CN201881384U - Arm mechanism of planar multi-joint robot - Google Patents
Arm mechanism of planar multi-joint robot Download PDFInfo
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- CN201881384U CN201881384U CN2010206325146U CN201020632514U CN201881384U CN 201881384 U CN201881384 U CN 201881384U CN 2010206325146 U CN2010206325146 U CN 2010206325146U CN 201020632514 U CN201020632514 U CN 201020632514U CN 201881384 U CN201881384 U CN 201881384U
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Abstract
The utility model relates to an arm mechanism of a planar multi-joint robot, which belongs to the technical field of industrial robots, and comprises a driving unit, a base platform and a double-expansion arm component; the driving unit is provided with at least one rotating shaft, i.e. inner shaft of the rotating shaft; the base platform which is provided with the built-in inner shaft of the rotating shaft is connected onto a lifting mechanism of the driving unit; the double expansion arm component is respectively and symmetrically arranged on the base platform relative to the rotation axis of the driving unit through a rotary joint; the inner shaft of the rotating shaft is fixedly connected with a common driving connecting rod of the double expansion arm component; and a lifting shaft of the lifting mechanism and the inner shaft of the rotating shaft are respectively connected with a controller of the driving unit through motors. The arm mechanism of the planar multi-joint robot adopts a seven-rod parallel mechanism, not only can realize the rotation action of double-SCARA (selective compliance assembly robot arm) double-arm components, but also can realize the expansion action; and the lifting mechanism in the driving unit realizes the lifting motion of the double-SCARA double-arm components. The structure is simple and compact, the structural rigidity is high, the motion is flexible and reliable, the repeated positioning precision is high, and the reliability is high.
Description
Technical field
The utility model belongs to the industrial robot technical field, particularly relates to a kind of planar multiple-articulation humanoid robot arm mechanism.
Background technology
Continuous development along with industry such as electronics, space flight, military affairs and biological medicines, Modern Industry Products and modern science experimental activity require microminiaturization, precise treatment, high-purity, high-quality and high reliability, require semiconductor components and devices to process under quite high cleanliness factor environment.
Be used for the small scale robot of semiconductor devices carrying, must can adapt to high-cleanness, high and the narrow and small environment for use in space, satisfy simultaneously simple and compact for structure, the rigidity of structure is high, motion flexibility and reliability, repetitive positioning accuracy height and the high requirement of reliability.
In order to increase work efficiency, usually two groups of mechanical arms are installed on the same revolving dial, after one group of arm was got sheet, another group arm can film releasing.The modal both hands arm transfer robot that is used for clean environment mainly contains both arms drive concertina type robot and the public driving concertina type of both arms robot both at home and abroad at present.Stretching of the former every group of arm respectively needs 1 driver, the public driver of the revolution of every group of arm, thus need 3 drivers altogether, flexible public 1 driver of two groups of arms of the latter, a public revolution driver altogether need 2 drivers.The patent US5765444 of Kensington Laboratories application has announced the arm mechanism that a kind of both arms drive is flexible.The patent US5857826 of Japan Daikin company adopts a kind of both arms public machine driven people that stretches, and its arm segment in height is divided into two-layer, promptly big arm and forearm.Public drive link and auxiliary connecting rod are between big arm and forearm.In order to give the motion spacing of public drive link and auxiliary connecting rod, the necessary attenuate of the segment thickness of big arm and forearm causes the rigidity of big forearm to reduce.The patent WO 2008/124108 of Hosek Martin application proposes to adopt the Watt six-bar mechanism to realize two groups of SCARA (Selective Compliance Assembly Robot Arm, select the compliance arm that puts together machines) extension and contraction control of arm, the big arm rotating shaft of the public drive link of its isosceles triangle and scara arm has tangible overlapping region.For avoiding movement interference, public drive link and auxiliary connecting rod can only be installed in the big arm of scara arm top, are to save the space, require the thickness of public drive link and auxiliary connecting rod to be no more than the thickness of forearm usually, cause rigidity to reduce.
The utility model content
At the technical problem of above-mentioned existence, the purpose of this utility model is to provide a kind of planar multiple-articulation humanoid robot arm mechanism, can adapt to the narrow and small environment for use in space, satisfies simple and compact for structure, motion flexibility and reliability simultaneously.
To achieve these goals, the technical solution of the utility model is as follows:
The utility model comprises driver element, base platform and double telescopic assembly, described driver element has a rotating shaft at least, when having a rotating shaft---when axle in the rotating shaft, the base platform of axle is connected on the elevating mechanism of driver element in the built-in rotating shaft, the double telescopic assembly is installed on the base platform by the rotation symmetry of rotary joint with respect to driver element respectively, axle is affixed with the public drive link of double telescopic assembly in the rotating shaft, and the lifting shaft of described elevating mechanism is connected with the controller of driver element by motor respectively with the interior axle of rotating shaft.
When driver element of the present utility model has two rotating shafts, axle and rotating shaft outer shaft mutual sheathing in two rotating shaft---the rotating shaft, the base platform of built-in two rotating shafts is connected on the elevating mechanism of driver element, the double telescopic assembly is installed on the rotating shaft outer shaft on the base platform with respect to the rotation symmetry of driver element by rotary joint respectively, axle is affixed with the public drive link of double telescopic assembly in the rotating shaft, the lifting shaft of described elevating mechanism, in rotating shaft outer shaft and the rotating shaft axle respectively by separately independently motor be connected with the controller of driver element.
When driver element of the present utility model had two rotating shafts, the 3rd motor of axle also can be installed on the rotating shaft outer shaft in its described rotating shaft.
Described double telescopic assembly comprises first scara arm, second scara arm, public drive link, first intermediate connecting rod and second intermediate connecting rod, described public drive link is installed in the downside of the big arm of first scara arm, second scara arm, the big arm end of first scara arm, second scara arm is hinged with an end of first intermediate connecting rod and second intermediate connecting rod respectively, and the other end of first intermediate connecting rod and second intermediate connecting rod is all hinged with public drive link.Described first scara arm includes big arm, forearm and the end effector that is connected in turn with second scara arm, two end effectors of described first scara arm and second scara arm are stacked up and down, in the big arm of first, second scara arm and the forearm synchronous band and synchronous pulley are installed all, two forearms are separately fixed on second belt wheel of two big arms, two end effectors are separately fixed on the four-tape wheel of two forearms, second belt wheel and the coaxial setting of the 3rd belt wheel.The gear ratio of first belt wheel 17, second belt wheel 19 is 2:1 in the described big arm.Gear ratio in the described forearm between the 3rd belt wheel 21 and the four-tape wheel 23 is 1:2.
The utlity model has following advantage:
1. simple in structure: the utility model adopts a public drive link to drive the flexible of both arms, has simplified drive mechanism, has passed through to reduce unreliable parts, improves reliability, reduces production costs.
2. structural rigidity is good: every group of arm of the utility model all adopts traditional scara arm form, and arm thickness is not subjected to the influence of public drive rod and auxiliary connecting rod thickness, can guarantee the rigidity of arm.The wherein setting of the length of drive link makes the gyration of drive link not produce interference with first arm and second largest arm.The utility model adopts seven bar parallel institutions, can realize the revolution action of two SCARA both arms assemblies.By having the driver element of at least one rotating shaft, in the big arm of two scara arm assemblies and forearm, synchronous belt drive mechanism is set, set corresponding gear ratio, and two end effectors are stacked up and down, realize the expanding-contracting action of two SCARA both arms assemblies, and make the flexible direction unanimity of two end effectors.Adopt elevating mechanism to connect base platform in the driver element, realize the elevating movement of two SCARA both arms assemblies.Motion flexibly, reliably.
3. practical: the utility model can adapt to the narrow and small high-cleanness, high environment for use in space, satisfy simultaneously simple and compact for structure, the rigidity of structure is high, motion flexibility and reliability, repetitive positioning accuracy height and the high requirement of reliability.Be applicable to the semiconductor devices carrying, also be applicable to industry and occasion that other need small scale robot.
Description of drawings
Fig. 1 is the perspective view of the utility model embodiment 1.
Fig. 2 all is in the schematic diagram of withdrawal operating position for the left and right sides arm of Fig. 1.
Fig. 3 stretches a schematic diagram that contracts the operating position for the left and right sides arm of Fig. 1 is in one.
Fig. 4 is the driver element of Fig. 1 and the internal structure schematic diagram of second scara arm.
Fig. 5 is the structural representation of the utility model embodiment 2.
Fig. 6 is the structural representation of the utility model embodiment 3.
Among the figure: 1. driver element, 2. base platform, 3. public drive link, 4. first intermediate connecting rod, 5. first arm, 6 first forearms, 7. first end effector, 8. second intermediate connecting rod, 9. second largest arm, 10. second end effector, 11. first scara arms, 12. second scara arms, 13. double telescopic assembly, 14. first motor, 15. second motors, 16. the 3rd clothes motors, 17. first belt wheel, 18. first is with 19. second belt wheels, 20. second forearms synchronously, 21. the 3rd belt wheels, and 22. second are with synchronously, 23. four-tape wheel, 24. lifting shaft, 25. STATEMENT OF FEDERALLY SPONSORED, 26. rotating shaft outer shafts, 27. axle in the rotating shaft, 28. controller, x. rotation, x1～x8. are respectively first～the 8th rotary joint.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is described in further detail.
Embodiment 1: as Fig. 1-shown in Figure 4, this example comprises driver element 1, base platform 2 and double telescopic assembly 13, described driver element 1 has two rotating shafts of mutual sheathing---axle 27 and rotating shaft outer shaft 26 in the rotating shaft, the base platform 2 of built-in two rotating shafts is connected on the elevating mechanism of driver element 1, double telescopic assembly 13 is by the 4th, the 5th rotary joint x4, x5 is installed on the rotating shaft outer shaft 26 on the base platform 2 with respect to the rotation x symmetry of driver element 1, axle 27 is affixed with the public drive link 3 of double telescopic assembly 13 in the rotating shaft, the lifting shaft 24 of described elevating mechanism, in rotating shaft outer shaft 26 and the rotating shaft axle 27 respectively by separately independently motor be connected with the controller of driver element 1.
As Fig. 2, shown in Figure 3, black line is partly represented the connecting rod connection line among the figure.This routine described double telescopic assembly 13 comprises first scara arm 11, second scara arm 12, first intermediate connecting rod 4 and second intermediate connecting rod 8, wherein first scara arm 11, second scara arm 12 include big arm, forearm and the end effector that connects in turn, described first arm 5 and second largest arm 9 are hinged by an end of the second rotary joint x2 and the 3rd rotary joint x3 and first intermediate connecting rod 4 and second intermediate connecting rod 8 respectively, and the other end of first intermediate connecting rod 4 and second intermediate connecting rod 8 is all hinged by the first rotary joint x1 and public drive link 3.
Thereby, in rotating shaft outer shaft 26, common drive connecting rod 3 and the rotating shaft axle 27 connect firmly, first intermediate connecting rod 4, second intermediate connecting rod 8, first arm 5 and second largest arm 9, formed a kind of seven bar parallel institutions.Described public drive link 3 is installed in the downside of first arm 5 and second largest arm 9.When axle 27 was synchronized with the movement in rotating shaft outer shaft 26 and the rotating shaft, seven bar parallel institutions are motion in the same way synchronously thereupon also, can realize the revolution action of two SCARA both arms assemblies.When rotating shaft outer shaft 26 is static, in the rotating shaft during axle 27 motions, seven bar parallel institutions realize that first arm 5 and second largest arm 9 are respectively around the motion of the different rotating speeds of the 3rd rotary joint x3 and the 4th rotary joint x4 under the effect of coupled drive.Can realize when common drive connecting rod 3 when a direction rotates to an angle, one of them big arm such as second largest arm 9 carry out wide-angle and rotate, another big arm only rotates a minimum angle.
As shown in Figure 4, in the big arm of first, second scara arm and the forearm synchronous band and synchronous pulley are installed all, first belt wheel 17 in the big arm is fixed on the rotating shaft outer shaft 26, two forearms are separately fixed on second belt wheel 19 of two big arms, two end effectors 7 and 10 are separately fixed on the four-tape wheel 23 of two forearms, second belt wheel 19 of big arm and the 3rd belt wheel 21 coaxial settings of forearm, stacked about two end effectors 7 and 10.
This routine driver element 1 comprises three driving shafts, is respectively along the lifting shaft 24 of rotation x lifting, along axle 27 in rotation x revolution and coaxial rotating shaft outer shaft 26 and the rotating shaft in the elevating mechanism.These three driving shafts can drive double telescopic assembly 13 realize respectively along rotation x lifting action, move around the revolution of rotation x action and along the linear telescopic on the arm radius of gyration direction.Elevating mechanism comprises first motor 14, lifting shaft 24 and is mated the STATEMENT OF FEDERALLY SPONSORED 25 that is connected, what this routine lifting shaft 24 and STATEMENT OF FEDERALLY SPONSORED 25 adopted is leading screw screw structure, first motor 14 is connected on the leading screw by synchronous belt drive mechanism, and screw is connected on the base platform 2.Rotating shaft outer shaft 26 is installed on the base platform 2, and be connected with the controller 28 of driver element by synchronous belt drive mechanism, second motor 15, axle 27 places in the rotating shaft outer shaft 26 in the rotating shaft, and is connected with the controller 28 of driver element by synchronous belt drive mechanism, the 3rd motor 16.
The controller 28 of driver element adopts existing programmable controller in this example.
The course of work that this is routine:
The lifting action of double telescopic assembly 13 in this example: be to drive by first motor 14 that is connected with lifting shaft 24 by driver element 1, power is driven to base platform 2 by the leading screw screw, thus the lifting action that the double telescopic assembly that drive and base platform 2 connect firmly 13 is realized along rotation x.When first, second arm 5,9 carried out lifting action, double telescopic assembly 13 is in retracted mode shown in Figure 2 usually or single armed shown in Figure 3 stretches out state, to finish specific workpiece handling action or other processing steps.
Double telescopic assembly 13 moves along the revolution of rotation x: as shown in Figure 4, drive rotating shaft outer shaft 26 by second motor 15, realize the gyration of first, second arm 5,9, drive axle 27 in the rotating shaft by the 3rd motor 16, drive drive link 3 motions, thereby drive the retracting motion of connected first intermediate connecting rod 4 and second intermediate connecting rod, 8 first, second arms 5,9 of drive.The flexible principle of double telescopic assembly 13 is as follows in this example:
As shown in Figure 4, with second scara arm 12 is example, and first belt wheel 17 is coaxial with the 5th rotary joint x5, and is fixed on rotating shaft outer shaft 26, the 3rd belt wheel 21 is coaxial fixing by the 6th rotary joint x6 with second belt wheel 19, that is: the second largest arm 9 and second forearm 20 are articulated in the 6th rotary joint.Second end effector 10 and second forearm 20 are articulated in the 7th rotary joint x7, and four-tape wheel 23 and second end effector 10 connects firmly, and coaxial with the 7th rotary joint x7.Being equipped with first between first belt wheel 17, second belt wheel 19, to be with the gear ratio of 18, the first belt wheels 17, second belt wheel 19 synchronously be 2:1; Being equipped with second between the 3rd belt wheel 21 and the four-tape wheel 23, to be with 22, the three belt wheels 21 and the four-tape to take turns 23 gear ratio synchronously be 1:2.Thereby, when second largest arm 9 when the 5th rotary joint x5 rotates, second largest arm 9 is 1:2:1, i.e. α: β: γ=1:2:1 with respect to the corner β of second largest arm 9 and second end effector 10 with respect to the ratio of the corner γ of second forearm with respect to the corner α of rotating shaft outer shaft 26, second forearm 20.Can realize second end effector 10 when second largest arm 9 under the driving of second intermediate connecting rod 8 moves along a straight line.Equally, first scara arm 11 and second scara arm, 12 symmetric arrangement can realize that first end effector 7 moves along a straight line.First end effector 7 and second end effector 10 are stacked arrangement form up and down, and the flexible direction unanimity of two end effectors.
Embodiment 2: as shown in Figure 5, this routine overall structure is identical with embodiment 1, different is: the 3rd motor 16 of axle 27 is installed on the rotating shaft outer shaft 26 in the rotating shaft described in this example, and two belt wheels of its synchronous belt drive mechanism are connected on rotating shaft outer shaft 26 and the 3rd motor 16.Like this, the interior axle 27 of rotating shaft outer shaft 26 and rotating shaft is drive no longer, and axle 27 keeps static in rotating shaft, and during 26 rotations of rotating shaft outer shaft, two SCARA arm components are done whole gyration; No matter what motion rotating shaft outer shaft 26 does, during interior 27 motion of rotating shaft, two SCARA arm components are all made stretching motion.
Embodiment 3: as shown in Figure 6, this example is as different from Example 1: this routine driver element 1 has a rotating shaft---axle 27 in the rotating shaft, the base platform 2 of axle 27 is connected on the elevating mechanism of driver element 1 in the built-in rotating shaft, double telescopic assembly 13 is respectively by the 4th, the 5th rotary joint X4, X5 is installed on the base platform 2 with respect to the rotation x symmetry of driver element 1, that is: first of double telescopic assembly 13, second largest arm 5, first belt wheel 17 in 9 is fixed on the base platform 2, axle 27 is by public drive link 3 and first of double telescopic assembly 13 in the rotating shaft, second largest arm 5,9 is hinged respectively, and axle 27 is respectively by first in the lifting shaft 24 of described elevating mechanism and the rotating shaft, the 3rd motor 14,16 are connected with the controller 28 of driver element 1.
Claims (7)
1. planar multiple-articulation humanoid robot arm mechanism, comprise driver element (1), base platform (2) and double telescopic assembly (13), it is characterized in that: described driver element (1) has a rotating shaft---axle (27) in the rotating shaft, the base platform (2) of axle (27) is connected on the elevating mechanism of driver element (1) in the built-in rotating shaft, double telescopic assembly (13) is installed on the base platform (2) by rotation (x) symmetry of rotary joint with respect to driver element (1) respectively, axle (27) is affixed with the public drive link (3) of double telescopic assembly (13) in the rotating shaft, and the lifting shaft of described elevating mechanism (24) is connected by the controller of motor with driver element (1) respectively with the interior axle of rotating shaft (27).
2. planar multiple-articulation humanoid robot arm mechanism, comprise driver element (1), base platform (2) and double telescopic assembly (13), it is characterized in that: described driver element (1) has two rotating shafts of mutual sheathing---axle (27) and rotating shaft outer shaft (26) in the rotating shaft, the base platform of built-in two rotating shafts (2) is connected on the elevating mechanism of driver element (1), double telescopic assembly (13) is installed on the rotating shaft outer shaft (26) on the base platform (2) with respect to rotation (x) symmetry of driver element (1) by rotary joint respectively, axle (27) is affixed with the public drive link (3) of double telescopic assembly (13) in the rotating shaft, the lifting shaft of described elevating mechanism (24), in rotating shaft outer shaft (26) and the rotating shaft axle (27) respectively by separately independently motor be connected with the controller of driver element (1).
3. planar multiple-articulation humanoid robot arm mechanism according to claim 2 is characterized in that: the 3rd motor (16) of axle (27) is installed on the rotating shaft outer shaft (26) in the described rotating shaft.
4. according to claim 1,2 or 3 described planar multiple-articulation humanoid robot arm mechanisms, it is characterized in that: described double telescopic assembly (13) comprises first scara arm (11), second scara arm (12), public drive link (3), first intermediate connecting rod (4) and second intermediate connecting rod (8), described public drive link (3) is installed in first scara arm (11), the downside of the big arm of second scara arm (12), first scara arm (11), the big arm end of second scara arm (12) is hinged with an end of first intermediate connecting rod (4) and second intermediate connecting rod (8) respectively, and the other end of first intermediate connecting rod (4) and second intermediate connecting rod (8) is all hinged with public drive link (3).
5. planar multiple-articulation humanoid robot arm mechanism according to claim 4, it is characterized in that: described first scara arm (11) includes the big arm that is connected in turn with second scara arm (12); forearm and end effector; two end effectors (7) and (10) of described first scara arm (11) and second scara arm (12) are stacked up and down; first; in the big arm of second scara arm and the forearm synchronous band and synchronous pulley are installed all; two forearms are separately fixed on second belt wheel of two big arms; two end effectors (7) and (10) are separately fixed on the four-tape wheel of two forearms, second belt wheel and the coaxial setting of the 3rd belt wheel.
6. according to the described planar multiple-articulation humanoid robot of claim 5 arm mechanism, it is characterized in that: the gear ratio of first belt wheel 17, second belt wheel 19 is 2:1 in the described big arm.
7. according to the described planar multiple-articulation humanoid robot of claim 5 arm mechanism, it is characterized in that: the gear ratio in the described forearm between the 3rd belt wheel 21 and the four-tape wheel 23 is 1:2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206325146U CN201881384U (en) | 2010-11-30 | 2010-11-30 | Arm mechanism of planar multi-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206325146U CN201881384U (en) | 2010-11-30 | 2010-11-30 | Arm mechanism of planar multi-joint robot |
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| Publication Number | Publication Date |
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| CN201881384U true CN201881384U (en) | 2011-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010206325146U Expired - Lifetime CN201881384U (en) | 2010-11-30 | 2010-11-30 | Arm mechanism of planar multi-joint robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102476383A (en) * | 2010-11-30 | 2012-05-30 | 沈阳新松机器人自动化股份有限公司 | Planar articulated robot arm mechanism |
| CN104909161A (en) * | 2015-05-12 | 2015-09-16 | 深圳市鑫三力自动化设备有限公司 | Flexible printed circuit (FPC) feeding mechanism and prepressing addition suction nozzle |
| CN105014660A (en) * | 2014-04-23 | 2015-11-04 | 中国科学院苏州纳米技术与纳米仿生研究所 | Plane joint type mechanical arm |
| CN109578539A (en) * | 2019-01-17 | 2019-04-05 | 深圳市爱克信智能股份有限公司 | A kind of flat-pushing mobile device and its device of cranking arm |
| CN109760036A (en) * | 2019-03-22 | 2019-05-17 | 中国电子科技集团公司第三十八研究所 | Apery both arms cooperation robot based on synchronous belt pulley transmission |
| CN110505945A (en) * | 2017-02-15 | 2019-11-26 | 柿子技术公司 | Material with multiple end effectors is operated machine people |
| CN110774272A (en) * | 2018-07-30 | 2020-02-11 | 上海珍为科技有限公司 | SCARA type stacking robot |
-
2010
- 2010-11-30 CN CN2010206325146U patent/CN201881384U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102476383A (en) * | 2010-11-30 | 2012-05-30 | 沈阳新松机器人自动化股份有限公司 | Planar articulated robot arm mechanism |
| CN105014660A (en) * | 2014-04-23 | 2015-11-04 | 中国科学院苏州纳米技术与纳米仿生研究所 | Plane joint type mechanical arm |
| CN105014660B (en) * | 2014-04-23 | 2017-03-15 | 中国科学院苏州纳米技术与纳米仿生研究所 | Plane articulation arm |
| CN104909161A (en) * | 2015-05-12 | 2015-09-16 | 深圳市鑫三力自动化设备有限公司 | Flexible printed circuit (FPC) feeding mechanism and prepressing addition suction nozzle |
| CN110505945A (en) * | 2017-02-15 | 2019-11-26 | 柿子技术公司 | Material with multiple end effectors is operated machine people |
| CN110505945B (en) * | 2017-02-15 | 2024-01-19 | 柿子技术公司 | Material handling robot with multiple end effectors |
| CN110774272A (en) * | 2018-07-30 | 2020-02-11 | 上海珍为科技有限公司 | SCARA type stacking robot |
| CN110774272B (en) * | 2018-07-30 | 2023-04-18 | 上海珍为科技有限公司 | SCARA type stacking robot |
| CN109578539A (en) * | 2019-01-17 | 2019-04-05 | 深圳市爱克信智能股份有限公司 | A kind of flat-pushing mobile device and its device of cranking arm |
| CN109760036A (en) * | 2019-03-22 | 2019-05-17 | 中国电子科技集团公司第三十八研究所 | Apery both arms cooperation robot based on synchronous belt pulley transmission |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20110629 Effective date of abandoning: 20140618 |
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