CN110855040A - Motor rotor structure and permanent magnet synchronous motor - Google Patents
Motor rotor structure and permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN110855040A CN110855040A CN201911152783.4A CN201911152783A CN110855040A CN 110855040 A CN110855040 A CN 110855040A CN 201911152783 A CN201911152783 A CN 201911152783A CN 110855040 A CN110855040 A CN 110855040A
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- shaft
- synchronizer
- permanent magnet
- output shaft
- motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/003—Couplings; Details of shafts
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
Abstract
The invention discloses a motor rotor structure and a permanent magnet synchronous motor, and belongs to the field of motor equipment. This electric motor rotor structure is used for PMSM, includes: the synchronous motor comprises an output shaft, a first rotor core with a permanent magnet, a second rotor core with a permanent magnet, a sleeve shaft, a synchronizer and a synchronizer control piece. The output shaft comprises a first mounting section, a second mounting section and a third mounting section which are connected in sequence along the direction from the output end to the non-output end; the first rotor iron core is sleeved on the first mounting section of the output shaft; the synchronizer is axially movably arranged on the second mounting section of the output shaft; the second rotor iron core is sleeved on the sleeve shaft, and the sleeve shaft is rotatably sleeved on the third mounting section of the output shaft; the sleeve shaft and the synchronizer are in adaptive insertion connection through opposite end parts. The motor rotor structure disconnects the rotor under the working condition of low torque and connects the rotor under the working condition of high torque, so that the aim of a multi-motor system is fulfilled, and extra loss is avoided.
Description
Technical Field
The invention relates to the field of motor equipment, in particular to a motor rotor structure and a permanent magnet synchronous motor.
Background
With the gradual popularization of new energy automobiles, the requirements on the performance and the efficiency of a power system of the new energy automobiles are continuously improved. The permanent magnet synchronous motor is widely applied to new energy automobiles based on the advantages of high power density, high operation efficiency and the like. Because the efficiency of the motors under different working conditions is different, the multi-motor system can ensure that the motors in the system work in a high-efficiency area by distributing the output performance of each motor according to the working condition requirements and the motor characteristics so as to improve the efficiency of the electric drive system.
At present, in order to reduce the volume of a multi-motor system, the electromagnetic part of a permanent magnet synchronous motor is generally integrated, and the rotor core of the permanent magnet synchronous motor is installed on the same output shaft.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
for a rotor in a driven state (i.e. not working, but rotating with it), it generates a certain amount of loss when rotating, and at its high rotation speed, it needs to input extra weak magnetic current to suppress, which causes more loss.
Disclosure of Invention
In view of this, the present invention provides a motor rotor structure and a permanent magnet synchronous motor, which can solve the above technical problems. Specifically, the method comprises the following technical scheme:
in one aspect, an electric machine rotor structure for a permanent magnet synchronous electric machine is provided, including: the synchronous motor comprises an output shaft, a first rotor core with a permanent magnet, a second rotor core with a permanent magnet, a sleeve shaft, a synchronizer and a synchronizer control piece;
the output shaft comprises a first mounting section, a second mounting section and a third mounting section which are connected in sequence along the direction from the output end to the non-output end;
the first rotor iron core is sleeved on the first mounting section of the output shaft;
the synchronizer is arranged on the second mounting section of the output shaft and can axially move under the control of the synchronizer control member;
the second rotor iron core is sleeved on the sleeve shaft, and the sleeve shaft is rotatably sleeved on the third mounting section of the output shaft;
the sleeve shaft and the synchronizer are in adaptive insertion connection through opposite end parts.
In one possible implementation, needle bearings are provided between both ends of the sleeve shaft and the output shaft.
In one possible implementation, the synchronizer control includes: one end of the poking shaft is connected with the synchronizer;
the transmission block is fixedly connected with the other end of the shifting shaft;
and the main shaft is in threaded connection with the transmission block.
In a possible implementation manner, a tooth block is arranged at the end part of the sleeve shaft opposite to the synchronizer, and a tooth groove matched with the tooth block is arranged at the end part of the synchronizer opposite to the sleeve shaft;
the tooth blocks are meshed with the tooth grooves to realize insertion connection.
In another aspect, a permanent magnet synchronous motor is provided, which includes any one of the above motor rotor structures.
In one possible implementation, the permanent magnet synchronous motor further includes: the motor comprises a shell, a first stator and a second stator;
both ends of the output shaft are rotatably connected with the shell;
the first stator and the second stator are symmetrically fixed on two sides of the shell, the first stator is matched with the first rotor core, and the second stator is matched with the second rotor core.
In one possible implementation, the power of the first stator is different from the power of the second stator.
In one possible implementation, one end of the output shaft and one end of the sleeve shaft are respectively connected with the housing through ball bearings.
In one possible implementation, the non-output end of the output shaft is provided with a first position sensor; and a second position sensor is arranged at the non-output end of the sleeve shaft.
In a possible implementation manner, a used shaft hole is arranged on the shell corresponding to the position of the shifting shaft and used for enabling the shifting shaft to pass through;
the gear shifting motor is fixed outside the shell.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the motor rotor structure provided by the embodiment of the invention can be used for a permanent magnet synchronous motor, and a synchronizer is arranged on the second mounting section of the output shaft, and a sleeve shaft is arranged on the third mounting section of the output shaft. When the synchronizer is used, under the control of the synchronizer control piece, the synchronizer can move axially, and then the synchronizer and the sleeve shaft are inserted or disconnected through the opposite end parts. When the working condition of large torque is adopted, the sleeve shaft and the synchronizer are plugged, and the sleeve shaft and the synchronizer can synchronously rotate, so that the aim of multi-motor synchronous operation is fulfilled. When the low-torque working condition is adopted, the sleeve shaft and the synchronizer are disconnected for plugging, the mechanical connection between the output shaft and the sleeve shaft is disconnected, only the output shaft rotates, and the sleeve shaft does not rotate, so that the second rotor core which does not work rotates along with the first rotor core, and the extra loss caused by the driven rotor can be avoided for the motor which does not output. Therefore, the motor rotor structure provided by the embodiment of the invention can be used for disconnecting the rotors under the working condition of low torque and connecting the rotors under the working condition of high torque, so that the aim of a multi-motor system is fulfilled, the loss caused by reverse dragging of a driven state is avoided, particularly, the input of weak magnetic current caused by high-speed dragging of the driven state can be effectively avoided under the condition of high rotating speed, and further, the additional loss is avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic cross-sectional structural view of a rotor structure of a motor according to an embodiment of the present invention;
fig. 2 is a schematic cross-sectional structural view of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of a permanent magnet synchronous motor according to an embodiment of the present invention.
The reference numerals denote:
1-output shaft, 2-first rotor iron core, 3-second rotor iron core, 4-sleeve shaft,
5-synchronizer, 501-tooth space, 6-tooth block, 7-needle bearing, 8-shifting shaft, 9-gear shifting motor,
10-housing, 11-first stator, 12-second stator, 13-ball bearing,
14-first position sensor, 15-second position sensor.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following will describe embodiments of the present invention in further detail with reference to the accompanying drawings.
In one aspect, an embodiment of the present invention provides a rotor structure of a motor, where the rotor structure of the motor is used for a permanent magnet synchronous motor, and as shown in fig. 1 and fig. 2, the rotor structure of the motor includes: the synchronous motor comprises an output shaft 1, a first rotor iron core 2 with a permanent magnet, a second rotor iron core 3 with a permanent magnet, a sleeve shaft 4, a synchronizer 5 and a synchronizer control piece.
The output shaft 1 comprises a first mounting section, a second mounting section and a third mounting section which are connected in sequence along the direction from the output end to the non-output end;
a first rotor iron core 2 with a permanent magnet is sleeved on a first mounting section of the output shaft 1;
the synchronizer 5 is axially movably arranged at the second mounting section of the output shaft 1;
the second rotor iron core 3 with a permanent magnet is sleeved on the sleeve shaft 4, and the sleeve shaft 4 is rotatably sleeved on the third mounting section of the output shaft 1;
the sleeve shaft 4 and the synchronizer 5 are inserted and connected through opposite end parts.
The motor rotor structure provided by the embodiment of the invention can be used for a permanent magnet synchronous motor, and a synchronizer 5 is arranged on the second mounting section of the output shaft 1, and a sleeve shaft 4 is arranged on the third mounting section of the output shaft. When the synchronizer is used, the synchronizer 5 can move axially under the control of the synchronizer control piece, so that the synchronizer and the sleeve shaft 4 are inserted or disconnected through the opposite end parts. When the working condition of large torque is adopted, the sleeve shaft 4 and the synchronizer 5 are inserted, and the sleeve shaft and the synchronizer can synchronously rotate, so that the aim of multi-motor synchronous operation is fulfilled. When the motor is in a low-torque working condition, the sleeve shaft 4 is disconnected with the synchronizer in an inserting mode, the mechanical connection between the output shaft 1 and the sleeve shaft 4 is disconnected, only the output shaft 1 rotates, and the sleeve shaft 4 does not rotate, so that the second rotor core 3 which does not work and is provided with the permanent magnet rotates along with the first rotor core 2 provided with the permanent magnet, and further the extra loss caused by the driven rotor can be avoided for a non-output motor. Therefore, the motor rotor structure provided by the embodiment of the invention can be used for disconnecting the rotors under the working condition of low torque and connecting the rotors under the working condition of high torque, so that the aim of a multi-motor system is fulfilled, the loss caused by reverse dragging of a driven state is avoided, particularly, the input of weak magnetic current caused by high-speed dragging of the driven state can be effectively avoided under the condition of high rotating speed, and further, the additional loss is avoided.
The sleeve shaft 4 and the synchronizer 5 are inserted and connected by opposite end parts in an adaptive manner, and the insertion and connection mode between the sleeve shaft and the synchronizer can be exemplified as follows:
as an example, as shown in fig. 1, a tooth block 6 may be provided at an end of the sleeve shaft 4 opposite to the synchronizer 5, and a tooth socket 501 adapted to the tooth block 6 may be provided at an end of the synchronizer 5 opposite to the sleeve shaft 4. The insertion is realized by the meshing between the tooth block 6 and the tooth socket 501.
The tooth block 6 on the sleeve shaft 4 enters or exits the tooth groove 501 on the synchronizer 5, so that the sleeve shaft 4 and the synchronizer 5 can be plugged or unplugged. When the working condition of large torque is met, the tooth block 6 on the sleeve shaft 4 enters the tooth groove 501 on the synchronizer 5, so that the output shaft 1 and the sleeve shaft 4 form mechanical connection, the output shaft and the sleeve shaft 4 can synchronously rotate, and the purpose of multi-motor synchronous operation is achieved. When the motor is in a low-torque working condition, the tooth block 6 on the sleeve shaft 4 is withdrawn from the tooth groove 501 on the synchronizer 5, so that the mechanical connection between the output shaft 1 and the sleeve shaft 4 is disconnected, only the output shaft 1 rotates, but the sleeve shaft 4 does not rotate, and thus the second rotor core 3 with the permanent magnet, which does not work, is prevented from rotating along with the first rotor core 2 with the permanent magnet, and further the loss caused by the driven rotor of the non-output motor can be avoided.
As another example, a spline may be provided at the opposite end of the sleeve shaft 4, and a block adapted to the spline may be provided at the opposite end of the synchronizer 5.
It will be appreciated that the synchronizer 5, although being axially movably arranged on the second mounting section of the output shaft 1, stays only in two extreme positions, a first extreme position in which the synchronizer 5 is plugged into the sleeve shaft 4 for mechanical connection and a second extreme position in which the synchronizer 5 is unplugged, i.e. separated, from the sleeve shaft 4 for mechanical connection.
In addition, the rotor structure provided based on the embodiment of the invention is used for a permanent magnet synchronous motor, so that the structures of the first rotor core 2 with the permanent magnet and the second rotor core 3 with the permanent magnet are designed based on the requirements of the permanent magnet synchronous motor so as to meet the operation requirements of the permanent magnet synchronous motor.
According to the motor rotor structure provided by the embodiment of the invention, the first rotor core 2 with the permanent magnet and the second rotor core 3 with the permanent magnet are integrated in one motor shell through the synchronizer 5, so that the small size is realized. In order to further reduce the volume of the motor rotor structure and to enable the output shaft 1 to smoothly rotate relative to the sleeve shaft 4 when the output shaft 1 is independently operated, needle bearings 7 may be provided between both ends of the sleeve shaft 4 and the output shaft 1.
The needle bearings 7 are respectively located at two ends of the sleeve shaft 4, specifically, one of the needle bearings 7 is located at a position close to the synchronizer 5 to achieve a centering effect, and the other needle bearing 7 is located at a position close to a non-output end of the synchronizer 5 to share a supporting load of the needle bearing 7 at the opposite side.
When in use, a bearing groove can be arranged on the outer wall of the third mounting section of the output shaft 1 corresponding to the needle bearing 7 to mount the needle bearing 7.
The embodiment of the present invention controls the axial movement of the synchronizer 5 by using the synchronizer 5 control, as an example, as shown in fig. 1 to 3, the synchronizer 5 control may include: a dial shaft 8 having one end connected to the synchronizer 5;
the transmission block is fixedly connected with the other end of the shifting shaft 8;
and the main shaft is connected with a gear shifting motor 9 through threads of the transmission block.
When the synchronizer is used, the main shaft of the gear shifting motor 9 rotates to drive the transmission block in threaded connection with the gear shifting motor to axially move, and then the shifting shaft 8 axially moves to achieve the purpose of axially moving the synchronizer 5. It will be appreciated that the main shaft of the shift motor 9 is aligned with the axial direction of the output shaft 1.
Wherein, shift motor 9 can adopt small dimension motor, for example micro motor, under the prerequisite of guaranteeing to make 5 axial displacement of synchronous ware, reach the purpose of reducing motor rotor structure volume.
In another aspect, an embodiment of the present invention provides a permanent magnet synchronous motor, which includes any one of the above motor rotor structures.
Based on the motor rotor structure provided by the embodiment of the invention, the permanent magnet synchronous motor provided by the embodiment of the invention has the advantages of low loss, small volume and the like while achieving the purpose of meeting the requirements of a multi-motor system, and is beneficial to large-scale popularization and application.
As an example, the permanent magnet synchronous motor provided in the embodiment of the present invention may be used in a new energy automobile, and at this time, the output end of the output shaft 1 may be coaxially connected to a reduction gearbox of the automobile. Of course, the load connected to the output end of the output shaft 1 is different depending on the application.
Further, as shown in fig. 2, the permanent magnet synchronous motor according to the embodiment of the present invention further includes: the stator comprises a shell 10, a first stator 11 and a second stator 12. Wherein, both ends of the output shaft 1 are rotatably connected with the shell 10; the first stator 11 and the second stator 12 are symmetrically fixed to both sides of the housing 10, and the first stator 11 is engaged with the first rotor core 2, and the second stator 12 is engaged with the second rotor core 3.
It is understood that the first stator 11 and the first rotor core 2 having permanent magnets cooperate to constitute a first motor, and the second stator 12 and the second rotor core 3 having permanent magnets cooperate to constitute a second motor.
The power of the first stator 11 and the power of the second stator 12 may be the same or different, and the power of the first stator 11 and the power of the second stator 12 may be adaptively set according to an application object of the permanent magnet synchronous motor. In one possible implementation, the power of the first stator 11 is different from the power of the second stator 12 to expand the use range of the permanent magnet synchronous motor, for example, the power of the first stator 11 may be larger than the power of the second stator 12.
In order to improve the stability of the output shaft 1 when being connected with the housing 10 and meet the requirement of rotation, in the embodiment of the invention, as shown in fig. 1, one end of the output shaft 1 and one end of the sleeve shaft 4 are respectively connected with the housing 10 through the ball bearing 13.
In order to facilitate real-time control of the operation process of the permanent magnet synchronous motor, for example, whether or not it is necessary to switch the first rotor core 2 having the permanent magnet or the second rotor core 3 having the permanent magnet, and when to switch them, the embodiment of the present invention is provided with the first position sensor 14 at the non-output end of the output shaft 1, and the second position sensor 15 at the non-output end of the sleeve shaft 4, by which the rotation angle of the corresponding shaft is detected in real time, to implement the above-described control process.
Through setting up first position sensor 14 at the non-output end of output shaft 1, set up second position sensor 15 at the non-output end of sleeve 4, not only do benefit to the control accuracy who improves above-mentioned control process, and do benefit to and simplify this PMSM's inner structure, reduce its volume. It will be appreciated that the first position sensor 14 and the second position sensor 15 are both electrically connected to the control system of the permanent magnet synchronous motor to facilitate real-time transmission of test data.
The non-output ends of the output shaft 1 and the sleeve shaft 4 can both extend out of the housing 10, and the non-output end of the output shaft 1 is located behind the non-output end of the sleeve shaft 4. In order to protect the position sensor thereon, a detachable protective cover may be provided at a position of the housing 10 corresponding to the above-mentioned non-output terminal.
In order to facilitate maintenance of the control member of the synchronizer 5, the gear shifting motor 9 can be positioned outside the shell 10, and thus, a used shaft hole can be arranged on the shell 10 corresponding to the position of the shifting shaft 8 and used for enabling the shifting shaft 8 to pass through; the shift motor 9 may be fixed to the outside of the housing 10.
The above description is only for facilitating the understanding of the technical solutions of the present invention by those skilled in the art, and is not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An electric motor rotor structure, characterized in that, electric motor rotor structure is used for permanent magnet synchronous motor, includes: the synchronous motor comprises an output shaft, a first rotor core with a permanent magnet, a second rotor core with a permanent magnet, a sleeve shaft, a synchronizer and a synchronizer control piece;
the output shaft comprises a first mounting section, a second mounting section and a third mounting section which are connected in sequence along the direction from the output end to the non-output end;
the first rotor iron core is sleeved on the first mounting section of the output shaft;
the synchronizer is arranged on the second mounting section of the output shaft and can axially move under the control of the synchronizer control member;
the second rotor iron core is sleeved on the sleeve shaft, and the sleeve shaft is rotatably sleeved on the third mounting section of the output shaft;
the sleeve shaft and the synchronizer are in adaptive insertion connection through opposite end parts.
2. The electric machine rotor structure of claim 1, wherein needle bearings are provided between both ends of the sleeve shaft and the output shaft.
3. The electric machine rotor structure of claim 1, wherein the synchronizer control member comprises: one end of the poking shaft is connected with the synchronizer;
the transmission block is fixedly connected with the other end of the shifting shaft;
and the main shaft is in threaded connection with the transmission block.
4. The electric motor rotor structure of claim 1, wherein the end of the sleeve shaft opposite to the synchronizer is provided with a tooth block, and the end of the synchronizer opposite to the sleeve shaft is provided with a tooth slot matched with the tooth block;
the tooth blocks are meshed with the tooth grooves to realize insertion connection.
5. A permanent magnet synchronous machine, characterized in that it comprises a machine rotor structure according to any of claims 1-4.
6. The permanent magnet synchronous motor according to claim 5, further comprising: the motor comprises a shell, a first stator and a second stator;
both ends of the output shaft are rotatably connected with the shell;
the first stator and the second stator are symmetrically fixed on two sides of the shell, the first stator is matched with the first rotor core, and the second stator is matched with the second rotor core.
7. The permanent magnet synchronous motor of claim 6, wherein the power of the first stator is different from the power of the second stator.
8. The permanent magnet synchronous motor according to claim 6, wherein one ends of the output shaft and the sleeve shaft are connected to the housing through ball bearings, respectively.
9. The permanent magnet synchronous motor according to claim 6, wherein a non-output end of the output shaft is provided with a first position sensor; and a second position sensor is arranged at the non-output end of the sleeve shaft.
10. The permanent magnet synchronous motor according to claim 6, wherein a used shaft hole is provided in the housing at a position corresponding to the dial shaft for passing the dial shaft therethrough;
the gear shifting motor is fixed outside the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911152783.4A CN110855040B (en) | 2019-11-22 | 2019-11-22 | Motor rotor structure and permanent magnet synchronous motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911152783.4A CN110855040B (en) | 2019-11-22 | 2019-11-22 | Motor rotor structure and permanent magnet synchronous motor |
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| CN110855040A true CN110855040A (en) | 2020-02-28 |
| CN110855040B CN110855040B (en) | 2022-03-11 |
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| CN111654152A (en) * | 2020-06-15 | 2020-09-11 | 博雅工道（北京）机器人科技有限公司 | Single-drive double-shaft motor and mechanical arm |
| CN112398246A (en) * | 2020-09-25 | 2021-02-23 | 开沃新能源汽车集团股份有限公司 | Double-motor rotor structure |
| CN112769293A (en) * | 2020-12-28 | 2021-05-07 | 中国原子能科学研究院 | Combined reluctance motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111654152A (en) * | 2020-06-15 | 2020-09-11 | 博雅工道（北京）机器人科技有限公司 | Single-drive double-shaft motor and mechanical arm |
| CN112398246A (en) * | 2020-09-25 | 2021-02-23 | 开沃新能源汽车集团股份有限公司 | Double-motor rotor structure |
| CN112769293A (en) * | 2020-12-28 | 2021-05-07 | 中国原子能科学研究院 | Combined reluctance motor |
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| CN110855040B (en) | 2022-03-11 |
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