot can dynamometry end performs device the first flexible member embodiment one structure
Schematic diagram.
Fig. 3 be the present invention be used for robot can dynamometry end performs device the first flexible member embodiment two structure
Schematic diagram.
Fig. 4 be the embodiment of the present invention be used for robot can the structure of the second flexible member of dynamometry end performs device show
It is intended to.
Fig. 5 is that the present invention can assemble foil gauge for robot on the first flexible member of dynamometry end performs device
The structural representation of embodiment one.
Fig. 6 is that the present invention can assemble foil gauge for robot on the first flexible member of dynamometry end performs device
The structural representation of embodiment two.
Fig. 7 is that the present invention can assemble foil gauge for robot on the second flexible member of dynamometry end performs device
The structural representation of first angle.
Fig. 8 is that the present invention can assemble foil gauge for robot on the second flexible member of dynamometry end performs device
The structural representation of first angle.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
With reference to shown in referring to Fig. 1-Fig. 8, for the present invention be used for robot can dynamometry end performs device embodiment one.
In the present embodiment be used for robot can dynamometry end performs device, the end of mechanical arm can be carried to, led to
Operation control mechanical arm is crossed to be linked to it, specific application scenarios are as follows：Can dynamometry end performs device can apply
In the ongoing operations of robot, such as the operation such as enabling, changeover valve.In the present embodiment be used for robot can dynamometry end
End performs device can without motor and driving equipment, without special control system and operation interface under conditions of be made
Industry, the end of mechanical arm need to be only carried to, Operation control is carried out to mechanical arm.Further, since the change of electric signal can
The change of power is embodied, can be achieved according to real-time force feedback state to be sentenced to main control end Real-time Feedback power, operating personnel
Disconnected current end operating position, is adjusted at any time, without it according to the motion of regulation path, and then reduces the performance accuracy of operating personnel
It is required that.
When it is implemented, for robot can dynamometry end performs device include：Terminus body 1, terminus body 1 include
The polylith bearing part 11,12,13 that bending is connected successively；Flexible member 2 is arranged on the inner side of bearing part 11,12,13.
Further, the terminus body 1 in the present embodiment is connected in turn by three pieces of bearing parts 11,12,13, its section
In n shapes.Three pieces of global shapes of bearing part 11,12,13 are similar to a hook, the operating type that convenient to carry out can be hooked up, machinery
It is simple in construction, it is highly reliable.The inner side of bearing part sets flexible member in the present embodiment.
Bearing part includes position and is set to relative side bearing part 11,13 and the connection that side bearing part 11,13 is connected
Bearing part 12, according to the position of its connection, the flexible member being arranged on side bearing part 11,13 is the first flexible member 21,
The flexible member being arranged on connection bearing part 12 is the second flexible member 22.
First flexible member 21 is set to two pieces in the present embodiment, is connected on side bearing part 11,13, two piece
The structure of one flexible member 21 is similar, illustrates the knot of the first flexible member 21 by taking one of first flexible member 21 as an example below
Structure and its connected mode with side bearing part.
The first flexible member 21 being assemblied on side bearing part 11 includes：The dress that can be fastenedly connected on bearing part 11
The elastic portion 212 that extends and set with portion 211 and self-assembly portion 211 and it is connected in elastic portion 212 and has relative tendency toward sliding
Quiet sliding part 213.When it is implemented, the department of assembly 211 of the first flexible member 21 is the plate once bending, elastic portion 212
For the flat part being connected on bending plate, quiet sliding part 213 is the flat part opposite other end for being connected to elastic portion 212
Plate through bending.
Further, the first flexible member 21 on the plate through bending of department of assembly 211 by opening up pilot hole 211a
Adaptation is connected on side bearing part 11.Such as:Using M4 screws side bearing part can be fixed on through pilot hole 211a
On 11, according to above-mentioned assembly method, make the first flexible member 21 in addition to department of assembly 211 in side bearing part 11
Side, and the elastic portion 212 of the first flexible member 21 and the inwall of bearing part 11 maintain a certain distance.
The effect of the first flexible member 21 is set on the inner side of side bearing part 11 is：Certain damping can be played to make
With reduction rigid collision hard breakdown to caused by end and mechanical arm.In addition, quiet sliding part 213 is kept and side bearing part
11 wall is in relatively movable state, the quiet sliding part 213 in the case where there is active force is kept sliding mode, keeps away
Exempt from bearing stress.
Further, foil gauge 31 is set on the side wall 212a towards bearing part inwall direction of elastic portion 212.Setting should
Becoming the effect of piece 31 is：Foil gauge 31 can cause resistance variations during micro- deformation is produced with flexible member, by answering
Become the change of analog electrical signal with the change of feedback characteristics element contact force.
It is by the effect that foil gauge 31 is arranged on the side wall 212a towards bearing part inwall direction of elastic portion 212：By
It is to be chronically exposed to outside in the operating environment of end performs device, and its operating type is contact surface operation, and foil gauge is set
Putting can play a part of protecting foil gauge on the side wall 212a towards bearing part inwall direction of elastic portion 212, prevent corruption
Erosion and damage, increase the service life.
The foil gauge 31 being arranged in the present embodiment in the elastic portion 212 of the first flexible member 21 includes：Along elastic portion 212
Flat part bearing of trend and the two panels active gage on the same line set.In addition, foil gauge also includes：It is arranged on and elastic portion
Two panels on the inwall 111 of the side bearing part 11 of the relative terminus body 1 of 212 flat part is offsetting because temperature produces
Strain and its bring the temperature-compensating plate of error（It is not shown）.
Based on the purpose of protection foil gauge, foil gauge should not be pasted in the outside of the elastic portion 212 of the first flexible member 21, therefore
The full-bridge circuit of positive and negative+positive and negative four active gages composition can not be reached.Therefore, using direct current supply, full-bridge in the present embodiment
" with respect to two arm measures " method under wiring, i.e. opposing sides connect active gage, and temperature-compensating plate is set onto terminus body 1.
Wherein, the line of two panels temperature-compensating plate is set to vertical with the line of two panels active gage 31, passes through two panels active gage
31 and two panels temperature-compensating plate carry out full-bridge wiring under relative two-arm metering system.
It is appreciated that：The structure for the first flexible member 21 being assemblied on another side bearing part 13 and above-mentioned assembling
The structure of the first flexible member 21 on side bearing part 11 is roughly the same, set flexible member, the position of foil gauge, knot
Structure and function are also identical, and the rigging position of its structure and foil gauge refers to accompanying drawing Fig. 3 and Fig. 6, and here is omitted.
Further, the second flexible member 22 being assemblied on connection bearing part 12 includes：Department of assembly 221 and elastic portion
222, in the present embodiment, the department of assembly 221 of the second flexible member 22 and elastic portion 222 are respectively two flat parts, wherein：Two flat parts
It is parallel relative and join end to end；Second flexible member 22 is adapted to by opening up pilot hole 2211 in the flat part of department of assembly 221
Be connected to connection bearing part on.
When it is implemented, the foil gauge 32 set on the second flexible member 22 is set to the elastic portion along the second flexible member 22
The bearing of trend of 222 flat part and the two panels active gage on the same line set；Foil gauge also includes：It is arranged on the second bullet
Two panels in the flat part of the department of assembly 221 of property element is offsetting the temperature due to error is strained and its brought caused by temperature
Compensating plate 33.
Wherein, the line of two panels temperature-compensating plate 33 is set to vertical with the line of two panels active gage 32, is worked by two panels
Piece 32 and two panels temperature-compensating plate 33 carry out the relative two-arm metering system under full-bridge wiring.
In the present embodiment be used for robot can dynamometry end performs device in the specific implementation, the elasticity of flexible member
The inwall of portion and bearing part maintains a certain distance, and can play cushioning effect, reduces rigid collision and end and mechanical arm are made
Into rigid damage.Wherein, foil gauge produces micro- deformation with flexible member, causes resistance variations, by straining analog electrical signal
Change with the change of feedback characteristics element contact force, performance accuracy requirement can be reduced, obtain remote operating personnel more preferable
Feeling of immersion, reduce the difficulty of manipulation.Further, it is also possible to by the strain analog signal of measurement be converted to data signal feed back to it is upper
Machine, operation is controlled with reference to affected handle.Operation handle is used to read human hand（Handle）Positional information carrys out control machine people fortune
It is dynamic.The contact force of machine human and environment is passed into operator by handle can improve the transparency of remote control system.
Implement the present invention be used for robot can dynamometry end performs device, have the advantages that：
Firstth, flexible member comprises at least the department of assembly that can be fastenedly connected on bearing part inwall and the extension of self-assembly portion and set
Elastic portion, the inwall of elastic portion and bearing part maintains a certain distance, can play cushioning effect, reduce rigid collision to end
Rigid damage caused by end and mechanical arm.
Secondth, towards foil gauge is set in the side wall in bearing part inwall direction, foil gauge produces elastic portion with flexible member
Micro- deformation, causes resistance variations, by straining the change of analog electrical signal with the change of feedback characteristics element contact force, can drop
Low performance accuracy requirement, makes remote operating personnel obtain more preferable feeling of immersion, reduces the difficulty of manipulation.
3rd, structure is simplified, highly reliable, easily controllable cost.
Claims (10)
1. it is a kind of for robot can dynamometry end performs device, the end of mechanical arm can be carried to, pass through Operation control
Mechanical arm to it to link, it is characterised in that including：
Terminus body, the terminus body include the polylith connected bearing part of bending successively；
The flexible member being arranged on the inside of the bearing part, the flexible member are comprised at least and can be fastenedly connected in the carrying
Department of assembly on part and the elastic portion for extending from the department of assembly and setting, the elastic portion and the inwall of the bearing part keep one
Fixed distance；And
The foil gauge being arranged in the side wall in the direction bearing part inwall direction of the elastic portion, wherein：
The foil gauge produces micro- deformation with the flexible member, causes resistance variations, by the change for straining analog electrical signal
To feed back the change of the resilient element contacts power.
2. as claimed in claim 1 for robot can dynamometry end performs device, it is characterised in that the bearing part bag
Include position and be set to the connection bearing part that relative side bearing part is connected with by the side bearing part, wherein：
The flexible member being arranged on the side bearing part is the first flexible member, is arranged on the connection bearing part
The flexible member be the second flexible member.
3. as claimed in claim 2 for robot can dynamometry end performs device, it is characterised in that first elasticity
Element also includes the quiet sliding part being connected in the elastic portion, and the quiet sliding part keeps the wall with the side bearing part
In relatively movable state, the quiet sliding part in the case where there is active force is kept sliding mode, avoid bearing stress.
4. as claimed in claim 3 for robot can dynamometry end performs device, it is characterised in that first elasticity
The department of assembly of element is the plate once bending, and the elastic portion of first flexible member is to be connected on the bending plate
One flat part, the quiet sliding part of first flexible member are the flat part phase for the elastic portion for being connected to first flexible member
To the plate through bending of the other end.
5. as claimed in claim 4 for robot can dynamometry end performs device, it is characterised in that first elasticity
Element by opened up on the plate through bending of the department of assembly pilot hole be adapted to be connected on the side bearing part.
6. as claimed in claim 4 for robot can dynamometry end performs device, it is characterised in that be arranged on described the
Foil gauge on one flexible member is set to set on the same line along the flat part bearing of trend of first flexible member
Two panels active gage；
The foil gauge also includes：It is arranged on described in the terminus body relative with the flat part of first flexible member
Two panels on the inwall of side bearing part is offsetting the temperature-compensating plate due to error is strained and its brought caused by temperature.
7. as claimed in claim 2 for robot can dynamometry end performs device, it is characterised in that
The department of assembly of second flexible member and elastic portion are respectively two flat parts, wherein：Two flat parts are parallel relative and first
Tail is connected；Second flexible member by opened up in the flat part of the department of assembly pilot hole be adapted to be connected to the company
Connect on bearing part.
8. as claimed in claim 7 for robot can dynamometry end performs device, it is characterised in that be arranged on described the
Foil gauge on two flexible members is set to the bearing of trend of the flat part of the elastic portion along second flexible member and set
Two panels active gage on the same line；
The foil gauge also includes：Be arranged on two panels in the flat part of the department of assembly of second flexible member to
Disappear due to the temperature-compensating plate that error is strained and its brought caused by temperature.
9. as described in claim 6 or 8 be used for robot can dynamometry end performs device, it is characterised in that the two panels
The line of temperature-compensating plate is set to vertical with the line of the two panels active gage, wherein：
The relative two-arm metering system under full-bridge wiring is carried out by the two panels active gage and the two panels temperature-compensating plate.
10. as claimed in claim 1 for robot can dynamometry end performs device, it is characterised in that the end sheet
The section of body is in n shapes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710861555.9A CN107838950B (en) | 2017-09-21 | 2017-09-21 | End effector capable of measuring force for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710861555.9A CN107838950B (en) | 2017-09-21 | 2017-09-21 | End effector capable of measuring force for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107838950A true CN107838950A (en) | 2018-03-27 |
| CN107838950B CN107838950B (en) | 2024-03-01 |
Family
ID=61661631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710861555.9A Active CN107838950B (en) | 2017-09-21 | 2017-09-21 | End effector capable of measuring force for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107838950B (en) |
Cited By (6)
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| CN110883773A (en) * | 2019-11-20 | 2020-03-17 | 清华大学 | Self-adaptive control method for grabbing operation of two-finger manipulator |
| CN111721247A (en) * | 2020-06-02 | 2020-09-29 | 南京泰普森自动化设备有限公司 | Measuring device and displacement sensor thereof |
| CN111991088A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end clamp holder thereof |
| CN111991089A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end integrated clamp holder thereof |
| CN111991087A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and end effector thereof |
| CN112057172A (en) * | 2020-09-10 | 2020-12-11 | 苏州大学 | Minimally invasive surgery robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111991088A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end clamp holder thereof |
| CN111991089A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end integrated clamp holder thereof |
| CN111991087A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and end effector thereof |
| CN112057172A (en) * | 2020-09-10 | 2020-12-11 | 苏州大学 | Minimally invasive surgery robot |
| CN112057172B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot |
| CN111991088B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot and tail end clamp holder thereof |
| CN111991089B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot and tail end integrated clamp holder thereof |
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| WO2022052320A1 (en) * | 2020-09-10 | 2022-03-17 | 苏州大学 | Minimally invasive surgery robot |
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| CN107838950B (en) | 2024-03-01 |
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