CN113696989A - Omnidirectional movement spherical robot driving mechanism capable of crossing obstacles and resisting impact - Google Patents
Omnidirectional movement spherical robot driving mechanism capable of crossing obstacles and resisting impact Download PDFInfo
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- CN113696989A CN113696989A CN202111001319.2A CN202111001319A CN113696989A CN 113696989 A CN113696989 A CN 113696989A CN 202111001319 A CN202111001319 A CN 202111001319A CN 113696989 A CN113696989 A CN 113696989A
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
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Abstract
The invention discloses an omnidirectional moving spherical robot driving mechanism capable of crossing obstacles and resisting impact, which comprises two heavy pendulum components and a group of flywheel components, wherein the heavy pendulum components and the flywheel components are symmetrically arranged on a rotating main shaft of a main shaft structure, the outermost sides of two sides of the rotating main shaft are provided with spring shock absorbers, and the spring shock absorbers are connected with a shell. The spherical robot based on the driving structure has better environment adaptability and motion performance.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an omnidirectional moving spherical robot driving mechanism capable of crossing obstacles and resisting impact.
Background
The spherical mobile robot is a totally-enclosed robot with a spherical shell, and the movement of the robot is realized by the principles of centroid shift, momentum conservation and the like. The spherical robot has good sealing performance, excellent motion performance and good dynamic and static balance, so the spherical robot has great advantages and wide application potential in detection under military reconnaissance, danger and severe environment.
The spherical robot is generally composed of a spherical shell, an internal control system, a power system, a motion execution device, a sensor and the like. In recent years, spherical robot driving structures can be mainly classified into three types: the driving structure comprises an eccentric torque driving structure based on an omnidirectional wheel, an internal driving structure based on a gyroscope and an eccentric torque driving structure based on a heavy pendulum. The eccentric torque driving structure based on the heavy pendulum is a structure which is higher in mobility and easier to realize.
The eccentric pendulum driving structure of the spherical robot can be divided into a simple pendulum and a double pendulum, the simple pendulum structure and the series double pendulum structure can realize the spatial two-degree-of-freedom swing, and the spherical robot has good flexibility, but has poor balance performance and complex control structure; the parallel double-pendulum driving structure can provide larger driving torque, but is difficult to keep balance during the movement process, particularly the steering process; on a rugged road surface, the traditional spherical robot has poor impact resistance, and an internal driving mechanism can periodically vibrate under impact, even the driving capability is invalid; in addition, the obstacle crossing capability of the spherical robot based on the eccentric pendulum driving structure is closely related to the pendulum angle which can be achieved by the pendulum, and higher requirements are put forward for the mechanical design of the robot.
Therefore, how to improve the stability and obstacle-surmounting capability of the spherical robot based on the eccentric pendulum driving structure, to reduce the difficulty of controlling the spherical robot and to increase the application scenarios of the spherical robot is a key topic of current research.
Disclosure of Invention
In order to overcome the technical problems, the invention provides an omnidirectional moving spherical robot driving mechanism capable of crossing obstacles and resisting impact, so that the spherical robot based on the driving mechanism has better environment adaptability and motion performance.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a can hinder omnidirectional movement spherical robot actuating mechanism who shocks resistance more, includes two pendulum subassemblies 3 and a set of flywheel subassembly 2, pendulum subassembly 3 and 2 symmetrical arrangement of flywheel subassembly are on main shaft structure 1's rotation main shaft 101, the both sides outside of rotating main shaft 101 is provided with spring damper 5, and spring damper 5 is connected with the shell.
The main shaft structure 1 comprises a damper bearing 102, a balance pendulum bearing 104 and a flywheel bearing 105 which are sequentially arranged on a rotating main shaft 101, a flywheel sleeve 107 is in interference fit with the flywheel bearing 105 and rotates around the rotating main shaft 101, a thrust bearing 108 and a II-type flange nut 106 realize axial positioning on a sleeve, the balance pendulum bearing 104 is in clearance fit with a balance pendulum sleeve 304 and axially positioned through the I-type flange nut 103, and parts on two sides of the rotating main shaft 101 are arranged in a mirror image mode.
The pendulum assembly 3 comprises a pre-tightening device, a direct current speed reducing motor 301, a flywheel driving motor 307 and a friction wheel driving motor 313, wherein the pre-tightening device is an elastic slider mechanism consisting of a pre-tightening spring 314, a movable motor base 315, a movable guide rail 316 and a guide rail support 317, the shafts of the three driving motors are parallel to the rotating main shaft 101, the friction wheel driving motor 313 corresponds to a rolling shell, the flywheel driving motor 307 corresponds to the flywheel assembly 2, and the direct current speed reducing motor 301 is connected with a brake mechanism 4; the direct current gear motor 301 is fixed on the motor supporting seat 303, a motor shaft of the direct current gear motor 301 is perpendicular to the inner baffle 305 of the heavy pendulum, the direct current gear motor 301 is connected with the double-end sliding screw rod 405 through the brake coupler 302, the inner baffle 305 of the heavy pendulum and the outer baffle 312 of the heavy pendulum are fixed by the heavy pendulum sleeve 304, the heavy pendulum sleeve 304 is matched with the bearing, the flywheel driving motor 307 is fixed on the inner baffle 305 of the heavy pendulum, and the small synchronous belt pulley 306 is fixed on the motor shaft of the flywheel motor 307.
The flywheel motor 307 and the friction wheel driving motor 313 are controlled by a control board 310, the speed and the steering are regulated and controlled by a C620 electronic governor 319, the direct current speed reducing motor 301 is controlled by the control board 310, the positive and negative driving is realized by an stm32 drive board 308, an aeromodelling battery 318 is arranged on a battery rack 320, a balancing weight is arranged in a certain space close to a pendulum outer baffle 312, the battery is connected with a central board 309 and used for distributing electricity for the control board 310 and the motor, the friction wheel driving motor 313 is arranged on a motor base 315 and connected with the friction wheel 311 through a D-shaped hole, the motor base 315 is fixed on the outer baffle 312 through two sliding rods 316 and four supports 317, and one end of each guide sliding rod 316 is provided with a pre-tightening spring 314.
The brake mechanism 4 is located inside the inner swinging baffle 305 and is connected with the direct current speed reducing motor 301 through the coupler 302, the inner swinging baffle 305 is located between the inner brake support 401 and the outer brake support 402, the outer brake support 402 is provided with a blind hole for placing the micro bearing 404, four guide optical axes 407 are fixed on the inner and outer supports, one end of a double-head sliding screw rod 405 is placed on the micro bearing 404, the other end of the double-head sliding screw rod is connected with the coupler 302 and is connected with the direct current speed reducing motor 301, two sliding nuts 403 are respectively placed at two ends of the sliding screw rod 405 and penetrate through the guide optical axes 407 to be fixed with a brake pressure block 408, and a brake lining 406 is fixed on the brake pressure block 408.
Damper 5 connects main shaft structure 1 and spherical shell, and damper 5 includes trilateral bearing frame 504, trilateral bearing frame 504 inner circle and deep groove ball bearing 102 interference fit, and the position of three angles in the outside sets up the small-size bumper shock absorber of compressible, the small-size bumper shock absorber of compressible includes spring bracket 501, spring 503, spring shim 506 and spring axis 505, spring bracket 502 and bumper shock absorber outer lane 501 hinged joint, spring damper 5 is three, is the star and arranges, and one end is connected to main shaft bearing 102 on, and the other end is connected to the shell.
The invention has the beneficial effects that:
the invention provides an eccentric pendulum driving structure of a spherical robot, the spherical robot driven by eccentric torque based on the pendulum has better maneuverability, and the double pendulum structure not only improves the gravity center offset driving torque, but also can realize independent control and complete more motion tracks;
the gyro effect generated by the rotation of the flywheel can convert the deflection moment of the movement of the spherical robot into precession moment, improve the movement stability and obstacle crossing capability of the spherical robot, convert the rotational inertia of the flywheel into the rotation moment of the spherical shell by the brake mechanism corresponding to the flywheel, and further enhance the capability of the spherical robot for turning over large obstacles;
the spring damping mechanism enables the spherical robot to obtain low-altitude throwing capacity, the impact resistance and the movement reliability of the spherical robot are enhanced by the driving motor pre-tightening device and the flexible transmission mode, and the eccentric pendulum driving structure enables the spherical robot to have stronger movement capacity and be applied to wider external environments.
The invention utilizes the gyro effect of the flywheel structure to increase the motion stability of the spherical robot based on the eccentric driving structure of the heavy pendulum, utilizes the brake device to transmit the kinetic energy of the high-speed rotation of the flywheel to the heavy pendulum to improve the climbing capability and obstacle crossing capability of the spherical robot, and utilizes the shock absorber and the flexible transmission structure to improve the shock resistance of the spherical robot, so that the spherical robot based on the driving structure has better environment adaptability and motion performance.
Drawings
Fig. 1 is a top view of an overall structure provided by the present invention.
Fig. 2 is a first perspective view of a unitary structure provided by the present invention.
Fig. 3 is a second perspective view of a unitary structure provided by the present invention.
Fig. 4 is a schematic structural diagram of a spindle according to the present invention.
FIG. 5 is a schematic view of a flywheel assembly according to the present invention.
Fig. 6 is a schematic view of a pendulum structure provided by the present invention.
Fig. 7 is a partial schematic view of a pendulum structure provided by the present invention.
Fig. 8 is a schematic view of a brake structure provided by the present invention.
Fig. 9 is a schematic diagram of a pendulum and flywheel combination provided by the present invention.
Fig. 10 is a schematic structural diagram of a shock-absorbing mechanism provided by the present invention.
As shown in the figure, an eccentric pendulum driving structure can be divided into five parts, wherein 1 is a main shaft structure, 2 is a flywheel component, 3 is a pendulum component, 4 is a brake mechanism, and 5 is a damping mechanism.
In the figure, 101 is a rotating main shaft, 102 is a shock absorber bearing, 103 is an I-type flange nut, 104 is a counter-swing bearing, 105 is a flywheel bearing, 106 is an II-type flange nut, 107 is a flywheel sleeve, and 108 is a thrust bearing; 201 is a flywheel main body, 202 is a large synchronous pulley, 203 is a brake disc, 204 is a brake disc seat, and 205 is a flywheel washer; 301 is a direct current speed reducing motor, 302 is a brake coupler, 303 is a motor support base, 304 is a pendulum sleeve, 305 is a pendulum inner baffle, 306 is a small synchronous wheel, 307 is a flywheel drive motor, 308 is an stm32 motor drive plate, 309 is a control center plate, 310 is an stm32 motor control plate, 311 is a friction wheel, 312 is a pendulum outer baffle, 313 is a friction wheel drive motor, 314 is a pre-tightening spring, 315 is a movable motor base, 316 is a movable guide rail, 317 is a guide rail support, 318 is 10000mAh model airplane battery, 319 is a C620 electronic speed regulator, 320 is a battery rack, and 321 is a synchronous belt; 401 is a brake inner support, 402 is a brake outer support, 403 is a screw nut, 404 is a miniature bearing, 405 is a double-head sliding screw rod, 406 is a brake lining, 407 is a guide optical axis, and 408 is a brake pressure block; 501 is a damper outer ring, 502 is a spring support, 503 is a damping spring, 504 is a three-side bearing seat, 505 is a spring middle shaft, and 506 is a thrust washer.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides an omnidirectional moving spherical robot driving mechanism capable of crossing obstacles and resisting impact, which adopts a balance flywheel and an eccentric pendulum driving structure and utilizes a braking kinetic energy transfer scheme to improve climbing capacity and obstacle crossing capacity; utilize spring damper, improved spherical robot motion stability and shock resistance for spherical robot based on this kind of drive structure has better environment adaptability ability and motion performance.
The invention relates to a driving structure of a spherical robot, which is designed into an integral structure and comprises a main shaft structure 1, a flywheel component 2, a heavy pendulum component 3, a brake mechanism 4 and a damping mechanism 5, and is shown in figures 2 and 3.
The spindle arrangement 1 is the most important part of the overall drive arrangement in series, the parts directly connected to the spindle being shown in fig. 4. The three types of deep groove ball bearings, namely a damper bearing 102, a heavy pendulum bearing 104 and a flywheel bearing 105 are sequentially arranged on the rotating main shaft 101, and a flywheel sleeve 107 is in interference fit with the flywheel bearing 105 and can rotate around the rotating main shaft 101. The thrust bearing 108 and the II-type flange nut 106 axially position the sleeve, the pendulum bearing 104 is in clearance fit with the pendulum sleeve 304, the pendulum bearing is axially positioned through the I-type flange nut 103, and parts on two sides of the rotating main shaft 101 are arranged in a mirror image mode.
The flywheel module 2 comprises two, as shown in fig. 5, mirror images arranged on a rotating main shaft 101 and rotating around an axis. The flywheel main body 201, the flywheel washer 205 and the large synchronous pulley 202 are tightly connected and are in key connection with the flywheel sleeve 107, and the brake disc seat 204 and the brake disc 203 are fixed through bolts and then are in bolt connection with the flywheel sleeve 107.
The pendulum assembly 3 and the brake module 4 are bolted together as shown in fig. 6. The direct current gear motor 301 is fixed on the motor supporting seat 303, a motor shaft of the direct current gear motor 301 is perpendicular to the inner swinging baffle 305, and the direct current gear motor 301 is connected with the double-head sliding screw rod 405 through the brake coupler 302 and can drive the screw rod to rotate. The pendulum sleeve 304 fixes the pendulum inner baffle 305 and the pendulum outer baffle 312, the pendulum sleeve 304 is matched with the bearing, the pendulum shaft can rotate 360 degrees, and the pendulum assembly 3 can rotate between-90 degrees and +90 degrees under the driving of the motor in actual work. The flywheel driving motor 307 is directly fixed on the inner baffle 305 of the pendulum, the small synchronous pulley 306 is fixed on the motor shaft of the flywheel driving motor 307, the flywheel driving motor 307 and the friction wheel driving motor 313 are controlled by the control board 310, the speed and the steering are regulated and controlled by the C620 electronic governor 319, the direct current speed reducing motor 301 is controlled by the control board 310, the positive and negative driving is realized through the stm32 drive board 308, the model airplane battery 318 is placed on the battery rack 320, a certain space is left for placing a balancing weight near the outer baffle 312 of the pendulum, and the battery is connected with the central board 309 to distribute electricity for the control board and the motor. The friction wheel driving motor 313 is placed on a motor base 315 and is connected with the friction wheel 311 through a D-shaped hole, the motor base 315 is fixed on an outer baffle 312 through two sliding rods 316 and four supports 317 and can move along the diameter direction, a pre-tightening spring 314 is installed at one end of each guide sliding rod 316, the position of the friction wheel can be changed by changing the rigidity of the adjusting spring, and therefore the friction wheel and a contact surface can have enough positive pressure when the robot vibrates.
The inner brake support 401 and the outer brake support 402 sandwich the inner pendulum baffle 305 and are fixedly connected with the pendulum. The brake outer support 402 is provided with a blind hole for placing a micro bearing 404, four guide optical shafts 407 are fixed on the inner and outer supports, one end of a double-head sliding screw rod 405 is placed on the micro bearing 404, and the other end is connected with the coupling 302 and is connected with the direct current speed reducing motor 301. The two sliding nuts 403 are respectively placed at two ends of the sliding screw rod 405, pass through the guide optical axis 407 and are fixed with the brake pressure block 408, and the brake pressure block is fixed with the brake pad 406, so that the sliding friction force between the brake pressure block and the brake disc 203 is increased.
The operation mode of the pendulum and flywheel mechanism is shown in fig. 9, the flywheel driving motor 307 drives the small synchronous belt 306 to rotate clockwise, the synchronous belt 321 drives the large synchronous belt 202 and the whole flywheel system to rotate, and when the flywheel module 2 rotates at a high speed, the precession and the dead axle of the gyro effect are utilized, so that the balance and the stability in the horizontal direction are ensured when the robot is impacted by the external environment. When a large obstacle needs to be crossed, the brake motor 301 starts to work, the double-head sliding screw rod 405 converts the rotary motion into linear motion, the screw rod nut 403 drives the brake pressure block 408 to be quickly folded towards the middle, the flywheel mechanism is braked through the brake lining 406 and the brake disc 203, then the kinetic energy of the flywheel is transmitted to the pendulum through the guide optical axis 407, and the robot can cross the large obstacle by utilizing the eccentric force suddenly increased by the pendulum.
The damping mechanism 5 is connected with the main shaft structure 1 and the spherical shell, the inner ring of the three-side bearing seat 504 is in interference fit with the deep groove ball bearing 102, and the positions of three outer corners are hinged with the middle spring shaft 505. The spring support 501, the spring 503, the spring washer 506 and the spring center shaft 505 together form a small compressible shock absorber. The spring support 502 is hinged with the outer ring 501 of the shock absorber, so that the plane freedom degree of the bearing seat in two directions can be ensured. The shock absorber with the structure can ensure that the robot obtains effective shock resistance when falling or colliding, and improves the motion stability.
The invention designs an omnidirectional moving spherical robot driving mechanism capable of crossing obstacles and resisting impact, which is designed aiming at an impact-resisting structure and an auxiliary obstacle crossing mechanism of a robot, wherein a flywheel mechanism makes contributions on stability and obstacle crossing performance at the same time, a brake mechanism is a reliable kinetic energy transfer device, a shock absorber and other elastic structures can well absorb impact, the spherical robot based on the structure is ensured to have good impact resistance and obstacle crossing capability, and can stably move forwards in a severe land environment.
The working principle of the invention is as follows:
the invention designs an omnidirectional moving spherical robot driving mechanism capable of crossing obstacles and resisting impact, which adopts a double-pendulum eccentric driving structure, wherein two pendulum components 3 are controlled by an stm32 control plate 310 and can respectively swing back and forth, and the robot linear motion and the in-situ steering motion can be respectively realized by controlling the double-pendulum to swing in the same direction and in the opposite direction; in the process of high-speed rotation of the flywheel component 2, the generated gyro effect can ensure that the interference of the outside on the spherical robot is converted into tiny precession displacement, and the spherical robot can be resisted from toppling; the brake mechanism 4 has the function of braking the flywheel assembly rotating at a high speed, transferring the kinetic energy of the flywheel assembly to the pendulum assembly, and obtaining larger acceleration and centrifugal inertia force at the moment of pendulum, wherein the inertia force can help the robot to climb over an obstacle which cannot be crossed under normal motion; the damping mechanism 5 can reduce the amplitude of the main shaft 1 when the flywheel precesses and the robot so as to protect the driving mechanism; when the damping mechanism works, the main shaft deflects relative to the shell, and the elastic variable mechanism of the pre-tightening device on the heavy pendulum can ensure that the friction wheel 311 is always contacted with the shell and has enough positive pressure, so that the transmission between the heavy pendulum and the shell cannot fail, and the shock resistance of the driving structure is improved.
Claims (7)
1. The utility model provides a can hinder omnidirectional movement spherical robot actuating mechanism who shocks resistance more, its characterized in that includes two heavy pendulum subassembly (3) and a set of flywheel subassembly (2), heavy pendulum subassembly (3) and flywheel subassembly (2) symmetrical arrangement are on main shaft structure's (1) rotation main shaft (101), the both sides outside of rotating main shaft (101) is provided with spring damper (5), and spring damper (5) are connected with the shell.
2. The omni-directional mobile spherical robot driving mechanism capable of obstacle crossing and impact resistance according to claim 1, wherein the main shaft structure (1) comprises a damper bearing (102), a balance bearing (104) and a flywheel bearing (105) which are sequentially arranged on a rotating main shaft (101), a flywheel sleeve (107) and the flywheel bearing (105) are in interference fit, the flywheel sleeve rotates around the rotating main shaft (101), the thrust bearing 108 and the II-type flange nut (106) realize axial positioning on the sleeve, the balance bearing (104) is in clearance fit with the balance sleeve (304), the I-type flange nut (103) is used for axial positioning, and parts on two sides of the rotating main shaft (101) are arranged in a mirror image mode.
3. The omni-directional mobile spherical robot driving mechanism capable of crossing obstacles and resisting impact according to claim 1 is characterized in that the pendulum assembly (3) comprises a pre-tightening device, a direct current speed reducing motor (301), a flywheel driving motor (307) and a friction wheel driving motor (313), wherein the pre-tightening device is an elastic slider mechanism consisting of a pre-tightening spring (314), a movable motor base (315), a mobile guide rail (316) and a guide rail support (317), the shafts of the three driving motors are parallel to a rotating main shaft (101), the friction wheel driving motor (313) corresponds to a rolling shell, the flywheel driving motor (307) corresponds to a flywheel assembly (2), and the direct current speed reducing motor (301) is connected with a brake mechanism (4); direct current gear motor (301) are fixed on motor supporting seat (303), baffle (305) in the motor shaft perpendicular to pendulum of direct current gear motor (301), direct current gear motor (301) are connected with double-end slip lead screw (405) through brake shaft coupling (302), and baffle (305) and pendulum outer baffle (312) are fixed in pendulum sleeve (304) will be heavily put, and pendulum sleeve (304) and bearing cooperation, fixed flywheel driving motor (307) on baffle (305) in the pendulum, fixed little synchronous pulley (306) on the motor shaft of flywheel motor (307).
4. The omni-directional mobile spherical robot driving mechanism capable of obstacle crossing and impact resistance according to claim 3, wherein the flywheel motor (307) and the friction wheel driving motor (313) are controlled by a control board (310), speed and steering are controlled by a C620 electronic governor (319), the DC deceleration motor (301) is controlled by the control board (310), forward and reverse driving is realized by a stm32 driving board (308), model airplane batteries (318) are placed on a battery rack (320), a balancing weight is placed close to the outer swinging baffle (312) and a certain space is left, the batteries are connected with a central board (309) for distributing electricity to the control board (310) and the motors, the friction wheel driving motor (313) is placed on a motor base (315) and is connected with the friction wheel (311) through a D-shaped hole, the motor base (315) is fixed on the outer baffle (312) through two sliding rods (316) and four supports (317), one end of the guide sliding rod (316) is provided with a pre-tightening spring (314).
5. The omni-directional mobile spherical robot driving mechanism capable of obstacle crossing and impact resistance according to claim 1, it is characterized in that the brake mechanism (4) is positioned at the inner side of the inner baffle (305) of the pendulum, is connected with a direct current speed reducing motor (301) through a coupler (302), a heavy pendulum inner baffle (305) is positioned between a brake inner support (401) and a brake outer support (402), a blind hole is arranged on the brake outer support (402) for placing a micro bearing (404), four guide optical axes (407) are fixed on the inner and outer supports, one end of a double-head sliding screw rod (405) is placed on the micro bearing (404), the other end is connected with the coupling (302), the direct-current speed reducing motor is connected with the direct-current speed reducing motor (301), the two sliding nuts (403) are respectively placed at two ends of the sliding screw rod (405) and penetrate through the guide optical axis (407) to be fixed with the brake pressure block (408), and the brake pressure block (408) is fixedly provided with a brake lining (406).
6. The omni-directional mobile spherical robot driving mechanism capable of obstacle crossing and impact resistance according to claim 1, wherein the damping mechanism (5) is connected with the main shaft structure (1) and the spherical shell, the damping mechanism (5) comprises a three-side bearing seat (504), the inner ring of the three-side bearing seat (504) is in interference fit with the deep groove ball bearing (102), the outer three corners are provided with small compressible dampers, the small compressible dampers comprise a spring support (501), a spring (503), a spring gasket (506) and a middle spring shaft (505), the spring support (502) is hinged with the outer ring (501) of the damper, the number of the spring dampers (5) is three, the spring dampers are arranged in a star shape, one end of each spring damper is connected to the main shaft bearing (102), and the other end of each spring damper is connected to the shell.
7. The omni-directional mobile spherical robot driving mechanism capable of obstacle crossing and impact resistance according to claim 1, characterized in that the flywheel assembly (2) comprises a flywheel (201), a large synchronous pulley (202), a brake disc (203) and a flywheel washer (205), the flywheel (201), the synchronous pulley (202), the brake disc (203) and the flywheel washer (205) are coaxially arranged, the flywheel assembly (2) is fixed on a sleeve (204) and rotates around a rotating main shaft (101) through a bearing, the flywheel assembly (2) is arranged on the rotating main shaft (101) in a mirror image mode, the brake disc (203) fixes a brake disc seat (204) through a bolt, and the brake disc seat (204) is connected with a flywheel sleeve (107) through a bolt.
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| CN113696989B (en) | 2022-07-26 |
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