CN203875884U - Five-axis manipulator - Google Patents
Five-axis manipulator Download PDFInfo
- Publication number
- CN203875884U CN203875884U CN201420174235.8U CN201420174235U CN203875884U CN 203875884 U CN203875884 U CN 203875884U CN 201420174235 U CN201420174235 U CN 201420174235U CN 203875884 U CN203875884 U CN 203875884U
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- axis
- crossbeam
- transmission
- drive motor
- transmission mechanism
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- Expired - Fee Related
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- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 230000005540 biological transmission Effects 0.000 claims abstract description 49
- 230000003028 elevating effect Effects 0.000 claims description 19
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 238000003754 machining Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Abstract
The utility model relates to a five-axis manipulator. The five-axis manipulator comprises a support, an X-axis transmission mechanism, a Y-axis transmission mechanism, a Z-axis transmission mechanism, a horizontal rotating and positioning mechanism, a tool tilt angle adjusting mechanism and a tool drive motor fixing base. The support is composed of at least four stand columns, two X-direction beams and two Y-direction beams. The X-axis transmission mechanism, the Y-axis transmission mechanism and the Z-axis transmission mechanism are arranged on the support. The horizontal rotating and positioning mechanism is arranged on a Z-axis lifting base. The tool tilt angle adjusting mechanism is arranged on the horizontal rotating and positioning mechanism. When the five-axis manipulator machines workpieces, positioning is more accurate, the workpieces do not need to be rotated for adjustment, a tool can complete machining on the workpieces at a time, full-automatic machining on the workpieces in a three-dimensional space can be achieved, and machining efficiency and accuracy are remarkably improved.
Description
Technical field
The utility model relates to automated machine apparatus field, particularly a kind of five axis robot.
Background technology
Along with the development of modern industry, people are for enhancing productivity, stabilize and increase product quality, improve workman's working condition, accelerate to realize the consideration of industrial production mechanization and automation, invented mechanical arm, and it is widely used in production process, especially in high temperature, high pressure, dust, noise and the occasion with radioactivity and pollution, mechanical arm is widely used especially.Mechanical arm is the new technology occurring in automation field in modern age, and has become an important component part in modern industry production system.In existing conventional robot, conventionally can only carry out XYZ tri-axle rectilinear motions, can only realize simple movement locus, cannot realize in multiple degrees of freedom, three dimensions workpiece is processed, therefore, need to improve existing mechanical arm.
Summary of the invention
The purpose of this utility model is cannot realize the problem of in multiple degrees of freedom, three dimensions, bow and arrow being processed for existing manipulator pointed in background technology, and a kind of five axis robot that can solve foregoing problems are provided.
The technical scheme that realizes goal of the invention of the present utility model is as follows:
A kind of five axis robot, it comprises by least four root posts, two X are to crossbeam and two supports that Y-direction crossbeam forms, be arranged on the X-axis transmission mechanism on support, Y-axis transmission mechanism, Z-axis transmission mechanism and be arranged on the detent mechanism that horizontally rotates on Z axis elevating bracket, be arranged on the cutter inclined angle regulating mechanism and the cutter drive motor holder that horizontally rotate on detent mechanism, the described detent mechanism that horizontally rotates comprises the vertical drive motors fixed head being connected with Z axis elevating bracket, the vertical drive motors vertically arranging and the pivoted frame being connected with the output shaft of vertical drive motors, this pivoted frame comprises horizontal component and vertical portion, horizontal component is connected with the output shaft of vertical drive motors, described cutter inclined angle regulating mechanism comprises horizontally disposed horizontal drive motor, horizontal drive motor bearings and cutter drive motor holder, described horizontal drive motor and horizontal drive motor bearings are assemblied in the vertical portion of pivoted frame, the output shaft of horizontal drive motor is fixedly connected with cutter drive motor holder.
X-axis transmission mechanism described in such scheme comprises the transmission crossbeam arranging along Y direction, two X at support are respectively arranged with guide rail along directions X on crossbeam, the two ends of transmission crossbeam are respectively arranged with the slide block being slidably matched with guide rail, an X is provided with tooth bar along X-direction on crossbeam therein, on transmission crossbeam, be provided with the gear corresponding with this tooth bar, this gear is connected to the output shaft of driving motor with the X being arranged on transmission crossbeam.
Y-axis transmission mechanism described in such scheme comprises the Y-direction retainer and the rack and pinion drive mechanism that are arranged on transmission crossbeam, tooth bar is arranged on transmission crossbeam along Y direction, the Y-direction driving motor that gear and driven wheel rotate is arranged on Y-direction retainer, both sides up and down at transmission crossbeam are provided with guide rail along Y-direction respectively, are respectively arranged with corresponding with it slide block on Y-direction retainer.
Z-axis transmission mechanism described in such scheme comprises can be along the Z axis elevating bracket of Z-direction transmission, be arranged on Z-direction drive motors and leading screw on Y-direction retainer, the nut block of leading screw is arranged on Z axis elevating bracket, the both sides of Z axis elevating bracket are provided with guide rail, on Y-direction retainer, be provided with the slide block being slidably matched with guide rail, on Y-direction retainer, be also provided with leading screw bearing.
Motor output shaft described in such scheme connects drive pulley, is provided with driven pulley in the upper end of leading screw, and drive pulley is connected by belt with driven pulley.
Vertical drive motors fixed head described in such scheme comprises mutual vertically disposed riser and transverse slat, and riser is fixedly connected on Z axis elevating bracket, and vertically drive motors is contained on transverse slat, between riser and transverse slat, is provided with deep floor.
Five axis robot of the present utility model are at X, Y, on the basis of Z tri-axle allocation mechanisms, be provided with and horizontally rotate detent mechanism and cutter inclined angle regulating mechanism, can be in the horizontal direction regulate the direction of the cutter head of cutter within the scope of 360 ° by horizontally rotating detent mechanism, can within the scope of 180 ° of vertical directions, regulate the direction of the cutter head of cutter by cutter inclined angle regulating mechanism, pass through this set, workpiece is being added to man-hour, locate more accurate, workpiece is not needed to do any rotation adjustment, cutter can disposablely complete the processing to workpiece, can realize the full-automatic processing to workpiece at three dimensions, working (machining) efficiency and precision significantly improve.
Brief description of the drawings
Fig. 1 is the structural representation of five axis robot of the present utility model;
Fig. 2 is the left view of five axis robot of the present utility model;
Fig. 3 is the local enlarged diagram of A portion in Fig. 1;
Fig. 4 is the local enlarged diagram of B portion in Fig. 2;
Fig. 5 is Y-direction, the Z-direction driving mechanism schematic diagram of five axis robot of the present utility model;
In figure, 1 is column, 2 is that X is to crossbeam, 3 is Y-direction crossbeam, 4 is Z axis elevating bracket, 5 is vertical drive motors, 6 is vertical drive motors fixed head, 7 is deep floor, 8 is pivoted frame, 9 is horizontal drive motor, 10 is horizontal drive motor bearings, 11 is cutter drive motor holder, 12 is transmission crossbeam, 13 is guide rail, 14 is slide block, 15 is tooth bar, 16 is gear, 17 is that X is to driving motor, 18 is Y-direction retainer, 19 is Y-direction driving motor, 20 is Z-direction drive motors, 21 is leading screw, 22 is nut block, 23 is leading screw bearing, 24 is drive pulley, 25 is driven pulley.
Detailed description of the invention
Referring to figs. 1 through one five axis robot shown in Fig. 5, it comprises by least four root posts 1, two X are to crossbeam 2 and two supports that Y-direction crossbeam 3 forms, be arranged on the X-axis transmission mechanism on support, Y-axis transmission mechanism, Z-axis transmission mechanism and be arranged on the detent mechanism that horizontally rotates on Z axis elevating bracket, be arranged on the cutter inclined angle regulating mechanism and the cutter drive motor holder that horizontally rotate on detent mechanism, the described detent mechanism that horizontally rotates comprises the vertical drive motors fixed head 6 being connected with Z axis elevating bracket 4, the vertical drive motors 5 vertically arranging and the pivoted frame 8 being connected with the output shaft of vertical drive motors 5, this pivoted frame 8 comprises horizontal component and vertical portion, horizontal component is connected with the output shaft of vertical drive motors 5, described cutter inclined angle regulating mechanism comprises horizontally disposed horizontal drive motor 9, horizontal drive motor bearings 10 and cutter drive motor holder 11, described horizontal drive motor 9 and horizontal drive motor bearings 10 are assemblied in the vertical portion of pivoted frame 8, the output shaft of horizontal drive motor 9 is fixedly connected with cutter drive motor holder 11.Multiple conventional cutter can be installed on tool fixing seat, laser cutting head also can be installed, can disposablely complete the cutting processing to workpiece by five axis robot, in process, workpiece does not need mobile or rotates, and all motions are all completed by manipulator band cutter, and machining accuracy and production efficiency are all improved, by this improvement, the significantly quality of improving product.
X-axis transmission mechanism described in such scheme comprises the transmission crossbeam 12 arranging along Y direction, two X at support are respectively arranged with guide rail 13 along directions X on crossbeam, the two ends of transmission crossbeam 12 are respectively arranged with the slide block 14 being slidably matched with guide rail 13, an X is provided with tooth bar 15 along X-direction on crossbeam 2 therein, on transmission crossbeam 12, be provided with the gear corresponding with this tooth bar 15 16, this gear 16 is connected to the output shaft of driving motor 17 with the X being arranged on transmission crossbeam 12.
Y-axis transmission mechanism described in such scheme comprises the Y-direction retainer 18 and the rack and pinion drive mechanism that are arranged on transmission crossbeam 12, tooth bar is arranged on transmission crossbeam 12 along Y direction, the Y-direction driving motor 19 that gear and driven wheel rotate is arranged on Y-direction retainer 18, both sides up and down at transmission crossbeam 12 are provided with guide rail along Y-direction respectively, are respectively arranged with corresponding with it slide block on Y-direction retainer.
Z-axis transmission mechanism described in such scheme comprises can be along the Z axis elevating bracket 4 of Z-direction transmission, be arranged on Z-direction drive motors 20 and leading screw 21 on Y-direction retainer 18, the nut block 22 of leading screw 21 is arranged on Z axis elevating bracket 4, the both sides of Z axis elevating bracket 4 are provided with guide rail, on Y-direction retainer 18, be provided with the slide block being slidably matched with guide rail, on Y-direction retainer, be also provided with leading screw bearing 23.
Motor output shaft described in such scheme connects drive pulley 24, is provided with driven pulley 25 in the upper end of leading screw 21, and drive pulley 24 is connected by belt with driven pulley 25.
Vertical drive motors fixed head 6 described in such scheme comprises mutual vertically disposed riser and transverse slat, and riser is fixedly connected on Z axis elevating bracket 4, and vertically drive motors 5 is contained on transverse slat, is provided with deep floor 7 between riser and transverse slat.
Claims (6)
1. an axis robot, it is characterized in that: it comprises by least four root posts, two X are to crossbeam and two supports that Y-direction crossbeam forms, be arranged on the X-axis transmission mechanism on support, Y-axis transmission mechanism, Z-axis transmission mechanism and be arranged on the detent mechanism that horizontally rotates on Z axis elevating bracket, be arranged on the cutter inclined angle regulating mechanism and the cutter drive motor holder that horizontally rotate on detent mechanism, the described detent mechanism that horizontally rotates comprises the vertical drive motors fixed head being connected with Z axis elevating bracket, the vertical drive motors vertically arranging and the pivoted frame being connected with the output shaft of vertical drive motors, this pivoted frame comprises horizontal component and vertical portion, horizontal component is connected with the output shaft of vertical drive motors, described cutter inclined angle regulating mechanism comprises horizontally disposed horizontal drive motor, horizontal drive motor bearings and cutter drive motor holder, described horizontal drive motor and horizontal drive motor bearings are assemblied in the vertical portion of pivoted frame, the output shaft of horizontal drive motor is fixedly connected with cutter drive motor holder.
2. five axis robot according to claim 1, it is characterized in that: described X-axis transmission mechanism comprises the transmission crossbeam arranging along Y direction, two X at support are respectively arranged with guide rail along directions X on crossbeam, the two ends of transmission crossbeam are respectively arranged with the slide block being slidably matched with guide rail, an X is provided with tooth bar along X-direction on crossbeam therein, on transmission crossbeam, be provided with the gear corresponding with this tooth bar, this gear is connected to the output shaft of driving motor with the X being arranged on transmission crossbeam.
3. five axis robot according to claim 2, it is characterized in that: described Y-axis transmission mechanism comprises the Y-direction retainer and the rack and pinion drive mechanism that are arranged on transmission crossbeam, tooth bar is arranged on transmission crossbeam along Y direction, the Y-direction driving motor that gear and driven wheel rotate is arranged on Y-direction retainer, both sides up and down at transmission crossbeam are provided with guide rail along Y-direction respectively, are respectively arranged with corresponding with it slide block on Y-direction retainer.
4. five axis robot according to claim 3, it is characterized in that: described Z-axis transmission mechanism comprises can be along the Z axis elevating bracket of Z-direction transmission, be arranged on Z-direction drive motors and leading screw on Y-direction retainer, the nut block of leading screw is arranged on Z axis elevating bracket, the both sides of Z axis elevating bracket are provided with guide rail, on Y-direction retainer, be provided with the slide block being slidably matched with guide rail, on Y-direction retainer, be also provided with leading screw bearing.
5. five axis robot according to claim 4, is characterized in that: described motor output shaft connects drive pulley, is provided with driven pulley in the upper end of leading screw, and drive pulley is connected by belt with driven pulley.
6. five axis robot according to claim 1, it is characterized in that: described vertical drive motors fixed head comprises mutual vertically disposed riser and transverse slat, riser is fixedly connected on Z axis elevating bracket, and vertically drive motors is contained on transverse slat, between riser and transverse slat, is provided with deep floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420174235.8U CN203875884U (en) | 2014-04-10 | 2014-04-10 | Five-axis manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420174235.8U CN203875884U (en) | 2014-04-10 | 2014-04-10 | Five-axis manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203875884U true CN203875884U (en) | 2014-10-15 |
Family
ID=51676427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420174235.8U Expired - Fee Related CN203875884U (en) | 2014-04-10 | 2014-04-10 | Five-axis manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203875884U (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647369A (en) * | 2015-01-05 | 2015-05-27 | 嘉兴科瑞迪医疗器械有限公司 | Fully-automatic five-axis manipulator |
| CN105459132A (en) * | 2016-01-25 | 2016-04-06 | 德州凯斯锐数控科技有限公司 | Section bar cutting robot |
| CN105479448A (en) * | 2015-12-29 | 2016-04-13 | 常熟市惠一机电有限公司 | Extensible manipulator with wider moving range |
| CN106239478A (en) * | 2016-07-12 | 2016-12-21 | 常熟市惠机电有限公司 | A kind of extensibility mechanical hand of big range of activity |
| CN106345656A (en) * | 2016-11-15 | 2017-01-25 | 河南森源电气股份有限公司 | Rubber coating manipulator and rubber coating apparatus using same |
| CN106865225A (en) * | 2017-02-15 | 2017-06-20 | 蓝思智能机器人(长沙)有限公司 | A kind of workpiece pick device |
| CN107685324A (en) * | 2017-10-18 | 2018-02-13 | 吉林工程技术师范学院 | A kind of detection platform Three Degree Of Freedom catching robot |
| CN108436343A (en) * | 2018-06-06 | 2018-08-24 | 陈燕 | A kind of multifunctional industrial robot for intelligence manufacture automatic production line |
| CN108639747A (en) * | 2018-03-29 | 2018-10-12 | 山东临工工程机械有限公司 | Hub carrier automatic conveying device |
| CN108655445A (en) * | 2018-05-15 | 2018-10-16 | 宜昌建林园林工程有限公司 | Building template automates drilling machine and operating method |
| CN108705299A (en) * | 2018-05-23 | 2018-10-26 | 夏文才 | A kind of cat class canine Nail clipper pincers assembling equipment |
| CN108747435A (en) * | 2018-07-13 | 2018-11-06 | 济南微尔激光设备有限公司 | A kind of four shaft vibration cutter heads |
| CN108747107A (en) * | 2018-06-06 | 2018-11-06 | 陈燕 | A kind of automation can remote monitoring factory |
| CN108858279A (en) * | 2018-09-10 | 2018-11-23 | 苏州小工匠机器人有限公司 | End has the manipulator of spindle motor |
| CN108910530A (en) * | 2018-08-31 | 2018-11-30 | 上海擅韬信息技术有限公司 | A kind of fetching device |
| CN109014667A (en) * | 2018-06-06 | 2018-12-18 | 陈燕 | A kind of automated production assembly system based on intelligent industrial robot |
| CN109048855A (en) * | 2018-07-26 | 2018-12-21 | 芜湖市越泽机器人科技有限公司 | A kind of robot arm linkage mechanism |
| CN109625939A (en) * | 2018-12-29 | 2019-04-16 | 安徽建筑大学 | A kind of automation transhipment putting equipment and its working method for building floor |
| CN109794975A (en) * | 2018-12-28 | 2019-05-24 | 平湖智铂自动化设备有限公司 | A kind of double five axle system luggage processing unit (plant)s |
| CN110270869A (en) * | 2019-07-10 | 2019-09-24 | 沈阳精锐数控机床有限公司 | A kind of cutter conveying robot |
| CN110682194A (en) * | 2019-09-24 | 2020-01-14 | 苏州鑫凯达精密机械有限公司 | Polishing workstation and modular operation method thereof |
| CN110695746A (en) * | 2019-09-24 | 2020-01-17 | 苏州鑫凯达精密机械有限公司 | Automatic change processing tool device and modularization workstation that is applied to thereof |
| CN111203750A (en) * | 2020-01-21 | 2020-05-29 | 正德职业技术学院 | Automatic rapid chip removing device for numerical control machining tool and chip removing method thereof |
| CN111645057A (en) * | 2020-06-11 | 2020-09-11 | 苏州海翌智能科技有限公司 | Three-axis manipulator convenient to angle regulation |
| CN111941399A (en) * | 2020-08-19 | 2020-11-17 | 连城凯克斯科技有限公司 | double-Z-axis mechanism |
-
2014
- 2014-04-10 CN CN201420174235.8U patent/CN203875884U/en not_active Expired - Fee Related
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647369A (en) * | 2015-01-05 | 2015-05-27 | 嘉兴科瑞迪医疗器械有限公司 | Fully-automatic five-axis manipulator |
| CN105479448A (en) * | 2015-12-29 | 2016-04-13 | 常熟市惠一机电有限公司 | Extensible manipulator with wider moving range |
| CN105459132A (en) * | 2016-01-25 | 2016-04-06 | 德州凯斯锐数控科技有限公司 | Section bar cutting robot |
| CN106239478A (en) * | 2016-07-12 | 2016-12-21 | 常熟市惠机电有限公司 | A kind of extensibility mechanical hand of big range of activity |
| CN106345656A (en) * | 2016-11-15 | 2017-01-25 | 河南森源电气股份有限公司 | Rubber coating manipulator and rubber coating apparatus using same |
| CN106865225A (en) * | 2017-02-15 | 2017-06-20 | 蓝思智能机器人(长沙)有限公司 | A kind of workpiece pick device |
| CN107685324A (en) * | 2017-10-18 | 2018-02-13 | 吉林工程技术师范学院 | A kind of detection platform Three Degree Of Freedom catching robot |
| CN108639747A (en) * | 2018-03-29 | 2018-10-12 | 山东临工工程机械有限公司 | Hub carrier automatic conveying device |
| CN108639747B (en) * | 2018-03-29 | 2020-06-16 | 山东临工工程机械有限公司 | Automatic carrying device for wheel edge supporting shafts |
| CN108655445A (en) * | 2018-05-15 | 2018-10-16 | 宜昌建林园林工程有限公司 | Building template automates drilling machine and operating method |
| CN108705299A (en) * | 2018-05-23 | 2018-10-26 | 夏文才 | A kind of cat class canine Nail clipper pincers assembling equipment |
| CN108747107A (en) * | 2018-06-06 | 2018-11-06 | 陈燕 | A kind of automation can remote monitoring factory |
| CN108747107B (en) * | 2018-06-06 | 2021-05-14 | 安徽喜尔奇日用品有限公司 | Automatic but change mill of remote monitoring |
| CN108436343A (en) * | 2018-06-06 | 2018-08-24 | 陈燕 | A kind of multifunctional industrial robot for intelligence manufacture automatic production line |
| CN109014667A (en) * | 2018-06-06 | 2018-12-18 | 陈燕 | A kind of automated production assembly system based on intelligent industrial robot |
| CN109014667B (en) * | 2018-06-06 | 2021-02-05 | 河南省乾憬光电科技有限公司 | Automatic production and assembly system based on intelligent industrial robot |
| CN108436343B (en) * | 2018-06-06 | 2020-11-13 | 聊城锐利机械设备有限公司 | Multifunctional industrial robot for intelligent manufacturing automatic production line |
| CN108747435A (en) * | 2018-07-13 | 2018-11-06 | 济南微尔激光设备有限公司 | A kind of four shaft vibration cutter heads |
| CN109048855A (en) * | 2018-07-26 | 2018-12-21 | 芜湖市越泽机器人科技有限公司 | A kind of robot arm linkage mechanism |
| CN108910530A (en) * | 2018-08-31 | 2018-11-30 | 上海擅韬信息技术有限公司 | A kind of fetching device |
| CN108858279A (en) * | 2018-09-10 | 2018-11-23 | 苏州小工匠机器人有限公司 | End has the manipulator of spindle motor |
| CN109794975A (en) * | 2018-12-28 | 2019-05-24 | 平湖智铂自动化设备有限公司 | A kind of double five axle system luggage processing unit (plant)s |
| CN109625939A (en) * | 2018-12-29 | 2019-04-16 | 安徽建筑大学 | A kind of automation transhipment putting equipment and its working method for building floor |
| CN110270869A (en) * | 2019-07-10 | 2019-09-24 | 沈阳精锐数控机床有限公司 | A kind of cutter conveying robot |
| CN110682194A (en) * | 2019-09-24 | 2020-01-14 | 苏州鑫凯达精密机械有限公司 | Polishing workstation and modular operation method thereof |
| CN110695746A (en) * | 2019-09-24 | 2020-01-17 | 苏州鑫凯达精密机械有限公司 | Automatic change processing tool device and modularization workstation that is applied to thereof |
| CN110682194B (en) * | 2019-09-24 | 2021-07-06 | 苏州鑫凯达精密机械有限公司 | Polishing workstation and modular operation method thereof |
| CN111203750A (en) * | 2020-01-21 | 2020-05-29 | 正德职业技术学院 | Automatic rapid chip removing device for numerical control machining tool and chip removing method thereof |
| CN111203750B (en) * | 2020-01-21 | 2021-04-09 | 正德职业技术学院 | Automatic rapid chip removing device for numerical control machining tool and chip removing method thereof |
| CN111645057A (en) * | 2020-06-11 | 2020-09-11 | 苏州海翌智能科技有限公司 | Three-axis manipulator convenient to angle regulation |
| CN111941399A (en) * | 2020-08-19 | 2020-11-17 | 连城凯克斯科技有限公司 | double-Z-axis mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141015 |