技术领域technical field
本发明涉及一种机器人，尤其是一种仿生爬坡四足机器人。The invention relates to a robot, in particular to a bionic climbing quadruped robot.
背景技术Background technique
四足机器人大多采用刚性机体结构，目前世界上的四足机器人爬坡坡度较小，且容易打滑，为防止打滑，实现爬坡度更大的坡，非常需要设计一种仿生爬坡四足机器人。Quadruped robots mostly adopt rigid body structure. At present, the quadruped robots in the world have small climbing slopes and are prone to slipping. In order to prevent slipping and realize climbing slopes with greater slopes, it is very necessary to design a bionic climbing quadruped robot.
中国专利申请：201110196221.7公开了一种具有柔性腰部和弹性腿的柔顺四足机器人。分为前躯干、脊柱、腰部、后躯干以及四条结构相同的腿等几部分；前躯干或后躯干中的轴承与各条腿上的法兰轴构成转动，前躯干与脊柱用转动副联接，由电机和齿轮组驱动，使机器人身体具有俯仰的自由度，脊柱与腰部用带有扭簧的转动副联接，使机器人身体具有横滚自由度，腰部和后躯干也用带有扭簧的转动副联接，使机器人身体具有偏转自由度，机器人腿部由大腿、小腿构成，都由电机和齿轮组驱动，小腿装有压簧。该专利申请结构较为复杂，制作成本高，驱动多，能耗高，爬坡能力差。Chinese patent application: 201110196221.7 discloses a compliant quadruped robot with a flexible waist and elastic legs. It is divided into several parts such as the front trunk, spine, waist, rear trunk and four legs with the same structure; the bearing in the front trunk or the rear trunk forms a rotation with the flange shaft on each leg, and the front trunk and the spine are connected by a rotating pair. Driven by a motor and a gear set, the robot body has a degree of freedom in pitching. The spine and the waist are connected by a rotating pair with a torsion spring, so that the robot body has a rolling degree of freedom. The waist and rear torso are also rotated by a torsion spring. The secondary connection makes the body of the robot have a degree of freedom of deflection. The legs of the robot are composed of a thigh and a calf, which are all driven by a motor and a gear set, and the calf is equipped with a compression spring. The structure of this patent application is relatively complicated, the production cost is high, the drive is many, the energy consumption is high, and the climbing ability is poor.
申请人申请的中国专利申请201410520580.7公开了一种仿生四足机器人，包括腿部、前肩梁、后肩梁、前脊椎和后脊椎，前脊椎和后脊椎组成脊椎，腿部包括前后两对腿，两对腿分别通过具有俯仰和侧摆两个自由度的髋关节与前肩梁和后肩梁相连，前脊椎一端呈悬臂梁状水平固定于前肩梁中部，另一端与后脊椎活动联接，后脊椎固定于后肩梁上；每一条腿都是大腿和小腿一体化结构，大腿是刚性板，膝部和小腿是由有弹性的钢板构成；前脊椎的后端呈稍宽的长方形，该长方形中心处设有一通孔，通孔中设置有橡胶圈，前脊椎的后端通过一穿过橡胶圈的长销轴及螺母与后脊椎相连，且长销轴与橡胶圈之间有间隙；前脊椎后端分别固定有上、下、左、右四个向外自由穿出后脊椎框架的销，每个销上均套有弹簧。该专利的脊椎和腿部柔性，不便控制，运动稳定性有待提高，爬坡能力差。The Chinese patent application 201410520580.7 applied by the applicant discloses a bionic quadruped robot, including legs, front shoulder beam, back shoulder beam, front spine and back spine, the front spine and the back spine form the spine, and the legs include two pairs of legs , the two pairs of legs are respectively connected to the front shoulder beam and the rear shoulder beam through the hip joint with two degrees of freedom of pitch and side swing, one end of the front spine is horizontally fixed in the middle of the front shoulder beam in the shape of a cantilever beam, and the other end is movably connected with the rear spine , the back spine is fixed on the back shoulder beam; each leg is an integrated structure of thigh and calf, the thigh is a rigid plate, the knee and calf are made of elastic steel plates; the rear end of the front spine is a slightly wider rectangle, There is a through hole at the center of the rectangle, and a rubber ring is arranged in the through hole. The rear end of the front spine is connected with the rear spine through a long pin shaft and nut passing through the rubber ring, and there is a gap between the long pin shaft and the rubber ring. ; The rear end of the front spine is respectively fixed with upper, lower, left and right pins that freely pass through the rear spine frame outwards, and each pin is sheathed with a spring. The spine and legs of this patent are flexible, inconvenient to control, motion stability needs to be improved, and climbing ability is poor.
发明内容Contents of the invention
本发明的目的是为克服上述现有技术的不足，提供一种仿生爬坡四足机器人，该机器人身体平衡易于调整，脊椎有柔性，运动稳定性好，结构简单，能够适应多种坡度的爬升。The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art, and provide a bionic climbing quadruped robot, which is easy to adjust the body balance, has flexible spine, good motion stability, simple structure, and can adapt to climbing of various slopes. .
为实现上述目的，本发明采用下述技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种仿生爬坡四足机器人，包括腿部足端机构、辅助行走机构、前肩梁、后肩梁和脊椎，脊椎两端分别固定于前肩梁和后肩梁的中部，腿部足端机构包括前腿和后腿，所述前腿和后腿均包括小腿、大腿和足端机构，大腿上端分别通过具有俯仰自由度的髋关节与前肩梁和后肩梁相连，大腿下端与小腿上端铰接，小腿上连接有足端机构；辅助行走机构设置于前肩梁底部上；A bionic climbing quadruped robot, including leg foot end mechanism, auxiliary walking mechanism, front shoulder beam, rear shoulder beam and spine, the two ends of the spine are respectively fixed in the middle of the front shoulder beam and rear shoulder beam, and the leg foot end The mechanism includes a front leg and a rear leg. The front leg and the rear leg both include a calf, a thigh and a foot end mechanism. The upper end is hinged, and the foot end mechanism is connected to the calf; the auxiliary walking mechanism is set on the bottom of the front shoulder beam;
所述足端机构包括由三根足端杆顺次铰接在小腿末端共同组成的四连杆机构，四连杆机构中与小腿相对边的上端铰接点与第二液压缸的液压杆铰接，第二液压缸的另一端铰接于小腿中上部；当机器人爬坡时，足端蹬地，第二液压缸伸长，四连杆机构底部的足端杆被用力压在斜坡表面，使得机器人在斜坡上不易发生滑动；当蹬地完成，足端抬起时，第二液压缸收缩，准备机器人下一步爬坡行走蹬地；The foot-end mechanism includes a four-bar linkage composed of three foot-end rods sequentially hinged at the end of the lower leg. In the four-bar linkage, the upper hinge point on the side opposite to the lower leg is hinged with the hydraulic rod of the second hydraulic cylinder. The other end of the hydraulic cylinder is hinged to the middle and upper part of the calf; when the robot climbs a slope, the foot end pushes the ground, the second hydraulic cylinder extends, and the foot end rod at the bottom of the four-bar linkage mechanism is pressed against the slope surface with force, so that the robot can move on the slope. It is not easy to slip; when the pedaling is completed and the foot is lifted, the second hydraulic cylinder shrinks to prepare the robot for climbing and walking on the ground next step;
所述辅助行走机构包括一倾斜设置的长扒地杆，所述长扒地杆的上端铰接于前肩梁底部，前肩梁底部固定设置有一个水平向外延伸的呈悬臂状的支撑板，支撑板悬空端底部竖直设置有挡板，挡板和长扒地杆之间通过第一液压缸连接；当机器人爬坡时，通过第一液压缸的伸缩控制长扒地杆的摆动，第一液压缸收缩，长扒地杆向后摆动，长扒地杆底部接触斜坡表面，产生扒地力，防止机器人足部打滑；当第一液压缸伸长，长扒地杆向前摆动，长扒地杆底部离开斜坡表面，准备机器人下一步爬坡行走的辅助扒地。The auxiliary walking mechanism includes an obliquely arranged long pole, the upper end of which is hinged to the bottom of the front shoulder beam, and a cantilever-shaped support plate extending horizontally and outwards is fixedly arranged on the bottom of the front shoulder beam. A baffle is vertically arranged at the bottom of the hanging end of the support plate, and the baffle and the ground rod are connected through the first hydraulic cylinder; When the first hydraulic cylinder shrinks, the floor rod swings backwards, and the bottom of the floor rod contacts the slope surface, generating ground force to prevent the robot from slipping; when the first hydraulic cylinder extends, the floor rod swings forward, and the floor rod swings forward. The bottom of the pole leaves the surface of the slope, preparing the robot for the next step of climbing and walking.
所述第二液压缸的另一端铰接于小腿中上部的凸耳上。The other end of the second hydraulic cylinder is hinged on the lug at the middle and upper part of the lower leg.
所述扒地杆的上端铰接于前肩梁底部中间位置的突出部上。The upper end of the ground-grabbing rod is hinged on the protruding part at the middle position of the bottom of the front shoulder beam.
所述脊椎是一块薄钢板，具有柔性，沿竖直方向能上下弯曲。The spine is a thin steel plate that is flexible and can bend up and down in the vertical direction.
所述前腿的大腿上端通过第四压缸连接于前肩梁上，前腿的大腿上半部一突出点铰接于前肩梁上；前腿的大腿的下端铰接于前腿的小腿中上部，前腿的小腿上端通过第三液压缸连接于前肩梁底部。The upper end of the thigh of the front leg is connected to the front shoulder beam through the fourth press cylinder, and a protruding point on the upper half of the thigh of the front leg is hinged on the front shoulder beam; the lower end of the thigh of the front leg is hinged to the middle and upper part of the lower leg of the front leg , the upper end of the lower leg of the front leg is connected to the bottom of the front shoulder beam through the third hydraulic cylinder.
所述后腿的大腿上端通过第四液压缸连接于后肩梁上，后腿的大腿上半部一突出点铰接于后肩梁上；后腿的大腿的下端铰接于后腿的小腿中上部，后腿的小腿上端通过第三液压缸连接于后肩梁底部。The upper end of the thigh of the hind leg is connected to the rear shoulder beam through the fourth hydraulic cylinder, and a protruding point on the upper half of the thigh of the hind leg is hinged on the rear shoulder beam; the lower end of the thigh of the hind leg is hinged to the middle and upper part of the lower leg , the upper end of the calf of the rear leg is connected to the bottom of the rear shoulder beam through the third hydraulic cylinder.
所述大腿与前、后肩梁连接处为髋关节。The junction between the thigh and the front and rear shoulder beams is the hip joint.
本发明主要包括腿部足端机构、辅助行走机构、前肩梁、后肩梁和脊椎。当机器人爬坡时，足端蹬地，第二液压缸伸长，四连杆机构底部的足端杆被用力压在斜坡表面，使得机器人在斜坡上不易发生滑动。当蹬地完成，足端抬起时，第二液压缸收缩，准备机器人下一步爬坡行走蹬地。The invention mainly includes leg foot end mechanism, auxiliary walking mechanism, front shoulder beam, rear shoulder beam and vertebra. When the robot climbs a slope, the foot end pushes on the ground, the second hydraulic cylinder is extended, and the foot end rod at the bottom of the four-bar linkage mechanism is pressed against the slope surface, making it difficult for the robot to slide on the slope. When the pedaling is completed and the foot end is lifted, the second hydraulic cylinder shrinks to prepare the robot for climbing and walking on the ground in the next step.
辅助行走机构的功能是，当机器人爬坡时，通过第一液压缸的伸缩控制长扒地杆的摆动，第一液压缸收缩，长扒地杆向后摆动，由于长扒地杆较长，其底部接触斜坡表面，产生扒地力，防止机器人足部打滑；第一液压缸伸长，长扒地杆向前摆动，长扒地杆底部离开斜坡表面，准备机器人下一步爬坡行走的辅助扒地。The function of the auxiliary walking mechanism is that when the robot climbs a slope, the swing of the long pole is controlled by the expansion and contraction of the first hydraulic cylinder. The first hydraulic cylinder shrinks, and the long pole swings backward. Since the long pole is long, Its bottom touches the surface of the slope to generate ground force to prevent the foot of the robot from slipping; the first hydraulic cylinder extends, the long ground rod swings forward, and the bottom of the long ground rod leaves the slope surface to prepare the robot for the next step of climbing and walking. land.
本发明是具有足端四杆机构和辅助行走机构的仿生爬坡四足机器人。四足机器人足端四杆机构的用力蹬地作用和辅助行走机构的用力扒地作用可以很好地防止机器人在坡度较大的斜坡上行走打滑。本发明结构使机器人运动稳定性好，结构简单，通过足端机构的用力蹬地作用和辅助行走机构的用力扒地作用，能够适应多种坡度的爬升。The invention is a bionic climbing quadruped robot with a four-bar mechanism at the foot end and an auxiliary walking mechanism. The forceful kicking effect of the four-bar mechanism at the foot end of the quadruped robot and the forceful action of the auxiliary walking mechanism can prevent the robot from slipping on a slope with a large gradient. The structure of the invention enables the robot to have good motion stability and simple structure, and can adapt to climbing of various slopes through the forceful kicking action of the foot end mechanism and the forceful action of the auxiliary walking mechanism.
附图说明Description of drawings
图1是本发明一个实施例的主视图；Fig. 1 is the front view of an embodiment of the present invention;
图2是一个实施例的脊椎俯视图；Figure 2 is a top view of the spine of an embodiment;
图3是一个实施例的足端机构示意图；Fig. 3 is a schematic diagram of the foot end mechanism of an embodiment;
图4是一个实施例的辅助行走机构示意图；Fig. 4 is a schematic diagram of an auxiliary walking mechanism of an embodiment;
其中1.第一液压缸，2.螺栓，3.大腿，4.第一螺栓，5.第二液压缸，6.第二螺栓，7.第一足端杆，8.第三螺栓，9.第二足端杆，10.第四螺栓，11.第三足端杆，12.第五螺栓，13.小腿，14.第六螺栓，15.第七螺栓，16.第三液压缸，17.第八螺栓，18.第九螺栓，19.第十螺栓，20.第十一螺栓，21.挡板，22.支撑板，23.第十二螺栓，24.第十三螺栓，25.第四液压缸，26.长扒地杆，27.第十四螺栓，28.前肩梁，29.脊柱，30.后肩梁，31.第十五螺栓，32.第十六螺栓。Among them 1. First hydraulic cylinder, 2. Bolt, 3. Thigh, 4. First bolt, 5. Second hydraulic cylinder, 6. Second bolt, 7. First foot end rod, 8. Third bolt, 9 .Second foot end rod, 10. Fourth bolt, 11. Third foot end rod, 12. Fifth bolt, 13. Lower leg, 14. Sixth bolt, 15. Seventh bolt, 16. Third hydraulic cylinder, 17. Eighth bolt, 18. Ninth bolt, 19. Tenth bolt, 20. Eleventh bolt, 21. Baffle plate, 22. Support plate, 23. Twelfth bolt, 24. Thirteenth bolt, 25 . The fourth hydraulic cylinder, 26. The ground rod, 27. The fourteenth bolt, 28. The front shoulder beam, 29. The spine, 30. The rear shoulder beam, 31. The fifteenth bolt, 32. The sixteenth bolt.
具体实施方式detailed description
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
如图1-图4所示，仿生爬坡四足机器人，包括腿部足端机构、辅助行走机构、前肩梁28、后肩梁30和脊椎29，脊椎29是一块薄钢板，具有柔性，沿竖直方向能上下弯曲。脊椎29一端通过第十五螺栓31固定于后肩梁30中部，另一端通过第十六螺栓32固定于前肩梁28上。腿部足端机构包括小腿13、大腿3和足端机构，大腿3上端分别通过具有俯仰自由度的髋关节与前肩梁28和后肩梁30相连，大腿3下端与小腿13上端铰接，小腿13上连接有足端机构，辅助行走机构设置于前肩梁28底部上；所有液压缸两端全部都是铰接。As shown in Figures 1-4, the bionic climbing quadruped robot includes a leg foot end mechanism, an auxiliary walking mechanism, a front shoulder beam 28, a rear shoulder beam 30 and a spine 29. The spine 29 is a thin steel plate with flexibility. Can be bent up and down in the vertical direction. One end of the spine 29 is fixed on the middle part of the rear shoulder beam 30 by the fifteenth bolt 31 , and the other end is fixed on the front shoulder beam 28 by the sixteenth bolt 32 . Leg foot end mechanism includes calf 13, thigh 3 and foot end mechanism. The upper end of thigh 3 is connected to front shoulder beam 28 and rear shoulder beam 30 through the hip joint with pitch freedom respectively, and the lower end of thigh 3 is hinged with the upper end of calf 13. 13 is connected with a foot end mechanism, and the auxiliary walking mechanism is arranged on the front shoulder beam 28 bottoms; all hydraulic cylinder two ends are all hinged.
前腿的大腿3上端通过第四压缸25以及第十、第十一螺栓19、20连接于前肩梁28上，前腿的大腿3上半部一突出点通过第九螺栓18铰接于前肩梁28上。前腿的大腿3的下端通过第六螺栓14铰接于前腿的小腿13中上部，前腿的小腿13上端通过第三液压缸16连接于前肩梁28底部，第三液压缸16的上下端分别通过第八、第七螺栓17、15铰接于前肩梁28底部和小腿13上端。The upper end of the thigh 3 of the front leg is connected to the front shoulder beam 28 by the fourth cylinder 25 and the tenth and eleventh bolts 19, 20, and a protruding point on the upper half of the thigh 3 of the front leg is hinged to the front by the ninth bolt 18. 28 on the shoulder beam. The lower end of the thigh 3 of the front leg is hinged to the middle and upper part of the shank 13 of the front leg by the sixth bolt 14, the upper end of the shank 13 of the front leg is connected to the bottom of the front shoulder beam 28 by the third hydraulic cylinder 16, and the upper and lower ends of the third hydraulic cylinder 16 The eighth and seventh bolts 17, 15 are respectively hinged to the bottom of the front shoulder beam 28 and the upper end of the lower leg 13.
后腿的大腿3上端通过第四液压缸25以及第十、第十一螺栓19、20连接于后肩梁30上，后腿的大腿3上半部一突出点铰接于后肩梁30上。后腿的大腿3的下端通过第六螺栓14铰接于后腿的小腿13中上部，后腿的小腿13上端通过第三液压缸16连接于后肩梁30底部，第三液压缸16的上下端分别通过第八、第七螺栓17、15铰接于后肩梁30底部和小腿13上端。The thigh 3 upper end of hind leg is connected on the back shoulder beam 30 by the 4th hydraulic cylinder 25 and the tenth, the eleventh bolt 19,20, and a protruding point of the thigh 3 upper part of hind leg is hinged on the back shoulder beam 30. The lower end of the thigh 3 of the rear leg is hinged to the upper part of the lower leg 13 of the rear leg by the sixth bolt 14, and the upper end of the lower leg 13 of the rear leg is connected to the bottom of the rear shoulder beam 30 by the third hydraulic cylinder 16, and the upper and lower ends of the third hydraulic cylinder 16 The eighth and seventh bolts 17, 15 are hinged to the bottom of the rear shoulder beam 30 and the upper end of the lower leg 13 respectively.
大腿与前、后肩梁28、30连接处为髋关节。The junction between the thigh and the front and rear shoulder beams 28 and 30 is the hip joint.
足端机构如图3所示，第一、第二、第三足端杆7、9、11和小腿13分别通过第二螺栓6、第三螺栓8、第四螺栓10以及第五螺栓12铰接成四连杆机构。小腿13中上部位置有一凸耳，第二液压缸5的上端通过第一螺栓4与凸耳铰接，下端通过第二螺栓6与四连杆机构连接在一起。当机器人爬坡时，足端蹬地，第二液压缸5伸长，推动第一足端杆7运动，第一足端杆7再推动第二足端杆9，第二足端杆9被用力压在斜坡表面，使得机器人在斜坡上不易发生滑动。当蹬地完成，足端抬起时，第二液压缸5收缩，准备机器人下一步爬坡行走蹬地。The foot end mechanism is shown in Figure 3, the first, second, third foot end rods 7, 9, 11 and the lower leg 13 are hinged by the second bolt 6, the third bolt 8, the fourth bolt 10 and the fifth bolt 12 respectively into a four-bar linkage. There is a lug at the upper part of the shank 13, the upper end of the second hydraulic cylinder 5 is hinged with the lug through the first bolt 4, and the lower end is connected with the four-bar linkage through the second bolt 6. When the robot climbs, the foot end pushes the ground, and the second hydraulic cylinder 5 extends to push the first foot end rod 7 to move, and the first foot end rod 7 pushes the second foot end rod 9, and the second foot end rod 9 is moved. Press hard on the slope surface so that the robot is less likely to slide on the slope. When kicking off the ground is completed and the foot end is lifted, the second hydraulic cylinder 5 shrinks to prepare the robot for climbing and walking on the ground in the next step.
辅助行走机构如图4所示，前肩梁28底部的中间位置设一凸耳(突出部)，长扒地杆26的一端通过第十三螺栓24与该凸耳(突出部)铰接；支撑板22的一端通过第十二螺栓23固定于前肩梁28底部，呈悬臂状，支撑板22另一端向下伸出一块挡板21，挡板21下部开有圆孔，螺栓2穿过第一液压缸1右端的连接孔和挡板21下部的圆孔，将第一液压缸1固定在挡板21上；第一液压缸1的另一端通过第十四螺栓27铰接于长扒地杆26的中上部。当机器人爬坡时，通过第一液压缸1的伸缩控制长扒地杆26的摆动，第一液压缸1收缩，扒地杆26向后摆动，由于长扒地杆26较长，其底部接触斜坡表面，产生扒地力，防止机器人足部打滑；第一液压缸1伸长，长扒地杆向前摆动，扒地杆底部离开斜坡表面，准备机器人下一步爬坡行走的辅助扒地。Auxiliary walking mechanism as shown in Figure 4, the middle position of the front shoulder beam 28 bottoms is provided with a lug (protrusion), and one end of the long pole 26 is hinged with the lug (protrusion) by the thirteenth bolt 24; One end of the plate 22 is fixed to the bottom of the front shoulder beam 28 by the twelfth bolt 23, which is in the shape of a cantilever. The other end of the support plate 22 protrudes downwards from a baffle plate 21. There is a round hole at the bottom of the baffle plate 21. The bolt 2 passes through the second The connecting hole at the right end of a hydraulic cylinder 1 and the round hole at the bottom of the baffle 21 fix the first hydraulic cylinder 1 on the baffle 21; the other end of the first hydraulic cylinder 1 is hinged to the ground pole through the fourteenth bolt 27 26 upper middle. When the robot climbs a slope, the first hydraulic cylinder 1 stretches to control the swing of the long pole 26. The first hydraulic cylinder 1 shrinks, and the pole 26 swings backward. Since the long pole 26 is longer, its bottom contacts The surface of the slope generates ground force to prevent the foot of the robot from slipping; the first hydraulic cylinder 1 is extended, and the long ground rod swings forward, and the bottom of the ground rod leaves the slope surface to prepare for the robot's next step of climbing and walking.
上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制，所属领域技术人员应该明白，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510788713.3ACN105235769B (en) | 2015-11-16 | 2015-11-16 | Bionical climbing quadruped robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510788713.3ACN105235769B (en) | 2015-11-16 | 2015-11-16 | Bionical climbing quadruped robot |
| Publication Number | Publication Date |
|---|---|
| CN105235769Atrue CN105235769A (en) | 2016-01-13 |
| CN105235769B CN105235769B (en) | 2017-06-16 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510788713.3AExpired - Fee RelatedCN105235769B (en) | 2015-11-16 | 2015-11-16 | Bionical climbing quadruped robot |
| Country | Link |
|---|---|
| CN (1) | CN105235769B (en) |
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| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20170616 Termination date:20171116 |