CN108340273A - A kind of ultra-thin glass robot high speed edging loading and unloading system - Google Patents
A kind of ultra-thin glass robot high speed edging loading and unloading system Download PDFInfo
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- CN108340273A CN108340273A CN201810163849.9A CN201810163849A CN108340273A CN 108340273 A CN108340273 A CN 108340273A CN 201810163849 A CN201810163849 A CN 201810163849A CN 108340273 A CN108340273 A CN 108340273A
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- glass
- robot
- edging
- unit
- loading
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/02—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/06—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain
- B24B9/08—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Inorganic Chemistry (AREA)
- Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
Abstract
The present invention provides a kind of ultra-thin glass robot high speed edging loading and unloading system, is related to Shape-glass-beveling field, including glass supply unit, robot or more blade unit, robot edging unit and glass output unit；The glass supply unit is by glass ancient times and transports front position, blade unit picks up glass and moves to again near robot edging unit above and below the robot, the robot edging unit carries out edging to glass, after the robot edging unit stops, glass is picked up after the signal of blade unit reading glass in place to be placed on glass output unit, glass is delivered to next station above and below the robot；The present invention has the following technical effect that：Accurate positioning may be implemented in glass supply unit, recycles, can be with follow-up glass processing device flexible docking；Using high-precision sucker, high-speed servo motor, glass edging stability is high, and efficient, failure rate is low；Production efficiency is improved, and reduces human cost.
Description
Technical field
The present invention relates to Shape-glass-beveling fields, and in particular to a kind of ultra-thin glass robot high speed edging loading and unloading system
System.
Background technology
Glass market competition is very fierce, and manufacturer is all obtaining market by improving production efficiency and product quality
Competitive advantage.Currently, there are two types of the domestic technical solutions for being engaged in the online edging of special-shaped glass and fluctuating plate system：First, on artificial
Bottom sheet edging, second is that CNC edgings.Third, automation special plane combines edging.
First, artificial fluctuating plate, artificial edging.The disadvantage is that：1, efficiency is unstable, is changed according to the labour state of worker；
2, safety coefficient is not high, is influenced by live uncertain factor；3, the course of work is single uninteresting, not by people from repetitive operation
It frees；4, edging is undesirable, and glass surface is susceptible to trace, and mechanical Uniformly stable is not beautiful for the special-shaped size of glass
It sees.
Second, CNC edgings, manual operation CNC boards, be all it is artificial upper piece, glass is placed in CNC machine, is started
CNC machine carries out glass edging processing, and CNC manually takes out the glass after edging, and then a upper sheet glass again again after processing, such as
This repetitive operation.Special plane edging, the disadvantage is that：1, when the variation of glass size specification is more, special positioning roller-way need to manually adjust；2, people
Work assumes responsibility for many repetitive works, heavy workload, fragile glass, and this mode is only suitable only for weight no more than 30KG's
Glass；3, cycle period is long, and average period was in 120 seconds/piece.
Third, automation special plane combines edging, this mode is to be integrated into a flexible life by a series of mechanical equipments
Glass is delivered to terminal CNC table tops by special plane, then carries out edging by producing line, the disadvantage is that：1, it takes up a large area, early investment
Cost is more.2, mechanical equipment is too many, high failure rate.3, inefficient, most fast 60 seconds/piece of beat.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of ultra-thin glass robot high speed edging loading and unloading system,
Make accurate positioning, recycles, improve production efficiency.
In order to achieve the above object, the present invention is achieved by the following technical programs：A kind of ultra-thin glass robot high speed
Blade unit, robot edging unit and glass output are single above and below edging loading and unloading system, including glass supply unit, robot
Member；The glass supply unit is by glass ancient times and transports front position, and blade unit picks up glass again up and down for the robot
It moves near robot edging unit, the robot edging unit carries out edging, the robot edging unit to glass
Glass is picked up after stopping, above and below the robot after the signal of blade unit reading glass in place to be placed on glass output unit,
Glass is delivered to next station.
Preferably, the glass supply unit uses servo motor, mode of movement to select toothed belt transmission, synchronous belt both sides
Equipped with lip-guided structure, it is placed with high accuracy positioning jig between the lip-guided structure, for ensureing jig front and back
Precision when traveling.
Preferably, blade unit includes robot and handgrip fixture up and down for the robot, and the robot uses six axis works
Industry robot, the handgrip fixture are sucker, it is ensured that glass relative distance under the action of by external force will not change.
Preferably, the robot edging unit includes grinding head assembly and cooling system, and the grinding head assembly is by high speed
Motor is rotated with rotary bistrique, and the high-speed electric expreess locomotive rotating speed is 5500~6500r/min, and the cooling system is by high-pressure hydraulic pump
It draws water to copper pipe, is then cooled down towards the interface of glass edging water spray.
Preferably, the glass output unit structure is consistent with the glass supply unit, and is individually positioned in robot
Upper and lower blade unit both sides.
Preferably, the robot high speed edging loading and unloading system includes following operating procedure：
Step1. manually glass is placed in localization tool, localization tool initial position is in the front end of glass supply unit
Position, by start button, then servo motor action, after the glass being placed on inside jig is delivered to glass supply unit
End position；
Step2. after stopping on glass supply unit, after blade unit reads the signal of glass in place above and below robot, machine
Device people starts to act, and robot is moved to handgrip fixture above glass, and contact picks up glass and moves to robot edging again
Near unit；
Step3. glass is sucked close to grinding head assembly, one side of first ground glass, in the different of switching motion ground glass in robot
Shape angle, then ground glass one side, then ground glass other irregular corners, so recycle；
Step4. after glass stops on robot edging unit, blade unit reads the signal of glass in place up and down for robot
Afterwards, robot starts to act, and the glass after edging is placed on glass output unit, and glass is delivered to next station.
The present invention provides a kind of ultra-thin glass robot high speed edging loading and unloading systems, have the following technical effect that：
1, accurate positioning may be implemented in glass supply unit, recycles, can be right with follow-up glass processing device flexibility
It connects；
2, the glass that cutting is completed can be carried out high speed edging by robot edging unit, be inhaled using high-precision
Disk, high-speed servo motor, glass edging stability is high, and efficient, failure rate is low；
3, robot is taken quickly to capture fluctuating plate, speed is fast, improves production efficiency, and beat subtracted in 50 seconds/piece
Human cost is lacked.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural schematic diagram of glass supply unit in the present invention；
Fig. 3 is the structural schematic diagram of the upper and lower blade unit of glass supply unit and robot in the present invention；
Fig. 4 is the structural schematic diagram of blade unit and robot edging unit above and below robot in the present invention；
Fig. 5 is the structural schematic diagram of blade unit and glass output unit above and below robot in the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In description of the invention, it should be noted that the orientation of the instructions such as term "vertical", "upper", "lower", "horizontal" or
Person's position relationship is orientation based on ... shown in the drawings or position relationship, is merely for convenience of describing this practicality and simplify to describe,
Rather than instruction either implies that signified device or element must have a particular orientation, with specific azimuth configuration and behaviour
Make, therefore is not considered as limiting the invention.In addition, " first ", " second ", " third ", " the 4th " are only used for description mesh
, and should not be understood as indicating or implying relative importance.
In description of the invention, it is also necessary to explanation, unless otherwise specific regulation and limitation, term " setting ", " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection can be mechanical connection, can also be electrical connection, can be directly connected to, and can also be to be connected by intermediary, can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
Embodiment 1：
As shown in Figure 1, a kind of ultra-thin glass robot high speed edging loading and unloading system, including glass supply unit 10, machine
Blade unit 20, robot edging unit 30 and glass output unit 40 above and below device people；The glass supply unit 10 is ancient by glass
In generation, simultaneously transports front position, and blade unit 20 picks up glass to move to robot edging unit 30 again attached up and down for the robot
Closely, the robot edging unit 30 carries out edging to glass, after the robot edging unit 30 stops, in the robot
Glass is picked up after the signal of the lower reading of blade unit 20 glass in place to be placed on glass output unit 40, glass is delivered to next
Station.
Embodiment 2：
A kind of ultra-thin glass robot high speed edging loading and unloading system, including glass supply unit 10, robot fluctuating plate
Unit 20, robot edging unit 30 and glass output unit 40；The glass supply unit 10 is by glass ancient times and transports
Front position, blade unit 20 picks up glass and moves to again near robot edging unit 30 up and down for the robot, the machine
People's edging unit 30 carries out edging to glass, after the robot edging unit 30 stops, blade unit 20 above and below the robot
Glass is picked up after the signal of reading glass in place to be placed on glass output unit 40, and glass is delivered to next station.
As shown in Figure 2, it is preferable that the glass supply unit 10 uses servo motor 101, mode of movement to select synchronous belt
Transmission 102, synchronous belt both sides are equipped with lip-guided structure 103, high accuracy positioning are placed between the lip-guided structure 103
Jig 104, for ensureing precision of the jig in front and back traveling.
As shown in Figure 3, it is preferable that blade unit 20 includes robot 201 and handgrip fixture 202, institute up and down for the robot
It is sucker to state robot 201 and use six-shaft industrial robot, the handgrip fixture 202, it is ensured that glass is by external force
The lower relative distance of effect will not change.
As shown in Figure 4, it is preferable that the robot edging unit 30 includes grinding head assembly 302 and cooling system 303, institute
Stating grinding head assembly 302 is rotated with rotary bistrique by high-speed electric expreess locomotive, and the high-speed electric expreess locomotive rotating speed is 5500~6500r/min, institute
Stating cooling system 303 is drawn water to copper pipe by high-pressure hydraulic pump, is then cooled down towards the interface of glass edging water spray.
As shown in Figure 5, it is preferable that 40 structure of glass output unit is consistent with the glass supply unit 10, and point
It is not placed on robot 20 both sides of blade unit up and down.
Embodiment 3：
A kind of ultra-thin glass robot high speed edging loading and unloading system, including glass supply unit 10, robot fluctuating plate
Unit 20, robot edging unit 30 and glass output unit 40；The glass supply unit 10 is by glass ancient times and transports
Front position, blade unit 20 picks up glass and moves to again near robot edging unit 30 up and down for the robot, the machine
People's edging unit 30 carries out edging to glass, after the robot edging unit 30 stops, blade unit 20 above and below the robot
Glass is picked up after the signal of reading glass in place to be placed on glass output unit 40, and glass is delivered to next station.
Preferably, the glass supply unit 10 uses servo motor 101, mode of movement to select toothed belt transmission 102, together
Step band both sides are equipped with lip-guided structure 103, are placed with high accuracy positioning jig 104 between the lip-guided structure 103, use
To ensure precision of the jig in front and back traveling.
Preferably, blade unit 20 includes robot 201 and handgrip fixture 202, the robot 201 up and down for the robot
Using six-shaft industrial robot, the handgrip fixture 202 is sucker, it is ensured that glass under the action of by external force it is opposite away from
From will not change.
Preferably, the robot edging unit 30 includes grinding head assembly 302 and cooling system 303, the grinding head assembly
302 are rotated with rotary bistrique by high-speed electric expreess locomotive, and the high-speed electric expreess locomotive rotating speed is 5500~6500r/min, the cooling system
303 are drawn water to copper pipe by high-pressure hydraulic pump, are then cooled down towards the interface of glass edging water spray.
Preferably, 40 structure of glass output unit is consistent with the glass supply unit 10, and is individually positioned in machine
20 both sides of blade unit above and below device people.
Preferably, the robot high speed edging loading and unloading system includes following operating procedure：
Step1. manually glass is placed in localization tool 104,104 initial position of localization tool is in glass supply unit
10 front position, by start button, then the action of servo motor 101, glass is delivered to by the glass being placed on inside jig
The back-end location of supply unit 10；
Step2. after stopping on glass supply unit 10, blade unit 20 reads the signal of glass in place up and down for robot
Afterwards, robot starts to act, and robot 201 is moved to handgrip fixture 202 above glass, and contact picks up glass and moves to again
Near robot edging unit 30；
Step3. glass is sucked close to grinding head assembly 302 in robot 201, and glass is ground in one side of first ground glass in switching motion
The irregular corners of glass, then ground glass one side, then ground glass other irregular corners, so recycle；
Step4. after glass stops on robot edging unit 30, blade unit 20 reads glass in place up and down for robot
After signal, robot starts to act, and the glass after edging is placed on glass output unit 40, and glass is delivered to next work
Position.
The present invention provides a kind of ultra-thin glass robot high speed edging loading and unloading systems, have the following technical effect that：
1, accurate positioning may be implemented in glass supply unit, recycles, can be right with follow-up glass processing device flexibility
It connects；
2, the glass that cutting is completed can be carried out high speed edging by robot edging unit, be inhaled using high-precision
Disk, high-speed servo motor, glass edging stability is high, and efficient, failure rate is low；
3, robot is taken quickly to capture fluctuating plate, speed is fast, improves production efficiency, and beat subtracted in 50 seconds/piece
Human cost is lacked.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features；And these modification or
It replaces, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (6)
1. a kind of ultra-thin glass robot high speed edging loading and unloading system, which is characterized in that including glass supply unit (10), machine
Blade unit (20), robot edging unit (30) and glass output unit (40) above and below device people；The glass supply unit (10)
By glass ancient times and front position is transported, blade unit (20) picks up glass and moves to robot edging again above and below the robot
Near unit (30), the robot edging unit (30) carries out edging to glass, and the robot edging unit (30) stops
Afterwards, glass is picked up after the signal of blade unit (20) reading glass in place be placed on glass output unit (40) above and below the robot
On, glass is delivered to next station.
2. ultra-thin glass robot high speed edging loading and unloading system as described in claim 1, which is characterized in that the glass is defeated
Send unit (10) that servo motor (101), mode of movement is used to select toothed belt transmission (102), synchronous belt both sides are led equipped with rib
To structure (103), it is placed with high accuracy positioning jig (104) between the lip-guided structure (103), for ensureing that jig exists
Precision when front and back traveling.
3. ultra-thin glass robot high speed edging loading and unloading system as described in claim 1, which is characterized in that the robot
Upper and lower blade unit (20) includes robot (201) and handgrip fixture (202), and the robot (201) uses six-shaft industrial machine
People, the handgrip fixture (202) are sucker, it is ensured that glass relative distance under the action of by external force will not change.
4. ultra-thin glass robot high speed edging loading and unloading system as described in claim 1, which is characterized in that the robot
Edging unit (30) includes grinding head assembly (302) and cooling system (303), and the grinding head assembly (302) is by high-speed electric expreess locomotive band
Rotary bistrique rotation, the high-speed electric expreess locomotive rotating speed is 5500~6500r/min, and the cooling system (303) is by high-pressure hydraulic pump
It draws water to copper pipe, is then cooled down towards the interface of glass edging water spray.
5. ultra-thin glass robot high speed edging loading and unloading system as described in claim 1, which is characterized in that the glass is defeated
Go out unit (40) structure and the glass supply unit (10) unanimously, and is individually positioned in robot blade unit (20) two up and down
Side.
6. ultra-thin glass robot high speed edging loading and unloading system as described in claim 1, which is characterized in that the robot
High speed edging loading and unloading system includes following operating procedure：
Step1. manually glass is placed in localization tool (104), localization tool (104) initial position is in glass supply unit
(10) front position, by start button, then servo motor (101) action, the glass being placed on inside jig is delivered to
The back-end location of glass supply unit (10)；
Step2. after stopping on glass supply unit (10), blade unit (20) reads the signal of glass in place up and down for robot
Afterwards, robot starts to act, and robot (201) is moved to handgrip fixture (202) above glass, and contact picks up glass and transports again
It moves to robot edging unit (30)；
Step3. glass is sucked close to grinding head assembly (302) in robot (201), and glass is ground in one side of first ground glass in switching motion
The irregular corners of glass, then ground glass one side, then ground glass other irregular corners, so recycle；
Step4. after glass stops on robot edging unit (30), blade unit (20) reads glass in place up and down for robot
After signal, robot starts to act, and the glass after edging is placed on glass output unit (40), glass is delivered to next work
Position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163849.9A CN108340273A (en) | 2018-02-27 | 2018-02-27 | A kind of ultra-thin glass robot high speed edging loading and unloading system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163849.9A CN108340273A (en) | 2018-02-27 | 2018-02-27 | A kind of ultra-thin glass robot high speed edging loading and unloading system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108340273A true CN108340273A (en) | 2018-07-31 |
Family
ID=62960015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810163849.9A Pending CN108340273A (en) | 2018-02-27 | 2018-02-27 | A kind of ultra-thin glass robot high speed edging loading and unloading system |
Country Status (1)
| Country | Link |
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| CN (1) | CN108340273A (en) |
Citations (11)
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|---|---|---|---|---|
| JPH06312360A (en) * | 1993-04-26 | 1994-11-08 | Central Glass Co Ltd | Power feeding/terminal part grinder for glass plate face |
| US20070093177A1 (en) * | 2002-10-25 | 2007-04-26 | Christoph Kuebler | Method and apparatus for producing optical glasses |
| DE202008007615U1 (en) * | 2008-06-06 | 2008-09-11 | Grenzebach Maschinenbau Gmbh | Device for automatic edge grinding of glass plates under cleanroom conditions |
| KR20090119570A (en) * | 2008-05-16 | 2009-11-19 | 주식회사 디엠에스 | Apparatus for treating substrate |
| CN102046329A (en) * | 2008-06-06 | 2011-05-04 | 格林策巴赫机械制造有限公司 | Method and apparatus for the automatic edge grinding of glass sheets under clean room conditions |
| CN105108600A (en) * | 2015-08-20 | 2015-12-02 | 上海戴屹科技有限公司 | Compact type robot automated grinding device |
| CN105215812A (en) * | 2015-09-25 | 2016-01-06 | 嵊州市寰鼎玻璃科技有限公司 | A kind of glass production Full-automatic linear edge polisher |
| CN105322055A (en) * | 2015-11-27 | 2016-02-10 | 上海豪力起重机械有限公司 | Glass positioning device for photovoltaic cell string type-setting machine |
| CN106142058A (en) * | 2015-04-03 | 2016-11-23 | 营口金辰自动化有限公司 | Automatic clamping glass interval paper mechanical hand |
| CN206500957U (en) * | 2017-01-18 | 2017-09-19 | 东莞路点智能技术有限公司 | A kind of robot lens edge grinding machine |
| CN206912842U (en) * | 2017-06-06 | 2018-01-23 | 杭州博拉网络科技有限公司 | Robot automatically removing burr work station |
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2018
- 2018-02-27 CN CN201810163849.9A patent/CN108340273A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06312360A (en) * | 1993-04-26 | 1994-11-08 | Central Glass Co Ltd | Power feeding/terminal part grinder for glass plate face |
| US20070093177A1 (en) * | 2002-10-25 | 2007-04-26 | Christoph Kuebler | Method and apparatus for producing optical glasses |
| KR20090119570A (en) * | 2008-05-16 | 2009-11-19 | 주식회사 디엠에스 | Apparatus for treating substrate |
| DE202008007615U1 (en) * | 2008-06-06 | 2008-09-11 | Grenzebach Maschinenbau Gmbh | Device for automatic edge grinding of glass plates under cleanroom conditions |
| CN102046329A (en) * | 2008-06-06 | 2011-05-04 | 格林策巴赫机械制造有限公司 | Method and apparatus for the automatic edge grinding of glass sheets under clean room conditions |
| CN106142058A (en) * | 2015-04-03 | 2016-11-23 | 营口金辰自动化有限公司 | Automatic clamping glass interval paper mechanical hand |
| CN105108600A (en) * | 2015-08-20 | 2015-12-02 | 上海戴屹科技有限公司 | Compact type robot automated grinding device |
| CN105215812A (en) * | 2015-09-25 | 2016-01-06 | 嵊州市寰鼎玻璃科技有限公司 | A kind of glass production Full-automatic linear edge polisher |
| CN105322055A (en) * | 2015-11-27 | 2016-02-10 | 上海豪力起重机械有限公司 | Glass positioning device for photovoltaic cell string type-setting machine |
| CN206500957U (en) * | 2017-01-18 | 2017-09-19 | 东莞路点智能技术有限公司 | A kind of robot lens edge grinding machine |
| CN206912842U (en) * | 2017-06-06 | 2018-01-23 | 杭州博拉网络科技有限公司 | Robot automatically removing burr work station |
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Application publication date: 20180731 |