CN111115077A - Method and system for grabbing or placing file box by robot - Google Patents
Method and system for grabbing or placing file box by robot Download PDFInfo
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- CN111115077A CN111115077A CN201911286318.XA CN201911286318A CN111115077A CN 111115077 A CN111115077 A CN 111115077A CN 201911286318 A CN201911286318 A CN 201911286318A CN 111115077 A CN111115077 A CN 111115077A
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- gear
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- taking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention relates to the technical field of robots, in particular to a method and a system for grabbing or placing a file box by a robot, wherein the method comprises the following steps: step S1, providing a cantilever device, and driving the cantilever device to grab the file box through the operation of at least two transverse slide rails; step S2, providing a file moving device, and storing the file boxes in batches after grabbing the file boxes according to the cantilever device; step S3, providing an upper computer to send a gear-taking instruction, moving the gear-moving device to a manual gear-taking position according to the gear-taking instruction, and finishing gear-taking after the file box is manually taken away; and step S4, sending a gear placing instruction through the upper computer, moving the gear shifting device to a manual gear taking position according to the gear placing instruction, manually placing the file box on the gear shifting device, moving the gear shifting device to the cantilever device, placing the file box in the unmanned file library by the cantilever device, and finishing gear placing. The technical scheme of the invention has the beneficial effects that: the automation of taking and placing the file box in the file unmanned storehouse is realized.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a system for grabbing or placing a file box by a robot.
Background
Archives generally refer to various forms of original records with storage value directly formed by people in various social activities, the thickness is about 10mm, along with the development of the society, the information quantity of the archives increases exponentially, the workload of archives filing, accessing and consulting is increased day by day, the continuous innovation of new technology, the rapid development and application of big data, RFID (Radio Frequency Identification) technology and robot technology provide new requirements for archive management, and bank intelligent archives based on archive access, inventory and inspection are in more and more demand, and are more suitable for the development steps of safe and efficient archive management at home and abroad.
The work of reading of present archives still is accomplished by archives administrator manual work, and it is hard to waste time and energy, and efficiency is not high, at present stage, some technologies that utilize the robot to get archives have appeared, can alleviate archives administrator's intensity of labour, improve work efficiency, but because the general volume of getting archives robot design is big, the manipulator of snatching the archives is not flexible enough, it is difficult to satisfy the access requirement of archives to snatch the precision, consequently, to above-mentioned problem, become the difficult problem that technical staff in the field awaited urgent need to solve.
Disclosure of Invention
Aiming at the problems in the prior art, a method and a system for grabbing or placing a file box by a robot are provided.
The specific technical scheme is as follows:
the invention provides a method for grabbing or placing a file box by a robot, which is suitable for taking and placing the file box in an unmanned file library, wherein the method comprises the following steps:
step S1, providing a cantilever device, and driving the cantilever device to grab the file box through the operation of at least two transverse slide rails;
step S2, providing a file moving device, and storing the file boxes in batches after grabbing the file boxes according to the cantilever device;
step S3, providing an upper computer to send a gear-taking instruction, moving the gear-moving device to a manual gear-taking position according to the gear-taking instruction, and finishing gear-taking after the file box is manually taken away;
and step S4, sending a gear placing instruction through the upper computer, moving the gear shifting device to the manual gear taking position according to the gear placing instruction, manually placing the file box on the gear shifting device, moving the gear shifting device to the cantilever device, placing the file box in the unmanned file repository through the cantilever device, and finishing gear placing.
Preferably, the step S3 includes:
s30, the upper computer sends the gear-taking instruction, the gear-shifting device moves to the manual gear-taking position according to the gear-taking instruction, and the state of the file box in the gear-shifting device is sensed through at least six gear-taking sensors;
step S31, after the file box is taken away manually and a preset time is delayed, the gear shifting device returns to the cantilever device, and the gear taking is finished.
Preferably, the step S4 includes:
step S40, the upper computer sends the gear placing instruction, the gear shifting device moves to the manual gear taking position according to the gear placing instruction, the file box is placed on the gear shifting device manually, and whether the position form of the file box is wrong or not is detected by turning on a disinfection lamp,
if yes, the disinfection lamp is turned off and an alarm device gives an alarm;
if not, go to step S41;
and S41, moving the file moving device to the cantilever device, and placing the file box on a file rack in the unmanned file library by the cantilever device according to a rack-up position number sent by the upper computer, wherein the file placing is finished.
Preferably, the preset time is 10S.
The invention also provides a system for grabbing or placing the file box by the robot, wherein the method for grabbing or placing the file box by the robot is adopted, and the system comprises the following steps:
the grabbing module is used for grabbing the file box through a cantilever device;
the storage module is connected with the grabbing module, and is used for storing the file boxes in batches in a file moving device after grabbing the file boxes according to the cantilever device;
and the gear taking module is connected with the storage module and used for moving the gear shifting device to a manual gear taking position according to a gear taking instruction sent by an upper computer to wait for manually taking the file box away.
And the gear placing module is connected with the gear placing module and used for sending a gear placing instruction to the gear shifting device according to the upper computer, moving the gear shifting device to the manual gear taking position, waiting for manual placement of the file box on the gear shifting device, moving the gear shifting device to the cantilever device, and placing the file box in the unmanned archive by the cantilever device.
Preferably, the gear-shifting module comprises:
the sensing unit is used for sensing the state of the file box in the gear shifting device;
and the return unit is connected with the sensing unit and is used for returning the gear shifting device to the cantilever device after the file box is taken away manually and is delayed for a preset time.
Preferably, the gear-shifting module comprises:
the detection unit is used for detecting whether the position form of the file box is wrong or not and alarming through an alarm device when the position form of the file box is wrong; when the position form of the file box is correct, the gear shifting device moves to the cantilever device;
and the return unit is connected with the detection unit and used for returning the file box to a file rack in the unmanned archive storehouse according to an upper rack position number sent by the upper computer by the cantilever device.
The technical scheme of the invention has the beneficial effects that: the upper computer sends a gear taking instruction, the gear shifting device moves to the manual gear taking position according to the gear taking instruction, the file box is taken away manually, the upper computer sends a gear placing instruction, the gear shifting device moves to the manual gear taking position according to the gear placing instruction, the file box is placed on the gear shifting device manually, and the file box is placed in an unmanned file library through the cantilever device, so that automation of the file unmanned library is realized.
Drawings
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and are not restrictive of the scope of the invention.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a step diagram of a method of robotically grasping or placing a file box according to an embodiment of the invention;
FIG. 3 is a step diagram of step S3 of the method for a robot to grab or place a file box according to an embodiment of the present invention;
FIG. 4 is a step diagram of step S4 of the method for a robot to grab or place a file box according to an embodiment of the present invention;
FIG. 5 is a block diagram of a system for a robot to grab or place a file box according to an embodiment of the present invention;
FIG. 6 is a block diagram of a file fetching module of a system for robotic grasping or placing a file box according to an embodiment of the present invention;
fig. 7 is a block diagram of a filing module of a system for grabbing or placing a file box by a robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The invention includes a method for grabbing or placing file boxes by a robot, which is suitable for picking and placing file boxes in an unmanned archive, and is characterized by comprising the following steps:
step S1, providing a cantilever device 20, and driving the cantilever device 20 to grab the file box through the operation of at least two transverse sliding rails 1;
step S2, providing a file moving device 5, storing the file boxes in batch after grabbing the file boxes according to the cantilever device 20;
step S3, providing an upper computer (not shown in the figure) to send a gear-taking instruction, moving the gear-moving device 5 to a manual gear-taking position (not shown in the figure) according to the gear-taking instruction, and finishing gear-taking after the file box is manually taken away;
step S4, a gear-shifting command is sent by the upper computer (not shown in the figure), the gear-shifting device 5 moves to a manual gear-shifting position (not shown in the figure) according to the gear-shifting command, the file box is manually placed on the gear-shifting device 5, the gear-shifting device 5 moves to the cantilever device 20, the file box is placed in the unmanned archive by the cantilever device 20, and the gear-shifting is finished.
Through the above-mentioned method for grabbing or placing a file box by a robot, as shown in fig. 1 and 2, the robot in this embodiment includes two x-axis guide rails (transverse guide rails) 1, y-axis guide rails 2, Z-axis guide rails 3, and a rotating mechanism 4, wherein the y-axis guide rails 2 are erected on the x-axis guide rails 1 and can move in a horizontal direction, the y-axis guide rails 2 include a cantilever device 20 and can extend in a longitudinal direction, the rotating mechanism 4 is hung below the y-axis guide rails 2 and can rotate in a left-right direction, the Z-axis guide rails 3 are installed below the rotating mechanism 4 and can move back and forth, the cantilever device 20 includes a mechanical arm clamp 200, and the mechanical arm clamp 200 can move back and forth along with the Z-axis guide rails.
Further, the robot further includes a gear shifting device 5, after the suspension arm device 200 grabs the file box, the upper computer sends a gear shifting command, the gear shifting device 5 moves to a manual gear shifting position (not shown) according to the gear shifting command, and after the file box is manually shifted, gear shifting is finished.
In this embodiment, when a file box needs to be taken, the x-axis guide rail 1 reaches the position of the file box to be taken, the mechanical arm clamp 200 faces the file box to be taken, the Y-axis guide rail 2 extends downward to reach the layer position of the file box to be taken, the mechanical arm clamp 200 (corresponding to the size) is opened, the mechanical arm clamp 200 is inserted into the file rack by the operation of the Z-axis guide rail 3, the mechanical arm clamp 200 is closed after the mechanical arm clamp is in place, the Y-axis guide rail 2 is operated to retract 5mm (adjustable), the Z-axis guide rail 3 is operated to return to the original point, the Y-axis guide rail 3 retracts to the original point, the mechanical arm clamp 200 is operated to the x-axis guide rail 1 to reach the shifting device 5, the mechanical arm clamp 200 is opened, the Y-axis guide rail 2 continues to extend downward 5mm (adjustable), the Z-axis guide rail 3 returns to the original point, the mechanical arm clamp 200 returns to the temporary position, and the mechanical arm clamp 200 returns, waiting for the command of the upper computer (not shown).
Further, when the file box needs to be manually stored in the unmanned archive, a gear placing instruction is sent through an upper computer (not shown in the figure), the gear shifting device 5 moves to a manual gear taking position (not shown in the figure) according to the gear placing instruction, the file box is manually placed on the gear shifting device 5, the gear shifting device 5 moves to the cantilever device 20, the file box is placed in the unmanned archive by the cantilever device 20, and gear placing is finished.
In addition, three sensors (not shown in the figure) are set on the X-axis guide rail 1, each sensor is an origin sensor (not shown in the figure), and each sensor has a limit position sensor (not shown in the figure) at each end; two sensors (not shown) are arranged on the y-axis guide rail 2, namely an origin sensor (not shown) and an origin protection sensor (not shown); three sensors (not shown) are arranged on the z-axis guide rail 3, namely an origin sensor (not shown), an origin protection sensor (not shown) and an operation limit position sensor (not shown); the rotating mechanism 4 is provided with two position sensors (not shown in the figure) for respectively sensing that the manipulator clamp 200 is positioned in the left and right directions; the robot hand clamp 200 is provided with five position sensors (not shown in the figure) for respectively sensing the position detection of the robot hand clamp 200 at an angle of 30 degrees, an angle of 40 degrees, an angle of 50 degrees and an angle of 60 degrees so as to open limit protection; the shift device 5 is provided with two position sensors (not shown) for detecting the position of the file box taken and placed by the manipulator 200 and the position of the manual gear-taking position (not shown), and six state sensors (not shown) for determining the correctness of the file box placed in the temporary storage position are further arranged in the shift device 5.
In a preferred embodiment, as shown in fig. 3, step S3 includes:
step S30, the upper computer (not shown in the figures) sends a gear-shifting command, the gear-shifting device 5 moves to a manual gear-shifting position (not shown in the figures) according to the gear-shifting command, and the state of the file box in the gear-shifting device 5 is sensed through at least six gear-shifting sensors (not shown in the figures);
step S31, after the file box is manually removed and a predetermined time is delayed, the shifting device 5 returns to the cantilever device 20, and the file removal is finished.
The preset time is 10S.
Specifically, a gear-taking instruction is sent through an upper computer (not shown in the figure), the gear-moving device 5 moves the file box to a manual gear-taking position (not shown in the figure), then the door is opened, the state of the file box in the gear-moving device 5 is sensed through at least six gear-taking sensors (not shown in the figure), the door is closed after the file box is taken away and the time delay is 10 seconds (adjustable), the gear-moving device 5 is returned to the cantilever device 20, and gear-taking is finished.
In a preferred embodiment, as shown in fig. 4, step S4 includes:
step S40, sending a gear-shifting command through an upper computer (not shown in the figure), moving the gear-shifting device 5 to a manual gear-shifting position (not shown in the figure) according to the gear-shifting command, manually placing the file box on the gear-shifting device 5, detecting whether the position form of the file box is wrong by turning on a sterilizing lamp (not shown in the figure),
if yes, the disinfection lamp (not shown in the figure) is turned off and an alarm device (not shown in the figure) gives an alarm;
if not, go to step S41;
step S41, the moving device 5 moves to the cantilever device 20, the cantilever device 20 puts the file box on the file rack in the unmanned archive according to an upper rack position number sent by the upper computer (not shown in the figure), and the file placing is finished.
Specifically, the gear placing process in this embodiment includes two processes of manually placing the file box and placing the file box on the rack by the manipulator clamp 200, wherein the manually placing the file box first sends a gear placing command through an upper computer (not shown in the figure), the gear moving device 5 moves the file box to a manual gear taking position (not shown in the figure), the door is opened, a waiting command is issued, after the upper computer (not shown in the figure) sends a gear placing ending command, the door is closed, meanwhile, the sterilizing lamp (not shown in the figure) is opened for 10 seconds (adjustable) and the posture of the file box is detected, if the posture of the file box is wrong, the door is closed and an alarm is given, and if the posture of the file box is correct, the gear moving device 5 is moved to the manipulator clamp 200.
Further, the mechanical arm clamp 200 is placed on the shelf to place the file box, firstly, the x-axis guide rail 1 is moved to the position of the gear shifting device 5, the y-axis guide rail 2 is moved to the height position for taking and placing the file box, then the mechanical arm clamp 200 is driven by the Z-axis guide rail 3 to enter the gear shifting device 5, then the y-axis guide rail 2 is lifted upwards by 5mm (adjustable), the mechanical arm clamp 200 is closed, after torque force is fed back to the position, the thickness of the file box is sent to an upper computer (not shown in the figure), the Z-axis guide rail 3 returns to the original position, the upper computer (not shown in the figure) waits for an instruction of the upper computer (not shown in the figure), then the upper computer sends an upper shelf position number, the y-axis guide rail 2 returns to the original point, and performs rotating motion according to the upper shelf position number, the x-axis guide rail 1 is moved to the position of the upper shelf position, the y-axis guide rail 2 is extended to the height of, and sending the feedback of the completion of the putting on the shelf to an upper computer (not shown in the figure), and ending the process.
In addition, it should be noted that the height of the base position is different when taking and placing files, the difference is 5mm (adjustable), namely, when taking the file box, a grabbing and moving-up action is provided, and when placing the file box, an inserting and placing-down action is provided.
Particularly, when the robot is abnormally powered off and recovers, the position of the z axis needs to be considered in the process of returning to the original point, the z axis does not return, other actions need to be protected, and the rack cannot be collided during operation.
The invention also provides a system for grabbing or placing the file box by the robot, wherein the method for grabbing or placing the file box by the robot is adopted, and the system comprises the following steps:
a grabbing module 6, which is used for grabbing the file box through a cantilever device 20;
the storage module 7 is connected with the grabbing module 6 and used for storing the file boxes in batches in the gear shifting device 5 after grabbing the file boxes according to the cantilever device 20;
and the gear-taking module 8 is connected with the storage module 7 and used for moving the gear-shifting device 5 to a manual gear-taking position (not shown) according to a gear-taking instruction sent by an upper computer (not shown in the figure) to wait for manually taking the file box away.
And the gear placing module 9 is connected with the gear placing module 9 and used for sending a gear placing instruction to the gear shifting device 5 according to an upper computer (not shown in the figure), moving the gear shifting device to a manual gear taking position (not shown in the figure), waiting for manually placing the file box on the gear shifting device 5, moving the gear shifting device 5 to the cantilever device 20, and putting the file box in the unmanned file library by the cantilever device 20.
The system for grabbing or placing the file boxes through the robot provided above, as shown in fig. 5, first grabs the file boxes through the grabbing module 6 and the cantilever device 20, and after grabbing the file boxes according to the cantilever device 20, the file boxes are stored in the file moving device 5 in batch through the storage module 7.
Further, in the gear-shifting module 8, the gear-shifting device 5 moves to a manual gear-shifting position (not shown) according to a gear-shifting command sent by an upper computer (not shown), and waits for the manual gear-shifting of the file box.
Further, in the gear-shifting module 9, the gear-shifting device 5 sends a gear-shifting command according to an upper computer (not shown in the figure), and moves to a manual gear-shifting position (not shown in the figure), waits for a file box to be manually placed on the gear-shifting device 5, and then the gear-shifting device 5 moves to the cantilever device 20, and the file box is placed in the unmanned archive by the cantilever device 20.
In a preferred embodiment, as shown in FIG. 6, the archive module 8 comprises:
a sensing unit 80 for sensing the status of the file box in the shifting device 5;
a recovery unit 81 connected to the sensing unit 80 for recovering the gear shifting device 5 to the cantilever device 20 after the file box is manually taken away and a predetermined time is delayed.
Specifically, the shift module 8 comprises a sensing unit 80 and a restoring unit 81, wherein the sensing unit 80 is used for sensing the status of the file box in the shift device 5, and the restoring unit 81 is used for restoring the shift device 5 to the cantilever device 20.
In a preferred embodiment, as shown in fig. 7, the gearshift module 9 includes:
a detecting unit 90 for detecting whether the position configuration of the file box is wrong, and alarming by an alarm device (not shown in the figure) when the position configuration of the file box has a mistake; when the position form of the file box is correct, the gear shifting device 5 moves to the cantilever device 20;
and the storage unit 91 is connected with the detection unit 90, and is used for storing the file box on a file rack in the unmanned archive according to an upper rack position number (not shown) sent by an upper computer (not shown) by the cantilever device 20.
The technical scheme of the invention has the beneficial effects that: the upper computer sends a gear taking instruction, the gear shifting device moves to the manual gear taking position according to the gear taking instruction, the file box is taken away manually, the upper computer sends a gear placing instruction, the gear shifting device moves to the manual gear taking position according to the gear placing instruction, the file box is placed on the gear shifting device manually, and the file box is placed in an unmanned file library through the cantilever device, so that automation of the file unmanned library is realized.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (7)
1. A method for grabbing or placing an archive box by a robot is suitable for taking and placing the archive box in an unmanned archive, and is characterized by comprising the following steps:
step S1, providing a cantilever device, and driving the cantilever device to grab the file box through the operation of at least two transverse slide rails;
step S2, providing a file moving device, and storing the file boxes in batches after grabbing the file boxes according to the cantilever device;
step S3, providing an upper computer to send a gear-taking instruction, moving the gear-moving device to a manual gear-taking position according to the gear-taking instruction, and finishing gear-taking after the file box is manually taken away;
and step S4, sending a gear placing instruction through the upper computer, moving the gear shifting device to the manual gear taking position according to the gear placing instruction, manually placing the file box on the gear shifting device, moving the gear shifting device to the cantilever device, placing the file box in the unmanned file repository through the cantilever device, and finishing gear placing.
2. The method for picking or placing file boxes by robot as claimed in claim 1, wherein said step S3 includes:
s30, the upper computer sends the gear-taking instruction, the gear-shifting device moves to the manual gear-taking position according to the gear-taking instruction, and the state of the file box in the gear-shifting device is sensed through at least six gear-taking sensors;
step S31, after the file box is taken away manually and a preset time is delayed, the gear shifting device returns to the cantilever device, and the gear taking is finished.
3. The method for picking or placing file boxes by robot as claimed in claim 1, wherein said step S4 includes:
step S40, the upper computer sends the gear placing instruction, the gear shifting device moves to the manual gear taking position according to the gear placing instruction, the file box is placed on the gear shifting device manually, and whether the position form of the file box is wrong or not is detected by turning on a disinfection lamp,
if yes, the disinfection lamp is turned off and an alarm device gives an alarm;
if not, go to step S41;
and S41, moving the file moving device to the cantilever device, and placing the file box on a file rack in the unmanned file library by the cantilever device according to a rack-up position number sent by the upper computer, wherein the file placing is finished.
4. The method for grabbing or placing a file box by a robot as claimed in claim 2, wherein said preset time is 10S.
5. A system for picking or placing a file box by a robot, wherein the method for picking or placing a file box by a robot as claimed in any one of claims 1-4 is adopted, the system comprises:
the grabbing module is used for grabbing the file box through a cantilever device;
the storage module is connected with the grabbing module, and is used for storing the file boxes in batches in a file moving device after grabbing the file boxes according to the cantilever device;
and the gear taking module is connected with the storage module and used for moving the gear shifting device to a manual gear taking position according to a gear taking instruction sent by an upper computer to wait for manually taking the file box away.
And the gear placing module is connected with the gear placing module and used for sending a gear placing instruction to the gear shifting device according to the upper computer, moving the gear shifting device to the manual gear taking position, waiting for manual placement of the file box on the gear shifting device, moving the gear shifting device to the cantilever device, and placing the file box in the unmanned archive by the cantilever device.
6. A system for robotic grasping or placing of filing cases according to claim 5, wherein the filing module comprises:
the sensing unit is used for sensing the state of the file box in the gear shifting device;
and the return unit is connected with the sensing unit and is used for returning the gear shifting device to the cantilever device after the file box is taken away manually and is delayed for a preset time.
7. The system for robotic grasping or placing of filing cases according to claim 5, wherein the filing module comprises:
the detection unit is used for detecting whether the position form of the file box is wrong or not and alarming through an alarm device when the position form of the file box is wrong; when the position form of the file box is correct, the gear shifting device moves to the cantilever device;
and the return unit is connected with the detection unit and used for returning the file box to a file rack in the unmanned archive storehouse according to an upper rack position number sent by the upper computer by the cantilever device.
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| CN201911286318.XA CN111115077A (en) | 2019-12-13 | 2019-12-13 | Method and system for grabbing or placing file box by robot |
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| CN201911286318.XA CN111115077A (en) | 2019-12-13 | 2019-12-13 | Method and system for grabbing or placing file box by robot |
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Application publication date: 20200508 |