CN110834324A - Rotation holding device and robot - Google Patents
Rotation holding device and robot Download PDFInfo
- Publication number
- CN110834324A CN110834324A CN201910755069.8A CN201910755069A CN110834324A CN 110834324 A CN110834324 A CN 110834324A CN 201910755069 A CN201910755069 A CN 201910755069A CN 110834324 A CN110834324 A CN 110834324A
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- arm
- pressing member
- rotation
- housing
- holding device
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- 230000006835 compression Effects 0.000 claims description 16
- 238000007906 compression Methods 0.000 claims description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000014759 maintenance of location Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 description 11
- 239000000463 material Substances 0.000 description 7
- 239000012530 fluid Substances 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a rotation holding device and a robot capable of reducing torque generated on a rotating member by using a compact structure. A rotation holding device according to an embodiment of the present invention includes: a housing; an output unit that is rotatably held by the housing and outputs rotation to an arm; and a pressing member, one end of which is connected to the housing and the other end of which is connected to the arm, and which applies a force in a direction opposite to the rotation output from the output section to the arm.
Description
Technical Field
The invention relates to a rotation holding device and a robot.
Background
A rotation holding device of a robot or the like having a speed reducer sometimes includes a balance weight to reduce a torque applied from an arm to the speed reducer.
Patent document 1 discloses an articulated arm provided with a gas spring balance weight.
Documents of the prior art
Patent document
Patent document 1: japanese patent No. 5873799
Disclosure of Invention
Problems to be solved by the invention
The gas spring balance weight has a problem of an increase in size because of the presence of the gas spring.
An object of the present invention is to provide a rotation holding device and a robot capable of reducing a torque generated in a rotating member with a compact configuration. Other objects of the invention will become apparent by reference to the specification as a whole.
Means for solving the problems
A rotation holding device according to an embodiment of the present invention includes: a housing; an output unit that is rotatably held by the housing and outputs rotation to an arm; and a pressing member, one end of which is connected to the housing and the other end of which is connected to the arm, and which applies a force in a direction opposite to the rotation output from the output section to the arm.
A rotation holding device according to an embodiment of the present invention includes: a 1 st member; a 2 nd member rotatably held to the 1 st member; and a pressing member that is provided between the 1 st member and the 2 nd member and causes a force in a direction opposite to the rotation of the 2 nd member to act on the 2 nd member.
In one embodiment of the present invention, the 1 st member includes a housing, the 2 nd member includes an arm of a robot, and the pressing member is disposed between the housing and the arm.
A robot according to an embodiment of the present invention includes: a base; an arm rotatably held to the base; and a pressing member that is provided between the base and the arm and applies a force in a direction opposite to the rotation of the arm to the arm.
The rotation holding device of an embodiment of the present invention includes a speed reducer.
In one embodiment of the present invention, the pressing member is a plate spring. In one embodiment of the present invention, the pressing member is a torsion bar. In one embodiment of the invention, the pressing member is a coil spring. In one embodiment of the invention, the pressing member is a coil spring. In one embodiment of the invention, the pressing member is a compression coil spring.
In one embodiment of the present invention, the housing has a housing recess extending in a circumferential direction around the rotation axis of the 2 nd member, and the compression coil spring is disposed in the housing recess.
In one embodiment of the present invention, the 2 nd member has a support portion opposed to an outer surface of the 1 st member, and the pressing member is provided between the 1 st member and the support portion.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the embodiments of the present invention, it is possible to provide a rotation holding device and a robot that can reduce torque generated in a rotating member with a compact configuration.
Drawings
Fig. 1 is a view schematically showing a rotation holding device according to an embodiment of the present invention.
Fig. 2 is a top view of the rotary retention device of fig. 1.
Fig. 3 is a view schematically showing a rotation holding device according to another embodiment of the present invention.
Fig. 4 is a top view of the rotary retention device of fig. 3.
Fig. 5 is a view schematically showing a rotation holding device according to another embodiment of the present invention.
Fig. 6 is a top view of the rotary retention device of fig. 5.
Fig. 7 is a view schematically showing a rotation holding device according to another embodiment of the present invention.
Fig. 8 is a view schematically showing a rotation holding device according to another embodiment of the present invention.
Fig. 9 is a top view of the rotary retention device of fig. 8.
Description of the reference numerals
1. 11, 21, 31, 41, rotation holding means; 2. a speed reducer; 2a, a shell; 2b, a speed reducing mechanism; 3. an arm; 4. 14, 24, 34, 44, a pressing member.
Detailed Description
Hereinafter, various embodiments of the present invention will be described with reference to the drawings. In addition, the same reference numerals are given to the components that are common to the drawings. It should be noted that, for convenience of description, the drawings do not necessarily show this point on a precise scale.
A rotation holding device according to an embodiment of the present invention will be described with reference to fig. 1 and 2. The rotary holding device 1 shown in fig. 1 and 2 is a robot having a base 8 and an arm 3 rotatable with respect to the base 8.
As shown in the drawing, the rotation holding device 1 includes: a speed reducer 2 that outputs a rotation input from a drive source not shown after decelerating the rotation; an arm 3 that rotates around a rotation axis X by rotation input from the speed reducer 2; and one or more pressing members 4 connected with the decelerator 2 and the arm 3. In the illustrated embodiment, the pressing member 4 is a leaf spring.
In fig. 1, an eccentric oscillation type reduction gear is shown as the reduction gear 2. As the speed reducer 2, a planetary gear device, a harmonic drive gear device, and any speed reducer other than these can be used as long as the principle of the present invention is not contradictory. The reduction gear 2 includes a casing 2a and a reduction mechanism 2b rotatably held to the casing 2a relative to the casing 2 a. A drive source may be attached to the housing 2 a. The drive source is, for example, an electric motor. The speed reduction mechanism 2b reduces the rotation input from the drive source and outputs the reduced rotation to the arm 3.
The arm 3 is rotatable about the rotation axis X by the rotation received from the reduction mechanism 2 b. The arm 3 is, for example, an arm of an industrial robot. In the illustrated embodiment, the arm 3 includes a main body 3a coupled to the speed reduction mechanism 2b and a support portion 3b protruding from the main body 3 a. The support portion 3b may protrude from the main body 3a at a position outside the outer peripheral surface of the base portion 8 connected to the housing 2a in a radial direction around the rotation axis X. The support portion 3b may extend in a direction parallel to the rotation axis X as illustrated.
As shown in fig. 2, the pressing member 4 is connected to the housing 2a at one end 4a thereof and to the arm 3 at the other end 4b thereof. One end 4a of the pressing member 4 is fixed to an outer peripheral portion 5 of the housing 2a by a screw 6, for example. The outer peripheral portion 5 is a flat surface constituting a part of the outer peripheral surface of the housing 2 a. The outer peripheral surface of the housing 2a may be circular in plan view, in addition to the outer peripheral portion 5. The pressing member 4 may be fixed to the housing 2a by a member other than the screw 6. The other end 4b of the pressing member 4 is fixed to the support portion 3b of the arm 3. In the illustrated embodiment, the other end 4b of the pressing member is provided with a through hole 4c extending in the direction of the rotation axis X. The support portion 3b can be fitted into the through hole 4 c. The pressing member 4 and the arm 3 can be connected by fitting the support portion 3b into the through hole 4 c. The method of fixing the pressing member 4 to the housing 2a and the method of fixing the pressing member 4 to the arm 3 are not limited to the embodiments described in the present specification.
As described above, the pressing member 4 is connected to the housing 2a at one end 4a thereof and connected to the arm 3 at the other end 4b thereof, and therefore, a force in a direction opposite to the rotation direction of the arm 3 can be applied to the arm 3. For example, when the arm 3 rotates clockwise about the rotation axis X, a counterclockwise force can be applied to the arm. Similarly, when the arm 3 rotates counterclockwise about the rotation axis X, a clockwise force can be applied to the arm.
According to the above-described rotary holding device 1, a force (referred to as a "reaction force") can be applied to the arm 3 in a direction opposite to the rotation direction of the arm 3 by the pressing member 4. This can reduce the torque acting on the speed reducer 2. The pressing member 4 is a leaf spring, and one end thereof is connected to the arm 3, and therefore, is elastically deformed by the rotation of the arm 3. The restoring force of the elastically deformed plate spring acts on the arm 3 in a direction opposite to the rotation direction of the arm 3. In this way, the pressing member 4 functions as a weight by its own restoring force. Therefore, the pressing member 4 can apply a force in the direction opposite to the rotational direction to the arm 3 without using a mechanism for sealing the compressed fluid, such as a gas spring. Therefore, the rotation holding device 1 can be made compact.
Next, a rotation holding device 11 according to another embodiment of the present invention will be described with reference to fig. 3 and 4. The rotary holding device 11 is different from the rotary holding device 1 in that one or more pressing members 14 are provided instead of one or more pressing members 4. Among the components of the rotary holding device 11, the components common to those of the rotary holding device 1 will not be described.
The pressing member 14 is a torsion bar. As shown in the drawing, one end 14a of the pressing member 14 is fixed to the support portion 7 of the housing 2a, and the other end 14b of the pressing member 14 is fixed to the support portion 3b of the arm 3. The number, material, size, and configuration of the pressing members 14 are not limited to a specific form. The support portion 7 is a part of the housing 2a, and is configured to be able to fix one end 14a of the pressing member 14.
In this way, the pressing member (plate spring, torsion bar) provided to the reduction gear functions as a weight (reaction force of the plate spring, torsional reaction force by the torsion bar) that reduces torque generated when the shaft as the rotating member rotates, and therefore, a reduction gear (rotation holding device) that is miniaturized can be provided.
According to the above-described rotation holding device 11, a force can be applied to the arm 3 in a direction opposite to the rotation direction of the arm 3 by the pressing member 14. The pressing member 14 is a torsion bar, and the other end 14b thereof is connected to the arm 3, and therefore, is elastically deformed by the rotation of the arm 3. The restoring force of the torsion bar elastically deformed acts on the arm 3 in a direction opposite to the rotation direction of the arm 3. In this way, the pressing member 14 functions as a weight by its own restoring force. Therefore, the pressing member 14 can apply a force in the direction opposite to the rotational direction to the arm 3 without using a mechanism for sealing the compressed fluid, such as a gas spring. Thus, the rotation holding device 11 can be made compact.
Next, a rotation holding device 21 according to another embodiment of the present invention will be described with reference to fig. 5 and 6. The rotary holding device 21 is different from the rotary holding device 1 in that a pressing member 24 is provided instead of one or more pressing members 4. Among the components of the rotary holding device 21, components common to those of the rotary holding device 1 are not described.
The pressing member 24 is a coil spring. The coil spring is also called a scroll spring. As shown in the drawing, one end 24a of the pressing member 24 is fixed to the outer peripheral surface 9 of the housing 2a, and the other end 24b of the pressing member 24 is fixed to the support portion 3b of the arm 3. The supporting portion 3b may have a facing surface 3b1 facing the outer peripheral surface 9 of the housing 2a, and the other end 24b of the pressing member 24 may be fixed to the facing surface 3b 1. The number, material, size, and configuration of the pressing members 24 are not limited to a specific form. In this way, the pressing member 24 is provided between the housing 2a and the support portion 3b opposing the housing 2 a.
According to the above-described rotation holding device 21, a force can be applied to the arm 3 in a direction opposite to the rotation direction of the arm 3 by the pressing member 24. The pressing member 24 is a coil spring, and the other end 24b thereof is connected to the arm 3, and therefore, is elastically deformed by the rotation of the arm 3. The restoring force of the elastically deformed coil spring acts on the arm 3 in a direction opposite to the rotation direction of the arm 3. In this way, the pressing member 24 functions as a weight by its own restoring force. Therefore, the pressing member 34 can apply a force in the direction opposite to the rotational direction to the arm 3 without using a mechanism for sealing the compressed fluid, such as a gas spring. Therefore, the rotation holding device 21 can be made compact.
Next, a rotation holding device 31 according to another embodiment of the present invention will be described with reference to fig. 7. The rotary holding device 31 is different from the rotary holding device 1 in that it includes a pressing member 34 instead of one or more pressing members 4. Among the components of the rotary holding device 31, the components common to those of the rotary holding device 1 will not be described.
The pressing member 34 is a coil spring. In the illustrated embodiment, the pressing member 34 is a torsion coil spring. As shown in the drawing, one end 34a of the pressing member 34 is fixed to the housing 2a, and the other end 34b of the pressing member 34 is fixed to the support portion 13b of the arm 3. In the illustrated embodiment, the support portion 13b is provided with a through hole 3 c. The other end 34b of the pressing member 34 is fixed to the arm 3 in the through hole 3 c. The number, material, size, and configuration of the pressing members 34 are not limited to a specific form.
According to the above-described rotation holding device 31, a force can be applied to the arm 3 in a direction opposite to the rotation direction of the arm 3 by the pressing member 34. The pressing member 34 is a coil spring, and the other end 34b thereof is connected to the arm 3, and therefore, is elastically deformed by the rotation of the arm 3. The restoring force of the elastically deformed coil spring acts on the arm 3 in a direction opposite to the rotation direction of the arm 3. In this way, the pressing member 34 functions as a weight by its own restoring force. Therefore, the pressing member 34 can apply a force in the direction opposite to the rotation direction to the arm 3 without using a mechanism for sealing the compressed fluid, such as a gas spring. Therefore, the rotation holding device 31 can be made compact. According to the above-described embodiment, the magnitude of the force acting on the arm 3 in the direction opposite to the rotation direction can be adjusted according to the number of turns and the wire diameter of the coil spring.
Next, a rotary holding device 41 according to another embodiment of the present invention will be described with reference to fig. 8 and 9. The rotary holding device 41 is different from the rotary holding device 1 in that a pressing member 44 is provided instead of one or more pressing members 4. Among the components of the rotary holding device 41, the components common to those of the rotary holding device 1 will not be described.
The pressing member 44 is a compression coil spring. In the illustrated embodiment, the pressing member 44 has a 1 st compression coil spring 44a and a 2 nd compression coil spring 44 b. In the illustrated embodiment, the housing 2a has a housing portion 42. The pressing member 44 is accommodated in the accommodating portion 42. The housing portion 42 has: a bottom wall 42a extending radially of the rotation axis X; and a peripheral wall 42b connected to a radially outer end of the bottom wall 42a and extending in a circumferential direction around the rotation axis X. The peripheral wall 42b projects from the bottom wall 42a along the rotation axis X toward the arm 3. The housing recess 42c is defined by the bottom wall 42a and the peripheral wall 42 b. Thus, the housing recess 42c extends in the circumferential direction around the rotation axis X. As shown in the figure, the support portion 3b of the arm 3 is inserted into the housing recess 42 c.
A bottom wall 42a of the housing portion 42 is provided with a projection 42d projecting in the rotation axis X direction. In other words, the housing portion 42 has a projection 42d projecting from the bottom wall 42 a. As shown in fig. 9, the 1 st compression coil spring 44a is provided between the support portion 3b of the arm 3 inserted into the housing recess 42c and the one end surface 42d1 in the circumferential direction of the convex portion 42d, and the 2 nd compression coil spring 44b is provided between the support portion 3b of the arm 3 inserted into the housing recess 42c and the other end surface 42d2 in the circumferential direction of the convex portion 42 d. Thus, the pressing member 44 is accommodated in the accommodating recess 42 c. Thus, the pressing member 44 extends in the circumferential direction around the rotation axis X. In this way, the pressing member 44 is provided between the support portion 3b of the arm 3 and the convex portion 42d as a part of the housing 2 a. The number, material, size, and configuration of the pressing members 34 are not limited to a specific form.
According to the above-described rotation holding device 41, a force can be applied to the arm 3 in a direction opposite to the rotation direction of the arm 3 by the pressing member 44. The pressing member 44 is a compression coil spring, and one end thereof is connected to the arm 3, and therefore, is elastically deformed by the rotation of the arm 3. The restoring force of the elastically deformed compression coil spring acts on the arm 3 in a direction opposite to the rotation direction of the arm 3. In this way, the pressing member 44 functions as a weight by its own restoring force. Therefore, the pressing member 44 can apply a force in the direction opposite to the rotational direction to the arm 3 without using a mechanism for sealing the compressed fluid, such as a gas spring. Therefore, the rotation holding device 41 can be made compact. According to the above-described embodiment, the magnitude of the force acting on the arm 3 in the direction opposite to the rotational direction can be adjusted according to the number of turns and the wire diameter of the compression coil spring. When the arm 3 is located at the end of the movable range, the force acting on the arm 3 from the pressing member 44 becomes maximum. The pressing member 44 can apply a force corresponding to the spring constant to the arm 3.
According to the above-described embodiment, the pressing members 44 are arranged along the circumferential direction around the rotation axis X, and therefore the radial dimension of the rotary holding device 41 can be reduced. According to the above-described embodiment, since the pressing member 44 is housed in the housing recess 42c, the pressing member 44 can be conveyed together with the reduction gear unit 2.
The dimensions, materials, and arrangements of the respective components described in the present specification are not limited to the dimensions, materials, and arrangements of the respective components described in the embodiment, and the respective components may be modified to have any dimensions, materials, and arrangements included in the scope of the present invention. Further, components not explicitly described in the present specification may be added to the embodiments described above, and a part of the components described in each embodiment may be omitted.
The above embodiments may be combined as appropriate. An embodiment realized by combining a plurality of embodiments can also be an embodiment of the present invention.
The present invention can also be applied to apparatuses other than robots. The apparatus to which the present invention is applied includes: a 1 st member; a 2 nd member rotatably held to the 1 st member; and a pressing member that is provided between the 1 st member and the 2 nd member and causes a force in a direction opposite to the rotation of the 2 nd member to act on the 2 nd member. The case 2a described above is an example of the 1 st member, and the arm 3 is an example of the 2 nd member. The pressing members 4, 14, 24, 34, and 44 are examples of pressing members applicable to the present invention.
The pressing members 4, 14, 24, 34, and 44 may be made of fiber-reinforced resin. This can reduce the weight of the pressing members 4, 14, 24, 34, and 44.
Claims (19)
1. A rotation holding device is provided with:
a housing;
an output unit that is rotatably held by the housing and outputs rotation to an arm; and
and a pressing member having one end connected to the housing and the other end connected to the arm, and configured to apply a force in a direction opposite to the rotation output from the output unit to the arm.
2. A rotation holding device is provided with:
a 1 st member;
a 2 nd member rotatably held to the 1 st member; and
and a pressing member provided between the 1 st member and the 2 nd member, and configured to apply a force in a direction opposite to a rotation direction of the 2 nd member to the 2 nd member.
3. The rotary retention device of claim 2,
the 1 st member includes a housing that,
said 2 nd member comprises an arm of a robot,
the pressing member is disposed between the housing and the arm.
4. The rotary retaining device of claim 2 or 3,
the rotation holding device includes a speed reducer.
5. The rotary retaining device of claim 2 or 3,
the pressing member is a plate spring.
6. The rotary retaining device of claim 2 or 3,
the pressing member is a torsion bar.
7. The rotary retaining device of claim 2 or 3,
the pressing member is a coil spring.
8. The rotary retaining device of claim 2 or 3,
the pressing member is a coil spring.
9. The rotary retaining device of claim 2 or 3,
the pressing member is a compression coil spring.
10. The rotary retention device of claim 3,
the pressing member is a compression coil spring,
the housing has a receiving recess extending in a circumferential direction around a rotational axis of the 2 nd member,
the compression coil spring is disposed in the housing recess.
11. The rotary retaining device of claim 2 or 3,
the 2 nd member has a support portion opposite the 1 st member outer surface,
the pressing member is provided between the 1 st member and the support portion.
12. A robot includes:
a base;
an arm rotatably held to the base; and
and a pressing member that is provided between the base and the arm and applies a force in a direction opposite to the rotation of the arm to the arm.
13. The robot of claim 12,
the pressing member is a plate spring.
14. The robot of claim 12,
the pressing member is a torsion bar.
15. The robot of claim 12,
the pressing member is a coil spring.
16. The robot of claim 12,
the pressing member is a coil spring.
17. The robot of claim 12,
the pressing member is a compression coil spring.
18. The robot of claim 12,
the pressing member is a compression coil spring,
the base portion has a receiving recess extending in a circumferential direction around a rotational axis of the arm,
the compression coil spring is disposed in the housing recess.
19. The robot of claim 12,
the arm has a support portion opposite an outer surface of the base portion,
the pressing member is provided between the support portion and the base portion.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-152984 | 2018-08-15 | ||
| JP2018152984 | 2018-08-15 | ||
| JP2019148748A JP7399645B2 (en) | 2018-08-15 | 2019-08-14 | Rotating holding device and robot |
| JP2019-148748 | 2019-08-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110834324A true CN110834324A (en) | 2020-02-25 |
Family
ID=69574000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910755069.8A Pending CN110834324A (en) | 2018-08-15 | 2019-08-15 | Rotation holding device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110834324A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6034286A (en) * | 1983-08-01 | 1985-02-21 | 株式会社日立製作所 | Method of reducing load torque by arm's own weight |
| EP0253034A1 (en) * | 1986-07-15 | 1988-01-20 | Ateliers De Constructions Du Centre | Power transmission device between a motor means and a driven component |
| JPH1015875A (en) * | 1996-07-08 | 1998-01-20 | Fanuc Ltd | Indutrial robot |
| JP2012242114A (en) * | 2011-05-16 | 2012-12-10 | Honda Motor Co Ltd | Torsion sensor and driving joint mechanism |
| CN107023642A (en) * | 2016-02-01 | 2017-08-08 | 纳博特斯克有限公司 | Decelerator |
| CN107171492A (en) * | 2016-02-09 | 2017-09-15 | 丰田自动车株式会社 | Torque vector control device |
| KR20180071773A (en) * | 2016-12-20 | 2018-06-28 | 현대중공업지주 주식회사 | Industrial Robot |
-
2019
- 2019-08-15 CN CN201910755069.8A patent/CN110834324A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6034286A (en) * | 1983-08-01 | 1985-02-21 | 株式会社日立製作所 | Method of reducing load torque by arm's own weight |
| EP0253034A1 (en) * | 1986-07-15 | 1988-01-20 | Ateliers De Constructions Du Centre | Power transmission device between a motor means and a driven component |
| JPH1015875A (en) * | 1996-07-08 | 1998-01-20 | Fanuc Ltd | Indutrial robot |
| JP2012242114A (en) * | 2011-05-16 | 2012-12-10 | Honda Motor Co Ltd | Torsion sensor and driving joint mechanism |
| CN107023642A (en) * | 2016-02-01 | 2017-08-08 | 纳博特斯克有限公司 | Decelerator |
| CN107171492A (en) * | 2016-02-09 | 2017-09-15 | 丰田自动车株式会社 | Torque vector control device |
| KR20180071773A (en) * | 2016-12-20 | 2018-06-28 | 현대중공업지주 주식회사 | Industrial Robot |
Non-Patent Citations (1)
| Title |
|---|
| 于江;陈杰;李占贤;: "扭转弹簧在机器人自平衡设计中的创新应用", 河北理工大学学报(自然科学版), no. 02, 15 May 2011 (2011-05-15), pages 99 - 105 * |
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