CN111761597A - Tiger mouth type manipulator - Google Patents
Tiger mouth type manipulator Download PDFInfo
- Publication number
- CN111761597A CN111761597A CN202010630644.4A CN202010630644A CN111761597A CN 111761597 A CN111761597 A CN 111761597A CN 202010630644 A CN202010630644 A CN 202010630644A CN 111761597 A CN111761597 A CN 111761597A
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- Prior art keywords
- oil
- claw
- arm
- air cylinder
- half claw
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- 241000282376 Panthera tigris Species 0.000 title claims description 10
- 210000000078 claw Anatomy 0.000 claims description 97
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 3
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 3
- 241001330002 Bambuseae Species 0.000 claims description 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000011425 bamboo Substances 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000001788 irregular Effects 0.000 abstract description 4
- 238000009776 industrial production Methods 0.000 abstract description 3
- 230000002079 cooperative effect Effects 0.000 abstract 1
- 230000000875 corresponding effect Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a vice-mouth type manipulator which mainly comprises a base, a fixed seat, a rotary support, a rotary joint, a wrapping type large arm, a folding arm, a rotary arm and a vice-mouth type clamping jaw, wherein the rotary support is installed on the fixed seat, the base is installed on the rotary support, one end of the wrapping type large arm is connected to the base, the folding arm is connected with the other end of the wrapping type large arm, the rotary arm is connected with the other end of the folding arm, the vice-mouth type clamping jaw is installed on the rotary arm, corresponding power is provided for all parts through an oil/air cylinder, and grabbing operation is completed through cooperative action. The invention can be grabbed as long as the clamping jaw can surround the object by opening, not only is the operation for grabbing the object simple, but also the invention is suitable for irregular objects such as balls, blocks, discs and the like, and can be conveniently transplanted to industrial production platforms and engineering machinery.
Description
Technical Field
The invention relates to a manipulator, in particular to a tiger-mouth type manipulator for carrying out corresponding grabbing operation on an industrial production platform and an engineering vehicle.
Background
The mechanical arms applied at present are various in variety, common mechanical arms are large, small, various in form and different in shape, and the transmission of the mechanical arms is that a motor drives a gear to transmit, an oil cylinder pushes a mechanical connecting rod to transmit, an air cylinder pushes a connecting rod to transmit and the like. In terms of use, the special engineering large-scale mechanical clamping jaw is basically customized according to use working conditions, or the electric and pneumatic mechanical clamping jaws, the large mechanical clamping jaw, the small mechanical clamping jaw, the electric high-precision mechanical clamping jaw or the low-precision mechanical clamping jaw are single in application working conditions and loose in structure, and cannot meet outdoor geotechnical work.
Disclosure of Invention
The invention aims to overcome the defects and provide the tiger-mouth type manipulator which is compact in structure, simple to operate and suitable for grabbing irregular objects.
The technical scheme of the invention is as follows: a jaw type manipulator mainly comprises a fixed seat, a base, a rotary support, a rotary joint, a wrapping type large arm, a folding arm, a rotating arm and a jaw type clamping jaw. The oil cylinder is characterized in that a rotary support is installed on the fixing seat, a base is installed on the rotary support, and a first oil cylinder is installed on the base.
Big arm one end of envelope formula is connected on the base, is equipped with left pull rod, right pull rod in the left and right both sides of the big arm other end of envelope formula, the piston rod of first oil/cylinder articulates the bottom at the big arm of envelope formula, still is equipped with second oil/cylinder in the bottom of the big arm of envelope formula.
The folding arm is connected with the other end of the enveloping type large arm, a left push rod and a right push rod are arranged on the left side and the right side of the connecting end of the folding arm and the enveloping type large arm, and the other ends of the left push rod and the right push rod are connected with the piston rods of the left pull rod, the right pull rod and the second oil-gas cylinder in a penetrating mode through hinge pins.
The other end of the left swing rod and the other end of the right swing rod are connected with the other end of the folding arm in a penetrating mode through the pin shaft, the left swing rod and the right swing rod are arranged at the other end of the folding arm, the two front supporting rods are arranged on the left side and the right side of the folding arm in a free rotating mode around the pin shaft, a third oil/air cylinder is arranged above the swing arm, and the other ends of the left swing rod and the right swing rod are connected with the other ends of the two front supporting.
The jaw type clamping jaw is arranged on the rotating arm, a fourth oil/air cylinder is arranged on the support frame of the jaw type clamping jaw, and a piston rod of the fourth oil/air cylinder is connected with the front half jaw of the jaw type clamping jaw to provide power for opening and closing of the jaw type clamping jaw.
One end of the rotary joint is installed on the fixing seat, and the other end of the rotary joint is installed on the base, so that 360-degree full rotation of the oil/gas circuit is realized.
And a control cabinet is also arranged behind the base, a valve group and an electric appliance control module are installed in the control cabinet, and the control cabinet is connected with the four oil/air cylinders through pipelines.
Angular displacement sensors are respectively arranged at the hinged parts of the rotary support and the enveloping type large arm, the folding arm and the rotating arm.
Furthermore, the first jaw type clamping jaw mainly comprises a support frame, a front half jaw, a rear half jaw, a positioning cylinder, a pull rod and a fourth oil/air cylinder. The one end at aforementioned rocking arm is installed to the support frame, minor axis, a location section of thick bamboo, buckle and fix with screw are passed through to the one end of fourth oil/cylinder on the support frame, first half claw passes through minor axis, buckle and the one end of screw installation at the support frame, latter half claw passes through minor axis, buckle and the other end that the screw installation is relative with first half claw on the support frame, the one end of pull rod is passed through major axis, buckle, screw and is connected with the other end of first half claw and fourth oil/cylinder, and the other end of pull rod passes through major axis, buckle and screw and is connected with latter half claw, through stretching out or retracting of fourth oil/cylinder, drives tiger's mouth formula clamping jaw and opens.
Furthermore, the front half claw is formed by six arc-shaped claw teeth which are uniformly arranged at intervals, the rear half claw is formed by five arc-shaped claw teeth which are uniformly arranged at intervals, when the front half claw and the rear half claw are folded, the arc-shaped claw teeth of the front half claw and the arc-shaped claw teeth of the rear half claw are meshed in a staggered mode, and a meshed area forms an approximately closed inner cavity.
Furthermore, two of the left and right outer sides of the six arc-shaped claw teeth on the front half claw are arc-shaped claw teeth with a sawtooth structure; two of the left and right outer sides of the five arc-shaped claw teeth on the rear half claw are arc-shaped claw teeth with a sawtooth structure.
Further, when a piston rod of the fourth oil/air cylinder extends out under the action of oil gas pressure, the front half claw is pushed to be folded, and when the front half claw is folded, the rear half claw is pulled through the pull rod to be folded, so that an object is grabbed; when a piston rod of the fourth oil/air cylinder retracts under the action of oil pressure, the front half claw is pulled to be opened, and the rear half claw is pushed by the pull rod to be opened while the front half claw is opened, so that an object is loosened.
Furthermore, an oil cup is arranged on the front half claw.
Furthermore, the support frame is used as a platform for mounting the front half claw and the rear half claw and is integrally cast by steel.
Furthermore, the tiger mouth type manipulator can rotate 360 degrees by taking a central shaft of the rotary support as a circle center.
Furthermore, the second oil/air cylinder is connected to the bottom of the enveloping type large arm through a pin shaft, a piston rod of the second oil/air cylinder is connected with the left and right pull rods on the enveloping type large arm and the left and right push rods on the folding arm through the pin shaft in a penetrating manner, and the folding or the stretching of the folding arm is controlled through the second oil/air cylinder.
Furthermore, the third oil/air cylinder is arranged above the folding arm through a pin shaft, a piston shaft of the third oil/air cylinder is connected with the left and right swing rods and the two front support rods on the rotating arm in a penetrating manner through the pin shaft, and the lifting or falling of the rotating arm is controlled through the third oil/air cylinder.
Compared with the prior art, the invention has the following beneficial effects:
1. the object grabbing device only needs one power element, has few interfaces, can be conveniently transplanted to an industrial production platform and engineering machinery, and is simple to operate.
2. The object is picked up as if the object is swallowed by a tiger mouth, the object can be grabbed as long as the jaw opening can surround the object, and the object can be grabbed, so that the object grabbing operation is simple and the object grabbing device is suitable for grabbing irregular objects such as balls, discs and blocks.
3. The special claw tooth shape and the staggered interval arrangement combination facilitate the soil discharge during the geotechnical operation, and the sawtooth structures on the claw teeth facilitate the grabbing and placing of smooth and hard objects on the surface.
4. Simple structure and easy processing and manufacturing.
5. The oil/air cylinder is protected by adopting built-in oil/air cylinder driving and connecting rod transmission, and the oil/air cylinder is simple in appearance and compact in structure.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a folded state view of FIG. 1;
FIG. 3 is a schematic view of a bayonet type jaw of the present invention;
FIG. 4 is a top view of FIG. 3;
FIG. 5 is a cross-sectional view taken along line A-A of FIG. 3;
FIG. 6 is a cross-sectional view taken along line B-B of FIG. 3;
FIG. 7 is a cross-sectional view taken along line C-C of FIG. 3;
FIG. 8 is an isometric view of a vice-grip jaw of the present invention;
FIG. 9 is a schematic structural view of the stand of the present invention;
FIG. 10 is a schematic view of the front jaw half of the present invention;
fig. 11 is a schematic structural view of the rear half-paw of the invention.
In the figure: 1-base, 2-enveloping big arm, 3-folding arm, 4-rotating arm, 5-jaw type clamping jaw, 6-right pull rod, 7-left pull rod, 8-right push rod, 9-left push rod, 10-front support rod, 11-left swing rod, 12-right swing rod, 13-control cabinet, 14-oil cup, 21-support frame, 22-front half claw, 23-rear half claw, 24-long shaft, 25-short shaft, 27-positioning cylinder, 28-buckle, 29-pull rod, 44-rotary joint, 45-rotary support, 46-first oil/air cylinder, 47-second oil/air cylinder, 48-third oil/air cylinder, 49-fourth oil/air cylinder and 50-fixing seat.
Detailed Description
The present invention is further described below with reference to the accompanying drawings so that those skilled in the art can better understand the technical solutions of the present invention.
A jaw type manipulator is mainly composed of a base 1, a fixed seat 50, a rotary support 45, a rotary joint 44, a wrapping type large arm 2, a folding arm 3, a rotating arm 4 and a jaw type clamping jaw 5, as shown in figures 1 and 2. The fixing seat 50 is provided with a rotary support 45, the rotary support 45 is provided with a base 1, and the base 1 is hinged with a first oil/air cylinder 46.
Folding arm 3 passes through the round pin hub connection with the other end of the big arm of envelope formula 2, is equipped with left push rod 9, right push rod 8 in the left and right both sides of folding arm 3 and the big arm of envelope formula 2 link, and the other end of left push rod 9 and right push rod 8 passes through the round pin axle and links together with the piston rod of left pull rod 7, right pull rod 6 and second oil gas cylinder 47, through stretching out or retracting control folding arm 3's of the piston rod of second oil/cylinder 47 extension or folding.
The rotating arm 4 is hinged with the other end of the folding arm 3, the other end of the rotating arm 4 is provided with a left swing rod 11 and a right swing rod 12 which rotate freely around a pin shaft, and two front support rods 10 at the left side and the right side, a third oil/air cylinder 48 is arranged above the rotating arm, the other ends of the left swing rod 11 and the right swing rod 12 are connected with the other ends of the two front support rods 10 and a piston rod of the third oil/air cylinder 48 in a penetrating mode through the pin shaft, and the rotation of the rotating arm 4 is controlled through the extension or retraction of the piston rod of the third oil/air cylinder 48.
The jaw type clamping jaw 5 is arranged on the rotating arm 4, a fourth oil/air cylinder 49 is arranged on the support frame 21 of the jaw type clamping jaw 5, and a piston rod of the fourth oil/air cylinder 49 is connected with the front half jaw 22 of the jaw type clamping jaw 5 to provide power for opening and closing of the jaw type clamping jaw 5.
One end of the rotary joint 44 is mounted on the fixed seat 50, and the other end is mounted on the base 1, so that 360-degree full rotation of the oil/gas circuit is realized.
A control cabinet 13 is arranged behind the base 1, a valve group and an electric appliance control module are installed in the control cabinet 13, and the control cabinet 13 is connected with the four oil/air cylinders through pipelines.
Angular displacement sensors are respectively mounted at the hinged parts of the rotary support 45 and the enveloping large arm 2, the folding arm 3 and the rotating arm 4.
Under the condition that the electric control system, the oil/gas control system and other systems are installed perfectly, the tiger-mouth type manipulator is powered by an oil/gas source, then is operated by a handle/a button, rotates to support and coordinates with four oil/air cylinders, and completes the corresponding automatic grabbing task through automatic control.
As shown in fig. 3 to 8, the jaw 5 mainly includes a support frame 21, a front half jaw 22, a rear half jaw 23, a positioning cylinder 27, a pull rod 29, and a fourth oil/air cylinder 49. The supporting frame 21 is installed at one end of the aforementioned rotating arm 4, and one end of the fourth oil/air cylinder 49 is fixed on the supporting frame 21 through the short shaft 25, the positioning cylinder 27, the buckle 28 and the screw. The front half claw 22 is arranged at one end of the support frame 21 through a short shaft 25, a buckle 28 and a screw. The rear half claw 23 is mounted on the other end of the support frame 21 opposite to the front half claw 22 through a short shaft 25, a buckle 28 and a screw. One end of the pull rod 29 is connected with the other ends of the front half claw 22 and the fourth oil/air cylinder 49 through the long shaft 24, the buckle 28 and the screw, the other end of the pull rod 29 is connected with the rear half claw 23 through the long shaft 24, the buckle 28 and the screw, and the tiger-type clamping jaw 5 is driven to open or close through the extension or retraction of the fourth oil/air cylinder 49.
As shown in fig. 10, the front half claw 22 is formed by six arc-shaped claw teeth which are uniformly arranged at intervals, and two of the left and right outer sides of the six arc-shaped claw teeth on the front half claw 22 are arc-shaped claw teeth with a sawtooth structure. The rear half claw 23 is formed by arranging five arc-shaped claw teeth at equal intervals, and two of the left and right outer sides of the five arc-shaped claw teeth on the rear half claw 23 are arc-shaped claw teeth with a sawtooth structure. When the front half claw 22 and the rear half claw 23 are closed, the arc-shaped claw teeth of the front half claw 22 and the arc-shaped claw teeth of the rear half claw 23 are meshed in a staggered mode, and a meshed area forms an approximately closed inner cavity.
When a piston rod of the fourth oil/air cylinder 49 extends out under the action of oil gas pressure, the front half claw 22 is pushed to fold, and the rear half claw 23 is pulled through the pull rod 29 to fold while the front half claw 22 folds, so that an object is grabbed; when the piston rod of the fourth oil/air cylinder 49 retracts under the action of oil pressure, the front half claw 22 is pulled to be opened, and the rear half claw is pushed by the pull rod 29 to be opened while the front half claw 22 is opened, so that the object is released. The front half claw 22 and the rear half claw 23 are closed just like a tiger mouth to swallow, and the object can be grabbed as long as the jaw opening can surround the object, so that the object grabbing operation is simple and the object grabbing device is suitable for grabbing irregular objects.
An oil cup 14 is mounted on the front jaw half 22.
As shown in fig. 9, the support frame 21 is a platform for mounting the front half claw and the rear half claw, and is integrally cast from steel.
The above embodiments are only for understanding the technical solutions of the present invention by those skilled in the art, and are not intended to limit the technical solutions, and any modifications, substitutions or equivalents based on the technical solutions of the present invention should be included in the scope of the present invention.
Claims (10)
1. Tiger's mouth formula manipulator mainly includes fixing base, gyration and supports, rotary joint, envelope formula big arm, folding arm, rocking arm and tiger's mouth formula clamping jaw, its characterized in that: a rotary support is arranged on the fixed seat, a base is arranged on the rotary support, and a first oil/air cylinder is arranged on the base;
one end of the enveloping type large arm is connected to the base, a left pull rod and a right pull rod are arranged on the left side and the right side of the other end of the enveloping type large arm, a piston rod of the first oil/air cylinder is hinged to the bottom of the enveloping type large arm, and a second oil/air cylinder is further arranged at the bottom of the enveloping type large arm;
the folding arm is connected with the other end of the enveloping type large arm, a left push rod and a right push rod are arranged on the left side and the right side of the connecting end of the folding arm and the enveloping type large arm, and the other ends of the left push rod and the right push rod are connected with a left pull rod, a right pull rod and a piston rod of a second oil-gas cylinder in a penetrating manner through pin shafts;
the other ends of the left swing rod and the right swing rod are connected with the other ends of the two front supporting rods and a piston rod of the third oil/air cylinder in a penetrating manner through a pin shaft;
the jaw type clamping jaw is arranged on the rotating arm, a support frame of the jaw type clamping jaw is provided with a fourth oil/air cylinder, and a piston rod of the fourth oil/air cylinder is connected with the front half jaw of the jaw type clamping jaw to provide power for opening and closing the jaw type clamping jaw;
one end of the rotary joint is arranged on the fixed seat, and the other end of the rotary joint is arranged on the base, so that 360-degree full rotation of the oil/gas circuit is realized;
a control cabinet is also arranged behind the base, a valve group and an electric appliance control module are installed in the control cabinet, and the control cabinet is connected with the four oil/air cylinders through pipelines;
angular displacement sensors are respectively arranged at the hinged parts of the rotary support and the enveloping type large arm, the folding arm and the rotating arm.
2. The thumb-grip robot of claim 1, wherein: the tiger's mouth formula clamping jaw mainly includes support frame, first half claw, latter half claw, a location section of thick bamboo, pull rod and fourth oil/cylinder, the one end at aforementioned rocking arm is installed to the support frame, the one end of fourth oil/cylinder is passed through minor axis, a location section of thick bamboo, buckle and fix with screw on the support frame, first half claw passes through minor axis, buckle and the one end of mounting with first half claw on the support frame, latter half claw passes through minor axis, buckle and the other end that the mounting of screw is relative on the support frame, the one end of pull rod is passed through major axis, buckle, screw and is connected with the other end of first half claw and fourth oil/cylinder, and the other end of pull rod passes through major axis, buckle and screw and is connected with latter half claw, through stretching out or retracting of fourth oil/cylinder, drives tige.
3. The thumb-grip robot of claim 2, wherein: the front half claw is formed by six arc-shaped claw teeth which are uniformly arranged at intervals, the rear half claw is formed by five arc-shaped claw teeth which are uniformly arranged at intervals, when the front half claw and the rear half claw are closed, the arc-shaped claw teeth of the front half claw and the arc-shaped claw teeth of the rear half claw are meshed in a staggered mode, and a nearly closed inner cavity is formed in a meshing area.
4. The thumb-grip robot of claim 3, wherein: two arc-shaped claw teeth with a sawtooth structure are arranged on the left outer side and the right outer side of the six arc-shaped claw teeth on the front half claw; two of the left and right outer sides of the five arc-shaped claw teeth on the rear half claw are arc-shaped claw teeth with a sawtooth structure.
5. The thumb-grip robot of claim 2, wherein: when a piston rod of the fourth oil/air cylinder extends out under the action of oil gas pressure, the front half claw is pushed to be folded, and the rear half claw is pulled by the pull rod to be folded while the front half claw is folded, so that an object is grabbed; when a piston rod of the fourth oil/air cylinder retracts under the action of oil pressure, the front half claw is pulled to be opened, and the rear half claw is pushed by the pull rod to be opened while the front half claw is opened, so that an object is loosened.
6. The thumb-grip robot of claim 2, wherein: and an oil cup is arranged on the front half claw.
7. The thumb-grip robot of claim 2, wherein: the support frame is used as a platform for mounting the front half claw and the rear half claw and is integrally cast by steel.
8. The thumb-grip robot of claim 1, wherein: the tiger mouth type manipulator can rotate 360 degrees by taking a central shaft of the rotary support as a circle center.
9. The thumb-grip robot of claim 1, wherein: the second oil/air cylinder is connected to the bottom of the enveloping type large arm through a pin shaft, a piston rod of the second oil/air cylinder is connected with the left and right pull rods on the enveloping type large arm and the left and right push rods on the folding arm in a penetrating mode through the pin shaft, and the folding or the extending of the folding arm is controlled through the second oil/air cylinder.
10. The thumb-grip robot of claim 1, wherein: the third oil/air cylinder is arranged above the folding arm through a pin shaft, a piston shaft of the third oil/air cylinder is connected with the left and right swing rods and the two front support rods on the rotating arm in a penetrating mode through the pin shaft, and the third oil/air cylinder controls the lifting or falling of the rotating arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010630644.4A CN111761597B (en) | 2020-07-03 | 2020-07-03 | Tiger mouth type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010630644.4A CN111761597B (en) | 2020-07-03 | 2020-07-03 | Tiger mouth type manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN111761597A true CN111761597A (en) | 2020-10-13 |
| CN111761597B CN111761597B (en) | 2024-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010630644.4A Active CN111761597B (en) | 2020-07-03 | 2020-07-03 | Tiger mouth type manipulator |
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| CN (1) | CN111761597B (en) |
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| DE202004013842U1 (en) * | 2004-09-06 | 2004-11-18 | Liebherr-Hydraulikbagger Gmbh | Digging or gripping tools |
| CN205129883U (en) * | 2015-11-11 | 2016-04-06 | 福建农林大学 | Single cylinder machinery fluid pressure type log grapple |
| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
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| CN106903686A (en) * | 2017-05-08 | 2017-06-30 | 深圳市时维智能装备有限公司 | A kind of manipulator |
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-
2020
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| DE202004013842U1 (en) * | 2004-09-06 | 2004-11-18 | Liebherr-Hydraulikbagger Gmbh | Digging or gripping tools |
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| Publication number | Publication date |
|---|---|
| CN111761597B (en) | 2024-07-26 |
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