CN110027004A - Components pick device and pick-up method - Google Patents
Components pick device and pick-up method Download PDFInfo
- Publication number
- CN110027004A CN110027004A CN201910405689.9A CN201910405689A CN110027004A CN 110027004 A CN110027004 A CN 110027004A CN 201910405689 A CN201910405689 A CN 201910405689A CN 110027004 A CN110027004 A CN 110027004A
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- clamping jaw
- clamp
- components
- picked
- clamp clamping
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000000712 assembly Effects 0.000 claims abstract description 27
- 238000000429 assembly Methods 0.000 claims abstract description 27
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing 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
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application provides a kind of components pick device and pick-up method, components pick device includes: clamp assemblies, driving assembly and vacuumizing assembly；Clamp assemblies are for clamping components to be picked up, and for driving clamp assemblies open or close, vacuumizing assembly, so as to form negative pressure around components to be picked up, components to be picked up is adsorbed in clamp assemblies driving assembly for vacuumizing.The application picks up components by clamping and adsorbing two ways cooperation jointly, can significantly improve the success rate of components pickup, improve the pickup efficiency of components.
Description
Technical field
The application belongs to pick device technical field, and in particular to a kind of components pick device and pick-up method.
Background technique
Currently, typically directly being used when narrow space picks up the small components such as gasket, nut, ball or hemicone at the scene
Hand is picked up or is manually picked up using tools such as tweezers or pliers.However, existing artificial pickup mode operating efficiency is low
Under, and the components being picked are also easy to fall.
Summary of the invention
To be overcome the problems, such as present in the relevant technologies at least to a certain extent, this application provides a kind of pickups of components
Device and pick-up method.
According to the embodiment of the present application in a first aspect, this application provides a kind of components pick devices comprising:
Clamp assemblies,
Driving assembly,
Vacuumizing assembly；
The clamp assemblies are for clamping components to be picked up, and the driving component is for driving the clamp assemblies to open
Or closure, the vacuumizing assembly, so as to form negative pressure around components to be picked up, components to be picked up are inhaled for vacuumizing
It is attached described in clamp assemblies.
In above-mentioned parts pick device, the clamp assemblies include the first clamp clamping jaw, the second clamp clamping jaw and hinge
Axis, the first clamp clamping jaw and the second clamp clamping jaw use identical structure, the two mirror settings；The first clamp clamping jaw
Middle and upper part and the middle and upper part of the second clamp clamping jaw linked together by the hinge axis.
Further, the first clamp clamping jaw includes clamping jaw, vice body and clamp handle；The clamping jaw uses rectangular parallelepiped structure,
One end of its short transverse is provided with boss, and the other end is provided with fixture, and the fixture is detachably connected with clamping jaw；
The vice body includes two vertical bars disposed in parallel and a cross bar, along the width direction of the clamping jaw, two vertical bars
It is arranged on the boss to equal vertical spacing, two vertical bars are connect with the opposite end of boss connecting pin by the cross bar；
Along the direction parallel with the width direction of the cross bar, two vertical bars and the opposite end of boss connecting pin are respectively provided with
There is circular hole, the hinge axis is arranged in the circular hole；The clamp handle and a vertical bar are provided with one end one of the circular hole
Body formed or be fixedly connected, the clamp handle is parallel with another vertical bar；The clamp handle opens up on the side of its thickness direction
There is eccentric orfice.
Further, along the short transverse of the clamp handle, the eccentric orfice is big close to the aperture of one end of the vertical bar
In the aperture of the other end of the eccentric orfice far from the vertical bar.
Further, the driving component includes cylinder, connecting rod and drive shaft；The piston rod of the cylinder with it is described
One end of connecting rod connects, the other end of the connecting rod and the driving axis connection；The drive shaft and the eccentric orfice institute
The clamp handle side it is vertical, along the short transverse of the first clamp clamping jaw, the cylinder passes through the connecting rod band
The drive shaft is moved to pump in the eccentric orfice.
Further, the vacuumizing assembly includes vacuum generator, suction pipe and channel；Along the height side of the clamping jaw
To offering the channel in the inside of the clamping jaw；One end of the suction pipe is connect with the vacuum generator, the other end with
The channel connection.
Further, the junction of the clamping jaw and fixture, the row in the channel is arranged in the air entry in the channel
Port is arranged on the boss, and between two vertical bars；The suction pipe is connect with the exhaust outlet.
Further, the components pick device further includes spring-loaded plunger, and two spring-loaded plungers are oppositely arranged on
In the first clamp clamping jaw in clamping jaw and the second clamp clamping jaw clamping jaw two sides, the spring-loaded plunger is described for limiting
In first clamp clamping jaw in clamping jaw and the second clamp clamping jaw clamping jaw opening stroke, be also used in the first clamp clamping jaw
When with the second clamp clamping jaw closure, two clamping jaws are held out against.
According to the second aspect of the embodiment of the present application, present invention also provides a kind of components pick-up methods comprising with
Lower step: components pick device described in any of the above embodiments is set；
Start cylinder, cylinder drives drive shaft to move upwards in eccentric orfice by connecting rod, in components to be picked up
Two sides, so that the first clamp clamping jaw and the second clamp clamping jaw are opened；
Start vacuum generator, vacuum generator is vacuumized in channel by suction pipe, so that around components to be picked up
Negative pressure is formed, components to be picked up are adsorbed on the fixture that clamping jaw is connect with clamping jaw in the second clamp clamping jaw in the first clamp clamping jaw
Imitation profile on；
Cylinder drives drive shaft to move downward in eccentric orfice by connecting rod, the first clamp clamping jaw and the second clamp clamping jaw
Closure, fixture clamp components to be picked up.
Above-mentioned parts pick-up method is further comprising the steps of: setting spring-loaded plunger, the first clamp clamping jaw and the second clamp
Clamping jaw closure and fixture is when clamping components to be picked up, two spring-loaded plungers are by the first clamp clamping jaw and the second clamp clamping jaw top
Tightly.
According to the above-mentioned specific embodiment of the application it is found that at least having the advantages that the application components pick up
Take device by setting clamp assemblies, driving assembly and vacuumizing assembly, clamp assemblies drive for clamping components to be picked up
Component driver clamp assemblies open or close, vacuumizing assembly vacuumize around components to be picked up, with formed negative pressure make to
Components are picked up to be adsorbed in clamp assemblies；The application picks up components, energy by clamping and adsorbing two ways cooperation jointly
The success rate for enough significantly improving components pickup, improves the pickup efficiency of components.In addition, the application in clamp assemblies by pressing from both sides
One end setting spring-loaded plunger for holding components, can hold out against two clamp clamping jaws for clamping components, to avoid
The components being picked are easy the case where falling, and further increase the success rate of components pickup.
It is to be understood that above-mentioned general description and following specific embodiments are merely illustrative and illustrative, not
The range to be advocated of the application can be limited.
Detailed description of the invention
Following appended attached drawing is a part of the description of the present application, appended attached it illustrates embodiments herein
The principle for describing to be used to illustrate the application together of figure and specification.
Fig. 1 is a kind of overall structure diagram of components pick device provided by the embodiments of the present application.
Fig. 2 is the structural schematic diagram of clamp assemblies in a kind of components pick device provided by the embodiments of the present application.
Fig. 3 is the structural schematic diagram of the first clamp clamping jaw in a kind of components pick device provided by the embodiments of the present application.
Fig. 4 is the cross-sectional view of the first clamp clamping jaw in a kind of components pick device provided by the embodiments of the present application.
Description of symbols:
1, clamp assemblies；11, the first clamp clamping jaw；111, clamping jaw；112, vice body；1121, vertical bar；1122, cross bar；
1123, circular hole；113, clamp handle；1131, eccentric orfice；114, boss；115, fixture；12, the second clamp clamping jaw；13, hinge axis；
2, driving assembly；21, cylinder；22, connecting rod；23, drive shaft；
3, vacuumizing assembly；31, suction pipe；32, channel；
4, spring-loaded plunger.
Specific embodiment
For the purposes, technical schemes and advantages of the embodiment of the present application are more clearly understood, below will with attached drawing and in detail
Narration clearly illustrates the spirit of content disclosed herein, and any skilled artisan is understanding teachings herein
After embodiment, when the technology that can be taught by teachings herein, it is changed and modifies, without departing from the essence of teachings herein
Mind and range.
Illustrative embodiments of the present application and the description thereof are used to explain the present application, but is not intended as the restriction to the application.
In addition, in the drawings and embodiments the use of element/component of same or like label is for representing same or like portion
Point.
About " first " used herein, " second " ... etc., not especially censure the meaning of order or cis-position,
It is non-to limit the application, only for distinguish with same technique term description element or operation.
About direction term used herein, such as: upper and lower, left and right, front or rear etc. are only the sides with reference to attached drawing
To.Therefore, the direction term used is intended to be illustrative and not intended to limit this creation.
It is open term, i.e., about "comprising" used herein, " comprising ", " having ", " containing " etc.
Mean including but not limited to.
About it is used herein " and/or ", including any of the things or all combination.
It include " two " and " two or more " about " multiple " herein；It include " two groups " about " multiple groups " herein
And " more than two ".
About term used herein " substantially ", " about " etc., to modify it is any can with the quantity of slight change or
Error, but this slight variations or error can't change its essence.In general, slight change or mistake that such term is modified
The range of difference can be 20% in some embodiments, in some embodiments can be 10%, in some embodiments can for 5% or
It is other numerical value.It will be understood by those skilled in the art that the aforementioned numerical value referred to can be adjusted according to actual demand, not as
Limit.
It is certain to describe the word of the application by lower or discuss in the other places of this specification, to provide art technology
Personnel's guidance additional in relation to the description of the present application.
As shown in Figure 1, components pick device provided by the present application includes clamp assemblies 1, driving assembly 2 and vacuumizes group
Part 3.Wherein, driving assembly 2 is for driving 1 open or close of clamp assemblies, so that clamp assemblies 1 clamp components to be picked up.
Vacuumizing assembly 3 is for making to form negative pressure around components to be picked up, so that components to be picked up are adsorbed in clamp assemblies 1,
Avoid the occurrence of the case where components to be picked up are fallen from clamp assemblies 1.
With manually pick up components mode compared with, the application components pick device have pick up it is high-efficient, pick up at
The features such as power is high；And the application components pick device can be suitable for various types of components and pick up environment.Regardless of
It is the components to be picked up in the components or conductive environment to be picked up in narrow space, using zero provided by the present application
Part pick device can be conveniently and efficiently picked up.
In a specific embodiment, as shown in Fig. 2, clamp assemblies 1 include the first clamp clamping jaw 11, the second clamp folder
Pawl 12 and hinge axis 13.Wherein, the first clamp clamping jaw 11 and the second clamp clamping jaw 12 use identical structure, and the two mirror image is set
It sets.The middle and upper part of first clamp clamping jaw 11 and the middle and upper part of the second clamp clamping jaw 12 are linked together by hinge axis 13.
As shown in figure 3, the first clamp clamping jaw 11 includes clamping jaw 111, vice body 112 and clamp handle 113.Clamping jaw 111 is using rectangular
Body structure, one end of short transverse are provided with boss 114, and the other end is provided with fixture 115, and fixture 115 and clamping jaw 111 are removable
Unload connection.Wherein, the face that fixture 115 is contacted with components to be picked up is imitation profile, and the fixture 115 of different imitation profiles can basis
The shape of different components to be picked up is configured.
As shown in Figure 3 and Figure 4, vice body 112 includes two vertical bars 1121 disposed in parallel and a cross bar 1122, along clamping jaw 111
Width direction, be arranged on boss 114 to the equal vertical spacing of two vertical bar 1121, two vertical bars 1121 and 114 connecting pin of boss
Opposite end is connected by cross bar 1122.
Along the direction parallel with the width direction of cross bar 1122, two vertical bars 1121 and the opposite end of 114 connecting pin of boss are equal
It is provided with circular hole 1123, hinge axis 13 is arranged in circular hole 1123.Clamp handle 113 and a vertical bar 1121 are provided with the one of circular hole 1123
End is integrally formed or is fixedly connected, and clamp handle 113 is parallel with another vertical bar 1121.Clamp handle 113 is opened on the side of its thickness direction
Equipped with eccentric orfice 1131.Along the short transverse of clamp handle 113, eccentric orfice 1131 is greater than bias close to the aperture of one end of vertical bar 1121
The aperture of the other end of the hole 1131 far from vertical bar 1121.
As shown in Figure 1, driving assembly 2 includes cylinder 21, connecting rod 22 and drive shaft 23.Wherein, the piston rod of cylinder 21
It is connect with one end of connecting rod 22, the other end of connecting rod 22 is connect with drive shaft 23, where drive shaft 23 and eccentric orfice 1131
Clamp handle 113 side it is vertical, along the short transverse of the first clamp clamping jaw 11, cylinder 21 drives drive shaft 23 by connecting rod 22
It pumps in eccentric orfice 1131, so that the first clamp clamping jaw 11 is opened or closed with the second clamp clamping jaw 12
It closes.
Vacuumizing assembly 3 includes vacuum generator (not shown), suction pipe 31 and channel 32.Wherein, along clamping jaw 111
Short transverse offers channel 32 inside clamping jaw 111.The connection of clamping jaw 111 Yu fixture 115 is arranged in the air entry in channel 32
Place.The exhaust outlet in channel 32 is arranged on boss 114, and between two vertical bars 1121.One end of suction pipe 31 and exhaust outlet connect
It connects, the other end is connect with vacuum generator.
It is understood that being offered inside clamping jaw and in the second clamp clamping jaw inside clamping jaw in the first clamp clamping jaw
Channel 32 is connected respectively a suction pipe 31 on the exhaust outlet in two channels 32, and the air entry in two channels 32, which respectively corresponds, to be set
It sets in the junction of clamping jaw 111 and fixture 115, vacuumizing assembly 3 will be evacuated by air entry around components to be picked up,
Negative pressure is formed, so that components to be picked up are adsorbed on the imitation profile of two opposite fixtures 115.
Vacuum generator uses the prior art, and details are not described herein.When use corresponding type can be selected according to specific requirements
Number vacuum generator.
In above-described embodiment, as shown in Figure 1, spring-loaded plunger 4 is additionally provided in the application components pick device, two bullets
Spring plunger 4 is oppositely arranged on the two sides of clamping jaw 111 in clamping jaw 111 and the second clamp clamping jaw 12 in the first clamp clamping jaw 11, spring
Plunger 4 is used to limit the opening stroke of clamping jaw 111 in clamping jaw 111 and the second clamp clamping jaw 12 in the first clamp clamping jaw 11, also uses
In in the first clamp clamping jaw 11 and the second clamp clamping jaw 12 closure, two clamping jaws 111 are held out against, two clamping jaws 111 is enable to press from both sides
Tight components to be picked up.
When cylinder 21 drives drive shaft 23 to move upwards in eccentric orfice 1131 by connecting rod 22, the first clamp clamping jaw
11 and second clamp clamping jaw 12 open in the two sides of components to be picked up, the first clamp clamping jaw 11 can be limited in eccentric orfice 1131
On the basis of the opening stroke of middle clamping jaw 111 and the second clamp clamping jaw 12, the spring in spring-loaded plunger 4 is along far from zero to be picked up
The direction of part is compressed, and the decrement of spring further limits clamping jaw 111 and the second clamp clamping jaw in the first clamp clamping jaw 11
12 opening stroke.
When cylinder 21 drives drive shaft 23 to move downward in eccentric orfice 1131 by connecting rod 22, the first clamp clamping jaw
11 and second clamp clamping jaw 12 be closed, clamp components to be picked up.Spring in spring-loaded plunger 4 is to close to components to be picked up
Elastic deformation is restored in direction makes two clamping jaws 111 clamp to be picked up zero to hold out against the clamping jaw 111 of components two sides to be picked up
Component；To improve the pickup efficiency of components and the success rate of components pickup.
Based on components pick device provided by the present application, present invention also provides a kind of components pick device pickup sides
Method comprising following steps:
S1, starting cylinder 21, cylinder 21 drive drive shaft 23 to move upwards in eccentric orfice 1131 by connecting rod 22,
The two sides of components to be picked up, the first clamp clamping jaw 11 and the second clamp clamping jaw 12 are opened.
S2, starting vacuum generator, vacuum generator are vacuumized in channel 32 by suction pipe 31, components week to be picked up
It encloses to form negative pressure, to components to be picked up are adsorbed on the imitation profile of fixture 115.
S3, cylinder 21 drive drive shaft 23 to move downward in eccentric orfice 1131 by connecting rod 22, the first clamp clamping jaw
11 and second clamp clamping jaw 12 be closed, clamp components to be picked up.
Above-mentioned steps S2 and step S3 can be carried out simultaneously, can also successively be carried out step by step.
In above-mentioned steps S1 and step S3, cylinder 21 drives drive shaft 23 upper and lower in eccentric orfice 1131 by connecting rod 22
During reciprocating motion, the first clamp clamping jaw 11 and the second clamp clamping jaw 12 move in a circle around hinge axis 13.
Above-mentioned parts pick device pick-up method is further comprising the steps of: setting spring-loaded plunger 4, the first clamp clamping jaw 11
With the second clamp clamping jaw 12 closure and when fixture 115 clamps components to be picked up, two spring-loaded plungers 4 are by the first clamp clamping jaw 11
It is held out against with the second clamp clamping jaw 12.
The application components pick-up method inhales two ways by clamping and vacuum and picks up components jointly, can be significant
The success rate that components pick up is improved, to greatly improve production efficiency.
The foregoing is merely the schematical specific embodiments of the application, before not departing from the conceptions and principles of the application
It puts, the equivalent changes and modifications that any those skilled in the art is made, should belong to the range of the application protection.
Claims (10)
1. a kind of components pick device characterized by comprising
Clamp assemblies,
Driving assembly,
Vacuumizing assembly；
The clamp assemblies are for clamping components to be picked up, and the driving component is for driving the clamp assemblies to open or close
It closes, the vacuumizing assembly is for vacuumizing, so as to form negative pressure around components to be picked up, components to be picked up are adsorbed institute
It states in clamp assemblies.
2. components pick device according to claim 1, which is characterized in that the clamp assemblies are pressed from both sides including the first clamp
Pawl, the second clamp clamping jaw and hinge axis, the first clamp clamping jaw and the second clamp clamping jaw use identical structure, the two mirror image
Setting；The middle and upper part of the first clamp clamping jaw and the middle and upper part of the second clamp clamping jaw are connected to one by the hinge axis
It rises.
3. components pick device according to claim 2, which is characterized in that the first clamp clamping jaw include clamping jaw,
Vice body and clamp handle；The clamping jaw uses rectangular parallelepiped structure, and one end of short transverse is provided with boss, and the other end is provided with folder
Tool, the fixture are detachably connected with clamping jaw；
The vice body includes two vertical bars disposed in parallel and a cross bar, and along the width direction of the clamping jaw, two vertical bars are perpendicular
It is directly spaced apart and arranged on the boss, two vertical bars are connect with the opposite end of boss connecting pin by the cross bar；
Along the direction parallel with the width direction of the cross bar, the opposite end of two vertical bars and boss connecting pin is provided with circle
Hole, the hinge axis are arranged in the circular hole；The clamp handle and a vertical bar be provided with one end one of the circular hole at
Type is fixedly connected, and the clamp handle is parallel with another vertical bar；The clamp handle offers partially on the side of its thickness direction
Heart hole.
4. components pick device according to claim 3, which is characterized in that described along the short transverse of the clamp handle
Eccentric orfice is greater than the aperture of the other end of the eccentric orfice far from the vertical bar close to the aperture of one end of the vertical bar.
5. components pick device according to claim 3 or 4, which is characterized in that the driving component includes cylinder, connects
Extension bar and drive shaft；The piston rod of the cylinder is connect with one end of the connecting rod, the other end of the connecting rod with it is described
Drive axis connection；The side of the clamp handle of the drive shaft where with the eccentric orfice is vertical, along the first clamp clamping jaw
Short transverse, the cylinder drives the drive shaft to pump in the eccentric orfice by the connecting rod.
6. components pick device according to claim 3 or 4, which is characterized in that the vacuumizing assembly includes vacuum
Generator, suction pipe and channel；Along the short transverse of the clamping jaw, the channel is offered in the inside of the clamping jaw；The suction
One end of pipe is connect with the vacuum generator, and the other end is connect with the channel.
7. components pick device according to claim 6, which is characterized in that the air entry in the channel is arranged described
The exhaust outlet of the junction of clamping jaw and fixture, the channel is arranged on the boss, and between two vertical bars；It is described
Suction pipe is connect with the exhaust outlet.
8. according to components pick device described in Claims 2 or 3 or 4, which is characterized in that the components pick device is also
Including spring-loaded plunger, two spring-loaded plungers are oppositely arranged on clamping jaw and second clamp folder in the first clamp clamping jaw
The two sides of clamping jaw in pawl, the spring-loaded plunger is for limiting in the first clamp clamping jaw in clamping jaw and the second clamp clamping jaw
The opening stroke of clamping jaw is also used to hold out against two clamping jaws when the first clamp clamping jaw and the second clamp clamping jaw are closed.
9. a kind of components pick-up method, which comprises the following steps:
Components pick device as described in any one of claims 1 to 8 is set；
Starting cylinder, cylinder is moved upwards in eccentric orfice by connecting rod drive drive shaft, in the two sides of components to be picked up,
So that the first clamp clamping jaw and the second clamp clamping jaw are opened；
Start vacuum generator, vacuum generator is vacuumized in channel by suction pipe, so that being formed around components to be picked up
Components to be picked up are adsorbed on the imitative of the fixture that clamping jaw is connect with clamping jaw in the second clamp clamping jaw in the first clamp clamping jaw by negative pressure
On shape face；
Cylinder drives drive shaft to move downward in eccentric orfice by connecting rod, and the first clamp clamping jaw and the second clamp clamping jaw close
It closes, fixture clamps components to be picked up.
10. components pick-up method as claimed in claim 9, which is characterized in that further comprising the steps of: setting spring stack
Plug, the first clamp clamping jaw and the second clamp clamping jaw closure and fixture is when clamping components to be picked up, two spring-loaded plungers are by first
Clamp clamping jaw and the second clamp clamping jaw are held out against.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405689.9A CN110027004B (en) | 2019-05-16 | 2019-05-16 | Component pickup device and pickup method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405689.9A CN110027004B (en) | 2019-05-16 | 2019-05-16 | Component pickup device and pickup method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110027004A true CN110027004A (en) | 2019-07-19 |
| CN110027004B CN110027004B (en) | 2024-05-10 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910405689.9A Active CN110027004B (en) | 2019-05-16 | 2019-05-16 | Component pickup device and pickup method |
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| CN (1) | CN110027004B (en) |
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