CN207330238U - Suitable for the lifting mechanism of disk-like accessory - Google Patents
Suitable for the lifting mechanism of disk-like accessory Download PDFInfo
- Publication number
- CN207330238U CN207330238U CN201721072366.5U CN201721072366U CN207330238U CN 207330238 U CN207330238 U CN 207330238U CN 201721072366 U CN201721072366 U CN 201721072366U CN 207330238 U CN207330238 U CN 207330238U
- Authority
- CN
- China
- Prior art keywords
- clamp arm
- accessory
- disk
- crossbeam
- lifting mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
It the utility model is related to disk-like accessory lifting technical field, a kind of especially lifting mechanism suitable for disk-like accessory, column including bottom plate and on bottom plate, vertically slides on column and is provided with crossbeam, is slided on crossbeam and is provided with the first clamp arm and the second clamp arm；The support cylinder of external part inwardly is provided with below first clamp arm finger plate disposed thereon, the support cylinder of external part inwardly is also equipped with below second clamp arm finger plate disposed thereon, after by the finger plate in the first clamp arm and the second clamp arm, single disk-like accessory is gripped, and crossbeam is driven to rise by the first actuating unit, so that disk-like accessory clamped between two finger plates separates enough distances with the disk-like accessory that lower section is superimposed, disk-like accessory is transported to subsequent processing by the lower section that disk-like accessory is inserted into so as to manipulator, the supporting block of support cylinder is supported on the lower section of disk-like accessory, it can ensure that disk-like accessory will not drop between two finger plates.
Description
Technical field
It the utility model is related to disk-like accessory lifting technical field, especially a kind of lifting machine suitable for disk-like accessory
Structure.
Background technology
Disk-like accessory refers mainly to the revolving bodies such as ring flange, guide sleeve, gear, gear ring, end cap, at present in disk-like accessory upper
During material, the disk-like accessory being superimposed usually is delivered to feeding station by trolley, with the popularization of mechanization, using artificial
It is obviously gradually superseded that disk-like accessory is carried to the traditional approach of feeding, if using manipulator by the disk-like accessory of feeding station
Feeding is carried, gap that just must be enough between disk-like accessory is inserted into for mechanical arm so as to which disk-like accessory is delivered to specified work
Sequence, it is clear that be very close to each other between the disk-like accessory being superimposed, this, which is resulted in, to use manipulator to carry out feeding.
Utility model content
The technical problems to be solved in the utility model is：In order to solve the disk-like accessory that is superimposed in the prior art it
Between the problem of not having enough gaps to be inserted into for mechanical arm, leading to not carry out feeding using manipulator, a kind of be applicable in now is provided
In the lifting mechanism of disk-like accessory.
Technical solution is used by the utility model solves its technical problem：A kind of lifting machine suitable for disk-like accessory
Structure, including bottom plate and the column on bottom plate, vertically slide on the column and are provided with crossbeam, sliding on the crossbeam
It is dynamic to be provided with the first clamp arm and the second clamp arm；
Be provided with the first actuating unit on the column, first actuating unit be used to driving crossbeam rise along column or
Decline；
The second actuating unit is provided with the crossbeam, second actuating unit is used to drive the first clamp arm and the second folder
Arm is mutually drawn close or remote, and the medial surface of first clamp arm and the medial surface of the second clamp arm are both provided with finger plate, the hand
The medial surface of fingerboard is arc surface；
The support cylinder of external part inwardly, second folder are provided with below the first clamp arm finger plate disposed thereon
The support cylinder of external part inwardly is also equipped with below arm finger plate disposed thereon, is all provided with the external part of the support cylinder
It is equipped with supporting block.
The first clamp arm and the second clamp arm is driven mutually to draw close using the second actuating unit in this programme, by the first clamp arm
Finger plate and the second clamp arm on finger plate the disk-like accessory of the top is clamped, then pass through the first actuating unit drive it is horizontal
Beam rises so that between the first clamp arm and the second clamp arm clamped disk-like accessory and the disk-like accessory of lower section separate it is enough away from
From disk-like accessory is transported to subsequent processing by the lower section that disk-like accessory is inserted into so as to manipulator, wherein the first actuating unit drives
Dynamic crossbeam rise make clamped disk-like accessory between two finger plates thereon and lower section disk-like accessory depart from after, support cylinder
Supporting block can be driven to move inwardly to the lower section of disk-like accessory, and support the disk-like accessory between two finger plates, prevented
During wait manipulator comes to convey the disk-like accessory, disk-like accessory drops between two finger plates, causes part and sets
Standby damage, and the medial surface of finger plate can increase the contact area with the disk-like accessory periphery for arc surface, so as to more preferable
Clamp the disk-like accessory.
For the ease of preferably clamping the disk-like accessory, further, pressure is fixed with the arc surface of the finger plate
Head, the material of the pressure head is rubber, and the pressure head of rubber material can increase the frictional force between finger plate and disk-like accessory, with
What just finger plate was firm clamps disk-like accessory, while will not scratch the disk-like accessory.
Further, the medial surface of the pressure head has some protrusions, and some raised settings can be further on pressure head
Increase the frictional force between finger plate and disk-like accessory.
In order to prevent because much time using causes disk-like accessory to bend the external part for supporting cylinder, further, institute
State and guide rod is respectively and fixedly provided with supporting block, the guide rod in the first clamp arm is slidably connected with the first clamp arm, positioned at the second folder
Guide rod on arm is slidably connected with the second clamp arm, and the axis of guide rod is parallel with supporting the axis of cylinder external part.
Further, first actuating unit includes motor, gear reducer, gear and rack, the output of the motor 11
End and the input terminal of gear reducer are sequentially connected, and the output terminal of the gear reducer is fixed with gear, and the rack is fixed on described vertical
On column, the wheel and rack engagement, motor driving gear reducer rotates, the wheel and rack engagement on gear reducer, so as to fulfill
Crossbeam rising or falling on column, the first actuating unit can also use screw nut driving mechanism.
Further, vertical guide is fixed with the column, vertical sliding block is fixed with the crossbeam, it is described vertical sliding
Block is slidably connected with vertical guide.
Further, second actuating unit includes cylinder, first connecting rod, rotor plate and second connecting rod, the cylinder
It is fixed on crossbeam, the external part of the cylinder is fixedly connected with the first clamp arm, and middle part and the crossbeam of the rotor plate turn
Dynamic connection, between the first clamp arm and the second clamp arm, one end of the first connecting rod rotates the rotor plate with the first clamp arm
Hinged, the other end is hinged with rotor plate, and one end of the second connecting rod is rotatablely connected with the second clamp arm, other end rotor plate hinge
Connect, the hinge joint and the hinge joint of second connecting rod and rotor plate of the first connecting rod and rotor plate are located at the two of rotor plate respectively
End, when cylinder drives the first clamp arm inwardly to move, the first clamp arm driving first connecting rod, first connecting rod drives rotor plate to rotate,
Movement by the rotation of rotor plate so as to fulfill second connecting rod, and the movement of the second clamp arm is driven by second connecting rod, it is final to realize
First clamp arm is mutually drawn close with the second clamp arm；When cylinder drives the first clamp arm to move out, same first clamp arm driving the
One link motion, first connecting rod drive rotor plate to rotate, the movement by the rotation of rotor plate so as to fulfill second connecting rod, and by
Second connecting rod drives the movement of the second clamp arm, finally realizes being located remotely from each other for the first clamp arm and the second clamp arm.
Further, cross slide way is provided with the crossbeam, is equipped with first clamp arm and the second clamp arm and horizontal stroke
The transverse slider that direction guiding rail matches, the transverse slider are slidably connected with cross slide way.
Further, two ribs are fixed with the bottom plate, two ribs, the first clamp arm and the second clamp arm are respectively positioned on vertical
The same side of column.
The beneficial effects of the utility model are：The lifting mechanism suitable for disk-like accessory of the utility model passes through the first folder
After finger plate on arm and the second clamp arm grips single disk-like accessory, and crossbeam is driven to rise by the first actuating unit so that
Clamped disk-like accessory separates enough distances with the disk-like accessory that lower section is superimposed between two finger plates, so as to machine
Disk-like accessory is transported to subsequent processing by the lower section that tool hand is inserted into disk-like accessory, supports the supporting block of cylinder to be supported on disk class zero
The lower section of part, it can be ensured that disk-like accessory will not drop between two finger plates, and security performance is high.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the side schematic three dimensional views for the lifting mechanism that the utility model is suitable for disk-like accessory；
Fig. 2 is the close-up schematic view of A in Fig. 1；
Fig. 3 is the close-up schematic view of B in Fig. 1；
Fig. 4 is the opposite side schematic three dimensional views for the lifting mechanism that the utility model is suitable for disk-like accessory；
Fig. 5 is the schematic diagram of the utility model pressure head suitable for the lifting mechanism of disk-like accessory.
In figure：1st, bottom plate, 2, column, 3, crossbeam, the 4, first clamp arm, the 5, second clamp arm, 6, finger plate, 6-1, arc surface,
7th, cylinder is supported, 8, supporting block, 9, pressure head, 9-1, protrusion, 10, guide rod, 11, motor, 12, gear reducer, 13, rack, 14, perpendicular
Direction guiding rail, 15, vertical sliding block, 16, cylinder, 17, first connecting rod, 18, rotor plate, 19, second connecting rod, 20, cross slide way, 21,
Rib.
Embodiment
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows the composition related with the utility model, direction
With can be only used for helping the description to the feature in attached drawing with reference to (for example, upper and lower, left and right, etc.).Therefore, not limiting
Detailed description below is used in property meaning processed, and is only asked by appended claims and its equivalents to limit
The scope of the theme of protection.
Embodiment 1
As shown in Figs. 1-5, a kind of lifting mechanism suitable for disk-like accessory, including bottom plate 1 and standing on bottom plate 1
Column 2, vertically slides on column 2 and is provided with crossbeam 3, is slided on crossbeam 3 and is provided with the first clamp arm 4 and the second clamp arm 5；
The first actuating unit is provided with column 2, the first actuating unit is used to drive crossbeam 3 to rise or fall along column 2；
The second actuating unit is provided with crossbeam 3, the second actuating unit is used to drive 5 phase of the first clamp arm 4 and the second clamp arm
Mutually draw close or remote, the medial surface of the medial surface of the first clamp arm 4 and the second clamp arm 5 is both provided with finger plate 6, finger plate 6 it is interior
Side is arc surface 6-1；
The lower section of first clamp arm, 4 finger plate 6 disposed thereon is provided with the support cylinder 7 of external part inwardly, the second clamp arm 5
The lower section of finger plate 6 is also equipped with the support cylinder 7 of external part inwardly thereon, supports and is both provided with the external part of cylinder 7
Supporting block 8.
It is fixed with pressure head 9 on the arc surface 6-1 of finger plate 6, the material of pressure head 9 is rubber, and the pressure head 9 of rubber material can be with
Increase the frictional force between finger plate 6 and disk-like accessory, so as to finger plate 6 it is firm clamp disk-like accessory, while will not draw
Hinder the disk-like accessory.
The medial surface of pressure head 9 has some protrusion 9-1, on pressure head 9 setting of some protrusion 9-1 can further increase hand
Frictional force between fingerboard 6 and disk-like accessory.
Guide rod 10 is respectively and fixedly provided with supporting block 8,10 and first clamp arm 4 of guide rod in the first clamp arm 4, which is slided, to be connected
Connect, the guide rod 10 in the second clamp arm 5 is slidably connected with the second clamp arm 5, and axis and the support cylinder 7 of guide rod 10 are stretched
The axis of outlet is parallel.
First actuating unit includes motor 11, gear reducer 12, gear and rack 13, output terminal and the gear reducer 12 of motor 11
Input terminal be sequentially connected, the output terminal of gear reducer 12 is fixed with gear, and rack 13 is fixed on column 2, wheel and rack 13
Engagement, motor 11 drive gear reducer 12 to rotate, and the wheel and rack 13 on gear reducer 12 engages, so as to fulfill crossbeam 3 in column 2
On rise or fall.
Vertical guide 14 is fixed with column 2, vertical sliding block 15, vertical sliding block 15 and vertical guide are fixed with crossbeam 3
14 are slidably connected.
Second actuating unit includes cylinder 16, first connecting rod 17, rotor plate 18 and second connecting rod 19, and cylinder 16 is fixed on
On crossbeam 3, the external part of cylinder 16 is fixedly connected with the first clamp arm 4, and middle part and the crossbeam 3 of rotor plate 18 are rotatablely connected,
Between the first clamp arm 4 and the second clamp arm 5, one end of first connecting rod 17 rotates and is hinged rotor plate 18 with the first clamp arm 4, another
End is hinged with rotor plate 18, and one end of second connecting rod 19 is rotatablely connected with the second clamp arm 5, and other end rotor plate 18 is hinged, and first
Connecting rod 17 and the hinge joint and second connecting rod 19 and the hinge joint of rotor plate 18 of rotor plate 18 are located at the two of rotor plate 18 respectively
End, when cylinder 16 drives the first clamp arm 4 inwardly to move, the first clamp arm 4 driving first connecting rod 17, first connecting rod 17 is with turn
Movable plate 18 rotates, the movement by the rotation of rotor plate 18 so as to fulfill second connecting rod 19, and drives second by second connecting rod 19
Clamp arm 5 is moved, and finally realizes mutually drawing close for the first clamp arm 4 and the second clamp arm 5；When cylinder 16 drives the first clamp arm 4 to outward transport
When dynamic, same first clamp arm 4 drives first connecting rod 17 to move, and first connecting rod 17 drives rotor plate 18 to rotate, and passes through rotor plate 18
Rotation so as to fulfill the movement of second connecting rod 19, and drive the second clamp arm 5 to move by second connecting rod 19, finally realize the first folder
4 and second clamp arm 5 of arm is located remotely from each other.
Cross slide way 20 is provided with crossbeam 3, is equipped with the first clamp arm 4 and the second clamp arm 5 and 20 phase of cross slide way
The transverse slider matched somebody with somebody, transverse slider are slidably connected with cross slide way 20.
Two ribs 21 are fixed with bottom plate 1, two ribs 21, the first clamp arm 4 and the second clamp arm 5 are respectively positioned on column 2
The same side.
The operation principle of the above-mentioned lifting mechanism suitable for disk-like accessory is as follows：
When the disk-like accessory being superimposed is delivered between two ribs 21 by trolley, two ribs 21 it is spacing
Trolley can be caused accurately to be moved to default position；
Drive the first clamp arm 4 and the second clamp arm 5 mutually to draw close using the second actuating unit, pass through the hand in the first clamp arm 4
Finger plate 6 in 6 and second clamp arm 5 of fingerboard clamps the disk-like accessory of the top, is then driven by the first actuating unit horizontal
Beam 3 rises so that clamped disk-like accessory and the disk-like accessory of lower section separate enough between the first clamp arm 4 and the second clamp arm 5
Distance, disk-like accessory is transported to subsequent processing by the lower section that disk-like accessory is inserted into so as to manipulator, wherein the first engine
Structure driving crossbeam 3 rise make clamped disk-like accessory between two finger plates 6 thereon and lower section disk-like accessory depart from after, branch
Support cylinder 7 can drive supporting block 8 to move inwardly to the lower section of disk-like accessory, and support the disk class zero between two finger plates 6
Part, prevents that disk-like accessory drops between two finger plates 6, makes during waiting manipulator to come to convey the disk-like accessory
Into the damage of part and equipment, and the medial surface of finger plate 6 can increase the contact with the disk-like accessory periphery for arc surface 6-1
Area, preferably to clamp the disk-like accessory.
The above-mentioned desirable embodiment according to the utility model is enlightenment, passes through above-mentioned description, relevant staff
Various changes and amendments can be carried out in the range of without departing from this item utility model technological thought completely.This item is practical
New technical scope is not limited to the content on specification, it is necessary to determines that its is technical according to right
Scope.
Claims (9)
- A kind of 1. lifting mechanism suitable for disk-like accessory, it is characterised in that：It is vertical including bottom plate (1) and on bottom plate (1) Column (2), vertically slides on the column (2) and is provided with crossbeam (3), is slided on the crossbeam (3) and is provided with the first folder Arm (4) and the second clamp arm (5)；The first actuating unit is provided with the column (2), first actuating unit is used to drive crossbeam (3) along column (2) Rise or fall；The second actuating unit is provided with the crossbeam (3), second actuating unit is used to drive the first clamp arm (4) and second Clamp arm (5) is mutually drawn close or remote, and the medial surface of first clamp arm (4) and the medial surface of the second clamp arm (5) are both provided with hand Fingerboard (6), the medial surface of the finger plate (6) is arc surface (6-1)；The support cylinder (7) of external part inwardly is provided with below first clamp arm (4) finger plate disposed thereon (6), it is described The support cylinder (7) of external part inwardly, the support gas are also equipped with below second clamp arm (5) finger plate disposed thereon (6) Supporting block (8) is both provided with the external part of cylinder (7).
- 2. the lifting mechanism according to claim 1 suitable for disk-like accessory, it is characterised in that：The finger plate (6) Pressure head (9) is fixed with arc surface (6-1), the material of the pressure head (9) is rubber.
- 3. the lifting mechanism according to claim 2 suitable for disk-like accessory, it is characterised in that：The pressure head (9) it is interior Side has some raised (9-1).
- 4. the lifting mechanism according to claim 1 suitable for disk-like accessory, it is characterised in that：On the supporting block (8) Guide rod (10) is respectively and fixedly provided with, the guide rod (10) in the first clamp arm (4) is slidably connected with the first clamp arm (4), positioned at Guide rod (10) in two clamp arm (5) is slidably connected with the second clamp arm (5).
- 5. the lifting mechanism according to claim 1 suitable for disk-like accessory, it is characterised in that：First actuating unit Including motor (11), gear reducer (12), gear and rack (13), the output terminal of the motor (11) and the input of gear reducer (12) End is sequentially connected, and the output terminal of the gear reducer (12) is fixed with gear, and the rack (13) is fixed on the column (2), Wheel and rack (13) engagement.
- 6. the lifting mechanism according to claim 5 suitable for disk-like accessory, it is characterised in that：It is solid on the column (2) Surely there is vertical guide (14), vertical sliding block (15), the vertical sliding block (15) and vertical guide are fixed with the crossbeam (3) (14) it is slidably connected.
- 7. the lifting mechanism according to claim 1 suitable for disk-like accessory, it is characterised in that：Second actuating unit Including cylinder (16), first connecting rod (17), rotor plate (18) and second connecting rod (19), the cylinder (16) is fixed on crossbeam (3) On, the external part of the cylinder (16) is fixedly connected with the first clamp arm (4), the middle part of the rotor plate (18) and crossbeam (3) be rotatablely connected, the rotor plate (18) between the first clamp arm (4) and the second clamp arm (5), the first connecting rod (17) One end rotates with the first clamp arm (4) and is hinged, and the other end is hinged with rotor plate (18), one end and second of the second connecting rod (19) Clamp arm (5) is rotatablely connected, and other end rotor plate (18) is hinged, the hinge joint of the first connecting rod (17) and rotor plate (18) and the The hinge joint of two connecting rods (19) and rotor plate (18) is located at the both ends of rotor plate (18) respectively.
- 8. the lifting mechanism according to claim 7 suitable for disk-like accessory, it is characterised in that：Set on the crossbeam (3) Cross slide way (20) is equipped with, the horizontal stroke to match with cross slide way (20) is equipped with first clamp arm (4) and the second clamp arm (5) To sliding block, the transverse slider is slidably connected with cross slide way (20).
- 9. the lifting mechanism according to claim 1 suitable for disk-like accessory, it is characterised in that：It is solid on the bottom plate (1) Surely there are two ribs (21), two ribs (21), the first clamp arm (4) and the second clamp arm (5) are respectively positioned on the same side of column (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721072366.5U CN207330238U (en) | 2017-08-25 | 2017-08-25 | Suitable for the lifting mechanism of disk-like accessory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721072366.5U CN207330238U (en) | 2017-08-25 | 2017-08-25 | Suitable for the lifting mechanism of disk-like accessory |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207330238U true CN207330238U (en) | 2018-05-08 |
Family
ID=62374446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721072366.5U Expired - Fee Related CN207330238U (en) | 2017-08-25 | 2017-08-25 | Suitable for the lifting mechanism of disk-like accessory |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207330238U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107381422A (en) * | 2017-08-25 | 2017-11-24 | 金石机器人银川有限公司 | Suitable for the lifting mechanism of disk-like accessory |
| CN110790181A (en) * | 2019-11-05 | 2020-02-14 | 金陵科技学院 | Intelligent transportation and jacking equipment for building material transportation and transportation jacking method |
| CN111320118A (en) * | 2018-10-30 | 2020-06-23 | 杨佳魏 | Method for controlling elevation starting during heavy equipment transportation |
| CN111634222A (en) * | 2020-06-10 | 2020-09-08 | 郑州高端装备与信息产业技术研究院有限公司 | I-shaped wheel loading and unloading transport vehicle |
-
2017
- 2017-08-25 CN CN201721072366.5U patent/CN207330238U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107381422A (en) * | 2017-08-25 | 2017-11-24 | 金石机器人银川有限公司 | Suitable for the lifting mechanism of disk-like accessory |
| CN107381422B (en) * | 2017-08-25 | 2023-08-01 | 金石机器人银川有限公司 | Lifting mechanism suitable for disc parts |
| CN111320118A (en) * | 2018-10-30 | 2020-06-23 | 杨佳魏 | Method for controlling elevation starting during heavy equipment transportation |
| CN111320118B (en) * | 2018-10-30 | 2021-03-12 | 蒙阴县鹏程万里车辆有限公司 | Method for controlling elevation starting during heavy equipment transportation |
| CN110790181A (en) * | 2019-11-05 | 2020-02-14 | 金陵科技学院 | Intelligent transportation and jacking equipment for building material transportation and transportation jacking method |
| CN110790181B (en) * | 2019-11-05 | 2021-01-29 | 金陵科技学院 | Intelligent transportation and jacking equipment for building material transportation and transportation jacking method |
| CN111634222A (en) * | 2020-06-10 | 2020-09-08 | 郑州高端装备与信息产业技术研究院有限公司 | I-shaped wheel loading and unloading transport vehicle |
| CN111634222B (en) * | 2020-06-10 | 2022-07-01 | 郑州高端装备与信息产业技术研究院有限公司 | I-shaped wheel loading and unloading transport vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 750021 First Floor, Section E, Building 3, Phase 1, Bearing Town, Jinfeng Industrial Park, Economic Development Zone, Yinchuan City, Ningxia Hui Autonomous Region Patentee after: Yigong Robot Yinchuan Co.,Ltd. Address before: 750021 Workshop 7, SME Entrepreneurship Base, West Zone, Yinchuan Development Zone, Ningxia Hui Autonomous Region Patentee before: STON ROBOTICS YINCHUAN CO.,LTD. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180508 |