CN111077010A - Do benefit to pneumatic cylinder test bench of centering - Google Patents
Do benefit to pneumatic cylinder test bench of centering Download PDFInfo
- Publication number
- CN111077010A CN111077010A CN202010022261.9A CN202010022261A CN111077010A CN 111077010 A CN111077010 A CN 111077010A CN 202010022261 A CN202010022261 A CN 202010022261A CN 111077010 A CN111077010 A CN 111077010A
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- hydraulic cylinder
- piston rod
- test bench
- centering
- test
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- 238000012360 testing method Methods 0.000 title claims abstract description 62
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000009286 beneficial effect Effects 0.000 claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims description 34
- 238000001514 detection method Methods 0.000 claims description 11
- 210000004907 gland Anatomy 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000013016 damping Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
- G01N3/06—Special adaptations of indicating or recording means
- G01N3/068—Special adaptations of indicating or recording means with optical indicating or recording means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/32—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces
- G01N3/36—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces generated by pneumatic or hydraulic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0001—Type of application of the stress
- G01N2203/0005—Repeated or cyclic
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0016—Tensile or compressive
- G01N2203/0017—Tensile
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0016—Tensile or compressive
- G01N2203/0019—Compressive
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/003—Generation of the force
- G01N2203/0042—Pneumatic or hydraulic means
- G01N2203/0048—Hydraulic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
- G01N2203/0641—Indicating or recording means; Sensing means using optical, X-ray, ultraviolet, infrared or similar detectors
Abstract
The invention relates to a hydraulic cylinder test bench beneficial to centering, which comprises: the test bed comprises a test bed body, a hydraulic cylinder driving system, a hydraulic cylinder parameter measuring system, a hydraulic cylinder fixing system, a hydraulic cylinder centering system and a hydraulic cylinder control system. The hydraulic cylinder test bed beneficial to centering can ensure the accurate movement of the piston rod through the accurate coincidence of the axis of the linear bearing, the axis of the piston rod and the axis of the cylinder barrel of the hydraulic cylinder, the traditional test bed is fixed only through one end of the piston rod, and the piston rod is not concentric with the hydraulic cylinder easily because the end part generates small deviation, so that the service life of the hydraulic cylinder is shortened.
Description
Technical Field
The invention relates to the technical field of hydraulic cylinder testing, in particular to a hydraulic cylinder testing test bed beneficial to centering.
Background
The hydraulic cylinder is an important energy conversion device, has a simple structure, a simple working principle and reliable work, and can provide larger driving force, so that the hydraulic cylinder is widely applied to the industry. Because the hydraulic cylinder is mainly applied to the field with larger load, and the requirements of various performances such as control precision and the like are higher, the precision and the safety of the transmission system are directly determined by the performance of the hydraulic cylinder. Therefore, the design of the hydraulic cylinder testing equipment is particularly important for the fatigue performance and the external load characteristic of the hydraulic cylinder.
And traditional pneumatic cylinder piston rod only leans on one end to fix and carries out the centering, does not have the accuracy, in case the part deviation appears, causes the eccentric of pneumatic cylinder piston rod very easily to cause serious influence to the life-span of experiment and pneumatic cylinder.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a hydraulic cylinder test bed beneficial to centering, which aims to solve the technical problem that a piston rod in the prior art cannot be accurately aligned with an axis by centering and constraining the piston rod.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a hydraulic cylinder test bench beneficial to centering, which comprises:
a test bed body;
the hydraulic cylinder driving system is fixed on the test bed body and used for driving a piston rod of the tested hydraulic cylinder to reciprocate along the axis of the piston rod or have a reciprocating motion trend;
hydraulic cylinder parameter measurement system includes: the sensor connecting platform is connected with the hydraulic cylinder driving system and can make linear reciprocating movement under the pushing of the hydraulic cylinder driving system, the sensor connecting platform is sequentially connected with the tension pressure detecting element, the piston rod mounting connecting piece and the piston rod, the tension pressure detecting element is used for obtaining the axial tension pressure exerted on the piston rod by the hydraulic cylinder driving system, the displacement detecting element is arranged on the piston rod mounting connecting piece, and the displacement detecting element is used for obtaining the telescopic displacement of the piston rod;
the hydraulic cylinder fixing system is used for fixing the tested hydraulic cylinder on the test bed body;
the hydraulic cylinder centering system is used for limiting the axis of the piston rod to be consistent with the force application direction of the hydraulic cylinder driving system, and comprises: the bearing base is fixed on the test board body, a linear bearing matched with the diameter of the piston rod is arranged on the bearing base, and the piston rod penetrates through the linear bearing and is fixed with the piston rod installation connecting piece;
and the hydraulic cylinder control system is used for respectively controlling the hydraulic cylinder driving system, the pressure detection element and the displacement detection element and displaying detection data.
As a further technical scheme, the displacement detection element is a grating ruler displacement sensor, and a grating ruler matched with the grating ruler displacement sensor is arranged on the side surface of the grating ruler displacement sensor.
As a further technical scheme, one side of the test bed body is provided with a test bed side plate, and the grating ruler displacement sensor is arranged on the test bed side plate.
As a further technical scheme, the hydraulic cylinder fixing system is arranged at one end of the test bed body; and the hydraulic cylinder driving system is arranged at the other end of the test bed body.
As a further technical solution, the hydraulic cylinder fixing system includes: the test bench comprises a clamp base and a clamp gland, wherein the clamp base is fixed on the test bench body, and the clamp gland is used for buckling and fixing the detected hydraulic cylinder on the clamp base.
As a further technical scheme, a baffle abutting against the cylinder bottom of the cylinder barrel of the detected hydraulic cylinder is arranged on the clamp base.
As a further aspect, the hydraulic cylinder drive system includes: the driving motor is fixed on the test bed body, the output end of the driving motor is connected with the linear module, the linear module is fixed on the test bed body, and the sensor connecting platform is connected to the linear motion end of the linear module.
As a further technical solution, the pulling and pressing force detecting element is a pulling and pressing force sensor.
By adopting the technical scheme, the invention has the following beneficial effects:
according to the hydraulic cylinder test bed beneficial to centering, accurate movement of the piston rod can be guaranteed through accurate coincidence of the axis of the linear bearing, the axis of the piston rod and the axis of the cylinder barrel of the hydraulic cylinder, the piston rod is fixed through one end of the piston rod in the prior art, and the piston rod is not concentric with the hydraulic cylinder easily due to small deviation of the end part, so that the service life of the hydraulic cylinder is shortened. .
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic overall structure diagram of a hydraulic cylinder test bench for centering according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a hydraulic cylinder testing system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a hydraulic cylinder centering system provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a hydraulic cylinder fixing system according to an embodiment of the present invention.
Icon: 1-a linear module; 2-a sensor connection platform; 3-a pull pressure sensor; 4-the piston rod is provided with a connecting piece; 5-a grating ruler displacement sensor; 6-grating ruler; 7-a piston rod; 8-linear bearings; 9-bearing seat; 10-a hydraulic cylinder; 11-clamp gland; 12-a clamp base; 13-test stand body.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Referring to fig. 1, fig. 2, fig. 3, and fig. 4, a specific embodiment of a hydraulic cylinder test bench for centering is provided for the present embodiment, and the specific embodiment specifically includes: the test bed comprises a test bed body 13, a hydraulic cylinder driving system, a hydraulic cylinder parameter measuring system, a hydraulic cylinder fixing system, a hydraulic cylinder centering system and a hydraulic cylinder control system.
The hydraulic cylinder driving system is fixed at one end of the test bed body 13 and used for driving the piston rod 7 of the tested hydraulic cylinder 10 to reciprocate along the axis of the piston rod or have a reciprocating trend, and specifically, the hydraulic cylinder driving system comprises: driving motor, driving motor fixes on "L" type mount pad, and driving motor's output passes the hole on "L" type mount pad and is connected with linear module 1, and linear module 1 specifically chooses the linear module of THK for use, and linear module 1 is fixed on "L" type mount pad, and "L" type mount pad is fixed on test bench body 13.
The hydraulic cylinder parameter measuring system specifically comprises: the device comprises a sensor connecting platform 2, a tension and pressure detecting element, a piston rod mounting connecting piece 4 and a displacement detecting element 5, wherein the sensor connecting platform 2 is connected with a linear motion end of a linear module 1 and linearly reciprocates under the drive of the linear module 1, the sensor connecting platform 2 is sequentially connected with the tension and pressure detecting element, the piston rod mounting connecting piece 4 and a piston rod 7, the tension and pressure detecting element is used for acquiring the axial tension and pressure exerted on the piston rod 7 by a hydraulic cylinder driving motor, the tension and pressure detecting element is specifically a tension and pressure sensor 3, the displacement detecting element is arranged on the piston rod mounting connecting piece 4 and is used for acquiring the telescopic displacement of the piston rod 7, the displacement detecting element is specifically a grating ruler displacement sensor 5, a grating ruler 6 matched with the grating ruler displacement sensor 5 is arranged on the side surface of the grating ruler displacement sensor 5, and a test bed side plate is, the grating ruler displacement sensor 6 is arranged on the side plate of the test bed.
The hydraulic cylinder fixing system is arranged at the other end of the test bed body 13 and used for fixing the tested hydraulic cylinder 10 on the test bed body 13, and the hydraulic cylinder fixing system specifically comprises: anchor clamps base 12 and anchor clamps gland 11, anchor clamps base 12 are fixed on test bench body 13, and anchor clamps gland 11 will be detected pneumatic cylinder 10 withhold and fix on anchor clamps base 12, is provided with on the anchor clamps base 12 to lean on the baffle that leans on to be detected the pneumatic cylinder 10 cylinder barrel head.
The hydraulic cylinder centering system is used for limiting the force application direction of the axis of the piston rod 7 to be consistent with that of the hydraulic cylinder driving system, and specifically comprises: the bearing base 9 is fixed on the test bench body 13, the linear bearing 8 matched with the diameter of the piston rod 7 is arranged on the bearing base 9, the piston rod 7 is only allowed to pass through along the axis of the linear bearing 8, and the piston rod 7 passes through the linear bearing 8 and is fixed with the piston rod mounting connecting piece 4. In the use process, if the end of the piston rod 7 slightly deviates, the axis of the piston rod 7 can be ensured to coincide with the axis of the hydraulic cylinder 10 under the constraint of the linear bearing 8.
And the hydraulic cylinder control system controls the hydraulic cylinder driving system, the pressure detection element and the displacement detection element respectively and displays detection data, and particularly the whole control system is controlled and information displayed uniformly by an industrial personal computer. And parameters are input through the industrial personal computer, and the motion of the motor is controlled through the motion control card and the driver. The information of the grating and the pressure sensor is collected by a collecting card and input to an industrial personal computer for display.
And developing a human-computer interaction interface by adopting virtual instrument technology (labview) software installed on an industrial personal computer.
The control adopts PID control, the speed is high (1800 rpm), and the motor adopts closed-loop control.
The motor 7 is driven to move a specific track in a time period (circulation), and meanwhile, a circulation is made in the previous circulation to synchronously sample (simultaneously acquire the grating and the force sensor) and draw in real time.
The working principle of the embodiment is as follows:
and opening the liquid inlet and outlet of the hydraulic cylinder 10 to enable the hydraulic cylinder 10 to move freely.
And starting a driving motor, wherein the motor drives the moving end of the THK linear module to do linear reciprocating motion.
The moving end pulls the sensor connecting platform 2 to move, and the force is transmitted to the pulling pressure sensor 3 through the sensor connecting platform 2 to measure the damping force applied to the hydraulic cylinder 10 at the moment.
A grating displacement sensor 5 located above the piston rod attachment 4 registers the amount of movement displacement of the hydraulic cylinder 10.
The fatigue performance of the hydraulic cylinder 10 is tested by the repeated movement of the driving motor, and the movement times, the displacement and the damping force are measured and recorded by the tension and pressure sensor 3 and the grating ruler displacement sensor 5.
And closing the inlet and outlet of the hydraulic cylinder 10, and locking the hydraulic cylinder 10 to prevent the hydraulic cylinder from moving.
The driving motor applies various constant forces to the measured liquid cylinder 10, observes and records the state of the measured cylinder, checks the displacement condition of the hydraulic cylinder 10 recorded by the grating ruler displacement sensor 5, and determines various performances of the hydraulic cylinder 10 according to whether the hydraulic cylinder 10 leaks or not.
The driving motor is used for applying limit loading pressure to the tested hydraulic cylinder 10, and if the hydraulic cylinder can still normally work for one minute under the limit pressure condition, the hydraulic cylinder 10 has good working performance and can be well applied.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a do benefit to pneumatic cylinder test bench of centering which characterized in that, it includes:
a test bed body;
the hydraulic cylinder driving system is fixed on the test bed body and used for driving a piston rod of the tested hydraulic cylinder to reciprocate along the axis of the piston rod or have a reciprocating motion trend;
hydraulic cylinder parameter measurement system includes: the sensor connecting platform is connected with the hydraulic cylinder driving system and can make linear reciprocating movement under the pushing of the hydraulic cylinder driving system, the sensor connecting platform is sequentially connected with the tension pressure detecting element, the piston rod mounting connecting piece and the piston rod, the tension pressure detecting element is used for obtaining the axial tension pressure exerted on the piston rod by the hydraulic cylinder driving system, the displacement detecting element is arranged on the piston rod mounting connecting piece, and the displacement detecting element is used for obtaining the telescopic displacement of the piston rod;
the hydraulic cylinder fixing system is used for fixing the tested hydraulic cylinder on the test bed body;
the hydraulic cylinder centering system is used for limiting the axis of the piston rod to be consistent with the force application direction of the hydraulic cylinder driving system, and comprises: the bearing base is fixed on the test board body, a linear bearing matched with the diameter of the piston rod is arranged on the bearing base, and the piston rod penetrates through the linear bearing and is fixed with the piston rod installation connecting piece;
and the hydraulic cylinder control system is used for respectively controlling the hydraulic cylinder driving system, the pressure detection element and the displacement detection element and displaying detection data.
2. The hydraulic cylinder test bench beneficial to centering according to claim 1, wherein the displacement detection element is a grating ruler displacement sensor, and a grating ruler matched with the grating ruler displacement sensor is arranged on the side surface of the grating ruler displacement sensor.
3. The hydraulic cylinder test bench beneficial to centering according to claim 2, characterized in that one side of the test bench body is provided with a test bench side plate, and the grating ruler displacement sensor is arranged on the test bench side plate.
4. The hydraulic cylinder test bench beneficial to centering according to claim 3, characterized in that the hydraulic cylinder fixing system is arranged at one end of the test bench body; and the hydraulic cylinder driving system is arranged at the other end of the test bed body.
5. The hydraulic cylinder test bench facilitating centering of claim 4, wherein the hydraulic cylinder securing system comprises: the test bench comprises a clamp base and a clamp gland, wherein the clamp base is fixed on the test bench body, and the clamp gland is used for buckling and fixing the detected hydraulic cylinder on the clamp base.
6. The hydraulic cylinder test bench beneficial to centering according to claim 5, characterized in that a baffle abutting against the bottom of the cylinder barrel of the detected hydraulic cylinder is arranged on the clamp base.
7. The centering-facilitated hydraulic cylinder test stand of claim 6, wherein the hydraulic cylinder drive system comprises: the driving motor is fixed on the test bed body, the output end of the driving motor is connected with the linear module, the linear module is fixed on the test bed body, and the sensor connecting platform is connected to the linear motion end of the linear module.
8. The hydraulic cylinder test bench facilitating centering of claim 7, wherein the pull pressure detecting element is a pull pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010022261.9A CN111077010A (en) | 2020-01-09 | 2020-01-09 | Do benefit to pneumatic cylinder test bench of centering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010022261.9A CN111077010A (en) | 2020-01-09 | 2020-01-09 | Do benefit to pneumatic cylinder test bench of centering |
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| Publication Number | Publication Date |
|---|---|
| CN111077010A true CN111077010A (en) | 2020-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010022261.9A Pending CN111077010A (en) | 2020-01-09 | 2020-01-09 | Do benefit to pneumatic cylinder test bench of centering |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111999055A (en) * | 2020-07-17 | 2020-11-27 | 路智中 | Hydraulic cylinder fatigue degree detection device |
| CN113669329A (en) * | 2021-10-22 | 2021-11-19 | 济宁安泰矿山设备制造有限公司 | Hydraulic valve endurance test platform |
| CN115217817A (en) * | 2022-09-20 | 2022-10-21 | 济宁鲁威液压科技股份有限公司 | Hydraulic cylinder balance test system and test method |
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| CN110514338A (en) * | 2019-09-05 | 2019-11-29 | 清华大学 | A kind of high-voltage high-speed reciprocation sealing experiment test platform that cylinder body floats |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113669329A (en) * | 2021-10-22 | 2021-11-19 | 济宁安泰矿山设备制造有限公司 | Hydraulic valve endurance test platform |
| CN113669329B (en) * | 2021-10-22 | 2022-01-18 | 济宁安泰矿山设备制造有限公司 | Hydraulic valve endurance test platform |
| CN115217817A (en) * | 2022-09-20 | 2022-10-21 | 济宁鲁威液压科技股份有限公司 | Hydraulic cylinder balance test system and test method |
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Application publication date: 20200428 |
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