An automatic stacking device for loading layers of equal height and automatic stacking equipment

Abstract

The present invention belongs to the technical field of automated production equipment, and discloses an automatic stacking device for equal-height material loading layers and automatic stacking equipment, including a translation mechanism, a lifting mechanism and a material trolley; the material trolley is used to place material layers, and is located below the translation mechanism, and the lifting mechanism is arranged on both sides of the material trolley, and the lifting mechanism can lift the material layers on the material trolley to a set height, and the translation mechanism lifts the material layers and translates them to a specified position; the translation mechanism includes a bottom plate, a first slide rail slider mechanism, a slide rail connecting plate, a first motor, a module slider, a suction cup assembly bottom plate, a suction cup mounting plate, and a first cylinder. Without changing the height of the suction cup or the clamping claw assembly, only translation is required; by changing the height of each material layer of the material trolley to adapt to the height of the suction cup or the clamping claw assembly, this solution solves the problem of suction cup lifting space limitation and material loading height limitation, and avoids the risk of material falling during the suction cup lifting process.

Description

Technical Field

[0001] The present invention relates to the technical field of automated production equipment, and in particular to an automatic stacking device for loading layer plates and automatic stacking equipment. Background Art

[0002] At present, in automated production equipment, the loading process of material carts is mostly done by sucking materials through suction cups or other clamps, then lifting to the required height, and then loading materials for material carts at different heights. This solution is suitable for suction cup and clamp components with sufficient space, and will not interfere with other components during the lifting process. However, if the loading height is limited, the suction cup and clamp are easy to fall off during the lifting process, causing material loss, which cannot meet production requirements.

[0003] Therefore, the art needs an automatic stacking device for loading layers and an automatic stacking equipment to solve the above problems. Summary of the invention

[0004] In order to solve the problems in the prior art that the loading height is limited, the suction cups and clamps are easy to fall off during the lifting process, causing material loss and failing to meet production requirements, the present invention provides an automatic stacking device for loading material layers, comprising a translation mechanism, a lifting mechanism and a material trolley; the material trolley is used to place the material layers, and is located below the translation mechanism, and the lifting mechanism is arranged on both sides of the material trolley, and the lifting mechanism can lift the material layers on the material trolley to a set height, and the translation mechanism lifts the material and translates it to a specified position; the translation mechanism comprises a bracket, a bottom plate, a first slide rail slider mechanism, a slide rail connecting plate, a module slider, a suction cup assembly bottom plate, a suction cup mounting plate, and a first cylinder; the bottom plate is fixedly arranged on the bracket along the length direction, the first slide rail slider mechanism is arranged on the bottom plate, the slide rail connecting plate is connected to the slider of the first slide rail slider mechanism, and the bottom of the suction cup assembly The plate is connected to the module slider, the screw nut is connected to the side end of the module slider, the screw and the screw nut cooperate, after the screw rotates, the screw nut pushes the bottom plate of the suction cup assembly, so that the bottom plate of the suction cup assembly moves horizontally; a first air pump and a plurality of lifting guide rod mechanisms are arranged on the bottom plate of the suction cup assembly, the telescopic end of the first air pump is vertically connected to the suction cup assembly mounting plate, after the telescopic end of the first air pump is extended, the telescopic end of the first air pump pushes the suction cup mounting plate downward, and the suction cup on the suction cup mounting plate contacts the material and adsorbs the material; the lifting mechanism includes a ball screw lifting assembly, a hook claw mounting bottom plate and a hook head assembly, one end of the ball screw lifting assembly is arranged on both sides of the material trolley, and the other end of the ball screw lifting assembly is provided with a hook head mechanism, the hook head mechanism is used to support the lower edge of the material layer, and the ball screw lifting assembly can make the hook head assembly rise or fall in the vertical direction.

[0005] In the preferred technical solution of the above-mentioned automatic stacking device for loading layers, the translation mechanism also includes a motor, the output shaft of the motor is connected to one end of the lead screw through a coupling, and the other end of the lead screw is connected to a fixed seat fixed on the base plate.

[0006] In the preferred technical solution of the above-mentioned automatic stacking device for loading layer plates, the maximum height of each lifting of the jacking mechanism is the same.

[0007] In the preferred technical scheme of the above-mentioned automatic stacking device for loading material layers, the hook head mechanism includes a hook platform base plate, a second cylinder mounting plate, a second cylinder, a second cylinder connecting piece, a double slide rail support plate, a hook head base plate, a hook head, a second slide rail slider mechanism, a third slide rail slider mechanism, a material layer positioning block, a third cylinder connecting plate, and a third cylinder; two hook platform base plates are vertically arranged at each end of the hook claw mounting base plate, a double slide rail support plate is arranged between the two hook platform base plates, a second slide rail slider mechanism is arranged on the double slide rail support plate, and the second slide in the second slide rail slider mechanism A hook head base plate is provided on the block, a second cylinder connecting piece is provided at the lower end of the hook head base plate, the second cylinder is provided on the second cylinder mounting plate, the hook head is driven to extend and retract by the second cylinder, a third slide rail slider mechanism is provided above the hook head, a material layer plate positioning block is provided on the third slider of the third slide rail slider mechanism, the third cylinder is fixed on the third cylinder connecting plate, the third cylinder connecting plate is vertically connected to the tail end of the hook head, the material layer plate positioning block is connected to the telescopic end of the third cylinder, and the protruding end of the material layer plate positioning block is inserted into the recessed part of the material layer plate under the push of the telescopic end of the third cylinder.

[0008] In the preferred technical solution of the above-mentioned automatic stacking device for loading layer plates, the recessed portion is a recessed triangle, and the protruding end is a protruding triangle.

[0009] In the preferred technical solution of the above-mentioned automatic stacking device for loading layers, the lifting guide rod mechanism includes a sleeve and a lifting guide rod, one end of the sleeve is arranged on the suction cup support plate, and one end of the lifting guide rod is arranged on the suction cup mounting plate, and the lifting guide rod can move up and down in the sleeve.

[0010] In the preferred technical solution of the above-mentioned automatic stacking device for loading layer plates, a plurality of suction cups are installed on the suction cup mounting plate, and each suction cup is connected to the vacuum pump through an air pipe.

[0011] In the preferred technical solution of the above-mentioned automatic stacking device for loading layers, the translation mechanism also includes side reinforcement ribs and middle reinforcement ribs. The side reinforcement ribs are arranged on both sides of the bottom plate of the suction cup module, and the two ends of the middle reinforcement ribs are respectively connected to the side reinforcement ribs on both sides of the suction cup module to enhance the overall rigidity of the translation mechanism.

[0012] In the preferred technical solution of the above-mentioned automatic stacking device for loading material layers, the material trolley includes a wedge-shaped positioning block and a cylindrical support, and a wedge-shaped positioning block is arranged between each layer of material plates to ensure that each equal-height lifting module is accurately stacked when stacking the material trolley.

[0013] In the preferred technical solution of the above-mentioned automatic stacking device for loading layers, a plurality of wheels are provided on the base of the material trolley to facilitate material transfer.

[0014] On the other hand, the present invention also provides an automatic stacking production equipment using the above-mentioned automatic stacking device for equal-height loading layer plates, including a feeding conveyor belt, a sorting robot, a loading sorting conveyor belt, a translation mechanism, a material trolley, and a lifting mechanism; the feeding conveyor belt is arranged at right angles to the loading sorting conveyor belt, the sorting robot sorts the materials on the feeding conveyor belt, and moves the sorted materials to the loading sorting conveyor belt, and realizes equal-height stacking of the materials through the translation mechanism and the lifting mechanism.

[0015] Those skilled in the art can understand that, in the preferred technical solution of the present invention, the height of the suction cup or the clamp assembly does not need to be changed, and only translation is required. By changing the height of each material layer of the material vehicle to adapt to the height of the suction cup or the clamp assembly, this solution solves the problem of limited lifting space for the suction cup and limited loading height, and avoids the risk of material falling during the suction cup lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0017] Figure 1 The structure diagram of the translation mechanism of the present invention is shown in FIG. Figure 1 ;

[0018] Figure 2 The structure diagram of the translation mechanism of the present invention is shown in FIG. Figure 2 ;

[0019] Figure 3 The structure diagram of the lifting mechanism of the present invention is shown in FIG. Figure 2 ;

[0020] Figure 4 The structure diagram of the lifting mechanism of the present invention is shown in FIG. Figure 2 ;

[0021] Figure 5 It is a structural schematic diagram of the material trolley of the present invention;

[0022] Figure 6 It is a structural schematic diagram of the wedge-shaped positioning block of the present invention;

[0023] Figure 7 It is a front view of the wedge-shaped positioning block of the present invention;

[0024] Figure 8 It is a structural schematic diagram of the automatic stacking device of the present invention;

[0025] Figure numerals: 1, bracket; 2, translation mechanism; 201, bottom plate; 202, first slide rail and slider mechanism; 2021, first slide rail; 2022, first slider; 203, first slide rail connecting plate; 204, first motor; 205, module slider; 206, suction cup assembly bottom plate; 207, suction cup mounting plate; 208, first cylinder; 209 side reinforcement rib; 210 middle reinforcement rib; 211, lifting guide rod mechanism; 2111, shaft sleeve; 2112, lifting guide rod; 3, lifting mechanism; 31, ball screw assembly; 32, hook claw mounting bottom plate; 33 hook head assembly; 3301, platform bottom plate; 3 302, second cylinder mounting plate; 3303, second cylinder; 3304, second cylinder connecting piece; 3305, double slide rail support plate; 3306, second slide rail slider mechanism; 3307, hook head bottom plate; 3308, hook head; 3309, third slide rail slider mechanism; 3310, material layer plate positioning block; 3311, third cylinder mounting plate; 3312, third cylinder connecting piece; 3313 third cylinder; 4, material trolley; 41, base; 42, wedge-shaped positioning block; 43, cylindrical support; 5, feed conveyor belt; 6, sorting robot; 7, loading sorting conveyor belt; 8, material layer plate; 9, air pipe. DETAILED DESCRIPTION

[0026] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be noted that in the description of the present invention, the terms "middle", "upper", "lower", "lateral", "inner", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0028] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Based on the background technology, when the loading height is limited, the suction cups and clamps are easy to fall off during the lifting process of the materials, causing material loss and failing to meet the technical problems of production requirements. The automatic stacking device of equal-height loading layers of the present invention only needs to be translated without changing the height of the suction cup or the clamp assembly; by changing the height of each layer of the material layer on the material cart to adapt to the height of the suction cup or the clamp assembly, this solution solves the problems of limited suction cup lifting space and limited loading height, and avoids the risk of material falling during the suction cup lifting process.

[0030] Specifically, Figures 1 to 5As shown in Figure 8, the automatic stacking device for loading material layers at equal heights of the present invention comprises a translation mechanism 2, a lifting mechanism 3 and a material trolley 4; the material trolley 4 is used to place the material layer 8 and is located below the translation mechanism 2, the lifting mechanism 3 is arranged on both sides of the material trolley 4, the lifting mechanism 3 can lift the material layer 8 on the material trolley 4 to a set height, and the translation mechanism 2 lifts the material and translates it to a specified position; the translation mechanism 2 comprises a bracket 1, a bottom plate 201, a first slide rail slider mechanism 202, The slide rail connecting plate, the module slider 205, the suction cup assembly bottom plate 206, the suction cup mounting plate 207, and the first cylinder 208; the bottom plate 201 is fixedly arranged on the bracket 1 along the length direction, the first slide rail slider mechanism 202 is arranged on the bottom plate 201, the slide rail connecting plate is connected to the slider of the first slide rail slider mechanism 202, the suction cup assembly bottom plate 206 is connected to the module slider 205, the lead screw nut is connected to the side end of the module slider 205, the lead screw cooperates with the lead screw nut, and the lead screw After rotation, the screw nut pushes the suction cup assembly base plate 206 to move horizontally; a first air pump and a plurality of lifting guide rod mechanisms 211 are provided on the suction cup assembly base plate 201, and the telescopic end of the first air pump is vertically connected to the suction cup assembly mounting plate (preferably, the protruding end of the first air pump is fixed at the central position of the suction cup assembly mounting plate to improve the stability of the suction cup assembly mounting plate during movement). After the telescopic end of the first air pump is extended, the telescopic end of the first air pump pushes the suction cup mounting plate 207 downward, and the suction cup on the suction cup mounting plate 207 contacts the material and adsorbs the material; the lifting mechanism 3 includes a ball screw lifting assembly, a hook claw mounting base plate 32 and a hook head assembly 33, one end of the ball screw lifting assembly is arranged on both sides of the material trolley 4, and the other end of the ball screw lifting assembly is provided with a hook head mechanism, the hook head mechanism is used to support the lower edge of the material layer 8, and the ball screw lifting assembly can make the hook head assembly 33 rise or fall in the vertical direction.

[0031] In the present invention, the lead screw nut and the lead screw and ball screw assembly 31 are prior art and will not be described in detail herein. The specific structure of the first slide rail 2021 and the first slider 2022 in the first slide rail slider mechanism 202 is not limited in the present invention, as long as the first slider can slide in the first slide rail. The suction cup group can be set to 6, 8, 10, etc., and the shape of the suction cup can be round, oval, or special-shaped.

[0032] Preferably, the translation mechanism 2 further includes a motor 204, the output shaft of the motor 204 is connected to one end of a lead screw through a coupling, and the other end of the lead screw is connected to a fixed seat fixed on the base plate 201. The motor 204 can be a servo motor 204 or a stepper motor 204, and those skilled in the art can select one according to specific circumstances in actual applications.

[0033] Preferably, the maximum height of each lifting of the lifting mechanism 3 is the same to achieve the purpose of equal-height loading and stacking.

[0034] Preferably, if Figure 3 and 4 As shown, the hook head mechanism includes a hook platform base plate 3301, a second cylinder mounting plate 3302, a second cylinder 3303, a second cylinder connecting piece 3304, a double slide rail support plate 3305, a second slide rail slider mechanism 3306, a hook head base plate 3307, a hook head 3308, a third slide rail slider mechanism 3309, a material layer plate positioning block 3310, a third cylinder connecting plate 3311, and a third cylinder 3313; two hook platform base plates 3301 are vertically arranged at each end of the hook claw mounting base plate 32, a double slide rail support plate 3305 is arranged between the two hook platform base plates 3301, a second slide rail slider mechanism is arranged on the double slide rail support plate 3305, and a hook head base plate 3307 is arranged on the second slider in the second slide rail slider mechanism. 307, a second cylinder connecting piece 3304 is provided at the lower end of the hook head bottom plate 3307, and the second cylinder 3303 is provided on the second cylinder mounting plate 3302, and the hook head is driven to extend and retract by the second cylinder 3303, and a third slide rail slider mechanism 3309 is provided above the hook head, and a material layer positioning block 3310 is provided on the third slider of the third slide rail slider mechanism 3309, and the third cylinder 3313 is fixed on the third cylinder connecting plate 3311, and the third cylinder connecting plate 3311 is vertically connected to the tail end of the hook head 3308, and the material layer positioning block 3310 is connected to the telescopic end of the third cylinder 3313, and the protruding end of the material layer positioning block 3310 is inserted into the recessed part of the material layer 8 under the push of the telescopic end of the third cylinder 3313. In the present invention, the shape of the protruding end of the positioning block can be a triangle, a rectangle, or a special-shaped structure, and the concave portion of the material layer plate 8 can be a concave shape with the same shape as the protruding end of the positioning block. The hook head is a plate-like structure.

[0035] Preferably, the shape of the recessed portion is a recessed triangle, and the shape of the protruding end is a protruding triangle.

[0036] Preferably, if Figure 1 and 2 As shown, the lifting guide rod mechanism 211 includes a sleeve 2111 and a lifting guide rod 2112. One end of the sleeve 2111 is arranged on the suction cup support plate, and one end of the lifting guide rod 2112 is arranged on the suction cup mounting plate 207. The lifting guide rod 2112 can move up and down in the sleeve 2111.

[0037] Preferably, the suction cup mounting plate 207 is mounted with a plurality of suction cups, and each suction cup is connected to a vacuum pump via an air pipe 9 .

[0038] Preferably, if Figure 1 and2 As shown, the translation mechanism 2 further includes side reinforcing ribs 209 and middle reinforcing ribs 210. The side reinforcing ribs 209 are arranged on both sides of the suction cup module bottom plate 201, and the two ends of the middle reinforcing ribs 210 are respectively connected to the side reinforcing ribs 209 on both sides of the suction cup module to enhance the overall rigidity of the translation mechanism 2. The side reinforcing ribs 209 are in the shape of a triangle, and the middle reinforcing ribs 210 are in the shape of a rectangle. The side reinforcing ribs 209 and the middle reinforcing ribs 210 can be hollowed out to ensure sufficient strength while reducing the weight of the side reinforcing ribs 209 and the middle reinforcing ribs 210.

[0039] Preferably, if Figure 5 and 8 As shown, the material trolley 4 includes a wedge-shaped positioning block 42 and a cylindrical support, and a wedge-shaped positioning block 42 is arranged between each layer of material layer plates 8, as shown in FIG. Figure 6 and 7 As shown, it is ensured that each equal height lifting module can be accurately stacked when stacking material carts. A plurality of wheels are arranged on the base 41 of the material cart 4, generally 4 wheels can be arranged, so as to facilitate material transfer. The base shape of the cart can be rectangular or square.

[0040] In the present invention, each component can be made of iron, stainless steel or aluminum.

[0041] On the other hand, Figure 8 As shown, the present invention also provides an automatic stacking device using the above-mentioned automatic stacking device for equal-height loading layers, including a feeding conveyor belt 5, a sorting robot 6, a loading sorting conveyor belt 7, a translation mechanism 2, a material trolley 4, and a lifting mechanism 3; the feeding conveyor belt 5 is arranged at a right angle to the loading sorting conveyor belt 7, the sorting robot 6 sorts the materials on the feeding conveyor belt 5, and moves the sorted materials to the loading sorting conveyor belt 7, and realizes equal-height stacking of the materials through the translation mechanism 2 and the lifting mechanism 3.

[0042] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. An automatic stacking device for equal-height loading layers. It is characterized in that It includes a translation mechanism, a lifting mechanism and a material trolley; the material trolley is used to place material layers and is located below the translation mechanism. The lifting mechanism is arranged on both sides of the material trolley. The lifting mechanism can lift the material layers on the material trolley to a set height. The translation mechanism lifts the material and translates it to a specified position. The translation mechanism includes a base plate, a first slide rail slider mechanism, a slide rail connecting plate, a first motor, a module slider, a suction cup assembly base plate, a suction cup mounting plate, and a first cylinder; the base plate is fixedly arranged on the bracket along the length direction, the first slide rail slider mechanism is arranged on the base plate, the slide rail connecting plate is connected to the slider of the first slide rail slider mechanism, the suction cup assembly base plate is connected to the module slider, the lead screw nut is connected to the side end of the module slider, the lead screw and the lead screw nut cooperate, and after the lead screw rotates, the lead screw nut pushes the suction cup assembly base plate to make the suction cup assembly base plate move horizontally along the slide rail; a first air pump and a plurality of lifting guide rod mechanisms are arranged on the suction cup assembly base plate, the other end of the lifting guide rod is connected to the suction cup assembly mounting plate, the telescopic end of the first air pump is vertically connected to the suction cup assembly mounting plate, and after the telescopic end of the first air pump is extended, the suction cup assembly contacts with the material and then adsorbs the material; The lifting mechanism includes a ball screw lifting assembly, a hook claw mounting base plate and a hook head assembly. One end of the ball screw lifting assembly is arranged on both sides of the material trolley, and the other end of the ball screw lifting assembly is provided with a hook head mechanism, which is used to support the lower edge of the material layer plate. The ball screw lifting assembly can make the hook head assembly rise or fall in the vertical direction; The translation mechanism also includes a motor, the output shaft of the motor is connected to one end of a lead screw through a coupling, and the other end of the lead screw is connected to a fixed seat fixed on the base plate; The hook head mechanism includes a platform base plate, a second cylinder mounting plate, a second cylinder, a second cylinder connecting piece, a double slide rail support plate, a hook head base plate, a hook head, a second slide rail slider mechanism, a third slide rail slider mechanism, a material layer plate positioning block, a third cylinder connecting plate, and a third cylinder; two hook platform base plates are vertically arranged at each end of the hook claw mounting base plate, a double slide rail support plate is arranged between the two hook platform base plates, a second slide rail slider mechanism is arranged on the double slide rail support plate, a hook head base plate is arranged on the second slider in the second slide rail slider mechanism, and the hook A second cylinder connecting piece is provided at the lower end of the sub-head bottom plate, and the second cylinder is provided on the second cylinder mounting plate. The hook head is driven to extend and retract by the second cylinder. A third slide rail slider mechanism is provided above the hook head, and a material layer positioning block is provided on the third slider of the third slide rail slider mechanism. The third cylinder is fixed on the third cylinder connecting plate, and the third cylinder connecting plate is vertically connected to the tail end of the hook head. The material layer positioning block is connected to the telescopic end of the third cylinder. Under the push of the telescopic end of the third cylinder, the protruding end of the material layer positioning block is inserted into the recessed part of the material layer.

2. The automatic stacking device for equal-height loading layers according to claim 1, It is characterized in that The maximum height of each lift of the lifting mechanism is the same.

3. The automatic stacking device for equal-height loading layers according to claim 1, It is characterized in that The shape of the concave portion is a concave triangle, and the shape of the convex end is a convex triangle.

4. The automatic stacking device for equal-height loading layers according to claim 1, It is characterized in that The lifting guide rod mechanism comprises a shaft sleeve and a lifting guide rod. The shaft sleeve is arranged on the suction cup supporting plate, the lifting guide rod is arranged on the suction cup mounting plate, and the lifting guide rod can move up and down in the shaft sleeve.

5. The automatic stacking device for equal-height loading layers according to claim 1, It is characterized in that A plurality of suction cups are installed on the lower surface of the suction cup mounting plate, and each suction cup is connected to a vacuum pump through an air pipe.

6. The automatic stacking device for equal-height loading layers according to claim 1, It is characterized in that The translation mechanism also includes side reinforcement ribs and middle reinforcement ribs. The side reinforcement ribs are arranged on both sides of the bottom plate of the suction cup module. The two ends of the middle reinforcement ribs are respectively connected to the side reinforcement ribs on both sides of the suction cup module to enhance the overall rigidity of the translation mechanism.

7. The automatic stacking device for equal-height loading layers according to claim 1, It is characterized in that The material trolley includes a wedge-shaped positioning block and a cylindrical support. A wedge-shaped positioning block is arranged between each layer of material plates to ensure that each equal-height lifting module is accurately stacked when stacking the material trolley.

8. An automatic stacking production device applied to the automatic stacking device for equal-height loading layers as claimed in any one of claims 1 to 7, It is characterized in that It includes a feed conveyor belt, a sorting robot, a loading sorting conveyor belt, a translation mechanism, a material trolley and a lifting mechanism; the feed conveyor belt is arranged at right angles to the loading sorting conveyor belt, the sorting robot sorts the materials on the feed conveyor belt, and moves the sorted materials to the loading sorting conveyor belt, and realizes equal-height stacking of materials through the translation mechanism and the lifting mechanism.

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