CN113756849B - Control method for omni-directional mobile hydraulic support - Google Patents
Control method for omni-directional mobile hydraulic support Download PDFInfo
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- CN113756849B CN113756849B CN202111020548.9A CN202111020548A CN113756849B CN 113756849 B CN113756849 B CN 113756849B CN 202111020548 A CN202111020548 A CN 202111020548A CN 113756849 B CN113756849 B CN 113756849B
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- Prior art keywords
- motor
- emulsion
- hydraulic support
- control valve
- valve group
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000000839 emulsion Substances 0.000 claims abstract description 95
- 239000007788 liquid Substances 0.000 claims abstract description 47
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 230000009471 action Effects 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000003245 coal Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/44—Hydraulic, pneumatic, or hydraulic-pneumatic props
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/44—Hydraulic, pneumatic, or hydraulic-pneumatic props
- E21D15/45—Hydraulic, pneumatic, or hydraulic-pneumatic props having closed fluid system, e.g. with built-in pumps or accumulators
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/50—Component parts or details of props
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/50—Component parts or details of props
- E21D15/51—Component parts or details of props specially adapted to hydraulic, pneumatic, or hydraulic-pneumatic props, e.g. arrangements of relief valves
- E21D15/512—Arrangement of valves
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/50—Component parts or details of props
- E21D15/54—Details of the ends of props
- E21D15/55—Details of the ends of props of prop heads or feet
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/08—Advancing mechanisms
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
A control method of an omni-directional mobile hydraulic support comprises the components of a hydraulic support electrohydraulic control valve group, a motor electrohydraulic control valve group, an alternating one-way valve, a synchronous valve, an emulsion motor, a liquid return circuit breaker valve and the like; the hydraulic support electrohydraulic control valve group controls the action of the hydraulic support upright post and the jack, the motor electrohydraulic control valve group controls the action of the emulsion motor, the synchronous valve keeps the flow of the left emulsion motor and the right emulsion motor consistent, and the liquid return circuit breaker separates a liquid return pipeline of the hydraulic support from a liquid return pipeline of the emulsion motor, so that misoperation of the hydraulic support upright post and the jack is avoided when the emulsion motor and the emulsion motor act; when the motor electrohydraulic control valve group is controlled, the alternating check valve acts, and the emulsion motor braking device is opened, so that the emulsion motor rotates according to the requirement, and the action control of the omnidirectional mobile hydraulic support is realized.
Description
Technical Field
The invention relates to a control method of an omni-directional mobile hydraulic support, which is suitable for controlling the action of the omni-directional mobile hydraulic support.
Background
The omnidirectional mobile hydraulic support realizes omnidirectional walking by driving the left and right spiral walking parts to rotate through an emulsion motor to move forwards, backwards, laterally translate or rotate. There are several problems that must be solved during practical use. The hydraulic support is capable of enabling flow of a left motor and flow of a right motor to be consistent and enabling the hydraulic support to travel according to a straight line. In order to prevent the emulsion motor from misoperation in a non-operation state, a brake device is arranged on the emulsion motor, and the emulsion motor can be freely operated by opening the emulsion motor in a control state. And when the emulsion motor acts, the back pressure of a liquid return pipeline of the system is overlarge, and the stand column or the jack of the hydraulic support can possibly lift the stand and the platform to lift and the like. The above-mentioned problems become the problem that the omni-directional mobile hydraulic support must solve.
The patent ZL 200620079330.5 is characterized in that the left and right interfaces of the variable pump are respectively connected with the different interfaces of the two hydraulic motors and the synchronous valve, so that high-low speed conversion is realized, and walking speed conversion is realized based on the variable pump. The disadvantage is that the system is relatively complex.
The patent (application number: 201780011816.6) discloses a hydraulic tamping machine, wherein the two hydraulic motors realize the synchronous tamping action of the tamping machine through a synchronous hydraulic power supply system, and the synchronous device consists of two hydraulic circuits which are mutually independent and are used for supplying liquid for the respective hydraulic motors, wherein the hydraulic circuits comprise a synchronous hydraulic pump and at least one synchronous valve. The disadvantage of this device is the complex structure.
Disclosure of Invention
The invention aims to provide a simple and reliable control method for an omnidirectional mobile hydraulic support under a coal mine.
The technical scheme is as follows: the invention provides a control method of an omnidirectional mobile hydraulic support, wherein a left motor electrohydraulic control valve group (2) and a right motor electrohydraulic control valve group (3) with two functions are arranged in a system, a left emulsion motor (7) and a right emulsion motor (8) are in a locking state under a normal state, and the omnidirectional mobile hydraulic support cannot move. When the left motor electrohydraulic control valve group (2) is controlled, the left alternating one-way valve (4) acts, and a left emulsion motor (7) braking device is opened to enable the left emulsion motor (7) to rotate according to requirements; when the right motor electrohydraulic control valve group (3) is controlled, the right alternate one-way valve (5) acts, and a brake device of the right emulsion motor (8) is opened to enable the right emulsion motor (8) to rotate according to the requirement; when the left motor electrohydraulic control valve group (2) and the right motor electrohydraulic control valve group (3) are controlled simultaneously, the locking state of the left emulsion motor (7) and the right emulsion motor (8) is released, the two motors act simultaneously, and the omnidirectional mobile hydraulic support moves forwards, backwards or horizontally; when the left motor electrohydraulic control valve group (2) or the right motor electrohydraulic control valve group (3) is independently controlled, the locking state of one motor is released, the other motor is in the locking state, only one motor acts on the left emulsion motor (7) or the right emulsion motor (8), the omnidirectional moving hydraulic support rotates leftwards or rightwards, and the locking state of the left emulsion motor (7) and the right emulsion motor (8) is automatically released by utilizing the left alternating one-way valve (4) and the right alternating one-way valve (5).
In order to enable the omnidirectional mobile hydraulic support to walk according to a straight line, a synchronous valve (6) is arranged on a liquid inlet pipeline P of a left motor electrohydraulic control valve group (2) and a right motor electrohydraulic control valve group (3), and the synchronous valve (6) enables liquid supply flows of a left emulsion motor (7) and a right emulsion motor (8) to be kept consistent, so that the rotating speeds of the left emulsion motor (7) and the right emulsion motor (8) are basically the same when the left emulsion motor (7) and the right emulsion motor (8) act simultaneously, and the omnidirectional mobile hydraulic support can move forwards, backwards and laterally horizontally according to the straight line.
In order to prevent the back pressure of a liquid return pipeline from being too large when an emulsion motor acts, the liquid return circuit breaker (9) is assembled on the liquid return pipeline O of a hydraulic support electrohydraulic control valve group (1), the liquid return circuit breaker (9) enables the liquid return pipeline O of the hydraulic support to be separated from the liquid return pipeline O of the emulsion motor, so that the back pressure of a system is large when a left emulsion motor (7) or a right emulsion motor (8) acts, the back pressure of the liquid return pipeline of the emulsion motor cannot influence the liquid return pipeline of the hydraulic support, and the misoperation of a left stand column (10), a right stand column (11) and a left front jack 12, a left rear jack 13, a right front jack 14 and a right rear jack 15 of the hydraulic support is caused.
The invention solves the problem of controlling the action of the omnidirectional mobile hydraulic support, prevents the misoperation of the emulsion motor in a non-operation state through the self-locking device of the emulsion motor, automatically opens the emulsion motor braking device by using the alternating one-way valve when the motor electrohydraulic control valve group is controlled, and simultaneously separates the liquid return pipeline of the hydraulic support from the liquid return pipeline of the emulsion motor by adopting the liquid return circuit breaker so as to avoid the larger back pressure of the system when the emulsion motor acts, cause the misoperation of the upright post and the jack of the hydraulic support and realize the safe and reliable operation and control of the omnidirectional mobile hydraulic support.
The invention has the following advantages:
the motor flow is basically unanimous about the synchronous valve control, simple structure.
The emulsion motor rotating speed is controlled by utilizing the two-functional electro-hydraulic valve group, and the emulsion motor braking device is automatically opened by the alternating check valve when the motor electro-hydraulic control valve group is operated, so that the locking state of the emulsion motor is relieved, and the operation is convenient.
According to the hydraulic support hydraulic control system, the liquid return pipeline of the hydraulic support is separated from the liquid return pipeline of the emulsion motor by the liquid return circuit breaker, so that the situation that the liquid return pipeline is excessively back pressure to cause misoperation of a hydraulic support upright post or a jack when the emulsion motor acts is prevented, and the hydraulic support hydraulic control system is safe and reliable.
Drawings
Fig. 1 is a schematic diagram of a control system of the present invention.
In the figure, a 1-electrohydraulic control valve bank, a 2-left motor electrohydraulic control valve bank, a 3-right motor electrohydraulic control valve bank, a 4-left alternating check valve, a 5-right alternating check valve, a 6-synchronous valve, a 7-left emulsion motor, an 8-right emulsion motor, a 9-liquid return circuit breaker, a 10-left upright post, a 11-right upright post, a 12-left front jack, a 13-left rear jack, a 14-right front jack and a 15-right rear jack.
Detailed Description
Embodiments of the present invention are further described below with reference to the accompanying drawings.
As shown in fig. 1, the omnidirectional mobile hydraulic support control method comprises a hydraulic support electrohydraulic control valve bank (1), a left motor electrohydraulic control valve bank (2), a right motor electrohydraulic control valve bank (3), a left alternate one-way valve (4), a right alternate one-way valve (5), a synchronous valve (6), a left emulsion motor (7), a right emulsion motor (8), a liquid return circuit breaker (9), a left upright post (10), a right upright post (11), a 12-left front jack, a 13-left rear jack, a 14-right front jack, a 15-right rear jack, a liquid supply pipeline P and a liquid return pipeline O.
The left motor electrohydraulic control valve group (2) and the right motor electrohydraulic control valve group (3) are two-function electrohydraulic reversing valves, and mainly control left rotation or right rotation of the motor; when the left motor electrohydraulic control valve group (2) is controlled, the left alternating one-way valve (4) acts, and a left emulsion motor (7) braking device is opened to enable the left emulsion motor (7) to rotate according to requirements; when the right motor electrohydraulic control valve group (3) is controlled, the right alternate one-way valve (5) acts, and a brake device of the right emulsion motor (8) is opened to enable the right emulsion motor (8) to rotate according to the requirement; when the left motor electrohydraulic control valve group (2) and the right motor electrohydraulic control valve group (3) are controlled simultaneously, the left emulsion motor (7) and the right emulsion motor (8) act simultaneously, and the omnidirectional mobile hydraulic support moves forwards, backwards or horizontally; when the left motor electrohydraulic control valve group (2) or the right motor electrohydraulic control valve group (3) is independently controlled, the left emulsion motor (7) or the right emulsion motor (8) acts, and the omni-directional moving hydraulic support rotates leftwards or rightwards.
The left motor electrohydraulic control valve group (2) and the right motor electrohydraulic control valve group (3) are provided with a synchronous valve (6) on a liquid inlet pipeline P, the synchronous valve (6) enables the liquid supply flow of the left emulsion motor (7) and the liquid supply flow of the right emulsion motor (8) to be consistent, the rotating speeds of the left emulsion motor (7) and the right emulsion motor (8) are the same when the left emulsion motor and the right emulsion motor (8) act simultaneously, and the omnidirectional moving hydraulic support moves forwards, backwards or laterally horizontally according to a straight line.
The hydraulic support electrohydraulic control valve group (1) is provided with a liquid return circuit breaker (9) on a liquid return pipeline O, and the liquid return circuit breaker (9) enables the liquid return pipeline O of the hydraulic support to be separated from the liquid return pipeline O of the emulsion motor, so that the back pressure of the system is increased when the left emulsion motor (7) or the right emulsion motor (8) acts, and the left upright post (10), the right upright post (11) and the 12-left front jack of the hydraulic support, the 13-left rear jack, the 14-right front jack and the 15-right rear jack are caused to malfunction.
The foregoing examples are illustrative of the effective embodiments of the present invention and are not intended to limit the scope of the invention, and various modifications and improvements may be made by the skilled artisan without departing from the design spirit of the invention, which is defined in the claims.
Claims (4)
1. The omnidirectional mobile hydraulic support control method comprises a hydraulic support electrohydraulic control valve group (1), a left motor electrohydraulic control valve group (2), a right motor electrohydraulic control valve group (3), a left alternate check valve (4), a right alternate check valve (5), a synchronous valve (6), a left emulsion motor (7), a right emulsion motor (8) and a liquid return circuit breaker (9); the hydraulic support electrohydraulic control valve group (1) controls the left upright post (10), the right upright post (11) and the left front jack (12), the left rear jack (13), the right front jack (14) and the right rear jack (15) of the hydraulic support, the left motor electrohydraulic control valve group (2) controls the left emulsion motor (7) to act, the right motor electrohydraulic control valve group (3) controls the right emulsion motor (8) to act, the synchronous valve (6) keeps the flow rates of the left emulsion motor (7) and the right emulsion motor (8) consistent, and the liquid return circuit breaker (9) separates a liquid return pipeline O of the hydraulic support from a liquid return pipeline O of the emulsion, so that misoperation of the left upright post (10), the right upright post (11) and the left front jack (12), the left rear jack (13), the right front jack (14) and the right rear jack (15) is avoided when the left emulsion motor (7) and the right emulsion motor (8) act; when the left motor electrohydraulic control valve group (2) is controlled, the left alternating check valve (4) acts, the left emulsion motor (7) braking device is opened, when the right motor electrohydraulic control valve group (3) is controlled, the right alternating check valve (5) acts, the right emulsion motor (8) braking device is opened, the left emulsion motor (7) and the right emulsion motor (8) rotate according to requirements, and the omnidirectional movement hydraulic support action control is realized.
2. The method for controlling the omni-directional mobile hydraulic support according to claim 1, wherein the method comprises the following steps: the left motor electrohydraulic control valve group (2) and the right motor electrohydraulic control valve group (3) are two-function electrohydraulic reversing valves, and mainly control left rotation or right rotation of the motor; when the left motor electrohydraulic control valve group (2) is controlled, the left alternating one-way valve (4) acts, and a left emulsion motor (7) braking device is opened to enable the left emulsion motor (7) to rotate according to requirements; when the right motor electrohydraulic control valve group (3) is controlled, the right alternate one-way valve (5) acts, and the brake device of the right emulsion motor (8) is opened, so that the right emulsion motor (8) rotates according to the requirement.
3. The method for controlling the omni-directional mobile hydraulic support according to claim 1, wherein the method comprises the following steps: the left motor electrohydraulic control valve group (2) and the right motor electrohydraulic control valve group (3) are provided with a synchronous valve (6) on a liquid inlet pipeline P, the synchronous valve (6) enables the liquid supply flow of the left emulsion motor (7) and the liquid supply flow of the right emulsion motor (8) to be kept consistent, and the rotating speeds of the left emulsion motor (7) and the right emulsion motor (8) are the same when the left emulsion motor and the right emulsion motor act simultaneously.
4. The method for controlling the omni-directional mobile hydraulic support according to claim 1, wherein the method comprises the following steps: the hydraulic support electrohydraulic control valve group (1) is provided with a liquid return circuit breaker (9) on a liquid return pipeline O, and the liquid return circuit breaker (9) enables the liquid return pipeline O of the hydraulic support to be separated from the liquid return pipeline O of the emulsion motor, so that the back pressure of the system is increased when the left emulsion motor (7) or the right emulsion motor (8) acts, and misoperation of a left upright post (10), a right upright post (11) and a left front jack (12), a left rear jack (13), a right front jack (14) and a right rear jack (15) of the hydraulic support is caused.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111020548.9A CN113756849B (en) | 2021-09-01 | 2021-09-01 | Control method for omni-directional mobile hydraulic support |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111020548.9A CN113756849B (en) | 2021-09-01 | 2021-09-01 | Control method for omni-directional mobile hydraulic support |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113756849A CN113756849A (en) | 2021-12-07 |
| CN113756849B true CN113756849B (en) | 2024-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111020548.9A Active CN113756849B (en) | 2021-09-01 | 2021-09-01 | Control method for omni-directional mobile hydraulic support |
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Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1340014A (en) * | 1962-11-29 | 1963-10-11 | Gewerk Eisenhuette Westfalia | Mobile hydraulic support for mining operations |
| FR1421744A (en) * | 1963-12-24 | 1965-12-17 | Salzgitter Maschinen Ag | Hydraulic control installation for the frames of a walking gallery support, for example in coal mines |
| SU1528923A1 (en) * | 1987-06-10 | 1989-12-15 | Шахта "Юнь-Яга" Производственного Объединения "Воркутауголь" | Mobile formwork/support |
| RU2136888C1 (en) * | 1998-02-10 | 1999-09-10 | АО "Подмосковный научно-исследовательский и проектно-конструкторский угольный институт" | Powered support for mining seams by chambers |
| CN2933941Y (en) * | 2006-07-07 | 2007-08-15 | 长安大学 | High-slow velocity switching-running driving device of fully-hydraulic bulldozer and leveler |
| CN201310372Y (en) * | 2008-12-16 | 2009-09-16 | 郑州煤矿机械集团股份有限公司 | Rapid supply-return liquid system of big cylinder diameter vertical column of hydraulic support |
| CN102071956A (en) * | 2010-12-29 | 2011-05-25 | 北京中科林重科技有限公司 | Electro-hydraulic control system for working surface hydraulic support |
| CN103233762A (en) * | 2013-04-11 | 2013-08-07 | 山西平阳重工机械有限责任公司 | Two-prop shielding type electro-hydraulic-control top-coal caving hydraulic support |
| CN104533478A (en) * | 2014-12-19 | 2015-04-22 | 郑州煤矿机械集团股份有限公司 | Hydraulic system used for recycling emulsified liquid of coal face |
| CN106593503A (en) * | 2017-01-16 | 2017-04-26 | 天地科技股份有限公司 | Omnibearing traveling type forepoling hydraulic support |
| CN108222983A (en) * | 2018-03-12 | 2018-06-29 | 太原科技大学 | A kind of column boost-up circuit of hydraulic support |
| CN108699779A (en) * | 2016-01-21 | 2018-10-23 | 马蒂萨材料工业股份有限公司 | Tamping tool with synchronous hydraulic motor |
| CN109630165A (en) * | 2018-12-28 | 2019-04-16 | 上海工程技术大学 | A kind of underground mine use two column protected type electrichydraulic control hydraulic support |
| WO2021004397A1 (en) * | 2019-07-09 | 2021-01-14 | 中国矿业大学 | Large flow valve-pump joint control emulsion pump station and control method therefor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017012285A1 (en) * | 2015-07-20 | 2017-01-26 | 太原理工大学 | Method for implementing a centralized control platform of hydraulic support on fully mechanized mining working face in underground coal mines |
-
2021
- 2021-09-01 CN CN202111020548.9A patent/CN113756849B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1340014A (en) * | 1962-11-29 | 1963-10-11 | Gewerk Eisenhuette Westfalia | Mobile hydraulic support for mining operations |
| FR1421744A (en) * | 1963-12-24 | 1965-12-17 | Salzgitter Maschinen Ag | Hydraulic control installation for the frames of a walking gallery support, for example in coal mines |
| SU1528923A1 (en) * | 1987-06-10 | 1989-12-15 | Шахта "Юнь-Яга" Производственного Объединения "Воркутауголь" | Mobile formwork/support |
| RU2136888C1 (en) * | 1998-02-10 | 1999-09-10 | АО "Подмосковный научно-исследовательский и проектно-конструкторский угольный институт" | Powered support for mining seams by chambers |
| CN2933941Y (en) * | 2006-07-07 | 2007-08-15 | 长安大学 | High-slow velocity switching-running driving device of fully-hydraulic bulldozer and leveler |
| CN201310372Y (en) * | 2008-12-16 | 2009-09-16 | 郑州煤矿机械集团股份有限公司 | Rapid supply-return liquid system of big cylinder diameter vertical column of hydraulic support |
| CN102071956A (en) * | 2010-12-29 | 2011-05-25 | 北京中科林重科技有限公司 | Electro-hydraulic control system for working surface hydraulic support |
| CN103233762A (en) * | 2013-04-11 | 2013-08-07 | 山西平阳重工机械有限责任公司 | Two-prop shielding type electro-hydraulic-control top-coal caving hydraulic support |
| CN104533478A (en) * | 2014-12-19 | 2015-04-22 | 郑州煤矿机械集团股份有限公司 | Hydraulic system used for recycling emulsified liquid of coal face |
| CN108699779A (en) * | 2016-01-21 | 2018-10-23 | 马蒂萨材料工业股份有限公司 | Tamping tool with synchronous hydraulic motor |
| CN106593503A (en) * | 2017-01-16 | 2017-04-26 | 天地科技股份有限公司 | Omnibearing traveling type forepoling hydraulic support |
| CN108222983A (en) * | 2018-03-12 | 2018-06-29 | 太原科技大学 | A kind of column boost-up circuit of hydraulic support |
| CN109630165A (en) * | 2018-12-28 | 2019-04-16 | 上海工程技术大学 | A kind of underground mine use two column protected type electrichydraulic control hydraulic support |
| WO2021004397A1 (en) * | 2019-07-09 | 2021-01-14 | 中国矿业大学 | Large flow valve-pump joint control emulsion pump station and control method therefor |
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| Publication number | Publication date |
|---|---|
| CN113756849A (en) | 2021-12-07 |
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