CN111229556A - Chain cover glue spreader with detection function and glue spreading detection method - Google Patents
Chain cover glue spreader with detection function and glue spreading detection method Download PDFInfo
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- CN111229556A CN111229556A CN202010213756.XA CN202010213756A CN111229556A CN 111229556 A CN111229556 A CN 111229556A CN 202010213756 A CN202010213756 A CN 202010213756A CN 111229556 A CN111229556 A CN 111229556A
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- gluing
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- chain cover
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- 238000001514 detection method Methods 0.000 title claims abstract description 43
- 239000003292 glue Substances 0.000 title claims description 71
- 238000003892 spreading Methods 0.000 title claims description 5
- 230000007480 spreading Effects 0.000 title claims description 5
- 238000004026 adhesive bonding Methods 0.000 claims abstract description 97
- 230000000007 visual effect Effects 0.000 claims abstract description 10
- 238000007654 immersion Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 239000013072 incoming material Substances 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000005520 cutting process Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 claims description 2
- 238000010998 test method Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010073 coating (rubber) Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
Landscapes
- Coating Apparatus (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a chain cover gluing machine with a detection function and a gluing detection method, wherein the chain cover gluing machine comprises a conveying line for conveying a chain cover product, a visual positioning device, a mechanical arm, a first chain cover lifting tool, a gluing module and a laser 3D contour scanning unit, wherein the visual positioning device is positioned above the conveying line and used for identifying the product model and acquiring the position image of the product, the mechanical arm is used for grabbing the chain cover product from the conveying line and moving the chain cover product to a gluing position, the first chain cover lifting tool is arranged at the movable end of the mechanical arm, the gluing module is used for gluing a set position of the product, and the laser 3D contour scanning unit is used for synchronously scanning. The automatic gluing device has the gluing detection function, is high in gluing efficiency, can synchronously carry out gluing detection and gluing, is high in gluing detection precision, and can realize automatic gluing of chain covers of various models.
Description
Technical Field
The invention belongs to the technical field of gluing equipment, and particularly relates to a chain cover gluing machine with a detection function and a gluing detection method.
Background
The chain cover glue spreader is used for gluing various products by switching different tool fixtures at present, the fixture fixtures of various products need to be replaced aiming at different products, and most of the chain cover glue spreaders are manually replaced, so that time and labor are wasted, and the production efficiency is low; products are grabbed by the clamp in a mechanical hard positioning mode, and the grabbing positioning mode has large deviation; in the prior art, after the glue is applied, a camera is adopted to photograph and detect the glue applying track, the glue applying track detection precision is not high in the detection mode, and the glue height cannot be detected.
Therefore, it is necessary to provide a new chain cover gluing machine with detection function and a new gluing detection method to solve the above problems.
Disclosure of Invention
One of the main purposes of the invention is to provide a chain cover gluing machine with a detection function, which has a gluing detection function, high gluing efficiency, synchronous gluing detection and gluing, high gluing detection precision and capability of realizing automatic gluing of chain covers of various types.
The invention realizes the purpose through the following technical scheme: the utility model provides a chain lid spreading machine with detect function, its is located including the transfer chain of carrying the chain lid product the visual positioning device that just is used for discerning the product model and acquireing product position image of transfer chain top, snatch the chain lid product from the transfer chain and remove to the manipulator of beating the position of gluing, set up and be in the frock is lifted to the first chain lid of manipulator expansion end, set for the position to the product and carry out the rubber coating module of rubber coating, carry out the laser 3D profile scanning unit of synchronous 3D profile scanning to the product rubber coating profile.
Further, still including being located the product unloading station of transfer chain top, the product unloading station is provided with the product unloading and places the unit.
Furthermore, the first supporting device and the second supporting device both comprise a lifting cylinder and a first supporting column which is driven by the lifting cylinder to move up and down and is inserted into the product mounting hole.
Further, the first chain cover lifting tool can extend into the space between the first supporting device and the second supporting device when a product is placed on the first chain cover lifting tool.
Further, the conveying line comprises a first driving part and a circulating chain plate driven by the first driving part to rotate and convey.
Furthermore, a plurality of positioning pieces used for limiting the peripheral positions of the products are arranged on the chain plates; the positioning piece comprises a positioning column and a positioning block; the chain plate is provided with a plurality of mounting holes for mounting positioning pieces.
Further, first chain lid lifts frock includes first backup pad, fixes first backup pad upper surface and can with the connecting sleeve cover of manipulator expansion end joint, fix first backup pad lower surface and a plurality of second support columns that correspond with product mounting hole position, fix first backup pad lower surface just is two pneumatic binding clasp of diagonal distribution, fixes whether there is the sensor of product on first backup pad lower surface and the response frock.
Furthermore, the gluing module comprises a second supporting plate, a glue gun assembly and a first air cylinder which are fixed on the second supporting plate, a third supporting plate driven by the first air cylinder to move up and down, a second air cylinder fixed on the third supporting plate, and an oil immersion cup driven by the second air cylinder to move horizontally and linearly.
Further, the laser 3D contour scanning unit comprises a laser 3D contour scanner and a camera which are fixed on the second support plate, and laser emitted by the laser 3D contour scanner is applied to glue on the surface of a product and then reflected into the camera.
Another object of the present invention is to provide a glue detection method, which is characterized in that: which comprises the following steps:
1) shooting incoming material products by using a camera to obtain the product model and product position information;
2) guiding a mechanical arm to grab the product according to the position information and the model of the product, and moving the gluing surface upwards to the position below a gluing module;
3) the mechanical arm drives the product to move according to the gluing track set by the product, the gluing module finishes gluing, and when gluing, the laser 3D profile scanner is utilized to scan the gluing profile on the surface of the product, so that the gluing track is obtained and uploaded to the upper computer, and the gluing track and the product gluing design track are compared in the upper computer, so that whether the gluing track meets the requirement is judged.
Further, the step 3 comprises the following steps:
31) acquiring original data: acquiring original data through the laser 3D profile scanner;
32) pretreatment: removing data loss and noise interference existing in the original data through smoothing and median filtering;
32) and (3) glue breaking detection:
321) globally binarizing and extracting a glued area, and judging whether the area of the glued area meets the requirement of a threshold value so as to preliminarily judge whether to glue; if no glue exists, NG; if glue exists, the next step is carried out;
322) dynamic binarization is carried out line by line, glue areas and glue areas are divided, and the glue width is extracted, so that whether the glue width meets the condition or not is judged; if the glue width does not meet the condition, recording the glue breaking position, and accumulating the glue breaking length to obtain the glue breaking length;
33) and (3) offset detection: and calculating the position of the glue area relative to the plane of the product, and judging whether the glue area is in a normal range, so as to obtain whether the glue area has deviation in the gluing process.
Compared with the prior art, the chain cover glue spreader with the detection function and the glue spreading detection method have the beneficial effects that: the laser 3D contour scanning instrument is utilized to synchronously acquire a glue discharging track of the gluing module on the surface of the product, the system judges whether the gluing track is qualified or not through comparison with a design track, contour scanning and gluing are synchronously carried out, the production time is not influenced, and the production efficiency is improved; carry out automatic identification and the position of acquireing the product to the product model through the camera, can make the manipulator can be according to the product model and set for in the system snatch the accurate product of snatching of position to beat for the accurate position on product surface and glue and provide the prerequisite basis, further guarantee to beat and glue the precision.
[ description of the drawings ]
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a partial structure of a conveying line according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a first chain cover lifting tool according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a first chain cover lifting tool, a gluing module and a laser 3D profile scanning unit in the embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a product blanking placing unit in the embodiment of the present invention;
FIG. 6 is an analysis diagram of a laser profile scan according to an embodiment of the present invention;
the figures in the drawings represent:
100 a chain cover glue spreader with a detection function;
1, a conveying line, 11 a first driving piece, 12 chain plates, 13 positioning pieces, 131 positioning columns, 132 positioning pieces and 14 mounting holes; 2, a visual positioning device; 3, a mechanical arm; 4, a first chain cover lifting tool, 41 a first supporting plate, 42 a connecting clamping sleeve, 43 a second supporting column, 44 a pneumatic clamping device and 45 a sensor; 5 gluing module, 51 second support plate, 52 gluing gun assembly, 53 first cylinder, 54 third support plate, 55 second cylinder and 56 oil immersion cup; 6 laser 3D profile scanning unit, 61 laser 3D profile scanner, 62 camera; 7, lifting the second chain cover; 8 product blanking placing units, 81 first supporting devices, 811 lifting cylinders, 812 first supporting columns and 82 second supporting devices.
[ detailed description ] embodiments
Example (b):
referring to fig. 1 to 5, a chain cover gluing machine 100 with a detection function according to the present embodiment includes a conveying line 1 for conveying chain cover products, a visual positioning device 2 located above the conveying line 1 and used for identifying product types and obtaining product position images, a manipulator 3 for grabbing and moving the chain cover products from the conveying line 1 to a gluing position, a first chain cover lifting tool 4 disposed at a movable end of the manipulator 3, a gluing module 5 for gluing a set position of the products, a laser 3D contour scanning unit 6 for 3D contour scanning of the glued contours of the products, and a plurality of second chain cover lifting tools 7 located at one side of the conveying line 1 and used for lifting chain covers of different types.
This embodiment is still including being located the product unloading station of transfer chain 1 top, the product unloading station is provided with product unloading and places unit 8. The product blanking placing unit 8 includes a first supporting device 81 and a second supporting device 82 for supporting the lower surfaces of the opposite ends of the product. The first supporting device 81 and the second supporting device 82 each include a lifting cylinder 811, and a first supporting column 812 driven by the lifting cylinder 811 to move up and down and inserted into the product mounting hole. The first support column 812 supports the two ends of the product, and the blanking is taken away by other mechanisms or manually.
The conveying line 1 comprises a first driving piece 11 and an endless chain plate 12 driven by the first driving piece 11 to rotate and convey. The chain plate 12 is provided with a plurality of positioning members 13 for limiting the peripheral position of the product, and the positioning members 13 comprise positioning columns 131 and positioning blocks 132. The chain plate 12 is provided with a plurality of mounting holes 14 for mounting the positioning pieces 13, and is suitable for positioning chain covers of various product models.
The visual positioning device 2 comprises a photographing camera and an upper computer which is connected with the photographing camera through a circuit and is internally provided with a product identification and position extraction analysis program. The visual positioning technology is a very mature technical means in the prior art, and the specific working principle thereof is not described in detail in this embodiment. The image information of the product on the input conveying line 1 is obtained through a photographing camera in the visual positioning device 2 and then uploaded to an upper computer, the outline information and the set structural feature information of the product are automatically extracted by a program in the upper computer, and the outline information and the specific structural feature information are compared with a product information database stored in the system in advance to obtain the model of the product.
First chain lid lifts frock 4 includes first backup pad 41, fix at first backup pad 41 upper surface and can with the connecting cutting ferrule 42 of manipulator 3 expansion end joint, fix at first backup pad 41 lower surface and with a plurality of second support columns 43 that the product mounting hole position corresponds, fix at first backup pad 41 lower surface and be two pneumatic binding clasp 44 of diagonal distribution, fix at first backup pad 41 lower surface and respond to whether there is sensor 45 of product on the frock. The second supporting column 43 corresponds to the mounting holes on the two sides of the middle of the product, so that the position of the first supporting column 812 is staggered, the first chain cover lifting tool 4 can penetrate into the space between the first supporting device 81 and the second supporting device 82, and the product is placed on the product discharging placement unit 8.
The gluing module 5 comprises a second support plate 51, a glue gun assembly 52 and a first air cylinder 53 which are fixed on the second support plate 51, a third support plate 54 driven by the first air cylinder 53 to move up and down, a second air cylinder 55 fixed on the third support plate 54, and an oil immersion cup 56 driven by the second air cylinder 55 to move horizontally and linearly.
The laser 3D contour scanning unit 6 comprises a laser 3D contour scanner 61 and a camera 62, and laser emitted by the laser 3D contour scanner 61 is applied to glue on the surface of a product and then reflected into the camera 62.
When the product model changes, the lifting tool at the tail end of the mechanical arm 3 can be replaced.
The embodiment also provides a gluing detection method of the chain cover gluing machine, which comprises the following steps:
1) shooting incoming material products by using a camera to obtain the product model and product position information;
2) guiding a mechanical arm to grab the product according to the position information and the model of the product, and moving the gluing surface upwards to the position below a gluing module;
3) the mechanical arm drives the product to move according to the gluing track set by the product, the gluing module finishes gluing, when gluing, the laser 3D profile scanner 61 is utilized to scan the gluing profile on the surface of the product, the gluing track is obtained and is uploaded to the upper computer, the gluing track and the product gluing design track are compared in the upper computer, and whether the gluing track meets the requirement is judged.
Referring to fig. 6, step 3 specifically includes the following steps:
31) acquiring original data: acquiring original data through a laser 3D profile scanner 61;
32) pretreatment: removing data loss and noise interference existing in the original data through smoothing and median filtering;
32) and (3) glue breaking detection:
321) for the detection of continuous normal gluing, firstly, globally binarizing (gluing height is fixed) to extract a glued area, and judging whether the area of the glued area meets the requirement of a threshold value so as to preliminarily judge whether gluing is carried out; if no glue exists, NG; if the glue exists, dynamic binarization is performed line by line, the glue-existing area and the glue-free area are divided, and the glue width is extracted, so that whether the glue width meets the condition is judged; if the glue width does not meet the condition, recording the glue breaking position, and accumulating the glue breaking length to obtain the glue breaking length;
322) for the non-continuous circle drawing and the point painting (in the middle of the front), judging whether the outcut exists or not by comparing the integral difference value of the glue-free image and the normal glue image;
33) and (3) offset detection: the offset detection is to detect whether the gluing track is in a designated product area, and the whole gluing track is offset due to the offset, so that the gluing track can be judged only in the continuous gluing detection; the glue breaking detection process is divided into a glue area and a glue-free area (namely a product plane), the position of a normal gluing track on the product plane fluctuates in a normal range, the position of the glue area relative to the product plane is calculated every time, and whether the glue area is in the normal range or not is judged, so that whether deviation exists in the gluing process or not is obtained.
In the embodiment, the laser 3D contour scanning instrument is utilized to synchronously acquire the glue discharging track of the gluing module on the surface of the product, the system judges whether the gluing track is qualified or not through comparison with the design track, contour scanning and gluing are synchronously performed, the production time is not influenced, and the production efficiency is improved; carry out automatic identification and the position of acquireing the product to the product model through the camera, can make the manipulator can be according to the product model and set for in the system snatch the accurate product of snatching of position to beat for the accurate position on product surface and glue and provide the prerequisite basis, further guarantee to beat and glue the precision.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a chain lid spreading machine with detect function which characterized in that: the automatic gluing machine comprises a conveying line for conveying chain cover products, a visual positioning device, a manipulator, a first chain cover lifting tool, a gluing module and a laser 3D contour scanning unit, wherein the visual positioning device is arranged above the conveying line and used for identifying product models and obtaining product position images, the manipulator is used for grabbing the chain cover products from the conveying line and moving the chain cover products to a gluing position, the first chain cover lifting tool is arranged at the movable end of the manipulator, the gluing module is used for gluing products at a set position, and the laser 3D contour scanning unit is used for synchronously scanning 3D contours of the gluing contours of the products.
2. The chain cover gumming machine with detection function as claimed in claim 1, characterized in that: the product blanking station is arranged above the conveying line and is provided with a product blanking placing unit; the product blanking placing unit comprises a first supporting device and a second supporting device which are used for supporting the lower surfaces of the two opposite ends of a product; the first supporting device and the second supporting device both comprise a lifting cylinder and a first supporting column which is driven by the lifting cylinder to move up and down and is inserted into the product mounting hole.
3. The chain cover gumming machine with detection function as claimed in claim 2, characterized in that: the first chain cover lifting tool can extend into the space between the first supporting device and the second supporting device when a product is placed on the first chain cover lifting tool.
4. The chain cover gumming machine with detection function as claimed in claim 1, characterized in that: the conveying line comprises a first driving part and a circulating chain plate driven by the first driving part to rotate and convey.
5. The chain cover gumming machine with detection function as claimed in claim 4, characterized in that: the chain plate is provided with a plurality of positioning pieces for limiting the peripheral positions of the products; the positioning piece comprises a positioning column and a positioning block; the chain plate is provided with a plurality of mounting holes for mounting positioning pieces.
6. The chain cover gumming machine with detection function as claimed in claim 1, characterized in that: first chain lid lifts frock includes first backup pad, fixes first backup pad upper surface and can with the connecting cutting ferrule of manipulator expansion end joint, fix a plurality of second support columns that just correspond with product mounting hole position of first backup pad lower surface, fix first backup pad lower surface just is two pneumatic binding clasp of diagonal distribution, fixes whether there is the sensor of product on first backup pad lower surface and the response frock.
7. The chain cover gumming machine with detection function as claimed in claim 1, characterized in that: the gluing module comprises a second supporting plate, a glue gun assembly and a first air cylinder which are fixed on the second supporting plate, a third supporting plate driven by the first air cylinder to move up and down, a second air cylinder fixed on the third supporting plate, and an oil immersion cup driven by the second air cylinder to move horizontally and linearly.
8. The chain cover gumming machine with detection function as claimed in claim 1, characterized in that: the laser 3D contour scanning unit comprises a laser 3D contour scanner and a camera which are fixed on the second supporting plate, and laser emitted by the laser 3D contour scanner is made to hit on glue on the surface of a product and then reflected into the camera.
9. A gluing detection method is characterized in that: which comprises the following steps:
1) shooting incoming material products by using a camera to obtain the product model and product position information;
2) guiding a mechanical arm to grab the product according to the position information and the model of the product, and moving the gluing surface upwards to the position below a gluing module;
3) the mechanical arm drives the product to move according to the gluing track set by the product, the gluing module finishes gluing, and when gluing, the laser 3D profile scanner is utilized to scan the gluing profile on the surface of the product, so that the gluing track is obtained and uploaded to the upper computer, and the gluing track and the product gluing design track are compared in the upper computer, so that whether the gluing track meets the requirement is judged.
10. A glue test method as claimed in claim 9, characterised by: the step 3 comprises the following steps:
31) acquiring original data: acquiring original data through the laser 3D profile scanner;
32) pretreatment: removing data loss and noise interference existing in the original data through smoothing and median filtering;
32) and (3) glue breaking detection:
321) globally binarizing and extracting a glued area, and judging whether the area of the glued area meets the requirement of a threshold value so as to preliminarily judge whether to glue; if no glue exists, NG; if glue exists, the next step is carried out;
322) dynamic binarization is carried out line by line, glue areas and glue areas are divided, and the glue width is extracted, so that whether the glue width meets the condition or not is judged; if the glue width does not meet the condition, recording the glue breaking position, and accumulating the glue breaking length to obtain the glue breaking length;
33) and (3) offset detection: and calculating the position of the glue area relative to the plane of the product, and judging whether the glue area is in a normal range, so as to obtain whether the glue area has deviation in the gluing process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010213756.XA CN111229556B (en) | 2020-03-24 | 2020-03-24 | Chain cover glue spreader with detection function and glue spreading detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010213756.XA CN111229556B (en) | 2020-03-24 | 2020-03-24 | Chain cover glue spreader with detection function and glue spreading detection method |
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| Publication Number | Publication Date |
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| CN111229556A true CN111229556A (en) | 2020-06-05 |
| CN111229556B CN111229556B (en) | 2024-08-02 |
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| CN202010213756.XA Active CN111229556B (en) | 2020-03-24 | 2020-03-24 | Chain cover glue spreader with detection function and glue spreading detection method |
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| CN (1) | CN111229556B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112427243A (en) * | 2020-11-24 | 2021-03-02 | 东风本田汽车有限公司 | Multi-layer repeated gluing device and gluing method |
| CN114433443A (en) * | 2022-02-12 | 2022-05-06 | 南方华创半导体(无锡)有限公司 | Double-track type spin coater and working method thereof |
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| CN203767405U (en) * | 2014-04-25 | 2014-08-13 | 金陵科技学院 | Lifting and transporting equipment for large pipes |
| FR3048368A1 (en) * | 2016-03-04 | 2017-09-08 | Exel Ind | COATING PRODUCT APPLICATOR, MULTIAXIS ROBOT COMPRISING SUCH APPLICATOR AND METHOD FOR APPLYING COATING PRODUCT |
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| Publication number | Publication date |
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| CN111229556B (en) | 2024-08-02 |
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