CN107143542B - A kind of double cylinder synchronous drive control devices and method - Google Patents
A kind of double cylinder synchronous drive control devices and method Download PDFInfo
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- CN107143542B CN107143542B CN201710493633.4A CN201710493633A CN107143542B CN 107143542 B CN107143542 B CN 107143542B CN 201710493633 A CN201710493633 A CN 201710493633A CN 107143542 B CN107143542 B CN 107143542B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007704 transition Effects 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 6
- 239000011148 porous material Substances 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000013481 data capture Methods 0.000 claims 2
- 239000007787 solid Substances 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 244000309464 bull Species 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of double cylinder synchronous drive control devices and methods, detection part and control section are driven including cylinder, two cylinders are parallel to be fixed on experimental bench, pressure suffered by pull pressure sensor detection swingle both ends is installed between piston rod and swingle, it is transferred to A/D transition cards, then it is input to industrial control computer by data collecting card, industrial control computer is synchronized driving according to being exported by D/A transition cards by force signal output control instruction to gas control unit two cylinders of control.The present invention uses the characteristics of fast pull pressure sensor sample frequency, high certainty of measurement, the power of two cylinders output is monitored in real time, control in conjunction with cylinder location inductor to the control and proportion directional control valve of piston rod position to tolerance, corresponding algorithm is used by industrial control computer, realizes the synchronous control driven to double cylinders.
Description
Technical field
The present invention relates to synchronous drive control fields, and in particular to a kind of double cylinder synchronous drive control devices and method.
Background technology
With the development of science and technology, new power occurs in the development of modern manufacturing industry, indicate that more complicated production is appointed
Business and high-precision production requirement.People are higher and higher to quality and the properties of product requirement of mechanical equipment, in certain occasion needles
Work requirements cannot be met by being controlled single driving device.During equipment controls, often need to multiple movements
Unit carries out coordinate synchronization control to meet work requirements.Under new manufacture development situation, the synchronous control side of mechanical system
Method continues to develop, and scale constantly expands, and is widely used in every field.The synchronous emphasis of mechanical system is to realize steady fortune
It is dynamic, it is contemplated that stability, low acceleration, non-jitter movement and low vibration.For synchronization system, can be divided by its type of drive
The synchronization system of the synchronization system of Mechanical Driven, electrically driven synchronization system, the synchronization system of gas-powered and hydraulic-driven.
The system cost of wherein gas-powered is low, easy to maintain, power is high, but since complicated nonlinear kinetics makes system synchronization
As a problem.
The synchronization system of existing gas-powered is mostly used drives mechanical mechanism with cylinder, is realized and is synchronized using mechanical mechanism
Mode come the synchronization purpose reached, this can essentially be the method for synchronization of Mechanical Driven, but due between machine driving
Gap is difficult to adjust transmission ratio, is restricted etc. reasons synchronization accuracy by line shaft elasticity modulus by extreme influence.
Invention content
In order to overcome shortcoming and deficiency of the existing technology, the present invention to provide a kind of double cylinder synchronous drive control devices
With method.
The present invention considers the main source of error of the synchronization system of traditional gas driving, is directly driven using cylinder
Dynamic, proportional control valve and pull pressure sensor auxiliary synchronize drive control, improve synchronization accuracy, can be asynchronous in movement
When fast resumption synchronization, enable power that two cylinders export quickly, it is accurate, steadily synchronize.
The present invention adopts the following technical scheme that：
A kind of double cylinder synchronous drive control devices, including cylinder driving detection part and control section；
The cylinder driving detection part includes output rod, and the output rod is fixed on the point midway of swingle, described
Swingle is fixed on experimental bench, and a cylinder driving unit is installed at the both ends of the swingle respectively, and two cylinder drivings are single
Meta structure is identical, includes cylinder, piston rod and pull pressure sensor, described pull pressure sensor one end passes through connector and work
Stopper rod connects, and the other end is connected by one end of shaft and swingle, and the cylinder is by control action in the gas of piston rod
Body pushes and pulls the connector being connected with piston rod；
The control section, including A/D transition cards, data collecting card, D/A transition cards, pneumatic control unit and industry control meter
Calculation machine；
Pull pressure sensor detection have swingle under load condition by force signal, be transferred to A/D transition cards, then pass through
Data collecting card is input to industrial control computer, and industrial control computer is according to defeated by D/A transition cards by force signal output control instruction
Go out to control the synchronous driving of two cylinders to gas control unit.
The pneumatic control unit includes pneumatic triple piece, air pump, pressure regulator valve and proportional control valve, air source by air pump and
Pneumatic triple piece obtains high pressure gas, and then obtaining burning voltage by pressure regulator valve is output to proportional control valve control cylinder drive
Dynamic, the proportional control valve is connect with industrial control computer.
Two cylinders are parallel to be fixed on experimental bench, and original state is that the piston rod of a cylinder is fully extended, another
The piston rod of cylinder is fully retracted.
The swingle is fixed on particular by bearing block on the central axes of two cylinder distances, when two piston rods are transported
When dynamic half, swingle is vertical with two piston rods respectively.
The medium pore of swingle coordinates with shaft, and the shaft other end coordinates with the bearing block with thrust bearing, the bearing
Seat is fixed on experimental bench.
The other end of pull pressure sensor is connect by connector with hinge bolt, and the hinge bolt coordinates with shaft,
Further it is connect with one end of swingle.
A kind of control method of double cylinder synchronous drive control devices, includes the following steps：
First step air source obtains clean high pressure gas by air pump and pneumatic triple piece, by being stablized after pressure regulator valve
Air pressure acts on the piston rod of cylinder by gas after proportional control valve, makes the outside power output of piston rod；
The detection of second step pull pressure sensor is converted into the acquisition of digital signal input data by force signal by A/D transition cards
Card further inputs into industrial control computer and carries out obtaining the force feedback signal of two cylinders after handling accordingly；
The feedback signal of second step is generated the pulse of control proportional control valve by third step after industrial control computer is handled
Signal, the signal are exported to two proportional control valves after being converted to analog signal by D/A transition cards to adjust input cylinder
Air pressure, flow and direction, and then the power of cylinder output is controlled, so that two cylinders is synchronized driving, double cylinder power outputs are closed in realization
Ring controls.
Beneficial effects of the present invention：
(1) this tension and compression force checking device is made of pull pressure sensor bull stick of putting english, since sample frequency is fast, measurement accuracy
Height, can real-time dynamicly detect the stress of swingle, and signal is fed back to industrial control computer and is regulated and controled, and make cylinder
The power of output keeps synchronous at any time, realizes the synchronization drive control of double cylinders.
(2) the rotation pole length of the present apparatus is far longer than the cylinder piston throw of lever, swingle rotational angle in the course of work
Very little, pull pressure sensor allow certain deformation, so piston rod and pull pressure sensor can be approximated to be linear motion, two
Cylinder can be directly anchored on experimental bench without considering rotation, and two pull pressure sensor measure when device is in synchronous regime
Power is equal in magnitude, direction is opposite.
(3) present apparatus controls the pressure and flow of gas and direction using proportional control valve, can make output
Gas parameter year electric signal parameter variation and change, realize that the control of continuous ratio, control accuracy are high, and mechanism is simple, effect
Rate is high, pollution-free.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the shaft side figure of system；
Fig. 3 is the front view of Fig. 1；
Fig. 4 is the vertical view of Fig. 1.
Specific implementation mode
With reference to embodiment and attached drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
As Figure 1-Figure 4, a kind of double cylinder synchronous drive control devices, including cylinder driving detection part and control unit
Point；
The cylinder driving detection part includes output rod, and the output rod 14 is fixed on the middle part of swingle 15, rotation
The medium pore of bar 15 coordinates with third shaft 13, and the other end of third shaft coordinates with the bearing block 12 with thrust bearing, the axis
Bearing 12 is fixed on experimental bench 5.A cylinder driving unit is installed at the both ends of the swingle respectively, and two cylinder drivings are single
Meta structure is identical, includes cylinder, piston rod and pull pressure sensor.
One end of the swingle is connected by first rotating shaft 17, and the first rotating shaft 17 connects with first axle bolt 16
It connects, 19 one end of the first pull pressure sensor is connect with the first connector 20, and the other end is connect with third connector 18, the third
The other end of connector is bolted with first axle, and the other end of first connector 20 is connect with First piston bar 21,
The cylinder is single rod double-acting cylinder, and First piston bar is connect with the first cylinder 1, and first cylinder passes through the first cylinder
Mounting bracket 2 is fixed on experimental bench 5, the first cylinder by control action in the air pressure of First piston bar, gas flow and direction,
Push and pull the first connected connector of the first piston being connect with the first cylinder.
The other end of the swingle 15 is connected by the second shaft 11, second shaft 11 and second hinge bolt 10
Connection, the both ends of second pulling force sensor 8 are connect with the second connector 7 and the 4th connector 9 respectively, the 4th connection
Part is connect with second hinge bolt 10, and second connector is connect with second piston bar 6, the second piston bar and the second gas
Cylinder 3 connects, and second cylinder is fixed on by the second cylinder mount frame 4 on experimental bench.
Two cylinders are arranged in parallel on experimental bench, and distance between the two is determined according to the length of swingle, is slightly less than rotation
Bull stick length, the First piston bar 21 of the first cylinder connection should be fully extended when installation, the second piston of the second cylinder connection
Bar should be fully retracted.The described cylinder selection TaiWan, China gas it is vertical can jig cylinder JD series, model JD100X140-
SD2 is single pole double-acting cylinder, and cylinder diameter 100mm, stroke 140mm, shaft end tooth form is shaft end interior tooth, and two inductors of band can be held
By the air pressure of 0.1-0.7MPa；The length of swingle is 1000mm, is much larger than piston rod stroke, the bore dia on bar
35mm, the sliding bearing internal diameter 30mm of cooperation select meter Si meter Products, model LFZB35-30.
In double cylinder synchronous driving process, piston rod can be exported not due to the difference of the gas velocity and amount that enter cylinder
Same thrust or pulling force, the power of output passes to first and second pulling force sensor by connector, and pull pressure sensor passes through
The size and Orientation of measuring force generates signal, and number letter is generated after the first A/D transition cards 22 and the conversion of the 2nd A/D transition cards 23
Number and exported to industrial control computer 29 by data collecting card 24.
The S type pressures sensing of the model QLS-11 of the pull pressure sensor selection China Shenzhen Qin Heyuan companies of use
Device, the pull pressure sensor wide 51mm, long 76.2mm, thick 19.1mm, rated load are
50kg-750kg, precision are 0.03 grade, are applied to tension compression bidirectional power and measure, and draw, press output symmetry good；Hinge spiral shell
Bolt selects the accessory of meter Si meter companies, carries sliding bearing, model HGMBB12-20-42-12a, matched shaft axis
The a diameter of 20mm of neck, a diameter of 30mm of the other end, a diameter of 40mm of axle body；Connector size is according to bolt designed, designed used
's；Output rod 14 is fixed on 15 middle part of swingle, and output rod can be selected voluntarily to design, for loading, can voluntarily added as needed
Add component to adapt to corresponding task；15 medium pore of swingle coordinates with third shaft 13, the third shaft 13 1
It is 30mm to hold the diameter of axle still, and 13 other end of third shaft coordinates with the bearing block with thrust bearing, and bearing block selects meter Si meter public
The BGCSB30 of department, band thrust bearing, internal diameter is 30mm and carries thrust, therefore the third shaft other end diameter of axle is successively
For 30mm, 35mm, 50mm；Bearing block is fixed on the central axes of the distance of two cylinders, when two cylinder piston rods just move one
When at half trip, swingle should be just vertical with two-piston bar.
The control section, including A/D transition cards, data collecting card, D/A transition cards, pneumatic control unit and industry control meter
Calculation machine；
The gas control unit is specially that air source 33 obtains clean high pressure by air pressure valve 32 and pneumatic triple piece 31
Gas is input to first and second by obtaining stablizing air pressure after pressure regulator valve 30 by first and second proportional control valve 25,26
Piston rod is reciprocating.
In double cylinder synchronous driving process, the driving of cylinder is to send out command pulse by industrial control computer 29, by
It exports after one D/A transition cards 27 and the progress D/A conversions of the 2nd D/A transition cards 28 and compares to the first proportional control valve 25 and second respectively
The example control input gas-powered cylinder piston rod of control valve 26 is reciprocating.The D/A control cards used is Taiwan Yan Hua companies
The PCL-727 types of production, proportion directional control valve are the pneumatic company's productions of Japan SMC, model VER2000-02.
The piston rod stroke of two cylinders, which is much smaller than, rotates pole length, the rotation angle very little of swingle, in the course of work
Piston rod and pull pressure sensor can be approximated to be linear motion；In the case that loaded, if two pull pressure sensor are surveyed
The power obtained is in the same size, on the contrary, then the power of two cylinders output synchronizes, two cylinders synchronize driving in direction；If the first pressure passes
The power that sensor measures is less than the second pull pressure sensor, then the power of the first cylinder output is smaller than the second cylinder；If the first tension and compression
The power that force snesor measures is more than the second pull pressure sensor, then the power of the first cylinder output is bigger than the second cylinder；In cylinder
When gas releases piston rod, pull pressure sensor measures pressure；When gas in cylinder makes piston rod retract, pressure sensing
Device measures pulling force.
One kind synchronizing drive control method based on double cylinders, includes the following steps：
First step air source obtains clean high pressure gas by air pump and pneumatic triple piece, by being stablized after pressure regulator valve
Air pressure acts on the piston rod of cylinder by gas after proportional control valve, makes the outside power output of piston rod；
The detection of second step pull pressure sensor is converted into the acquisition of digital signal input data by force signal by A/D transition cards
Card further inputs into industrial control computer and carries out obtaining the force feedback signal of two cylinders after handling accordingly；
The feedback signal of second step is generated the pulse of control proportional control valve by third step after industrial control computer is handled
Signal, the signal are exported to two proportional control valves after being converted to analog signal by D/A transition cards to adjust input cylinder
Air pressure, flow and direction, and then the power of cylinder output is controlled, so that two cylinders is synchronized driving, double cylinder power outputs are closed in realization
Ring controls.
The parallel fixation of the common cylinder of double acting of two single rods on the table, is installed additional between piston rod and swingle
Pull pressure sensor ensures that both ends synchronize when the fixed swingle in middle part rotates to detect pressure suffered by swingle both ends, from
And make the two cylinders power that output size is equal in the loaded course of work, direction is opposite.The present invention is sensed with pressure
The characteristics of device sample frequency is fast, high certainty of measurement, monitors the power of two cylinders output, in real time in conjunction with cylinder location inductor
The control of control and proportion directional control valve to tolerance to piston rod position uses corresponding algorithm by industrial control computer,
Realize the synchronous control driven to double cylinders.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by the embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (7)
1. a kind of double cylinder synchronous drive control devices, which is characterized in that drive detection part and control section including cylinder；
The cylinder driving detection part includes output rod, and the output rod is fixed on the point midway of swingle, the rotation
Bar is fixed on experimental bench, and a cylinder driving unit, two cylinder driving unit knots are installed in the both ends of the swingle respectively
Structure is identical, includes cylinder, piston rod and pull pressure sensor, described pull pressure sensor one end passes through connector and piston rod
Connection, the other end are connected by one end of shaft and swingle, and gas of the cylinder by control action in piston rod pushes away
Draw the connector being connected with piston rod；
The control section, including A/D transition cards, data collecting card, D/A transition cards, pneumatic control unit and industrial control computer；
Pull pressure sensor detection have swingle under load condition by force signal, be transferred to A/D transition cards, then pass through data
Capture card is input to industrial control computer, industrial control computer according to by force signal export control instruction by D/A transition cards export to
Gas control unit controls the synchronous driving of two cylinders.
2. a kind of double cylinder synchronous drive control devices according to claim 1, which is characterized in that the pneumatic control list
Member includes pneumatic triple piece, air pump, pressure regulator valve and proportional control valve, and air source obtains high pressure gas by air pump and pneumatic triple piece
Then body obtains burning voltage by pressure regulator valve and is output to proportional control valve control cylinder driving, the proportional control valve and work
Control computer connection.
3. a kind of double cylinder synchronous drive control devices according to claim 1, which is characterized in that two cylinders are parallel solid
It is scheduled on experimental bench, original state is that the piston rod of a cylinder is fully extended, and the piston rod of another cylinder is fully retracted.
4. a kind of double cylinder synchronous drive control devices according to claim 1, which is characterized in that the swingle is specific
To be fixed on by bearing block on the central axes of two cylinder distances, when two piston rod movement half, swingle respectively with
Two piston rods are vertical.
5. a kind of double cylinder synchronous drive control devices according to claim 4, which is characterized in that the medium pore of swingle
Coordinate with shaft, the shaft other end coordinates with the bearing block with thrust bearing, and the bearing block is fixed on experimental bench.
6. a kind of double cylinder synchronous drive control devices according to claim 1, which is characterized in that pull pressure sensor
The other end is connect by connector with hinge bolt, and the hinge bolt coordinates with shaft, is further connected with one end of swingle
It connects.
7. according to a kind of control method of double cylinder synchronous drive control devices of claim 1-6 any one of them, feature
It is, includes the following steps：
First step air source obtains clean high pressure gas by air pump and pneumatic triple piece, stablizes gas by being obtained after pressure regulator valve
Pressure, the piston rod of cylinder is acted on by gas after proportional control valve, makes the outside power output of piston rod；
The detection of second step pull pressure sensor is converted into digital signal input data capture card by force signal by A/D transition cards, into
One step is input to industrial control computer and carries out obtaining the force feedback signal of two cylinders after handling accordingly；
The feedback signal of second step is generated the pulse signal of control proportional control valve by third step after industrial control computer is handled,
The signal by D/A transition cards be converted to output after analog signal to two proportional control valves with adjust input cylinder air pressure,
Flow and direction, and then the power of cylinder output is controlled, so that two cylinders is synchronized driving, realizes the closed loop control to double cylinder power outputs
System.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710493633.4A CN107143542B (en) | 2017-06-26 | 2017-06-26 | A kind of double cylinder synchronous drive control devices and method |
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|---|---|---|---|
| CN201710493633.4A CN107143542B (en) | 2017-06-26 | 2017-06-26 | A kind of double cylinder synchronous drive control devices and method |
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| CN107143542B true CN107143542B (en) | 2018-10-30 |
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| CN107675406A (en) * | 2017-09-30 | 2018-02-09 | 梁北洪 | A kind of scraping machine for fur with detection function |
| CN108005971B (en) * | 2017-11-07 | 2020-07-14 | 哈尔滨理工大学 | Double-valve-control-cylinder load-carrying-force-control compensation cooperative device and control method thereof |
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| DE3525823A1 (en) * | 1985-07-19 | 1987-01-29 | Schmitz Soehne Gmbh Maschf | Path-dependent synchronous pressure control for double-acting presses, in particular laminating presses |
| CN201685463U (en) * | 2010-04-02 | 2010-12-29 | 北京恒驰智能科技有限公司 | Special rolling device for tire casing |
| CN104322186A (en) * | 2014-09-28 | 2015-02-04 | 北京农业智能装备技术研究中心 | Seedling sorting and transplanting gripper apparatus |
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| CN207033869U (en) * | 2017-06-26 | 2018-02-23 | 华南理工大学 | A kind of double cylinder synchronous drive control devices |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4397222A (en) * | 1979-08-16 | 1983-08-09 | Glaze Stanley G | Fluid powered actuator system |
| DE3525823A1 (en) * | 1985-07-19 | 1987-01-29 | Schmitz Soehne Gmbh Maschf | Path-dependent synchronous pressure control for double-acting presses, in particular laminating presses |
| CN201685463U (en) * | 2010-04-02 | 2010-12-29 | 北京恒驰智能科技有限公司 | Special rolling device for tire casing |
| CN104322186A (en) * | 2014-09-28 | 2015-02-04 | 北京农业智能装备技术研究中心 | Seedling sorting and transplanting gripper apparatus |
| CN105082622A (en) * | 2015-07-08 | 2015-11-25 | 安徽赛耐尔机械制造有限公司 | Automatic handle installation device of handle installation machine |
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| CN205729669U (en) * | 2016-04-20 | 2016-11-30 | 蒋雯先 | A kind of electric automatization sick bed |
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| CN107143542A (en) | 2017-09-08 |
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