A real-time detection device and method for grinding burns on the end face of a workpiece.

Abstract

This invention discloses a real-time detection device and method for grinding burns on the end face of a workpiece, relating to the field of workpiece grinding surface burn detection technology. The detection coil comprises a cup-shaped coil, an upper coil housing, and a lower coil housing. The top of the lower coil housing is connected to a stepped shaft. The upper coil housing is fitted onto the lower outer periphery of the stepped shaft through a central hole. The cup-shaped coil is located within an annular cavity formed between the upper and lower coil housings. An adjustment mechanism drives the detection coil to rise and fall. A combined grinding wheel is connected to the bottom of the grinding head spindle of the grinding mechanism. The combined grinding wheel includes several grinding wheels, with a hollow area between them. The detection coil is located within this hollow area. A sleeve is fitted around the outside of the grinding head spindle, and the sleeve is interference-fitted with the grinding head frame. The advantages of this invention are: real-time detection of grinding burns during workpiece end face grinding, good stability of detection results, and improved detection efficiency; it also facilitates timely adjustment of processing parameters, reducing grinding burns and improving grinding quality.

Description

Technical Field

[0001] This invention relates to the field of workpiece grinding surface burn detection technology, specifically to a real-time detection device and method for workpiece end face grinding burns. Background Technology

[0002] Grinding technology is an important component of the machinery manufacturing industry. For workpieces made of various materials with high precision and high quality requirements, grinding is crucial. Grinding the end face of a workpiece is characterized by high grinding force and high grinding temperature, which can easily cause grinding burns on the workpiece surface. Therefore, real-time detection of grinding burns during the grinding process can effectively improve grinding quality.

[0003] In the prior art, Chinese patent CN201010175735.X discloses a method for detecting grinding burns on workpiece surfaces. After processing, the workpiece surface is observed under an observation lamp; a uniform, non-reflective gray surface indicates an unburned workpiece. However, this detection is performed after processing and cannot be performed in real-time during grinding. Currently, real-time detection of grinding burns on workpiece end faces typically involves manually placing a probe. This method suffers from several drawbacks: inconsistent probe placement angles and pressures lead to unstable results; low efficiency; high workload; and unsuitability for batch testing. Therefore, a dedicated real-time detection device for grinding burns on workpiece end faces is needed to achieve real-time detection during the grinding process, improving detection efficiency and the stability of results. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a real-time detection device and method for grinding burns on the end face of a workpiece, which can solve the problems of unstable detection results, low detection efficiency, high workload and unsuitability for batch detection caused by the existing method of using manual placement of probes to achieve real-time detection of grinding burns on the end face of a workpiece.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is: a device for real-time detection of grinding burns on the end face of a workpiece, characterized in that it includes a detection coil, an adjustment mechanism, and a grinding mechanism; The detection coil has a cup-shaped coil, an upper coil housing, and a lower coil housing. A stepped shaft is connected to the top center of the lower coil housing. The upper diameter of the stepped shaft is smaller than the lower diameter. A central hole is provided in the middle of the upper coil housing. The upper coil housing is sleeved on the lower outer periphery of the stepped shaft through the central hole. An annular cavity is formed between the upper coil housing and the lower coil housing. The cup-shaped coil is disposed in the annular cavity. The adjustment mechanism has a linear motor, which is connected to a detection coil. The linear motor drives the detection coil to rise and fall to adjust the distance between the cup-shaped coil and the grinding end face of the workpiece. The linear motor is fixed to the lower end of the threading shaft. The grinding mechanism has a grinding head spindle and a combined grinding wheel. The grinding head spindle is sleeved on the outside of the threading shaft and is coaxial with the threading shaft. The bottom of the grinding head spindle is connected to the combined grinding wheel. The grinding head spindle is driven to rotate by a rotating motor, which drives the combined grinding wheel to rotate and grind the end face of the workpiece. The combined grinding wheel includes several grinding wheels, with a hollow area between the grinding wheels, and the detection coil is located within the hollow area; A sleeve is fitted around the outside of the grinding head spindle, and the sleeve is interference-fitted with the grinding head frame.

[0006] Furthermore, the telescopic end of the linear motor is connected to the upper part of the stepped shaft at the top of the lower housing of the coil; The top of the threading shaft is integrally connected to a connecting end, which is connected to the threading shaft fixing frame. The threading shaft fixing frame is connected and fixed to the grinding head frame by several double-headed studs arranged circumferentially, thereby achieving axial and circumferential fixation of the threading shaft.

[0007] Furthermore, a first rolling bearing and a second rolling bearing are respectively provided between the top and bottom of the grinding head spindle and the threading shaft; The grinding head spindle and the sleeve are supported by a fourth rolling bearing.

[0008] Furthermore, the grinding head spindle is connected to a spline sleeve and a pulley, the output shaft of the rotating motor is connected to the pulley via a synchronous belt, the spline sleeve is locked to the grinding head spindle via a round nut, the spline sleeve and the flange are supported by a third rolling bearing, and the flange is fixedly connected to the top of the grinding head frame.

[0009] Furthermore, the lower end of the grinding head spindle is connected to the spindle connecting plate, the bottom of the spindle connecting plate is connected to the grinding wheel connecting plate through a guide tube, and an array of bolts and springs arranged circumferentially are provided between the spindle connecting plate and the grinding wheel connecting plate. The linear motor passes through the guide tube and the inside of the grinding wheel connecting plate. A baffle is installed on the outside of the grinding wheel connecting plate, and several circumferentially arranged grinding wheel fixing blocks are installed below the grinding wheel connecting plate. The several grinding wheels are respectively connected to the several grinding wheel fixing blocks through dovetail grooves.

[0010] Furthermore, a ceramic sleeve is provided between the grinding wheel and the detection coil. The top of the ceramic sleeve is integrally connected with an outwardly extending edge. The edge is pressed and fixed by the grinding wheel connecting plate and the grinding wheel fixing block. Rubber washers are provided on the pressing surfaces of the edge, the grinding wheel connecting plate, and the grinding wheel fixing block to reduce the vibration of the ceramic sleeve during grinding.

[0011] Furthermore, the distance between the cup-shaped coil and the workpiece grinding end face is adjustable from 0 to 5 mm; the outer diameter of the cup-shaped coil is 100-120 mm, the inner diameter is 40-60 mm, the winding thickness of the cup-shaped coil is 1 mm, and the height is 20 mm.

[0012] Furthermore, two cylinders are connected to both sides of the grinding head frame via cylinder brackets. A cylinder connecting plate is connected below the cylinders. The cylinder connecting plate is sleeved and fixed to the outer periphery of the grinding head spindle. The piston rod of the cylinder passes through the cylinder connecting plate. A fixing nut is connected to the bottom of the piston rod of the cylinder. The fixing nut is located at the bottom of the cylinder connecting plate. The cylinder connecting plate is connected to the fixing frame on the outside of the grinding head frame by guide studs.

[0013] A detection method for a real-time detection device for grinding burns on the end face of a workpiece, characterized by comprising the following steps: S1. Start the grinding mechanism. The grinding head spindle rotates under the drive of the rotating motor, which drives the combined grinding wheel to grind the end face of the workpiece. S2. The linear motor of the adjustment mechanism adjusts the distance between the detection coil and the workpiece end face to a suitable position, and AC power is passed into the detection coil to generate eddy currents on the workpiece surface. S3. As the grinding process of the workpiece continues, eddy current signals are continuously generated, and the output voltage in the detection coil can be obtained at the same time. S4. When grinding burns occur on the end face of a workpiece, the magnetic permeability of the workpiece surface changes, which will affect the intensity and distribution of eddy currents. The change in eddy currents will cause changes in the voltage and impedance of the detection coil. Based on this change, the existence of grinding burns can be detected indirectly.

[0014] The advantages of this invention are: it makes full use of the hollow structural features of the combined grinding wheel, sets up a special real-time grinding burn detection device, and the detection coil does not rotate during the detection process. It can detect grinding burns in real time during the grinding process of the workpiece end face, and the detection results are stable, improving detection efficiency, reducing workload, and enabling batch detection. During real-time detection of grinding burns on the end face of a workpiece, if the workpiece material is ground and burned, the magnetic permeability of the tempered structure will change significantly, affecting the intensity and distribution of eddy currents. The change in eddy currents will cause changes in the voltage and impedance of the detection coil, which can indirectly detect the presence of grinding burns. This allows for real-time indirect detection of whether grinding burns exist on the workpiece surface during end face grinding, which is beneficial for timely adjustment of processing parameters, reducing grinding burns, and improving grinding quality. Attached Figure Description

[0015] Figure 1 This is a cross-sectional view of an embodiment of the present invention; Figure 2This is a schematic diagram of the structure of an embodiment of the present invention; Figure 3 This is an exploded view of the detection coil structure according to an embodiment of the present invention; Figure 4 This is a partial structural enlarged schematic diagram of an embodiment of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments will enable those skilled in the art to more fully understand this invention, but do not limit the invention to the scope of the described embodiments.

[0017] Example 1: As Figure 1 and Figure 2 As shown, the specific embodiment adopts the following technical solution: A real-time detection device for grinding burns on the end face of a workpiece includes a detection coil, an adjustment mechanism, and a grinding mechanism. The magnetic permeability of the burned workpiece 34 will change significantly, affecting the intensity and distribution of the eddy current 35. The voltage and impedance of the detection coil will change accordingly, which is used to detect the presence of burns on the workpiece 34. The adjustment mechanism is used to adjust the distance between the detection coil and the workpiece 34, and the grinding mechanism is used to grind the end face of the workpiece 34.

[0018] like Figure 3 As shown, the detection coil has a cup-shaped coil 20, an upper coil housing 22, and a lower coil housing 21. A stepped shaft is connected to the top center of the lower coil housing 21. The upper diameter of the stepped shaft is smaller than the lower diameter. A central hole is provided in the middle of the upper coil housing 22. The upper coil housing 22 is fitted onto the lower outer periphery of the stepped shaft through the central hole. An annular cavity is formed between the upper coil housing 22 and the lower coil housing 21. The cup-shaped coil 20 is disposed in the annular cavity.

[0019] The distance between the cup-shaped coil 20 and the grinding end face of the workpiece 34 can be adjusted from 0 to 5 mm. In this embodiment, the preferred distance is 5 mm. The outer diameter of the cup-shaped coil 20 is 100-120 mm and the inner diameter is 40-60 mm. In this embodiment, the preferred outer diameter of the cup-shaped coil 20 is 120 mm and the inner diameter is 60 mm. The winding thickness of the cup-shaped coil 20 is 1 mm and the height is 20 mm.

[0020] The adjustment mechanism has a linear motor 19, which is connected to the detection coil. The telescopic end of the linear motor 19 is connected to the upper part of the stepped shaft at the top of the lower housing 21 of the coil. The upper part of the stepped shaft is provided with a connecting hole. The telescopic end of the linear motor 19 is located in the connecting hole and is connected and fixed to the upper part of the stepped shaft. The linear motor 19 can drive the detection coil to rise and fall to adjust the distance between the cup-shaped coil 20 and the grinding end face of the workpiece 34 to 5mm.

[0021] The top of the linear motor 19 is fixed to the lower end of the threading shaft 31. The top of the threading shaft 31 is integrally connected to a connecting end, which is connected to the threading shaft fixing bracket 2. The threading shaft fixing bracket 2 is connected and fixed to the grinding head frame 8 through several circumferentially arranged double-headed studs 1, so as to achieve axial and circumferential fixation of the threading shaft 31. With the threading shaft 31 fixed, the detection coil only translates under the drive of the linear motor 19 and does not rotate.

[0022] The grinding mechanism has a grinding head spindle 30 and a combined grinding wheel 15. The grinding head spindle 30 is sleeved on the outside of the threading shaft 31 and is coaxially arranged with the threading shaft 31. A first rolling bearing 3 and a second rolling bearing 26 are respectively provided between the top and bottom of the grinding head spindle 30 and the threading shaft 31.

[0023] The grinding head spindle 30 is driven to rotate by a rotary motor (not shown in the figure). The grinding head spindle 30 is connected to a spline sleeve 29 and a pulley 28. The output shaft of the rotary motor is connected to the pulley 28 via a synchronous belt. The spline sleeve 29 is locked to the grinding head spindle 30 by a round nut 4. The rotary motor can drive the spline sleeve 29 to rotate via the pulley 28, thereby driving the grinding head spindle 30 to rotate. The spline sleeve 29 is supported by a third rolling bearing 5 between it and the flange 6. The flange 6 is fixedly connected to the top of the grinding head frame 8.

[0024] like Figure 4 As shown, the bottom of the grinding head spindle 30 is connected to the combined grinding wheel 15, which includes several grinding wheels. A hollow area is provided between the grinding wheels, and the detection coil is located in the hollow area. The rotation of the grinding head spindle 30 drives the combined grinding wheel 15 to rotate and grind the end face of the workpiece 34.

[0025] The lower end of the grinding head spindle 30 is connected to the spindle connecting plate 25. The bottom of the spindle connecting plate 25 is connected to the grinding wheel connecting plate 12 through the guide tube 23. A series of bolts and springs 24 are arranged in a circumferential manner between the spindle connecting plate 25 and the grinding wheel connecting plate 12. The linear motor 19 passes through the guide tube 23 and the grinding wheel connecting plate 12. The rotation of the grinding head spindle 30 can drive the spindle connecting plate 25 and the grinding wheel connecting plate 12 to rotate.

[0026] A baffle 13 is installed on the outside of the grinding wheel connecting plate 12, and several circumferentially arranged grinding wheel fixing blocks 14 are installed below the grinding wheel connecting plate 12. Several grinding wheels are connected to several grinding wheel fixing blocks 14 through dovetail grooves. The rotation of the grinding wheel connecting plate 12 drives the grinding wheel fixing blocks 14 and the combined grinding wheel 15 to rotate and perform end face grinding on the workpiece 34.

[0027] A ceramic sleeve 18 is provided between the grinding wheel and the detection coil. The top of the ceramic sleeve 18 is integrally connected with an outwardly extending edge. The edge is pressed and fixed by the grinding wheel connecting plate 12 and the grinding wheel fixing block 14. A first rubber washer 16 and a second rubber washer 17 are respectively provided on the pressing surfaces of the edge, the grinding wheel connecting plate 12, and the grinding wheel fixing block 14 to reduce the vibration of the ceramic sleeve 18 during grinding.

[0028] A sleeve 9 is fitted on the outside of the grinding head spindle 30. The sleeve 9 is interference-fitted with the grinding head frame 8. The grinding head spindle 30 and the sleeve 9 are supported by a fourth rolling bearing 10. The sleeve 9 can provide external protection for the grinding head spindle 30.

[0029] Working principle: The rotating motor drives the spline sleeve 29 to rotate via the pulley 28, which in turn drives the grinding head spindle 30 to rotate. The rotation of the grinding head spindle 30 drives the spindle connecting plate 25 and the grinding wheel connecting plate 12 to rotate, thereby driving the grinding wheel fixing block 14 and the combined grinding wheel 15 to rotate and perform end face grinding on the workpiece 34. The linear motor 19 drives the detection coil to rise and fall, so as to adjust the distance between the cup-shaped coil 20 and the grinding end face of the workpiece 34 to a suitable position. The cup-shaped coil 20 is connected to an external power source for charging. The cup-shaped coil 20 is connected to a voltage and impedance measuring device, which can detect grinding burns on the end face of the workpiece 34 in real time.

[0030] Example 2: The difference between this embodiment and Embodiment 1 is that: two cylinders 27 are connected to both sides of the grinding head frame 8 via cylinder brackets 7. A cylinder connecting plate 11 is connected below the cylinders 27, and the cylinder connecting plate 11 is sleeved and fixed to the outer periphery of the grinding head spindle 30. The piston rod of the cylinder 27 passes through the cylinder connecting plate 11, and a fixing nut is connected to the bottom of the piston rod of the cylinder 27. The fixing nut is located at the bottom of the cylinder connecting plate 11. The cylinder connecting plate 11 is connected to the fixing bracket 32 ​​on the outside of the grinding head frame 8 via guide studs 33. The guide studs 33 have an directional effect on the cylinder connecting plate 11, resulting in better stability of the cylinder connecting plate 11.

[0031] When a burn is detected on the end face of the workpiece 34, the piston rod of the cylinder 27 retracts upward. Due to the setting of the fixing nut, the cylinder 27 exerts an upward pulling force on the cylinder connecting plate 11, which can apply an upward lifting force to the combined grinding wheel 15 connected to the bottom of the grinding head spindle 30. This can reduce the pressure of the combined grinding wheel 15 on the end face of the workpiece 34 and prevent the end face of the workpiece 34 from being ground and burned.

[0032] Example 3: A detection method for a real-time detection device for grinding burns on the end face of a workpiece includes the following steps: S1. Start the grinding mechanism. The grinding head spindle 30 rotates under the drive of the rotating motor, which drives the combined grinding wheel 15 to rotate and grind the end face of the workpiece 34.

[0033] S2. The linear motor 19 of the adjustment mechanism adjusts the distance between the detection coil and the grinding end face of the workpiece 34 to 5mm, and AC power is passed into the detection coil, generating eddy currents 35 on the surface of the workpiece 34.

[0034] S3. As the grinding process on the workpiece 34 continues, the eddy current signal 35 is continuously generated, and the voltage output in the cup-shaped coil 20 can be obtained at the same time.

[0035] S4. When grinding burn occurs on the end face of workpiece 34, the magnetic permeability of the workpiece 34 surface changes, which will affect the intensity and distribution of eddy current 35. The change of eddy current 35 will cause changes in the voltage and impedance of the detection coil 20. The voltage and impedance measuring device measures the changes in voltage and impedance, which can indirectly detect the existence of grinding burn on workpiece 34.

[0036] When a burn is detected on the end face of the workpiece 34, the piston rod of the cylinder 27 retracts upward. Due to the setting of the fixing nut, the cylinder 27 exerts an upward pulling force on the cylinder connecting plate 11, which can apply an upward lifting force to the combined grinding wheel 15 connected to the bottom of the grinding head spindle 30. This can reduce the pressure of the combined grinding wheel 15 on the end face of the workpiece 34 and prevent the end face of the workpiece 34 from being ground and burned.

[0037] This embodiment makes full use of the hollow structure of the combined grinding wheel 15 and sets up a special real-time grinding burn detection device. The detection coil 20 does not rotate during the detection process, and can detect grinding burn in real time during the grinding of the end face of the workpiece 34. This is conducive to timely adjustment of processing parameters, reducing grinding burn and improving the processing quality of grinding the end face of the workpiece 34.

[0038] The linear motor 19, cylinder 27, rotary motor, voltage and impedance measuring device and other components mentioned above are all general standard parts or parts known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods, and will not be described further.

[0039] The foregoing has shown and described the basic principles and main features of the present invention, as well as its advantages. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A real-time detection device for grinding burns on the end face of a workpiece, used for real-time detection of grinding burns on the end face of a workpiece, characterized in that: Includes a detection coil, an adjustment mechanism, and a grinding mechanism; The detection coil has a cup-shaped coil, an upper coil housing, and a lower coil housing. A stepped shaft is connected to the top center of the lower coil housing. The upper diameter of the stepped shaft is smaller than the lower diameter. A central hole is provided in the middle of the upper coil housing. The upper coil housing is sleeved on the lower outer periphery of the stepped shaft through the central hole. An annular cavity is formed between the upper coil housing and the lower coil housing. The cup-shaped coil is disposed in the annular cavity. The adjustment mechanism has a linear motor, which is connected to a detection coil. The linear motor drives the detection coil to rise and fall to adjust the distance between the cup-shaped coil and the grinding end face of the workpiece. The linear motor is fixed to the lower end of the threading shaft. The grinding mechanism has a grinding head spindle and a combined grinding wheel. The grinding head spindle is sleeved on the outside of the threading shaft and is coaxial with the threading shaft. The bottom of the grinding head spindle is connected to the combined grinding wheel. The grinding head spindle is driven to rotate by a rotating motor, which drives the combined grinding wheel to rotate and grind the end face of the workpiece. The combined grinding wheel includes several grinding wheels, with a hollow area between the grinding wheels, and the detection coil is located within the hollow area; The grinding head spindle is fitted with a sleeve, and the sleeve is interference-fitted with the grinding head frame. The telescopic end of the linear motor is connected to the upper part of the stepped shaft at the top of the lower housing of the coil. The top of the threading shaft is integrally connected to a connecting end, which is connected to the threading shaft fixing frame. The threading shaft fixing frame is connected and fixed to the grinding head frame through several circumferentially arranged double-headed studs, thereby achieving axial and circumferential fixation of the threading shaft. A ceramic sleeve is provided between the grinding wheel and the detection coil. The top of the ceramic sleeve is integrally connected with an outwardly extending edge. The edge is pressed and fixed by the grinding wheel connecting plate and the grinding wheel fixing block. Rubber gaskets are provided on the pressing surfaces of the edge, the grinding wheel connecting plate, and the grinding wheel fixing block to reduce the vibration of the ceramic sleeve during grinding.

2. The real-time detection device for grinding burns on the end face of a workpiece according to claim 1, characterized in that: The grinding head spindle and the threading shaft are respectively provided with a first rolling bearing and a second rolling bearing at the top and bottom. The grinding head spindle and the sleeve are supported by a fourth rolling bearing.

3. The real-time detection device for grinding burns on the end face of a workpiece according to claim 1, characterized in that: The grinding head spindle is connected to the pulley via a spline sleeve, the output shaft of the rotating motor is connected to the pulley via a synchronous belt, the spline sleeve is locked to the grinding head spindle via a round nut, the spline sleeve and the flange are supported by a third rolling bearing, and the flange is fixedly connected to the top of the grinding head frame.

4. The real-time detection device for grinding burns on the end face of a workpiece according to claim 1, characterized in that: The lower end of the grinding head spindle is connected to the spindle connecting plate. The bottom of the spindle connecting plate is connected to the grinding wheel connecting plate through a guide tube. A series of bolts and springs arranged in a circumferential direction are provided between the spindle connecting plate and the grinding wheel connecting plate. The linear motor passes through the guide tube and the grinding wheel connecting plate. A baffle is installed on the outside of the grinding wheel connecting plate, and several circumferentially arranged grinding wheel fixing blocks are installed below the grinding wheel connecting plate. The several grinding wheels are respectively connected to the several grinding wheel fixing blocks through dovetail grooves.

5. The real-time detection device for grinding burns on the end face of a workpiece according to claim 1, characterized in that: The distance between the cup-shaped coil and the workpiece grinding end face is adjustable from 0 to 5 mm; the outer diameter of the cup-shaped coil is 100-120 mm, the inner diameter is 40-60 mm, the winding thickness of the cup-shaped coil is 1 mm, and the height is 20 mm.

6. The real-time detection device for grinding burns on the end face of a workpiece according to claim 1, characterized in that: Two cylinders are connected to both sides of the grinding head frame via cylinder brackets. A cylinder connecting plate is connected below the cylinders. The cylinder connecting plate is sleeved and fixed to the outer periphery of the grinding head spindle. The piston rod of the cylinder passes through the cylinder connecting plate. A fixing nut is connected to the bottom of the piston rod of the cylinder. The fixing nut is located at the bottom of the cylinder connecting plate. The cylinder connecting plate is connected to the fixing frame on the outside of the grinding head frame by guide studs.

7. A detection method for the real-time detection device for grinding burns on the workpiece end face as described in claim 1, characterized in that: Includes the following steps: S1. Start the grinding mechanism. The grinding head spindle rotates under the drive of the rotating motor, which drives the combined grinding wheel to grind the end face of the workpiece. S2. The linear motor of the adjustment mechanism adjusts the distance between the detection coil and the workpiece end face to a suitable position, and AC power is passed into the detection coil to generate eddy currents on the workpiece surface. S3. As the grinding process of the workpiece continues, eddy current signals are continuously generated, and the output voltage in the detection coil can be obtained at the same time. S4. When grinding burns occur on the end face of a workpiece, the magnetic permeability of the workpiece surface changes, which will affect the intensity and distribution of eddy currents. The change in eddy currents will cause changes in the voltage and impedance of the detection coil. Based on this change, the existence of grinding burns can be detected indirectly.

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