CN107199558A - A kind of drive lacking space arresting agency and arrest method - Google Patents
A kind of drive lacking space arresting agency and arrest method Download PDFInfo
- Publication number
- CN107199558A CN107199558A CN201710331076.6A CN201710331076A CN107199558A CN 107199558 A CN107199558 A CN 107199558A CN 201710331076 A CN201710331076 A CN 201710331076A CN 107199558 A CN107199558 A CN 107199558A
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- plate
- sticks
- motor
- drive
- arresting agency
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Adhesives Or Adhesive Processes (AREA)
Abstract
The invention discloses a kind of drive lacking space arresting agency and arrest method, including ball-type hinge and four branches, each branch is connected by the first worm screw with the ball-type hinge respectively, four branch intervals ° are set, two motors are vertically installed with the spherical linkage, first worm set is in the motor, each motor, which is used to drive to be provided with two branches being located along the same line, each branch, sticks plate for arresting.Size of the invention according to target volume, selection spherical linkage and the second motor sticked in plate are driven, and completion is entirely arrested, switching motor as needed, save the energy, in arresting, for the objective body of different type volume, motor and the second motor sticked in plate in ball-type hinge are switched respectively, save the energy, to help enhancing endurance, reduce in conventional capture process and whole method, which simply easily implements control, to be required to the complexity of control.
Description
Technical field
The invention belongs to space technology field, and in particular to a kind of drive lacking space arresting agency and arrest method.
Background technology
In space industry, robot for space plays more and more important role in space tasks.Utilization space machine
People implements Space Facilities maintenance, module replacing, and the in-orbit service such as fueling and removing space junk is the development trend in future.
Because in-orbit service needs to set up on the basis in capture service object, therefore arresting agency is that robot for space execution is in-orbit
The pith of service role.
The design of arresting agency is needed with being matched by the feature of capture target, and in space, target can be roughly divided into
Two classes, the first kind is to devise the special target by grasping mechanism, and this kind of target is generally cooperative target；Equations of The Second Kind is that do not have
Design is specially by the target of grasping mechanism, and this kind of target can be cooperative target or noncooperative target, most of in-orbit
Airbound target belongs to this kind of target.
For first kind target, existing arresting agency has ROTEX paws, and capture target is truss；The ETS-VII of Japan
In project, the half dexterous three-finger paw that NASDA is developed, and on the TS-4 satellite spatial mechanical arms of Harbin Institute of Technology's development
Arresting agency, capture target all be specific cylindrical grip；Arresting agency is three handgrips to U.S. OE in the works, arrests mesh
It is designated as satellites coupling matching device.These space arresting agencies are designed both for specific handle or docking adapter, can only
A kind of target is arrested, applicability is not strong.
For Equations of The Second Kind target, i.e., without specifically by grasping mechanism, especially noncooperative target.But it is most of in-orbit
Satellite-rocket docking ring is all included on aircraft, bolt is separated, apogee engine jet pipe, solar array support and solar array etc. are normal
See structure, the shape of these structures is all relatively more unified in the world, and has enough intensity to bear to arrest power.Can be by these
Common structure is used as capture target point.The existing arresting agency for Equations of The Second Kind target has arrests far in European Space Agency's ESS projects
The screwdriver type arresting agency of place engine jet pipe.The bolt grabber of U.S.'s FREND projects.Both arresting agencies it is common
Feature is compact simplicity, but can only equally arrest this kind of target of jet pipe, and high to arresting control accuracy requirement, almost very
Hardly possible is realized and noncooperative target is arrested.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that it is empty to provide a kind of drive lacking
Between arresting agency and arrest method, overcome easily makes to arrest object disengaging in capture process and after the completion of arresting, and its is right
Arresting the shaped volumes of object has the strict inferior position for being applicable and requiring.
The present invention uses following technical scheme：
A kind of drive lacking space arresting agency, including ball-type hinge and four branches, each branch point
It is not connected by the first worm screw with the ball-type hinge, four branch intervals ° are set, vertical in the spherical linkage
Two motors are provided with, first worm set is in the motor, and each motor, which is used to drive, is located at same straight line
On two branches, be provided with each branch and stick plate and be used to arrest.
Further, the branch is from left to right disposed with first and sticks plate, second sticks plate and the 3rd glutinous
Attached plate, the ball-type hinge sticks plate with described first by first worm screw and is connected to transmission, and described first sticks plate
Stick plate with described second to be connected, the described 3rd, which sticks plate, sticks plate for drive lacking, sticking plate described second is under pressure punching
When hitting, rotated to plate side is sticked close to described second.
Further, described second sticks the first connecting shaft is provided with the left of plate, is provided with first connecting shaft
Turbine, the turbine sticks plate with described first by the second worm screw and is connected.
Further, described second stick be provided with the right side of plate for connect the described 3rd stick plate second connection
It is provided with axle, second connecting shaft in the second drive, first connecting shaft and is provided with the first drive, described first
Connected between drive and the second drive by conveyer belt.
Further, the two ends of first connecting shaft and the second connecting shaft are sticked by steady pin with described second respectively
Plate and the 3rd sticks plate and is fixedly connected.
Further, motor is provided with the turbine, the motor is used to drive the turbine rotation.
Further, a diameter of 300mm of the spherical linkage, the length of first worm screw is 100mm, described first
Stick plate, second stick plate and the 3rd stick plate length be 200~600mm, width be 50~150mm, thickness be 30~
90mm。
Further, a strata dimethyl siloxane is covered on the surface for sticking plate and is combined adhesion layer, it is described compound
The adhesion of adhesion layer is 36~100N/cm2。
Method is arrested in a kind of drive lacking space, is comprised the following steps：
S1, when find target and tentatively identification after, arresting agency is moved near objective body, is surrounded；
S2, when target volume is smaller, the motor in spherical linkage brings into operation, driving first stick plate carry out closure turn
Dynamic, second, which sticks motor in plate, does not run, and presses close to objective body and after stick when sticking plate, motion stops；
S3, when target volume is larger, the motor in spherical linkage is not run, second stick in plate motor fortune
OK, second sticks plate closing and rotates and touch objective body and sticked, and the 3rd, which sticks plate, carries out closure rotation, sticks when the 3rd
Plate sticks after objective body, and motion stops.
Compared with prior art, the present invention at least has the advantages that：
Drive lacking space of the present invention arresting agency connects four branches, the electricity in ball-type hinge by ball-type hinge
Machine drives four branches to be arrested, and is set in each branch and sticks plate, taken using dry technology of sticking as space
The key breakthrough point arrested, because the dry physical property sticked is special, will not only reduce when running into and hitting and break away and stick
Effect, can strengthen adhesive force on the contrary, so that the attitude motion such as rotation of objective body does not interfere with and arrests effect, and because to mesh
The shape size applicability of standard type is good, so reducing the dependence to accurately recognizing.
Further, it is applicable that to arrest object range wide, breaks through paw, the string bag is to arresting the limitation of object, pair that can be arrested
As the scope of application is extremely wide, by taking cube star as an example, the institute of 400*400*400mm~800*800*800mm volume ranges is applicable to
There is target, and by improving, it is possible to achieve widely arrest, a certain class target can only be directed to by breaching conventional arresting agency
The limitation that body is arrested.
Further, enhancing dimethyl silicone polymer (PDMS/CNT) is combined pasting material compared with CNT, and surface can be with change
Learn performance more excellent, its Adhesion property be improved significantly, and with good reusable performance, surveyed by land-bound equipment
Examination, it is found that the Adhesion property in vacuum environment even surmounts the performance tested in normal atmospheric, so this is more beneficial for pushing away
Dynamic dry principle of sticking completes each task applied to spacecraft.
Method is arrested the invention also discloses a kind of drive lacking space arresting agency, according to the size of target volume, selection
Spherical linkage and the second motor sticked in plate are driven, and completion is entirely arrested, switching motor as needed, save the energy,
In arresting, for the objective body of different type volume, motor and the second motor sticked in plate in ball-type hinge are opened respectively
Close, save the energy, to help enhancing endurance, reduce in conventional capture process and the complexity of control is required, whole side
Method simply easily implements control.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 is the front view of arresting agency of the present invention；
Fig. 2 is the left view of arresting agency of the present invention；
Fig. 3 sticks plate and the 3rd for the present invention second and sticks the connection stereogram of plate；
Fig. 4 sticks plate and the 3rd for the present invention second and sticks the connection front view of plate；
Fig. 5 sticks plate and the 3rd for the present invention second and sticks the connection left view of plate；
Fig. 6 sticks plate and the 3rd for the present invention second and sticks the operating diagram of plate；
Fig. 7 is the structural representation of the first worm screw of the invention；
Fig. 8 is the schematic diagram of the embodiment of the present invention one；
Fig. 9 is the schematic diagram of the embodiment of the present invention two.
Wherein：1. spherical linkage；2. the first worm screw；3. the first connecting shaft；4. first sticks plate；5. second sticks plate；6.
3rd sticks plate；7. turbine；8. steady pin；9. the second connecting shaft；10. the first drive；11. conveyer belt；12. motor；13. the
Two drives.
Embodiment
In the description of the invention, it is to be understood that term "left", "right", " vertical ", " level ", " interior " etc. are indicated
Orientation or position relationship be based on orientation shown in the drawings or position relationship, be for only for ease of description the present invention and simplification retouch
State, rather than indicate or imply that the device or element of meaning there must be specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.In addition, term " first ", " second " are only used for describing purpose, without being understood that
To indicate or implying relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ",
One or more this feature can be expressed or be implicitly included to the feature of " second ".In the description of the invention, unless
It is otherwise noted, " multiple " are meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
The invention provides a kind of drive lacking arresting agency, arm, each branch are arrested using four branch's compositions
Be provided with mechanism it is some stick plate, a strata dimethyl siloxane (PDMS/CNT) is covered on each surface for sticking plate multiple
Adhesion layer is closed, drive lacking arresting agency is combined with the composite bed of adhesion, by adhesive force capture target, enhancing is sticked
Power, realization is accurately arrested.
Fig. 1 and Fig. 2 are referred to, a kind of branch of drive lacking arresting agency of the invention includes four, divides described in four
Branch mechanism is linked into an integrated entity by ball-type hinge 1, wherein, two branches are horizontally disposed with, remaining two branches
Mechanism is vertically arranged, and four branches are fixed on the surrounding of central spherical hinge 1, forms the encirclement to object, each branch
Mechanism interval angles are 90 °, equipped with two motors 12 in the spherical linkage 1, and two motors 12 are disposed vertically, Mei Gesuo
State motor 12 be used for drive the Liang Ge branches that are located along the same line arrested.
Referring to Fig. 7, first worm screw 2 is sleeved in the motor 12, driven by motor.
Each branch's part from left to right includes the first worm screw 2, first sticks plate 4, second sticks plate 5 and the successively
Three stick plate 6, and one end of first worm screw 2 is connected with the motor 12 in the ball-type hinge 1, and the other end is sticked with described first
Attached plate 4 is connected to transmission, and described first, which sticks plate 4, sticks plate 5 with described second and be connected, and the described 3rd sticks plate 6 to owe to drive
It is dynamic to stick plate, described second stick plate 5 be under pressure impact when, turn to the inside automatically.
Fig. 3 to Fig. 6 is referred to, second left side for sticking plate 5 is provided with the first connecting shaft 3, first connecting shaft 3
On be provided with turbine 7, the turbine 7 sticks plate 4 with described first by the second worm screw and is connected.
Second right side for sticking plate 5 is provided with for connecting the described 3rd the second connecting shaft 9 for sticking plate 6, described
It is provided with second connecting shaft 9 in second drive 13, first connecting shaft 3 and is provided with the first drive 10, described first
Connected between the drive 13 of drive 10 and second by conveyer belt 11.
Motor is provided with the turbine 7, the motor is used to drive the turbine 7 to rotate.
The two ends of the connecting shaft 9 of first connecting shaft 3 and second respectively by steady pin 8 with described second stick plate 5 and
3rd, which sticks plate 6, is fixedly connected.
The size of arresting agency is as follows：A diameter of 300mm of spherical linkage 1, the length of the first worm screw 2 is 100mm, first
Stick plate 4, second stick plate 5 and the 3rd stick plate 6 length be 200~600mm, width be 50~150mm, thickness be 30~
90mm。
A kind of drive lacking space arresting agency arrests method, comprises the following steps：
S1, when find target and tentatively identification after, arresting agency is moved near objective body, is surrounded；
S2, when target volume is smaller, the motor in spherical linkage brings into operation, driving first stick plate carry out closure turn
Dynamic, second, which sticks motor in plate, does not run, and presses close to objective body and after stick when sticking plate, motion stops；
S3, when target volume is larger, the motor in spherical linkage is not run, second stick in plate motor fortune
OK, second sticks plate closing and rotates and touch objective body and sticked, and the 3rd, which sticks plate, carries out closure rotation, sticks when the 3rd
Plate sticks after objective body, and motion stops.
Embodiment 1
Referring to Fig. 8, when mechanism arrests small-sized cube 400*400*400mm, when close to target and after press close to, spherical hinge
Orthogonal two motors 12 are run in chain, and second, which sticks motor in plate 5, does not run, so when first stick plate 4.
Two, which stick plate 5 and the 3rd, sticks plate 6 and is integral, and motor 12 drives first to stick plate 4 by the first worm screw 2 in spherical linkage 1
Closure rotation is carried out, presses close to objective body and after stick when sticking plate, motion stops, clean-up task or other is carried out immediately.
Embodiment 2
Referring to Fig. 9, when mechanism arrests large-scale cube 800*800*800mm, when close to target and after press close to, spherical hinge
Motor 12 is not run in chain 1, and second, which sticks motor in plate 5, runs, and now first sticks plate 4 and spherical linkage 1, the first snail
Bar 2 is integral, and second, which sticks the closure of plate 5, rotates and when touching objective body, is sticked first by adhesion layer thereon, again
Because being under pressure and impact, promote the 3rd to stick plate 6 i.e. drive lacking and stick plate progress closure rotation, when drive lacking sticks plate
Stick after objective body, motion stops, it is random to carry out clean-up task or other.
The vertical orientation prepared by chemical vapour deposition technique (chemical vapor deposition, CVD) is arranged
CNT array, structure-controllable, anti-compression properties, Adhesion property are excellent, and micron-sized carbon nano-tube bundle and nano level single carbon are received
Setal fascicle, the fine hair cochleariform process of mitron hierarchical structure and gecko sole have yardstick, structural similarity, therefore are used for imitative gecko and climb
The bionical sorbing material of wall robot sole.Graphical CNT array is prepared on a silicon substrate, obtains 36N/cm2Adhesive force, very
To realizing CNT array 100N/cm2Adhesive force, be 10 times of gecko pin, and CNT sticks array based on Van der Waals force
The theory of adherence mechanism is wanted also to be recognized, therefore CNT turns into the preferred material that adhesion is played in space environment.
The technological thought of above content only to illustrate the invention, it is impossible to which protection scope of the present invention is limited with this, it is every to press
According to technological thought proposed by the present invention, any change done on the basis of technical scheme each falls within claims of the present invention
Protection domain within.
Claims (9)
1. a kind of drive lacking space arresting agency, it is characterised in that：Including ball-type hinge (1) and four branches, Mei Gesuo
State branch to be connected with the ball-type hinge (1) by the first worm screw (2) respectively, four 90 ° of branch intervals are set
Put, two motors (12) are vertically installed with the spherical linkage (1), first worm screw (2) is sleeved on the motor (12)
Interior, each motor (12) is used to drive two branches being located along the same line, each branch
On be provided with stick plate be used for arrest.
2. a kind of drive lacking space arresting agency according to claim 1, it is characterised in that：The branch from a left side to
The right side is disposed with first and sticks plate (4), second sticks plate (5) and the 3rd and stick plate (6), and the ball-type hinge (1) passes through institute
State the first worm screw (2) with described first stick plate (4) be connected to transmission, described first sticks plate (4) sticks with described second
Plate (5) is connected, and the described 3rd, which sticks plate (6), sticks plate for drive lacking, described second stick plate (5) be under pressure impact when,
Rotated to plate (5) side is sticked close to described second.
3. a kind of drive lacking space arresting agency according to claim 2, it is characterised in that：Described second sticks plate (5)
Left side be provided with the first connecting shaft (3), first connecting shaft (3) and be provided with turbine (7), the turbine (7) passes through
Two worm screws stick plate (4) with described first and are connected.
4. a kind of drive lacking space arresting agency according to claim 3, it is characterised in that：Described second sticks plate (5)
Right side be provided with for connect on the described 3rd the second connecting shaft (9) for sticking plate (6), second connecting shaft (9) set
Have and the first drive (10) be provided with the second drive (13), first connecting shaft (3), first drive (10) and
Connected between second drive (13) by conveyer belt (11).
5. a kind of drive lacking space arresting agency according to claim 4, it is characterised in that：First connecting shaft (3)
Plate (5) and the 3rd is sticked with described second by steady pin (8) respectively with the two ends of the second connecting shaft (9) and sticks plate (6) fixation
Connection.
6. a kind of drive lacking space arresting agency according to claim 3, it is characterised in that：Set on the turbine (7)
There is motor, the motor is used to drive the turbine (7) to rotate.
7. a kind of drive lacking space arresting agency according to claim 2, it is characterised in that：The spherical linkage (1)
A diameter of 300mm, the length of first worm screw (2) is 100mm, and described first sticks plate (4), second sticks plate (5) and the
Three length for sticking plate (6) are 200~600mm, and width is 50~150mm, and thickness is 30~90mm.
8. a kind of drive lacking space arresting agency according to claim 1, it is characterised in that：On the surface for sticking plate
Cover a strata dimethyl siloxane and be combined adhesion layer, the adhesion of the compound adhesion layer is 36~100N/cm2。
9. arresting agency arrests method described in a kind of utilization claim 1, it is characterised in that comprise the following steps：
S1, when find target and tentatively identification after, arresting agency is moved near objective body, is surrounded；
S2, when target volume is smaller, the motor in spherical linkage brings into operation, driving first stick plate carry out closure rotation,
Second, which sticks motor in plate, does not run, and presses close to objective body and after stick when sticking plate, motion stops；
S3, when target volume is larger, the motor in spherical linkage is not run, and second sticks the motor operation in plate, the
Two, which stick plate closing, rotates and touches objective body and sticked, and the 3rd, which sticks plate, carries out closure rotation, sticks plate and sticks when the 3rd
After attached firmly objective body, motion stops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710331076.6A CN107199558B (en) | 2017-05-11 | 2017-05-11 | Under-actuated space capturing mechanism and capturing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710331076.6A CN107199558B (en) | 2017-05-11 | 2017-05-11 | Under-actuated space capturing mechanism and capturing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107199558A true CN107199558A (en) | 2017-09-26 |
| CN107199558B CN107199558B (en) | 2020-11-03 |
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ID=59906293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710331076.6A Expired - Fee Related CN107199558B (en) | 2017-05-11 | 2017-05-11 | Under-actuated space capturing mechanism and capturing method |
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| Country | Link |
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| CN (1) | CN107199558B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382613A (en) * | 2018-02-05 | 2018-08-10 | 西北工业大学深圳研究院 | A kind of lightweight mechanical collision formula space junk arrest net pawl |
| CN109230524A (en) * | 2018-07-19 | 2019-01-18 | 中国科学院长春光学精密机械与物理研究所 | A kind of flexibility arresting agency |
| CN110182390A (en) * | 2019-05-05 | 2019-08-30 | 北京空间飞行器总体设计部 | A kind of reusable space junk flexibility arrests pocket device and arrests method |
| CN111113472A (en) * | 2020-02-17 | 2020-05-08 | 温州市贝佳福自动化技术有限公司 | Artificially intelligently controlled under-actuated self-adaptive robot gripper system |
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| JPS6150790A (en) * | 1984-08-18 | 1986-03-13 | 株式会社東芝 | Robot for conveying work |
| EP2551071A1 (en) * | 2010-03-24 | 2013-01-30 | Kabushiki Kaisha Yaskawa Denki | Robot hand and robot device |
| CN104175319A (en) * | 2014-08-19 | 2014-12-03 | 东南大学 | Variable torque converter for under-actuated dexterous hand |
| CN205854540U (en) * | 2016-07-04 | 2017-01-04 | 西北工业大学 | A kind of encircle the device arresting space junk |
| CN106378894A (en) * | 2016-09-09 | 2017-02-08 | 清华大学 | Gecko-imitated dry adhesion surface, product with gecko-imitated dry adhesion surface and manufacturing method of product |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6150790A (en) * | 1984-08-18 | 1986-03-13 | 株式会社東芝 | Robot for conveying work |
| EP2551071A1 (en) * | 2010-03-24 | 2013-01-30 | Kabushiki Kaisha Yaskawa Denki | Robot hand and robot device |
| CN104175319A (en) * | 2014-08-19 | 2014-12-03 | 东南大学 | Variable torque converter for under-actuated dexterous hand |
| CN205854540U (en) * | 2016-07-04 | 2017-01-04 | 西北工业大学 | A kind of encircle the device arresting space junk |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382613A (en) * | 2018-02-05 | 2018-08-10 | 西北工业大学深圳研究院 | A kind of lightweight mechanical collision formula space junk arrest net pawl |
| CN108382613B (en) * | 2018-02-05 | 2021-04-23 | 西北工业大学深圳研究院 | Light mechanical collision type space debris catching net claw |
| CN109230524A (en) * | 2018-07-19 | 2019-01-18 | 中国科学院长春光学精密机械与物理研究所 | A kind of flexibility arresting agency |
| CN110182390A (en) * | 2019-05-05 | 2019-08-30 | 北京空间飞行器总体设计部 | A kind of reusable space junk flexibility arrests pocket device and arrests method |
| CN111113472A (en) * | 2020-02-17 | 2020-05-08 | 温州市贝佳福自动化技术有限公司 | Artificially intelligently controlled under-actuated self-adaptive robot gripper system |
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| Publication number | Publication date |
|---|---|
| CN107199558B (en) | 2020-11-03 |
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