Tirohanga Whānui o te Kaupapa
1. Kaupapa Whakaputa
600 huinga/rā (117/118 e whai ana i te turanga)
2. Ngā whakaritenga mō te raina tukatuka:
1) Pokapū mīhini NC e tika ana mō te raina whakaputa aunoa;
2) He rawhi kakahu waipēhi;
3) Pūrere uta me te taputapu whakakore aunoa me te taputapu kawe;
4) Te hangarau tukatuka whānui me te wā huringa tukatuka;
Te tahora o ngā raina whakaputa
Te tahora o ngā raina whakaputa
Whakataki i ngā Mahi a te Robot:
1. Whakatakotoria ā-ringa ngā kete kua oti te mīhini me te whakanoho ki runga i te tēpu uta (Ngā tēpu uta Nama 1 me Nama 2) ka pēhi i te pātene hei whakaū;
2. Ka neke te karetao ki te paepae o te tēpu uta Nama 1, ka whakatuwhera i te pūnaha tirohanga, ka hopu, ka neke i te Wāhanga A me te Wāhanga B ki te teihana tirohanga koki hei tatari mō te tohutohu uta;
3. Ka tukuna te tohutohu uta e te teihana mōhio koki. Ka whakanohoia e te karetao te wahi Nama 1 ki te wāhi tūnga o te tēpu hurihuri. Hurihia te tēpu hurihuri ka tīmata te pūnaha mōhio koki, whakatauhia te tūranga koki, whakamutua te tēpu hurihuri ka whakaoti i te mōhio koki o te wahi Nama 1;
4. Ka tukuna e te pūnaha mōhio koki te whakahau whakakore, ā, ka kohia e te karetao te wahi Nama 1 ka whakatakotoria te wahi Nama 2 hei tautuhi. Ka huri te tēpu hurihuri, ā, ka tīmata te pūnaha mōhio koki hei whakatau i te tūranga koki. Ka mutu te tēpu hurihuri, ā, ka oti te mōhio koki o te wahi Nama 2, ā, ka tukuna atu te whakahau whakakore;
5. Ka whiwhi te karetao i te whakahau whakakore o te mīhini hurihuri poutū Nama 1, ka neke ki te tūranga uta me te whakakore o te mīhini hurihuri poutū Nama 1 mō te whakakore me te uta rauemi. Kia oti te mahi, ka tīmata te huringa miihini kotahi-wahi o te mīhini hurihuri poutū;
6. Ka tangohia e te karetao ngā hua kua oti mā te mīhini hurihuri poutū Nama 1 ka whakanoho ki te tūranga Nama 1 i runga i te tēpu hurihuri mahi;
7. Ka whiwhi te karetao i te whakahau whakakore o te mīhini hurihuri poutū Nama 2, ka neke ki te tūranga uta me te whakakore o te mīhini hurihuri poutū Nama 2 mō te whakakore me te uta rauemi, kātahi ka oti te mahi, ka tīmata te huringa tukatuka kotahi-wahi o te mīhini hurihuri poutū;
8. Ka tangohia e te karetao ngā hua kua oti mā te mīhini hurihuri poutū Nama 2 ka whakanoho ki te tūranga Nama 2 i runga i te tēpu hurihuri o te mea mahi;
9. E tatari ana te karetao mō te whakahau whakakore mai i te miihini poutū;
10. Ka tukuna e te mīhini poutū te whakahau whakakore, ka neke te karetao ki te tūranga uta me te whakakore o te mīhini poutū, ka hopu, ka neke i ngā wahi mahi o ngā teihana Nama 1 me Nama 2 ki te paepae whakakore, ka whakatakoto i ngā wahi mahi ki runga i te paepae; ka neke te karetao ki te tēpu hurihuri hei hopu, hei tuku i ngā wahi Nama 1 me Nama 2 ki ngā tūranga uta me te whakakore mīhini poutū, ka whakatakoto i ngā wahi mahi Nama 1 me Nama 2 ki te wāhi tūnga o ngā teihana Nama 1 me Nama 2 o te rawhi waipēhi hei whakaoti i te uta mīhini poutū. Ka neke te karetao i waho o te tawhiti haumaru o te mīhini poutū ka tīmata i tētahi huringa tukatuka kotahi;
11. Ka neke te karetao ki te paepae uta Nama 1, ā, ka whakarite mō te tīmatanga o te kaupapa huringa tuarua;
Whakaahuatanga:
1. Ka tangohia e te karetao ngā wahi 16 (kotahi te paparanga) ki runga i te paepae uta. Ka whakakapia e te karetao te kokopi kapu momi, ka whakanoho i te pereti wehewehe ki roto i te kete rokiroki rangitahi;
2. E 16 ngā wahi (kotahi te paparanga) ka tākaihia e te karetao ki runga i te paepae whakawātea. Me whakakapi e te karetao te kokopi kapu momi kotahi, kātahi ka whakatakoto i te pereti wehewehe ki runga i te mata wehewehe o ngā wahi mai i te kete rokiroki rangitahi;
3. E ai ki te auau o te tirotiro, kia tino whakatakoto te karetao i tētahi wāhanga ki runga i te tēpu tauira ā-ringa;
| 1 | Te rārangi wā o te huringa miihini | ||||||||||||||
| 2 | Kaihoko | Rauemi mahi | QT450-10-GB/T1348 | Tauira o te taputapu mīhini | Pūranga Nama | ||||||||||
| 3 | Ingoa Hua | 117 Nohoanga whāriki | Tau Tuhi | DZ90129320117 | Te rā o te whakarite | 2020.01.04 | I whakaritea e | ||||||||
| 4 | Hipanga tukanga | Maripi Nama | ihirangi miihini | Ingoa Utauta | Te Diameter Tapahi | Tere tapahi | Tere hurihuri | Whāngai mō ia hurihanga | Whāngaihia mā te taputapu mīhini | Te maha o ngā tapahi | Ia tukanga | Te wā mīhini | Wā Noho Tūmau | Te wā hurihuri tuaka-whā | Te wā whakawhiti taputapu |
| 5 | Kāore. | Kāore. | Ngā Whakakorenga | Ngā Utauta | D mm | n | R i te ahiahi | mm/Whakataunga | mm/Mini | Ngā Wā | mm | Hēkona | Hēkona | Hēkona | |
| 6 |  | ||||||||||||||
| 7 | 1 | T01 | Mata kōhao whakapiri mira | Te whānui o te mīhini mira 40-mata | 40.00 | 180 | 1433 | 1.00 | 1433 | 8 | 40.0 | 13.40 | 8 | 4 | |
| 8 | Wirihia ngā kōhao whakapuru DIA 17 | Wīra Whakakotahi DIA 17 | 17.00 | 100 | 1873 | 0.25 | 468 | 8 | 32.0 | 32.80 | 8 | 4 | |||
| 9 | T03 | Te whakakoi tuara DIA 17 kōhao | Tapahi whakamuri whakamuri | 16.00 | 150 | 2986 | 0.30 | 896 | 8 | 30.0 | 16.08 | 16 | 4 | ||
| 10 | Whakaahuatanga: | Te wā tapahi: | 62 | Tuarua | Te wā mō te whakapiri ki te taputapu me te wā mō te uta me te whakakore i ngā rauemi: | 30.00 | Tuarua | ||||||||
| 11 | Wā āwhina: | 44 | Tuarua | Ngā haora mahi mīhini katoa: | 136.27 | Tuarua | |||||||||
| 1 | Te rārangi wā o te huringa miihini | |||||||||||||||||
| 2 | Kaihoko | Rauemi mahi | QT450-10-GB/T1348 | Tauira o te taputapu mīhini | Pūranga Nama | |||||||||||||
| 3 | Ingoa Hua | 118 Nohoanga whāriki | Tau Tuhi | DZ90129320118 | Te rā o te whakarite | 2020.01.04 | I whakaritea e | |||||||||||
| 4 | Hipanga tukanga | Maripi Nama | ihirangi miihini | Ingoa Utauta | Te Diameter Tapahi | Tere tapahi | Tere hurihuri | Whāngai mō ia hurihanga | whāngai mā te mīhini taputapu | Te maha o ngā tapahi | Ia tukanga | Te wā mīhini | Wā Noho Tūmau | Te wā hurihuri tuaka-whā | Te wā whakawhiti taputapu | |||
| 5 | Kāore. | Kāore. | Ngā Whakakorenga | Ngā Utauta | D mm | n | R i te ahiahi | mm/Whakataunga | mm/Mini | Ngā Wā | mm | Hēkona | Hēkona | Hēkona | ||||
| 6 | 
| |||||||||||||||||
| 7 | 1 | T01 | Mata kōhao whakapiri mira | Te whānui o te mīhini mira 40-mata | 40.00 | 180 | 1433 | 1.00 | 1433 | 8 | 40.0 | 13.40 | 8 | 4 | ||||
| 8 | T02 | Wirihia ngā kōhao whakapuru DIA 17 | Wīra Whakakotahi DIA 17 | 17.00 | 100 | 1873 | 0.25 | 468 | 8 | 32.0 | 32.80 | 8 | 4 | |||||
| 9 | T03 | Te whakakoi tuara DIA 17 kōhao | Tapahi whakamuri whakamuri | 16.00 | 150 | 2986 | 0.30 | 896 | 8 | 30.0 | 16.08 | 16 | 4 | |||||
| 10 | Whakaahuatanga: | Te wā tapahi: | 62 | Tuarua | Te wā mō te whakapiri ki te taputapu me te wā mō te uta me te whakakore i ngā rauemi: | 30.00 | Tuarua | |||||||||||
| 11 | Wā āwhina: | 44 | Tuarua | Ngā haora mahi mīhini katoa: | 136.27 | Tuarua | ||||||||||||
| 12 | ||||||||||||||||||
Te rohe kapi o te raina whakaputa
Te whakataki i ngā wāhanga mahi matua o te raina whakaputa
Te whakaurunga o te pūnaha uta me te pūnaha whakawātea
Ko ngā taputapu rokiroki mō te raina whakaputa aunoa i roto i tēnei kaupapa ko: Te paepae whakarārangi (me whiriwhiri tahi te rahinga o ngā wahi hei tākai ki runga i ia paepae me te kiritaki), ā, me whakatau te tūnga o te mea mahi i roto i te paepae i muri i te whakarato i te tuhi 3D o te mea mahi kau, o te mea tūturu rānei.
1. Ka tākaihia e ngā kaimahi ngā wāhanga kua tukatukahia ki runga i te paepae rauemi (e whakaaturia ana i te pikitia) ka haria ki te tūranga kua tohua;
2. Whai muri i te whakakapinga o te paepae o te forklift, pēhia ā-ringa te pātene hei whakaū;
3. Ka hopukina e te karetao te mea mahi hei mahi i te mahi uta;
Whakataki o te Tuaka Haere Robot
He mea tito te hanganga i tētahi karetao honohono, he puku motuka servo me tētahi puku pinion me te whatanga, kia taea ai e te karetao te neke whakamua, whakamua hoki. Ka tutuki i a ia te mahi a tētahi karetao e mahi ana i ngā taputapu mīhini maha me ngā wahi mahi hopu i ngā teihana maha, ā, ka taea te whakanui ake i te kapinga mahi a ngā karetao honohono;
Ka whakamahia e te ara haere te turanga i whakakīia ki ngā paipa rino, ā, ka peia e te motuka servo, te pinion me te puku whatanga, hei whakanui ake i te kapinga mahi o te karetao hononga me te whakapai ake i te tere whakamahinga o te karetao; Ka tāutahia te ara haere ki runga i te whenua;
Karetao Chenxuan:SDCX-RB500
| Ngā raraunga taketake | |
| Momo | SDCX-RB500 |
| Te maha o ngā tuaka | 6 |
| Te kapinga mōrahi | 2101mm |
| Te āheinga ki te tukurua i te tū (ISO 9283) | ±0.05mm |
| Taumaha | 553kg |
| Te whakarōpūtanga tiaki o te karetao | Whakatauranga tiaki, IP65 / IP67ringaringa whakarārangi(IEC 60529) |
| Tūnga whakairi | Tuanui, koki piko e whakaaetia ana ≤ 0º |
| Whakamutunga mata, mahi peita | Anga turanga: mangu (RAL 9005) |
| Te pāmahana āwhiowhio | |
| Te mahi | 283 K ki te 328 K (0 °C ki te +55 °C) |
| Te rokiroki me te kawe waka | 233 K ki te 333 K (-40 °C ki te +60 °C) |
He whānui te whānuitanga o ngā nekehanga kei muri me raro o te karetao, ā, ka taea te whakairi i te tauira mā te hiki i te tuanui. Nā te mea kua whakaitihia te whānui taha o te karetao ki te rohe, ka taea te whakairi tata ki te karetao tata, te rawhi, te mea mahi rānei. He nekehanga tere mai i te tūranga tūmatanui ki te tūranga mahi, ā, he tere te whakanoho i te nekehanga poto.
Te pūnaha werowero uta me te whakakore i te karetao atamai
Mekanga kokopi pereti wehewehe karetao
Whakaahuatanga:
1. I runga i ngā āhuatanga o tēnei wāhanga, ka whakamahia e mātou te tikanga tautoko o waho e toru-maikuku hei uta me te whakawātea i ngā rauemi, ka taea ai te huri tere i ngā wāhanga o te taputapu mīhini;
2. Kei roto i te pūnaha te pūoko kite tūnga me te pūoko pēhanga hei kite mēnā he noa te tūnga piri me te pēhanga o ngā wāhanga;
3. He taputapu pēhanga kei roto i te pūnaha, ā, e kore te mea mahi e taka wawe mēnā ka ngaro te hiko me te motuhanga hau o te ara iahiko hau matua;
4. Kua whakamahia te taputapu whakawhiti ā-ringa. Ka taea e te tikanga kokopi whakawhiti te whakaoti tere i te whakapiri o ngā rauemi rerekē.
Whakataki o te Pūrere Whakawhiti Toki
Ka whakamahia te taputapu whakawhiti kokopi tika hei whakawhiti tere i ngā kokopi karetao, ngā pito taputapu, me ētahi atu taputapu whakatere. Whakaitihia te wā mahi kore mahi, me te whakanui ake i te ngāwari o te karetao, e whakaatuhia ana ko:
1. Wetekina, ā, whakawhāitihia te pēhanga hau;
2. Ka taea te whakamahi i ngā momo waeine hiko, wai me te hau;
3. Ka taea e te whirihoranga paerewa te hono wawe ki te pūtake hau;
4. Ka taea e ngā tari inihua motuhake te ārai i te mōrearea o te motuhanga hau tūpono;
5. Kāore he kaha tauhohenga puna; 6. E pā ana ki te mara aunoa;
He Kupu Whakataki ki te Pūnaha Tirohanga-Kāmera Ahumahi
1. Ka whakamahia e te kāmera ngā maramara CCD me CMDS kounga teitei, ā, he āhuatanga tōna: te ōwehenga taumira teitei, te aro nui, te ōwehenga tohu-ki-auau teitei, te whānuitanga hihiri whānui, te kounga whakaahua pai rawa atu me te kaha whakaora tae tino pai;
2. E rua ngā momo tuku raraunga o te kāmera rarangi rohe: te atanga GIGabit Ethernet (GigE) me te atanga USB3.0;
3. He hanganga kiato te kāmera, he iti te āhua, he mama, ā, he ngāwari te tāuta. He tere tuku tere, he kaha te ārai i te pokanoa, he pumau te putanga o te ahua kounga teitei; Ka taea te whakamahi mō te pānui waehere, te kimi hapa, te DCR me te mōhio tauira; He kaha te kāmera tae ki te whakaora tae, he pai mō ngā horopaki e hiahiatia ana te mōhio tae nui;
Whakataki o te Pūnaha Mōhio Aunoa Koki
Whakataki Mahi
1. Ka herea e te karetao ngā wahi mahi mai i ngā kete uta ka tukuna ki te wāhi whakanoho o te tēpu hurihuri;
2. Ka huri te tēpu hurihuri i raro i te puku o te motuka servo;
3. Ka mahi te pūnaha tirohanga (kāmera ahumahi) ki te tautuhi i te tūranga koki, ā, ka mutu te tēpu hurihuri ki te whakatau i te tūranga koki e hiahiatia ana;
4. Ka tangohia e te karetao te mea mahi ka tāpirihia tētahi atu mea hei tautuhi i te koki;
He Kupu Whakataki ki te Ripanga Hurihuri Mahi
Teihana hurihuri:
1. Ka tangohia e te karetao te mea mahi ka whakatakotoria ki te wāhi tūnga i runga i te tēpu hurihuri (te teihana maui i te pikitia);
2. Ka hopukina e te karetao te mea mahi mai i runga ake nei kia taea ai te huri i te mea mahi;
Tēpu whakatakoto kokopi karetao
Whakataki Mahi
1. I muri i te utaina o ia paparanga o ngā wāhanga, me whakanoho te pereti wehewehe paparanga ki roto i te kete rokiroki rangitahi mō ngā pereti wehewehe;
2. Ka taea te whakakapi wawe i te karetao ki ngā kokopi kapu momi mā te taputapu whakawhiti kokopi, ā, ka taea hoki te tango i ngā pereti wehewehe;
3. Kia pai te whakatakotoranga o ngā pereti wehewehe, tangohia te kokopi kapu momi ka whakakapia ki te kokopi hau hei haere tonu ki te uta me te whakakore i ngā rauemi;
Kete mō te rokiroki rangitahi o ngā pereti wehewehe
Whakataki Mahi
1. Ka hoahoatia, ka whakamaheretia hoki he kete rangitahi mō ngā pereti wehewehe, ka tangohia tuatahitia ngā pereti wehewehe mō te uta, ā, ka whakamahia ngā pereti wehewehe mō te whakatārewatanga i muri mai;
2. Ka whakatakotoria ā-ringa ngā pereti wehewehe uta, ā, kāore i te tino ōrite. I muri i te whakatakotoranga o te pereti wehewehe ki roto i te kete rokiroki rangitahi, ka taea e te karetao te tango me te whakatakoto marie;
Ripanga tauira ā-ringa
Whakaahuatanga:
1. Whakatakotoria he auau tauira matapōkere ā-ringa rerekē mō ngā wāhanga whakaputa rerekē, ka taea ai te tirotiro pai i te whai huatanga o te ine ipurangi;
2. Tohutohu Whakamahi: Ka whakatakotoria e te kaiwhakahaere te taputapu mahi ki te tūranga kua whakaritea i runga i te tēpu tauira e ai ki te auau kua whakatakotoria ā-ringa, ā, ka akiakihia mā te rama whero. Ka pēhi te kaitirotiro i te pātene hei kawe i te taputapu mahi ki te wāhi haumaru i waho o te parepare, ka tangohia te taputapu mahi hei ine, ā, ka rongoa motuhake i muri i te ine;
Ngā wāhanga tiaki
He mea hanga ki te kōtaha konumohe māmā (40×40) me te mata (50×50), ā, ka taea te whakauru i te mata pa me te pātene aukati ohorere ki ngā wāhanga tiaki, hei whakauru i te haumaru me te ataahua.
Whakataki o te Tautuhinga Waipēhi OP20
Ngā Tohutohu Tukatuka:
1. Tangohia te poka o roto φ165 hei kōhao turanga, tangohia te rārangi D hei papa turanga, ā, tangohia te pewa o waho o te tumuaki o ngā kōhao whakairi e rua hei rohe koki;
2. Whakahaerehia te mahi wetewete me te pēhi o te pereti pēhi mā te whakahau a te taputapu mīhini M hei whakaoti i te tukatuka chamfering o te papa o runga o te tumuaki kōhao whakairi, te kōhao whakairi 8-φ17 me ngā pito e rua o te kōhao;
3. Kei te taputapu ngā mahi o te tūnga, te whakapūmau aunoa, te kimi i te hau mātao, te wetewete aunoa, te pana aunoa, te horoi maramara aunoa me te horoi aunoa i te papa rātaka tūnga;
Ngā Whakaritenga Taputapu mō te Raina Whakaputa
1. Kei te rawhi taputapu raina whakaputa ngā mahi o te rawhi me te wetewete aunoa, ā, ka tutuki i raro i te mana o ngā tohu o te pūnaha manipulator ngā mahi rawhi me te wetewete aunoa hei mahi tahi me te mahi uta me te whakakorekore;
2. Me waiho te tūnga o te matapihi tuanui, te kōwae tatau aunoa rānei mō te pereti whakarewa o ngā taputapu raina whakaputa, hei whakarite ki te tohu whakahaere hiko me te whakawhitiwhiti kōrero whakahaere a tā mātou kamupene;
3. Ka hono ngā taputapu raina whakaputa ki te kaiwhakahaere mā te aratau hononga o te hononga taumaha-kawenga (te mono rererangi rānei);
4. He nui ake te wāhi o roto (pokanoa) o ngā taputapu raina whakaputa i te whānuitanga haumaru o te mahi a te kauae whakahaere;
5. Me whakarite e ngā taputapu raina whakaputa kia kore he maramara rino e toe ana i runga i te mata o te rawhi. Mena e tika ana, me whakanui ake te pupuhi o te hau hei horoi (me huri te chuck i te wa e horoi ana);
6. He pai te pakaru maramara o ngā taputapu raina whakaputa. Mena e tika ana, me tāpiri te taputapu pakaru maramara pēhanga-teitei āwhina a tā mātou kamupene;
7. Ina hiahiatia he aukati tika mō te poupou mīhini mō ngā taputapu raina whakaputa, tāpirihia tēnei mahi ka whakarato i ngā tohu hiko e rite ana;
Te Whakataki i te Whakairo Poutū VTC-W9035
He pai te mīhini hurihuri poutū VTC-W9035 NC mō te miihini i ngā wāhanga hurihuri pērā i ngā taputapu kore, ngā flange me ngā anga motuhake, he tino pai mō te huri tika, te penapena mahi me te whai hua o ngā wāhanga pērā i ngā kōpae, ngā pokapū, ngā kōpae pērai, ngā tinana papu, ngā tinana takirere me ngā anga. He pai ngā painga o te mīhini, he pakari whānui, he tino tika, he tere tango nui o te konganuku ia wā, he pai te pupuri tika, he tino pono, he ngāwari te tiaki, me ētahi atu, ā, he whānui ngā tono. He nui te mahi whakaputa raina, he iti te utu.
| Momo tauira | VTC-W9035 |
| Te whānui hurihuri mōrahi o te tinana moenga | Φ900 mm |
| Te whānui hurihuri mōrahi i runga i te pereti reti | Φ590 mm |
| Te whānui hurihuri mōrahi o te mea mahi | Φ850 mm |
| Te roa hurihuri mōrahi o te mea mahi | 700 mm |
| Te whānuitanga tere o te porowhita | 20-900 r/min |
| Pūnaha | FANUC 0i - TF |
| Te whiu mōrahi o te tuaka X/Z | 600/800 mm |
| Te tere neke tere o te tuaka X/Z | 20/20 m/min |
| Te roa, te whānui me te teitei o te mīhini taputapu | 3550*2200*3950 mm |
| Ngā Kaupapa | Wāhanga | Tawhā | |
| Awhe tukatuka | Te haere o te tuaka X | mm | 1100 |
| Te haere o te tuaka X | mm | 610 | |
| Te haere o te tuaka X | mm | 610 | |
| Te tawhiti mai i te ihu o te miro ki te papa mahi | mm | 150~760 | |
| Pae mahi | Te rahi o te tēpu mahi | mm | 1200×600 |
| Te kawenga mōrahi o te papa mahi | kg | 1000 | |
| Awaawa-T (rahi × rahinga × mokowā) | mm | 18×5×100 | |
| Whāngai | Tere tere o te whāngai o te tuaka X/Y/Z | m/min | 36/36/24 |
| Wīra | Aratau taraiwa | Momo whitiki | |
| Whakawhāiti i te miro | BT40 | ||
| Te tere whakahaere mōrahi | r/min | 8000 | |
| Mana (Whakatauranga/Mōrahi) | KW | 11/18.5 | |
| Taipana (Whakatauranga/Mōrahi) | N·m | 52.5/118 | |
| Te tika | Te tika o te tūnga o te tuaka X/Y/Z (haurua te porowhita kati) | mm | 0.008（te roa katoa） |
| Te tika o te tāruarua o te tuaka X/Y/Z (haurua te porowhita kati) | mm | 0.005（te roa katoa） | |
| Te maheni taputapu | Momo | Kōpae | |
| Te kaha o te maheni taputapu | 24 | ||
| Rahi taputapu mōrahi(Diameter taputapu katoa/diameter taputapu tata kau/roa) | mm | Φ78/Φ150/ 300 | |
| Taumaha taputapu mōrahi | kg | 8 | |
| Ngā mea rerekē | Te pēhanga o te hau | MPa | 0.65 |
| Te kaha o te mana | KVA | 25 | |
| Te rahinga whānui o te mīhini (roa×whānui×teitei) | mm | 2900×2800×3200 | |
| Taumaha o te taputapu mīhini | kg | 7000 | |
