CN108132130B - A kind of full-automatic modal forces hammer and method for Modal Test test - Google Patents
A kind of full-automatic modal forces hammer and method for Modal Test test Download PDFInfo
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- CN108132130B CN108132130B CN201711416246.7A CN201711416246A CN108132130B CN 108132130 B CN108132130 B CN 108132130B CN 201711416246 A CN201711416246 A CN 201711416246A CN 108132130 B CN108132130 B CN 108132130B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/08—Shock-testing
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Abstract
The present invention is a kind of full-automatic modal forces hammer and method for Modal Test test, it includes inner casing and the force measuring machine being installed in inner casing, ranging mechanism and force adjustment mechanism that modal forces, which hammer inner core into shape, inner casing is integrally embedded in shell, handle is fixedly installed in below shell exterior, wrench mechanism is installed, wrench mechanism is placed through shell and inner casing and force adjustment mechanism is clamped between handle and force adjustment mechanism；Method are as follows: according to the actual situation with object under test, adjust force size, beating point, thimble and match the distance between accent；Adjust pulse percussion power；The pop-up of cocking structure inner core；Unclamp trigger, inner core recycling；Pumping signal is checked by computer.Operation of the present invention is simple, it solves modal forces hammer and holds that hammer is steady, drop point wants quasi-, be easy to double-click and shock point is not made the excessive demands such as to slide on test specimen when user being needed to tap, greatly reduce the difficulty hammered into shape using modal forces, key points for operation are easily mastered, the measuring accuracy and testing efficiency of modal parameter are improved.
Description
Technical field
The present invention relates to a kind of vibration test technology field, specially a kind of full-automatic mode for Modal Test test
Power hammer and method.
Background technique
Modal forces hammer is the key equipment in Modal Test test process, is people widely used one in vibration-testing
Kind vibrational excitation equipment.Pulse excitation can be generated to structural system by modal forces hammer, by excitation measured structure wider
Vibratory response is generated in frequency range, and then is cooperated with vibration-measuring sensor, and the frequency response function of measured structure system can be obtained, then
Pass through certain modal identification method, so that it may obtain the mode such as the intrinsic frequency, damping ratio and Mode Shape of structural system ginseng
Number.Currently, large, medium and small model modal forces hammer as shown in Figure 1 has been applied to each science such as China's Aeronautics and Astronautics, national defence
The fields such as research, engineering test, laboratory teaching.
However, traditional modal forces hammer taps " power " difference every time, it is difficult to control excitation amplitude and frequency, and be easy
The problems such as existing " double-click ", the frequency response function for causing Modal Test test to obtain is of low quality, and then influences the test of modal parameter
Precision.In addition, modal forces hammer when in use requires " experience " of engineer high, new hand is generally required by largely tapping
After training, the task of experimental modal test could be competent at, this undoubtedly increases the threshold of Modal Test test, does not also utilize mode
Power hammers the popularization and application in mould measurement application field into shape.
For testing high-grade, digitally controlled machine tools, it be knife handle is cutter system that Fig. 1, which gives built high-grade, digitally controlled machine tools main shaft,
The connection schematic diagram of system each instrument in Modal Test test, wherein modal forces hammer is that knife handle is for exciting machine tool chief axis
Tooling system generates impulse vibration response, and then can get the three-dimensional frequency response function of the system by three-dimensional acceleration transducer.
During the test, user needs to carry out the different measuring points position of different cutters pulse excitation repeatedly.Using traditional
When modal forces hammer is tested, the position of power hammer excitation, needs to tap big measuring point, and each survey when different cutting tool modes are tested
Point needs retest multiple, and this method is not only very high to the skill requirement of operator, while also to the test willpower of operator
It is all greatly to test with testing level.
Want steady in use, holding hammer when user being needed to tap in traditional modal forces hammer, drop point wants quasi-, cannot double-click, not
Shock point is slid on test specimen etc. to require, and user is difficult to grasp these main points.
Summary of the invention
For the measuring accuracy deficiency and the low problem of testing efficiency in existing modal forces hammer technology, the present invention provides one
Full-automatic modal forces hammer and method of the kind for Modal Test test.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of full-automatic modal forces hammer for Modal Test test of the present invention, comprising: shell, inner core and handle, wherein
Inner core includes that inner casing and the force measuring machine being installed in inner casing, ranging mechanism and force adjustment mechanism, inner casing are integrally embedded at shell
In, handle is fixedly installed in below shell exterior, wrench mechanism is equipped between handle and force adjustment mechanism, wrench mechanism is placed through
Shell and inner casing and force adjustment mechanism are clamped.
The force measuring machine includes force snesor, force snesor connector and force snesor with accent, and wherein power senses
Device is installed on inner core end, and force snesor one end is fixedly mounted on the collision body in ranging mechanism by force snesor connector
On；Force snesor is installed on force snesor the other end with accent, is exposed to outside outer casing end.
The ranging mechanism includes thimble, gear and collision body, wherein the first rack gear, collision body are equipped in the middle part of thimble
Inside is equipped with the second rack gear, and thimble is engaged between the first rack gear and the second rack gear by gear by passing through inside collision body；Thimble
Front end is equipped with scale, and is exposed to outside outer casing end.
The collision body appearance is cylinder, and column body is variable diameter hollow, and hollow one end contains force snesor and power sensing
Device connector, the other end contain collision body spring, are for fixed force sensor connector and to pass through force snesor in the middle part of hollow
Conducting wire small internal diameter；The first diameter bore, axial, first diameter bore axially parallel with variable diameter hollow are additionally provided in cylinder
The big internal partial wall of middle internal diameter is equipped with the second rack gear；Second rack gear two sides inner wall is the gap of the axis for Lou cogged, top
Needle is placed through in first diameter bore.
The force adjustment mechanism includes gland spring, center pillar, compression bar, card needle and card needle spring, wherein in center pillar is installed on
In shell, center pillar one end passes through gland spring and a gland by collision body spring and collision body elastic connection, the other end；Card needle with
Card needle spring is mounted in compression bar；Third rack gear is equipped on corresponding inner casing in gland moving range.
Center pillar is additionally provided with the second diameter bore, and thimble is placed through in the second diameter bore simultaneously.
The wrench mechanism includes trigger, trigger bar, trigger raker and trigger spring, and wherein trigger is connected by trigger
Bar is rotationally connected with one end of trigger raker, and the other end of trigger raker is fixed on handle by trigger spring；Force adjustment mechanism
Center pillar side be equipped with the 4th rack gear, one end of trigger raker and the 4th rack gear are clamped.
A kind of test side for the full-automatic modal forces hammer of Modal Test test as described in claim 1 of the invention
Method, comprising the following steps:
1) full-automatic modal forces hammer sensor conductor is connected with data acquisition controller；
2) it adjusts force size with object under test according to the actual situation and determines beating point position；
3) it according to distance requirement is tapped, adjusts thimble and matches the distance between accent；
4) according to force size, by mobile compression bar, replacement adjusts pulse percussion power with accent；
5) modal forces hammer is taken into tested point, prepares to tap；
6) trigger configuration for pulling handle part, allows inner core to pop up, and is obtained after percussion by collision body front end force snesor
The test data of pulse percussion power；
7) trigger is unclamped, inner core is recycled under the effect of collision body spring force restoring force, while center pillar is because of trigger knot
Structure and complete to fix；
8) modal forces hammer is withdrawn, pumping signal is checked by computer, and prepare to tap next time.
In step 2), force size is adjusted are as follows:
Card needle bottom end is pulled downward on, card needle leaves third rack gear, and card needle spring is compressive state；
According to force size, gland is adjusted to appropriate location, unclamps card needle, under the restoring force effect of card needle spring, card
Holding completes the adjusting of beat power in the corresponding tooth position of third rack gear to needle again.
In step 3), adjusts thimble and matches the distance between accent are as follows:
Gland is unclamped, then hooks trigger action, pulls thimble front end to needing graduation position；
Trigger is unclamped, then locks gland, locking thimble and force snesor are with the distance between accent.
The invention has the following beneficial effects and advantage:
1. the full-automatic modal forces hammer hammer body structure that the present invention provides is compact, easy to operate, modal forces hammer is internal using special
Different structure, can effectively avoid double hit, solve held when traditional modal forces hammer needs user to tap hammer is steady, drop point want it is quasi-,
It is easy to double-click and shock point is not made excessive demands, the user such as slide on test specimen to be easily mastered the problems such as key points for operation, it is simple
Change operation, improves the frequency response function quality that Modal Test test obtains, and then improve the measuring accuracy of modal parameter.
2. full-automatic modal forces hammer provided by the invention, it is existing to change the double-click being easy to appear in the hammer use of traditional modal power
As, and power problem not of uniform size when hammering twice, modal forces, which are hammered into shape, passes through the cleverly mechanical structure such as gear, spring,
Enable and easily control tup when percussion at a distance from surveyed object and the size of pulse percussion power, so that measurement data is more
Add precisely, and improves testing efficiency.
Detailed description of the invention
Fig. 1 is that prior art the advanced CNC main shaft is knife handle each instrument that is tooling system in Modal Test test
The connection schematic diagram of device；
Fig. 2 is that the full-automatic modal forces of the present invention hammer appearance schematic diagram into shape；
Fig. 3 is the cross-sectional view of the full-automatic modal forces hammer removal sensor connecting line of the present invention；
Fig. 4 is that the full-automatic modal forces of the present invention hammer cross-sectional view into shape；
Fig. 5 is force measuring machine structural schematic diagram in the full-automatic modal forces hammer of the present invention；
Fig. 6 is collision body structural schematic diagram in the full-automatic modal forces hammer of the present invention；
Fig. 7 is that the full-automatic modal forces of the present invention hammer wrench mechanism cross-sectional view into shape；
Fig. 8 is that the full-automatic modal forces of the present invention hammer force adjustment mechanism cross-sectional view into shape.
Wherein, 1 is shell, and 2 be inner casing, and 3 be collision body, and 4 be force snesor connector, and 5 be force snesor, and 6 pass for power
Sensor matches accent, and 7 be thimble, and 8 be collision body spring, and 9 be gear, and 10 be trigger bar, and 11 be trigger, and 12 be trigger raker,
13 be trigger spring, and 14 be center pillar, and 15 be gland spring, and 16 be card needle, and 17 be card needle spring, and 18 be compression bar, and 19 be gland,
20 be end cap, and 21 be wire guide, and 22 be collision body spring mounting hole, and 23 be the first rack gear, and 24 be the second rack gear, and 25 be third tooth
Item, 26 be the 4th rack gear, and 27 be conducting wire.
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawings of the specification.
As shown in figs. 2 to 4, a kind of full-automatic modal forces hammer for Modal Test test of the present invention, comprising: shell 1, interior
Core and handle, wherein inner core includes inner casing 2 and the force measuring machine being installed in inner casing 2, ranging mechanism and force adjustment mechanism, interior
Shell 2 is whole to be embedded in shell 1, and handle is fixedly installed in 1 outside lower section of shell, is equipped with spanner between handle and force adjustment mechanism
Mechanism, wrench mechanism is placed through shell and inner casing and force adjustment mechanism is clamped.
In the present embodiment, shell 1 and inner casing 2 are the tubular being coaxially nested with.
As shown in figure 5, force measuring machine is used for the size of sensed-mode power bell force, including force snesor 5, force snesor connect
Device 4 and force snesor are connect with accent 6, wherein force snesor 5 is installed on 2 end of inner casing, and 5 one end of force snesor is sensed by power
Device connector 4 is fixedly mounted on the collision body 3 in ranging mechanism；Force snesor is installed on 5 other end of force snesor with accent 6
Portion is exposed to other than 1 end of shell under normality, and force snesor can be replaced with accent 6.
Ranging mechanism matches accent at a distance from measurement point for measuring, including thimble 7, gear 9 and collision body 3, wherein
It is equipped with the first rack gear 23 in the middle part of thimble 7, is equipped with the second rack gear 24 inside collision body, thimble 7 inside collision body 3 by passing through, and first
It is engaged between rack gear 23 and the second rack gear 24 by gear 9；7 front end of thimble is equipped with scale, and is exposed to outside 1 end of shell, can
To read the distance between measurement point.When force snesor goes to hit measurement point with accent 6, thimble 7 is remote under the effect of gear 9
From measurement point.
As shown in fig. 6,3 appearance of collision body is cylinder, column body is variable diameter hollow, and hollow one end contains force snesor 5
With force snesor connector 4, the other end contains collision body spring 8, is for fixed force sensor connector 6 and to lead in the middle part of hollow
Cross the small internal diameter i.e. wire guide 21 of the conducting wire 27 of force snesor 5；The first diameter bore is additionally provided in cylinder, it is axial empty with variable diameter
Mandrel is to parallel, and the big internal partial wall of internal diameter is equipped with the second rack gear 24 in the first diameter bore；Second rack gear, 24 two sides inner wall
For the gap of the axis for installing gear 9, thimble 7 is placed through in first diameter bore.
As shown in fig. 7, force adjustment mechanism includes gland spring 15, center pillar 14, compression bar 18, card needle 16 and card needle spring 17,
Wherein, center pillar 14 is installed in inner casing 2, and for 14 one end of center pillar by collision body spring 8 and 3 elastic connection of collision body, the other end is logical
Over-voltage lid spring 15 is connect with a gland 19；Card needle 16 and card needle spring 17 are mounted in compression bar 18；In 19 moving range of gland
Interior corresponding inner casing 2 is equipped with third rack gear 25.Center pillar 14 is additionally provided with the second diameter bore, and thimble 7 is placed through the second change simultaneously
In diameter through-hole.
Compression bar 18 and gland 19 compress gland spring 15, and card needle 16 is under the effect of card needle spring 17 after compression, Ke Yisuo
It is scheduled on the third rack gear 25 of inner casing 2, different compression corresponds to different percussion powers；Under identical decrement, replace different
Percussion power also can be changed with accent.When replacement is with accent, is realized by the mobile forward and backward position of compression bar, struck to adjust pulse
Hit power.
As shown in figure 8, wrench mechanism is used for excitation force, including trigger 11, trigger bar 10, trigger raker 12 and trigger
Spring 13, wherein trigger 11 is rotationally connected with one end of trigger raker 12, the other end of trigger raker 12 by trigger bar 10
It is fixed on handle by trigger spring 13；14 side of center pillar of force adjustment mechanism be equipped with the 4th rack gear 26, the one of trigger raker 12
End is clamped with the 4th rack gear 26.By pulling trigger 11, by trigger bar 10 with trigger action raker 12, discharge center pillar 14.It pulls
Machine raker 12 can lock center pillar 14 under the effect of trigger spring 13, prevent center pillar 4 from moving under the action of gland 15 power of spring.
When adjusting thimble with the distance between accent, compression bar and trigger are unclamped.
In the present embodiment, force snesor is identical with 6 specification of accent, but material and weight can adjust as needed.Power sensing
Device is with accent 6, force snesor 5, force snesor connector 4, collision body 3, collision body spring 8, center pillar 14, gland spring 15, pressure
Lid 19 is successively connected in series, and forms inner core, inner core integrally moves when hitting to measurement point.Force snesor 5 is led
Line 27 finally draws in end cap 20 by force snesor connector 4, collision body 3, center pillar 14 and gland 19, is connected to data
Acquisition controller.
A kind of test method of the full-automatic modal forces hammer for Modal Test test of the present invention, comprising the following steps:
1) full-automatic modal forces hammer sensor conductor is connected with data acquisition controller；
2) it adjusts force size with object under test according to the actual situation and determines beating point；
3) compression bar and trigger are unclamped, according to distance requirement is tapped, thimble is adjusted and matches the distance between accent；
4) according to force size, by mobile compression bar, select corresponding weight matches accent to adjust pulse percussion power；
5) modal forces hammer tested point is taken to prepare to tap；
6) trigger configuration for pulling handle part, allows inner core to pop up, and is obtained after percussion by collision body front end force snesor
Test data；
7) trigger is unclamped, inner core is recycled under the effect of collision body spring force restoring force, while center pillar is because of trigger knot
Structure and complete to fix；
8) modal forces hammer is withdrawn, pumping signal is checked by computer.
The present embodiment for testing high-grade, digitally controlled machine tools, hammer into shape for exciting machine tool chief axis-knife handle-cutter system by modal forces
System generates impulse vibration response, and force snesor can be used unlike material with accent 6 and add material (such as rubber, nylon, aluminium, steel
Deng) be processed into it is hemispherical, when measurement, according to object being measured structure and frequency range needed for measuring, select unlike material with accent.
Force snesor acts on the knife handle of machine tool chief axis with accent 6 when test, in 11 knot of trigger for pulling handle part
After structure, by trigger bar 10 with trigger action raker 12, center pillar 14 is discharged, under the effect of 15 restoring force of gland spring, made interior
Core quickly pops up, and force snesor taps on testee with accent 6, and force snesor 5 obtains test data, by conducting wire 27
Data acquisition controller is reached to be analyzed and processed；While inner core quickly pops up, thimble 7 under the engagement of gear 9 to
It moves, is retracted in inner casing with collision body opposite direction；Force snesor is completed after tapping with accent 6, fast under bounce effect
Speed returns to home position, collision body spring 8 push center pillar 14 backward and further push gland spring 15 and gland 19 it is whole to
After move, inner core is recycled under the action of collision body spring 8, unclamp trigger 11, trigger raker 12 again holding in center pillar
On 14 in some tooth position of the 4th rack gear, the not vibration of center pillar 14 is locked, beat process is completed.At this point, in the engagement of gear 9
Lower thimble 7 is acted on to stretch out from inner casing 2.
Force adjustment mechanism selects gland position when adjusting percussion power, according to force size.When operation, first by 16 bottom end of card needle
It pulls downward on, card needle spring 17 is compressive state at this time, and card needle 16 leaves from some tooth position of third rack gear 25, further according to applying
To appropriate location, (the present embodiment is equipped with the graduation mark of power to the big minor adjustment gland 19 of power on shell 1, for by testing the number measured
According to reference value), unclamp card needle 16, card needle spring 17 restoring force effect under, card needle 16 again holding third rack gear 25 phase
It answers in tooth position, completes the adjusting of beat power, be ready to hit next time.
By adjust thimble position can determine measurement point and force snesor at a distance between accent 6, i.e. release gland 19,
Trigger action 11 is hooked again, is pulled 7 front end of thimble to graduation position is needed, is unclamped trigger 11, then lock gland 19 i.e. lockable thimble
With force snesor with the distance between accent 6.It unclamps and locking gland 19 is realized by force adjustment mechanism card needle 16.
Mould measurement is carried out using the present invention, of less demanding to " experience " of engineer, new hand taps without a large amount of
Training can be competent at the task of experimental modal test, reduce the threshold of Modal Test test, be conducive to modal forces hammer in mode
The popularization and application in test application field, and the frequency response function quality obtained is high.
Claims (6)
1. a kind of full-automatic modal forces hammer for Modal Test test, characterized by comprising: shell, inner core and handle,
In, inner core includes inner casing and the force measuring machine being installed in inner casing, ranging mechanism and force adjustment mechanism, and inner casing is integrally embedded at outer
In shell, handle is fixedly installed in below shell exterior, wrench mechanism is equipped between handle and force adjustment mechanism, wrench mechanism places
It is clamped in shell and inner casing and force adjustment mechanism；
The force measuring machine includes force snesor, force snesor connector and force snesor with accent, and wherein force snesor is pacified
Loaded on inner core end, force snesor one end is fixedly mounted on the collision body in ranging mechanism by force snesor connector；Power
Sensor is installed on force snesor the other end with accent, is exposed to outside outer casing end；
The ranging mechanism includes thimble, gear and collision body, wherein the first rack gear is equipped in the middle part of thimble, inside collision body
Equipped with the second rack gear, thimble is engaged between the first rack gear and the second rack gear by gear by passing through inside collision body；Thimble front end
Equipped with scale, and it is exposed to outside outer casing end；
The force adjustment mechanism includes gland spring, center pillar, compression bar, card needle and card needle spring, wherein center pillar is installed on inner casing
In, center pillar one end passes through gland spring and a gland by collision body spring and collision body elastic connection, the other end；Card needle and card
Needle spring is mounted in compression bar；Third rack gear is equipped on corresponding inner casing in gland moving range；
The wrench mechanism includes trigger, trigger bar, trigger raker and trigger spring, and wherein trigger is turned by trigger bar
Dynamic one end for being connected to trigger raker, the other end of trigger raker are fixed on handle by trigger spring；In force adjustment mechanism
Column side is equipped with the 4th rack gear, and one end of trigger raker and the 4th rack gear are clamped.
2. the full-automatic modal forces hammer according to claim 1 for Modal Test test, it is characterised in that: the collision body
Appearance is cylinder, and column body is variable diameter hollow, and hollow one end contains force snesor and force snesor connector, and the other end contains
Collision body spring, hollow middle part are the small internal diameter of the conducting wire for fixed force sensor connector and by force snesor；Cylinder
In be additionally provided with the first diameter bore, axial, in first diameter bore internal diameter big internal partial wall axially parallel with variable diameter hollow
It is equipped with the second rack gear；Second rack gear two sides inner wall is the gap for installing the axis of gear, and thimble is placed through first variable diameter
In through-hole.
3. being hammered into shape by the full-automatic modal forces for Modal Test test that claim 1 is stated, it is characterised in that: center pillar is additionally provided with the
Two diameter bores, thimble are placed through in the second diameter bore simultaneously.
4. a kind of test method for the full-automatic modal forces hammer of Modal Test test as described in claim 1, feature
Be the following steps are included:
1) full-automatic modal forces hammer sensor conductor is connected with data acquisition controller；
2) it adjusts force size with object under test according to the actual situation and determines beating point position；
3) it according to distance requirement is tapped, adjusts thimble and matches the distance between accent；
4) according to force size, by mobile compression bar, replacement adjusts pulse percussion power with accent；
5) modal forces hammer is taken into tested point, prepares to tap；
6) trigger configuration for pulling handle part, allows inner core to pop up, and obtains pulse by collision body front end force snesor after percussion
The test data of percussion power；
7) unclamp trigger, inner core collision body spring force restoring force effect under recycled, while center pillar because trigger configuration and
It completes to fix；
8) modal forces hammer is withdrawn, pumping signal is checked by computer, and prepare to tap next time.
5. the test method of the full-automatic modal forces hammer according to claim 4 for Modal Test test, it is characterised in that
In step 2), force size is adjusted are as follows:
Card needle bottom end is pulled downward on, card needle leaves third rack gear, and card needle spring is compressive state；
According to the big minor adjustment gland that exerts a force to appropriate location, card needle is unclamped, under the restoring force effect of card needle spring, card needle blocks again
It sets in the corresponding tooth position of third rack gear, completes the adjusting of beat power.
6. the test method of the full-automatic modal forces hammer according to claim 4 for Modal Test test, it is characterised in that
In step 3), adjusts thimble and matches the distance between accent are as follows:
Gland is unclamped, then hooks trigger action, pulls thimble front end to needing graduation position；
Trigger is unclamped, then locks gland, locking thimble and force snesor are with the distance between accent.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711416246.7A CN108132130B (en) | 2017-12-25 | 2017-12-25 | A kind of full-automatic modal forces hammer and method for Modal Test test |
| PCT/CN2017/118856 WO2019127072A1 (en) | 2017-12-25 | 2017-12-27 | Full-automatic modal impact hammer for experimental modal test and method |
| JP2019565530A JP6998070B2 (en) | 2017-12-25 | 2017-12-27 | Modal impact hammer used for experimental modal test and its test method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711416246.7A CN108132130B (en) | 2017-12-25 | 2017-12-25 | A kind of full-automatic modal forces hammer and method for Modal Test test |
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| CN108132130A CN108132130A (en) | 2018-06-08 |
| CN108132130B true CN108132130B (en) | 2019-07-12 |
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| JP (1) | JP6998070B2 (en) |
| CN (1) | CN108132130B (en) |
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| CN108844705A (en) * | 2018-07-01 | 2018-11-20 | 北京工业大学 | A kind of autompulse excitation frequency response test device and method |
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| CN108132130A (en) | 2018-06-08 |
| JP2020528136A (en) | 2020-09-17 |
| JP6998070B2 (en) | 2022-01-18 |
| WO2019127072A1 (en) | 2019-07-04 |
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