CN106514183A - Automatic assembly mechanism of thin-wall device - Google Patents
Automatic assembly mechanism of thin-wall device Download PDFInfo
- Publication number
- CN106514183A CN106514183A CN201611090386.5A CN201611090386A CN106514183A CN 106514183 A CN106514183 A CN 106514183A CN 201611090386 A CN201611090386 A CN 201611090386A CN 106514183 A CN106514183 A CN 106514183A
- Authority
- CN
- China
- Prior art keywords
- thin
- workbench
- wall part
- laser
- hole
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to the technical field of automatic assembly, and in particular, discloses an automatic assembly mechanism of a thin-wall device. The mechanism comprises a thin-wall piece feeding mechanism, an assembly body feeding mechanism, a thin-wall piece clamping and assembly mechanism and a driving mechanism, wherein the driving mechanism is used for driving the thin-wall piece clamping and assembly mechanism to operate between the thin-wall piece feeding mechanism and the assembly body feeding mechanism. The automatic assembly mechanism of the thin-wall device uses a porous sucker for combining with an air pump to grab thin-wall pieces, wherein each small hole can provide the suction; gaps between the adjacent holes achieve the effect of supporting the thin-wall pieces; as the porous structure guarantees uniform air pressure suffered by the thin-wall pieces during clamping, when the thin-wall pieces are clamped, the deformation of exceeding requirements cannot be generated; and the mechanism guarantees repeated positioning errors of the porous sucker through a three-point laser positioning method.
Description
Technical field
The present invention relates to automatic assembly technique field, and in particular to a kind of automatic assembling mechanism of thin-walled devices.
Background technology
Voice coil motor, abbreviation VCM（Voice Coil Motor）, it is the high-tech sophisticated product for rising in recent years, with which
Excellent characteristic and compact volume, are widely used in the photographing device of the high-end handsets of high pixel high image quality high-precision requirement
In, it is that the trend of following mobile phone camera development is located.At present, the assembling of VCM is not only wasted time and energy mainly based on artificial, and
And trueness error is easily caused, above-mentioned drawback can then be avoided using automatic assembling.But, thin-walled devices therein are thin due to wall
It is yielding, be difficult to manage the reasons such as positioning and become the difficult point of automatic assembling, for small-sized thin-wall part, there is no effectively dress at present
Folder, clamp method, using conventional mechanical hand method of clamping, easily cause the deformation of the reed as thin-wall part, additionally, in assembling
When, thin-wall part often shifts, and there is no effective way to prevent displacement of the reed in assembling at present.In terms of above-mentioned two
The reason for, cause voice coil motor to realize that automatic assembling has larger difficulty, therefore, it is necessary to design a kind of suitable for thin-wall part
The assemble mechanism of automatic assembling, assembles faced some shortcomings to solve voice coil motor in prior art.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of automatic assembling mechanism of thin-walled devices, to solve prior art
Some technological deficiencies that middle wall pieces automatic assembling is faced.
In order to solve above-mentioned technical problem, the technical scheme that the present invention is provided is as follows:A kind of automatic assembling of thin-walled devices
Mechanism, at least includes：
Thin-wall part feeding mechanism, the thin-wall part feeding mechanism include workbench one, and the workbench one is provided with thin-wall part charging aperture,
The upper surface of the workbench one is provided with least 3 laser pickoffs；
Assembly feeding mechanism, the assembly feeding mechanism include workbench two, and the workbench two is provided with insertion workbench two
Pilot hole, assembly clamping positioning mechainsm is provided with below the workbench two, the upper surface of the workbench two is provided with quantity
With position with one identical laser pickoff of workbench, the upper end of the pilot hole is provided with guiding port；
Thin-wall part is clamped and assemble mechanism, and the thin-wall part is clamped includes sucker, positioning disk, vavuum pump and lift with assemble mechanism
Tool arm, the sucker are located between sucker and elevation and subsidence mechanical arm located at the lower end of elevation and subsidence mechanical arm, the positioning disk, the sucker
On be evenly distributed with some pores, connected by ventilation duct between the vavuum pump and sucker, the lower surface of the positioning disk sets
Have quantity and position with workbench one on the one-to-one generating laser of laser pickoff；
Drive mechanism, the drive mechanism are used to drive thin-wall part clamping to enter in thin-wall part feeding mechanism and assembly with assemble mechanism
Run between material mechanism.
Further, the workbench two is provided with for accommodating the accommodating chamber of laser pickoff, the workbench two
Upper surface is provided with cover plate, and cover plate is provided with and the one-to-one laser pick-off hole of accommodating chamber, and the aperture in the laser pick-off hole is little
In the diameter of laser pickoff acceptance division.
Further, the aperture in the laser pick-off hole is 25um～30um.
Further, the workbench one is provided with for accommodating the accommodating chamber of laser pickoff, the workbench one
Upper surface is provided with cover plate, and cover plate is provided with and the one-to-one laser pick-off hole of accommodating chamber, and the aperture in the laser pick-off hole is little
In the diameter of laser pickoff acceptance division.
Further, the aperture in the laser pick-off hole is 25um～30um.
Further, the drive mechanism include Y-direction guide rail in frame, by crossbeam and solid respectively with crossbeam two ends
The support and the Y-direction motor moved along Y-direction guide rail for driving arm of the vertical beam composition of fixed connection, the lower end of the vertical beam is provided with
The slide rail matched with Y-direction guide rail, the crossbeam are provided with X direction guiding rails, and the thin-wall part clamping is provided with and X with assemble mechanism
The slide rail that direction guiding rail matches, is also included for driving the X that thin-wall part clamping is slided along X direction guiding rails with assemble mechanism to motor.
Further, the bottom of the workbench two is provided with feed well, is provided with for transmitting assembly below feed well
Transmission belt.
Further, also including console.
The automatic assembling mechanism of the thin-walled devices of the present embodiment, with following technical advantage：
（1）Employ porous type sucker to capture thin-wall part with reference to air pump, wherein each aperture can provide suction, and hole
Gap between hole then plays a part of to support thin-wall part, the structure of porous to ensure that thin-wall part in gripping, suffered by which
Atmospheric pressure be it is uniform so that thin-wall part gripping when, be not in beyond the deformation for requiring；
（2）The method of bikini laser positioning, it is ensured that the resetting error of porous type sucker；
（3）The top of laser locator arranges laser pick-off hole, and the aperture in laser pick-off hole is less than laser locator acceptance division
Diameter, further reduce resetting error；
（4）Guiding port is set on workbench two, assembly clamping positioning mechainsm is set below workbench two, it is ensured that thin-wall part exists
Accuracy during assembling, the displacement of thin-wall part when being greatly reduced assembling.
Description of the drawings
Structural representations of the Fig. 1 for the automatic assembling mechanism of the present embodiment thin-walled devices；
Fig. 2 is the partial structural diagram of the clamping of the present embodiment thin-wall part and assemble mechanism；
Fig. 3 is the clamping of the present embodiment thin-wall part and assemble mechanism and the partial structural diagram of assembly feeding mechanism；
Structural representations of the Fig. 4 for the present embodiment workbench two；
Partial schematic sectional views of the Fig. 5 for the present embodiment workbench two；
Present invention looks up structural representation of the Fig. 6 for the present embodiment assembly feeding mechanism；
Operational process schematic diagrames of the Fig. 7 for the automatic assembling mechanism of the present embodiment thin-walled devices.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
As shown in figure 1, a kind of automatic assembling mechanism of thin-walled devices of the present embodiment, including frame, frame is provided with folder
Tool 8, the side of frame is provided with console 11.Wherein fixture 8 is provided with thin-wall part feeding mechanism 9 and assembly feeding mechanism 13.
In the present embodiment, as seen in figures 3-6, assembly feeding mechanism 13 includes workbench two, and the workbench two is provided with insertion work
Make the pilot hole of platform two, the upper end of pilot hole is provided with guiding port 13-3.The bottom of workbench two is provided with feed well 13-4, feed well
Lower section is provided with for transmitting the transmission belt 12 of assembly, and assembly clamping positioning mechainsm 13-2 is provided with below workbench two, with
Assembly 13-1 to being transmitted by transmission belt 12 is clamped positioning.The upper surface of the workbench two of the present embodiment is provided with three
Individual laser pickoff 13-5, certainly, the optimal selection of three simply the present embodiment, the quantity of laser pickoff 13-5 can be more than
Three.
In the present embodiment, thin-wall part feeding mechanism 9 includes workbench one, and the workbench one is provided with thin-wall part charging
Mouthful, the upper surface of workbench one is provided with the laser pickoff 13-5 with the quantity on workbench two and position all same.
Such as Fig. 1-3, the thin-wall part clamping and assemble mechanism of the present embodiment include sucker 1, positioning disk 1-5, vavuum pump 4 and rise
Drop mechanical arm 3, wherein elevation and subsidence mechanical arm 3 are the conventional lifting mechanical arm of this mechanical field, therefore are not done in the present embodiment in detail
Thin explanation.Wherein sucker 1 located at the lower end of elevation and subsidence mechanical arm 3, the positioning disk 1-5 be located at sucker 1 and elevation and subsidence mechanical arm 5 it
Between.Wherein sucker 1 includes sucker body 1-1, is evenly distributed with some pore 1-4 on sucker body 1-1, the vavuum pump 4 with
Connected by ventilation duct 1-3 between sucker 1.
As the improvement of the present embodiment, the lower surface of the positioning disk 1-5 be provided with quantity and position with workbench one on
The one-to-one generating laser 1-2 of laser pickoff 13-5.Wherein the precision of laser positioning depends on laser pickoff 13-
The diameter of 5 acceptance divisions.For the precision of improving laser positioning, the present embodiment is provided with sharp for accommodating on workbench two
Accommodating chamber 13-8 of optical receiver 13-5, is provided with cover plate 13-6 in the upper surface of workbench two, and cover plate is provided with and accommodating chamber 13-
8 one-to-one laser pick-off hole 13-7, the wherein aperture of laser pick-off hole 13-7 are less than laser pickoff 13-5 acceptance divisions
Diameter.Under prior art conditions, the aperture of laser pick-off hole 13-7 can minimum process to 25um, usually 25um～30um.
Explanation is needed further exist for, the structure at one laser pickoff of workbench is identical with workbench two, therefore no longer do further
Illustrate.
Further, as shown in figure 1, the drive mechanism of the present embodiment include Y-direction guide rail 10 in frame, by crossbeam
And the support and the Y-direction electricity moved along Y-direction guide rail 10 for driving arm of the composition of vertical beam 7 being respectively fixedly connected with crossbeam two ends
Machine 14, the lower end of wherein vertical beam 7 are provided with the slide rail matched with Y-direction guide rail 14.Further, its middle cross beam is provided with guide X
Rail 6, thin-wall part clamping are provided with the slide rail that matches with X direction guiding rails and for driving thin-wall part clamping and dress with assemble mechanism
The X that fitting mechanism slides along X direction guiding rails 6 is to motor 5.
As shown in fig. 7, the operation principle of the automatic assembling mechanism of the thin-walled devices of the present embodiment is as follows：
（1）During start-up operation, first positioned, open generating laser, mobile thin-wall part clamping and assemble mechanism, make placement thin
Laser pickoff on the workbench one of wall pieces can receive laser signal simultaneously, now, record the coordinate of the point；
（2）With the coordinate of same method writing task platform two, generating laser after the completion of record, can be closed, only need to be by recording
Position coordinates repeated work；
（3）After the completion of positioning, formally can start working, sucker is moved on to thin-wall part to motor and Y-direction motor and just gone up by X first
Side, is then moved down into where thin-wall part small distance by elevation and subsidence mechanical arm, and vavuum pump starts air-breathing, and thin-wall part is picked up
Come；
（4）Then thin-wall part is sent to directly over workbench two to motor and Y-direction motor by X, is declined by elevation and subsidence mechanical arm,
Vavuum pump is inverted, and thin-wall part is blown in assembly, afterwards sucker is resetted, repeat to install next time, while conveyer belt
Start working, an assembly is sent to below workbench two, and carries out clamping and positioning, be that assembling is prepared next time.
In a word, presently preferred embodiments of the present invention is the foregoing is only, it is not to limit the present invention, all in the present invention
Spirit and principle within any modification, equivalent and the improvement made etc., should be included in protection scope of the present invention it
It is interior.
Claims (8)
1. a kind of automatic assembling mechanism of thin-walled devices, it is characterised in that at least include：
Thin-wall part feeding mechanism, the thin-wall part feeding mechanism include workbench one, and the workbench one is provided with thin-wall part charging aperture,
The upper surface of the workbench one is provided with least 3 laser pickoffs；
Assembly feeding mechanism, the assembly feeding mechanism include workbench two, and the workbench two is provided with insertion workbench two
Pilot hole, assembly clamping positioning mechainsm is provided with below the workbench two, the upper surface of the workbench two is provided with quantity
With position with one identical laser pickoff of workbench, the upper end of the pilot hole is provided with guiding port；
Thin-wall part is clamped and assemble mechanism, and the thin-wall part is clamped includes sucker, positioning disk, vavuum pump and lift with assemble mechanism
Tool arm, the sucker are located between sucker and elevation and subsidence mechanical arm located at the lower end of elevation and subsidence mechanical arm, the positioning disk, the sucker
On be evenly distributed with some pores, connected by ventilation duct between the vavuum pump and sucker, the lower surface of the positioning disk sets
Have quantity and position with workbench one on the one-to-one generating laser of laser pickoff；
Drive mechanism, the drive mechanism are used to drive thin-wall part clamping to enter in thin-wall part feeding mechanism and assembly with assemble mechanism
Run between material mechanism.
2. according to the automatic assembling mechanism of the thin-walled devices described in claim 1, it is characterised in that the workbench two is provided with
For accommodating the accommodating chamber of laser pickoff, the upper surface of the workbench two is provided with cover plate, and cover plate is provided with and accommodating chamber one
One corresponding laser pick-off hole, the aperture in the laser pick-off hole are less than the diameter of laser pickoff acceptance division.
3. according to the automatic assembling mechanism of the thin-walled devices described in claim 2, it is characterised in that the hole in the laser pick-off hole
Footpath is 25um～30um.
4. according to the automatic assembling mechanism of the thin-walled devices described in claim 1, it is characterised in that the workbench one is provided with
For accommodating the accommodating chamber of laser pickoff, the upper surface of the workbench one is provided with cover plate, and cover plate is provided with and accommodating chamber one
One corresponding laser pick-off hole, the aperture in the laser pick-off hole are less than the diameter of laser pickoff acceptance division.
5. according to the automatic assembling mechanism of the thin-walled devices described in claim 4, it is characterised in that the hole in the laser pick-off hole
Footpath is 25um～30um.
6. according to the automatic assembling mechanism of the thin-walled devices described in any one of claim 1-5, it is characterised in that the driving machine
Structure includes the support and use that Y-direction guide rail in frame, the vertical beam being respectively fixedly connected with by crossbeam and with crossbeam two ends constitute
In the Y-direction motor that driving arm is moved along Y-direction guide rail, the lower end of the vertical beam is provided with the slide rail matched with Y-direction guide rail, described
Crossbeam is provided with X direction guiding rails, and the thin-wall part clamping is provided with the slide rail matched with X direction guiding rails with assemble mechanism, is also included
For driving the X that thin-wall part clamping is slided along X direction guiding rails with assemble mechanism to motor.
7. according to the automatic assembling mechanism of the thin-walled devices described in claim 6, it is characterised in that the bottom of the workbench two
Feed well is provided with, is provided with below feed well for transmitting the transmission belt of assembly.
8. according to the automatic assembling mechanism of the thin-walled devices described in claim 6, it is characterised in that also including console.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611090386.5A CN106514183B (en) | 2016-12-01 | 2016-12-01 | A kind of automatic assembling mechanism of thin-walled devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611090386.5A CN106514183B (en) | 2016-12-01 | 2016-12-01 | A kind of automatic assembling mechanism of thin-walled devices |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514183A true CN106514183A (en) | 2017-03-22 |
| CN106514183B CN106514183B (en) | 2018-10-26 |
Family
ID=58354113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611090386.5A Expired - Fee Related CN106514183B (en) | 2016-12-01 | 2016-12-01 | A kind of automatic assembling mechanism of thin-walled devices |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106514183B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994599A (en) * | 2018-09-11 | 2018-12-14 | 东莞市松研智达工业设计有限公司 | Vertical-shaped band gasket is taken complete machine robot |
| CN109590724A (en) * | 2018-12-26 | 2019-04-09 | 中国科学院长春光学精密机械与物理研究所 | A kind of vertical Method of Adjustment of pellet parts |
| CN110303452A (en) * | 2018-10-31 | 2019-10-08 | 长春东睦富奥新材料有限公司 | A kind of pinion frame class product press fitting pin frock clamp and its application method |
| CN113547297A (en) * | 2021-06-30 | 2021-10-26 | 广东大宇智能设备有限公司 | Hook buckling device of toughened glass packaging box |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11245064A (en) * | 1998-03-03 | 1999-09-14 | Nhk Spring Co Ltd | Laser welding apparatus of suspension for disc device |
| CN102854594A (en) * | 2012-09-29 | 2013-01-02 | 樊伟超 | Placement machine |
| CN203313528U (en) * | 2013-06-06 | 2013-11-27 | 厦门力巨自动化科技有限公司 | Dual-positioning and pressing device |
| CN203409910U (en) * | 2013-08-19 | 2014-01-29 | 蓝思科技股份有限公司 | Automatic strip processing clamping device |
| CN204325135U (en) * | 2014-12-04 | 2015-05-13 | 蓝思科技股份有限公司 | The robot device of collection automatic clamping and placing material, location, processing, storage |
| CN105965190A (en) * | 2016-06-22 | 2016-09-28 | 河源市新天彩科技有限公司 | Full-automatic assembling mechanism |
-
2016
- 2016-12-01 CN CN201611090386.5A patent/CN106514183B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11245064A (en) * | 1998-03-03 | 1999-09-14 | Nhk Spring Co Ltd | Laser welding apparatus of suspension for disc device |
| CN102854594A (en) * | 2012-09-29 | 2013-01-02 | 樊伟超 | Placement machine |
| CN203313528U (en) * | 2013-06-06 | 2013-11-27 | 厦门力巨自动化科技有限公司 | Dual-positioning and pressing device |
| CN203409910U (en) * | 2013-08-19 | 2014-01-29 | 蓝思科技股份有限公司 | Automatic strip processing clamping device |
| CN204325135U (en) * | 2014-12-04 | 2015-05-13 | 蓝思科技股份有限公司 | The robot device of collection automatic clamping and placing material, location, processing, storage |
| CN105965190A (en) * | 2016-06-22 | 2016-09-28 | 河源市新天彩科技有限公司 | Full-automatic assembling mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994599A (en) * | 2018-09-11 | 2018-12-14 | 东莞市松研智达工业设计有限公司 | Vertical-shaped band gasket is taken complete machine robot |
| CN110303452A (en) * | 2018-10-31 | 2019-10-08 | 长春东睦富奥新材料有限公司 | A kind of pinion frame class product press fitting pin frock clamp and its application method |
| CN110303452B (en) * | 2018-10-31 | 2024-03-26 | 长春东睦富奥新材料有限公司 | Tool clamp for pressing pins of planet gear carrier products and application method of tool clamp |
| CN109590724A (en) * | 2018-12-26 | 2019-04-09 | 中国科学院长春光学精密机械与物理研究所 | A kind of vertical Method of Adjustment of pellet parts |
| CN113547297A (en) * | 2021-06-30 | 2021-10-26 | 广东大宇智能设备有限公司 | Hook buckling device of toughened glass packaging box |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106514183B (en) | 2018-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106514183A (en) | Automatic assembly mechanism of thin-wall device | |
| CN110444499B (en) | Sheet taking and loading device and sheet loading machine adopting same | |
| CN206967481U (en) | A kind of five axle assembly manipulators of the High Precision Automatic kludge of camera lens | |
| CN109202300A (en) | A kind of SMT template construct method | |
| CN108568385B (en) | Full-automatic coil dispensing and laminating ferrite machine | |
| CN103567808A (en) | Tool holder for chip suction device and machine tool including same | |
| CN113020956A (en) | Double-station optical lens assembling machine and assembling method | |
| CN111878494B (en) | Screen pasting method and screen pasting equipment for mobile terminal | |
| CN114905247A (en) | Upper and lower lens base assembling equipment for high-precision optical lens | |
| CN112705925A (en) | Lens assembling equipment | |
| CN104816101A (en) | Optical fiber laser cutting process based on stainless steel substrate chips | |
| CN216626530U (en) | Automatic chip mounter | |
| CN113471107B (en) | Die bonder and die bonding method | |
| CN113043016B (en) | Double-track double-station loop line one-stop assembling machine for optical lenses | |
| CN213340329U (en) | Clamping carrying platform | |
| CN213847169U (en) | Automatic terminal inserting equipment with vision | |
| CN211116998U (en) | Accurate mucilage binding magnet device of iron sheet | |
| KR20000073352A (en) | Semiconductor Device | |
| CN114378443A (en) | Wafer ID marking equipment | |
| CN209319254U (en) | The fixture and Trinity smart car mechanism of Trinity lathe station | |
| CN209002226U (en) | Concentric separating mechanism and voice coil motor performance test machine | |
| CN214350670U (en) | Lens assembling machine | |
| TWI403771B (en) | Device for assembling lens module | |
| CN106853711B (en) | Abutted equipment and applying method | |
| CN218456493U (en) | Lens assembling mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20181026 Termination date: 20191201 |