An automatically adjustable tire frame for assembling large flexible thin panels

Abstract

The present invention discloses an automatically adjustable tire frame for assembling large flexible thin plates, comprising a mobile chassis and an auxiliary positioning mechanism, a fixed latch mechanism, a coordinate adjustment mechanism, and height-adjustable struts arranged on the mobile chassis. The mobile chassis is arranged on a workbench and is provided with latch holes and boss structures. The mobile chassis is provided with a control unit that receives instructions from the control unit to drive the mobile chassis to a target position. The auxiliary positioning mechanism is used to cooperate with the boss structure on the workbench to fine-tune the position of the mobile chassis to ensure that it accurately reaches the target position. The fixed latch mechanism is used to cooperate with the latch holes on the workbench to fix the mobile chassis in the target position. The coordinate adjustment mechanism is used to adjust the position of the height-adjustable struts on the mobile chassis. The height-adjustable struts include a strut height adjustment mechanism for adjusting the strut height. The automatically adjustable tire frame of the present invention has a reasonable overall structural design, high control accuracy, and a high degree of automation.

Description

Technical Field

[0001] The invention relates to the technical field of ship craft equipment, in particular to an automatically adjustable tire frame for assembling large flexible thin plates. Background Art

[0002] Large flexible sheets are crucial components for ship hulls and aircraft fuselages. During their assembly, jigs are typically used to position the sheets and limit their deformation. Currently, jig automation in my country is low. In particular, jigs used in large ship hull assembly still utilize a uniformly arranged fixed column jig structure. This jig structure requires manual adjustment of the Z-axis height of each jig for the various curved surfaces of large flexible sheets, consuming significant labor and material resources.

[0003] To overcome these shortcomings, a number of technologies have been developed in this field: CN 203401235 U discloses a jig device for controlling welding deformation of thin plates for ship superstructures, which utilizes a hydraulic device to adjust the jig's height and inclination; CN 111774803 A discloses a cruise ship thin plate turning tool that can achieve thin plate flipping; and CN 207930240 U discloses a segmented magnetic jig for marine thin plates that utilizes a magnetic device to secure and attract thin plates. However, all of these jig devices are fixed, with low positioning accuracy and a low degree of automation, which significantly affects the assembly efficiency of flexible thin plates.

[0004] Therefore, it is of great practical significance to develop a tire frame that is movable and adjustable, has high positioning accuracy, high degree of automation, good ease of use, and can greatly improve the assembly efficiency of flexible thin plates. Summary of the Invention

[0005] Due to the above-mentioned defects in the prior art, the present invention provides a tire frame that is movable and adjustable, has high positioning accuracy, high degree of automation, good ease of use and can greatly improve the assembly efficiency of flexible thin plates, overcoming the defects of the thin plate tire frame being fixed, having low positioning accuracy, too low degree of automation and affecting the assembly efficiency of flexible thin plates.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] An automatically adjustable tire frame for assembling large flexible thin plates, comprising a mobile chassis and an auxiliary positioning mechanism, a fixed latch mechanism, a coordinate adjustment mechanism and a height-adjustable support arranged on the mobile chassis;

[0008] The mobile chassis is arranged on a workbench and has latch holes and boss structures distributed on the workbench. The mobile chassis is provided with a control unit, which can receive instructions through the control unit to drive the mobile chassis to a target position.

[0009] The auxiliary positioning mechanism is used to cooperate with the boss structure on the workbench to fine-tune the position of the mobile chassis to ensure that it reaches the target position accurately;

[0010] The fixed latch mechanism is used to cooperate with the latch hole on the workbench to fix the mobile chassis at the target position;

[0011] The coordinate adjustment mechanism is used to adjust the position of the height-adjustable support column on the mobile chassis;

[0012] The height-adjustable support column includes a support height adjustment mechanism for adjusting the height of the support column.

[0013] The automatic adjustable tire frame for assembling large flexible thin plates of the present invention can realize automatic navigation and movement of the tire frame according to the provided tire frame layout plan, accurately position the tire frame, and has functions such as automatic fixation, automatic adjustment of the tire frame height, and automatic information feedback, thereby realizing automated and intelligent adjustment of the tire frame, which can not only improve the efficiency of assembling large flexible thin plates and reduce manual labor, but also greatly improve assembly accuracy. The above-mentioned tire frame has a reasonable overall structural design. It can not only achieve accurate positioning of the mobile chassis through the auxiliary positioning mechanism and the fixed latch mechanism, but also use the coordinate adjustment mechanism and the coordinate adjustment mechanism to complete the support of the large flexible thin plate. It has high control accuracy and a high degree of automation, and has great application prospects.

[0014] As the preferred technical solution:

[0015] The automatic adjustable tire frame for assembling large flexible thin plates as described above, wherein the movable chassis includes a first motor, a wheel set, and upper and lower base plates parallel to each other;

[0016] The wheel set is fixed on the lower base plate, and the first motor is connected to the wheel set to drive the wheel set.

[0017] The automatic adjustable tire frame for assembling large flexible thin plates as described above, wherein the wheel set is a Mecanum wheel, can enable the mobile chassis to move in all directions on the workbench to reach the target position, and has high flexibility.

[0018] In the automatic adjustable tire frame for assembling large flexible thin plates as described above, the control unit includes a two-dimensional distance measuring sensor, a magnetic compass module, a single chip microcomputer and a driver board;

[0019] The two-dimensional distance measuring sensor, magnetic compass module, single chip microcomputer and driving board are fixed on the mobile chassis;

[0020] The two-dimensional distance measuring sensor, magnetic compass module and driving board are respectively connected to the single chip microcomputer signal;

[0021] The two-dimensional distance measuring sensor and magnetic compass module are used to obtain the position information of the mobile chassis;

[0022] The driving board is connected to the first motor signal.

[0023] In the automatic adjustable tire frame for assembling large flexible thin plates as described above, the auxiliary positioning mechanism includes a second motor, a first threaded screw and a concave slide;

[0024] The second motor is connected to the single-chip microcomputer signal, the second motor is fixed on the lower base plate, the driving shaft of the second motor is connected to the first threaded screw, and concave slides are fixed at both ends of the first threaded screw, and the concave slide is provided with a notch that is aligned with the dovetail groove provided on the lower base plate (to ensure that the concave slide slides along the set direction). When the mobile chassis roughly reaches the target position, but there are deviations in displacement and angle, the second motor drives the first threaded screw to drive the concave slides on both sides to extend to both sides and cooperate with the boss structure on the workbench to fine-tune the position of the mobile chassis to correct the deviations in displacement and angle of the mobile chassis, which is beneficial to the cooperation between the pin structure in the fixed pin mechanism and the pin hole on the workbench.

[0025] The automatic adjustable tire frame for assembling large flexible thin plates as described above, wherein the fixed latch mechanism includes a sixth motor, a fifth threaded screw, a bottom plate with a latch, and a second slide bar;

[0026] The sixth motor is connected to the single-chip microcomputer signal, and the drive shaft of the sixth motor is connected to the fifth threaded screw. The sixth motor is fixed on the upper base plate and the fifth threaded screw is perpendicular to the upper base plate. The fifth threaded screw is fixedly connected to the bottom plate with a latch located on the lower side of the lower base plate away from the end of the sixth motor. The bottom plate with a latch is provided with a plurality of latches. The sixth motor drives the fifth threaded screw to rotate and then drives the bottom plate with a latch to move along the vertical direction. The latch is inserted into the latch hole on the workbench. At this time, the bottom plane contacts the workbench plane, replacing the Mecanum wheel as a supporting structure when fixed, thereby improving the stability of the support;

[0027] The lower base plate is provided with a second sliding rod arranged vertically, and the base plate with a latch is provided with a through hole matching the second sliding rod. The second sliding rod is fixed to the lower base plate through the through hole on the base plate with the latch, and the second sliding rod is provided with a limiting device at the end away from the lower base plate, which is used to limit the rotational freedom of the base plate with the latch during lifting and increase the structural support strength when fixed.

[0028] In the automatic adjustable tire frame for assembling large flexible thin panels as described above, the coordinate adjustment mechanism includes four secondary bases arranged in a square shape and fixed to the upper base plate;

[0029] A first sliding rod is provided between the first and second secondary bases, a third threaded screw parallel to the first sliding rod is provided between the third and fourth secondary bases, a first slide is provided on the first sliding rod, a second slide is fixed on the third threaded screw, the third threaded screw is connected to the drive shaft of the fourth motor, a second threaded screw perpendicular to the third threaded screw is provided between the first slide and the second slide, a support base is fixed on the second threaded screw, and the second threaded screw is connected to the drive shaft of the third motor;

[0030] The third motor and the fourth motor are respectively connected to the single chip microcomputer signal. The coordinate adjustment mechanism can further fine-tune the support to the target position in the horizontal plane, and can also feed back the position information to the single chip microcomputer by carrying an ultrasonic ranging module to improve the control accuracy.

[0031] An automatically adjustable tire frame for assembling large flexible thin panels as described above, wherein the pillar height adjustment mechanism includes a fourth threaded screw, a box cover, a hollow shaft, a first gear, a second gear, a fifth motor, and a pillar outer sheath;

[0032] The fifth motor is connected to the single-chip microcomputer signal. A second gear is mounted on the drive shaft of the fifth motor, meshing with the first gear. The hollow shaft is arranged within the first gear and fixedly connected to the first gear. The fourth threaded screw is located within the hollow shaft. The threaded structure within the hollow shaft is connected to the fourth threaded screw via a helical pair (so that the rotation of the hollow shaft is converted into linear motion of the fourth threaded screw in a vertical direction). One end of the fourth threaded screw is arranged within the hollow structure of the support sheath, and the other end extends through the box cover. In the cooperation between the hollow shaft and the fourth threaded screw, the thread lead angle is less than the equivalent friction angle, and self-locking is achieved when the motor is not operating.

[0033] In the automatic adjustable tire frame for assembling large flexible thin plates as described above, the outer sheath of the support is a square cylinder structure, which can limit the rotational freedom of the threaded screw;

[0034] The pillar height adjustment mechanism is provided with a laser distance measuring sensor for measuring the displacement of the fourth threaded screw in the vertical direction, and the laser distance measuring sensor is connected to the single chip microcomputer signal.

[0035] In the automatic adjustable tire frame for assembling large flexible thin plates as described above, there are a plurality of pin holes and boss structures, which are evenly distributed on the workbench.

[0036] The above technical solution is only a feasible technical solution of the present invention. The protection scope of the present invention is not limited thereto. Those skilled in the art can reasonably adjust the specific design according to actual needs.

[0037] The above invention has the following advantages or beneficial effects:

[0038] (1) The automatic adjustable tire frame for assembling large flexible thin plates of the present invention uses Mecanum wheels as driving wheels and can move in all directions;

[0039] (2) The automatic adjustable tire frame for assembling large flexible thin plates of the present invention can cooperate with the workbench to achieve precise positioning of the mobile chassis through the auxiliary positioning mechanism and the fixed latch mechanism;

[0040] (3) The automatic adjustable tire frame for assembling large flexible thin plates of the present invention utilizes a coordinate adjustment mechanism and a coordinate adjustment mechanism to support the large flexible thin plates, and can realize automatic adjustment in three directions of three-dimensional space. Compared with the traditional fixed tire frame, it can effectively improve the tire frame adjustment efficiency, reduce labor costs, and is suitable for the assembly of various large flexible thin plates, and has great application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present invention and its features, configurations, and advantages will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings. Like reference numerals indicate like parts throughout the drawings. The drawings are not drawn to scale, emphasis instead being placed on illustrating the subject matter of the present invention.

[0042] Figure 1 This is a schematic diagram of the overall structure of the automatic adjustable tire frame for assembling large flexible thin plates of the present invention;

[0043] Figure 2 It is a structural diagram of the mobile chassis;

[0044] Figure 3 It is a structural diagram of the auxiliary positioning mechanism;

[0045] Figure 4 It is a structural diagram of the coordinate adjustment mechanism;

[0046] Figure 5 It is a structural diagram of the pillar height adjustment mechanism;

[0047] Figure 6 It is a structural diagram of the latch fixing mechanism;

[0048] Figure 7 It is a structural diagram of the workbench;

[0049] Among them: A: mobile chassis; A01: lower base; A02: Mecanum wheel; A03: first motor; A04: upper base; B: auxiliary positioning mechanism; B01: second motor; B02: first screw rod; B03: concave slide; B04: dovetail groove; C: coordinate adjustment mechanism; C01: third motor; C02: first slide; C03: secondary base; C04: first slide; C05: second screw rod; C06: support base; C07: second slide; C08: third screw rod Rod; C09: Fourth motor; D: Height-adjustable pillar; D01: Fourth threaded screw; D02: Box cover; D03: Hollow shaft; D04: Key; D05: First gear; D06: Sleeve; D07: Second gear; D08: Fifth motor; D09: Rolling bearing; D10: Pillar outer sheath; E: Pin fixing mechanism; E01: Sixth motor; E02: Fifth threaded screw; E03: Base plate with pin; E04: Second slide bar; F: Workbench; F01: Pin hole; F02: Boss structure. DETAILED DESCRIPTION

[0050] The structure of the present invention is further described below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention.

[0051] Example 1

[0052] An automatic adjustable tire frame for assembling large flexible thin plates, such as Figure 1 As shown, it includes a mobile chassis A and an auxiliary positioning mechanism B, a fixed latch mechanism E, a coordinate adjustment mechanism C and a height-adjustable support D arranged on the mobile chassis A;

[0053] The mobile chassis A is arranged as follows Figure 7 The workbench F shown is evenly distributed with a plurality of latch holes F01 and boss structures F02;

[0054] Mobile chassis A Figure 2 As shown, it includes a first motor A03, a Mecanum wheel A02, and an upper base plate A04 and a lower base plate A01 that are parallel to each other. The Mecanum wheel A02 is fixed to the lower base plate A01. The first motor A03 is connected to the Mecanum wheel A02, and the Mecanum wheel A02 can be driven by the first motor A03.

[0055] The mobile chassis A is also fixed with a two-dimensional ranging sensor, a magnetic compass module, a single-chip microcomputer and a driver board. The two-dimensional ranging sensor, the magnetic compass module and the driver board are respectively connected to the single-chip microcomputer signal. The two-dimensional ranging sensor and the magnetic compass module are used to obtain the position information of the mobile chassis. The driver board is connected to the first motor signal.

[0056] Auxiliary positioning mechanism B Figure 3As shown, it is used to cooperate with the boss structure on the workbench to fine-tune the position of the mobile chassis to ensure that it reaches the target position accurately. It includes a second motor B01, a first threaded screw B02 and a concave slide B03. The second motor B01 is connected to the single-chip microcomputer signal. The second motor B01 is fixed on the lower base plate A01. The drive shaft of the second motor B01 is connected to the first threaded screw B02. Concave slides B03 are fixed at both ends of the first threaded screw B02. The concave slide B03 is provided with a notch that is the same as the dovetail groove B04 provided on the lower base plate A01. The second motor B01 drives the first threaded screw B02 to drive the concave slides B03 on both sides to extend to both sides and cooperate with the boss structure F02 on the workbench F to fine-tune the position of the mobile chassis A;

[0057] Fixed latch mechanism E Figure 6 As shown, it is used to cooperate with the latch hole F01 on the workbench F to fix the mobile chassis A at the target position, which includes a sixth motor E01, a fifth threaded screw E02, a bottom plate E03 with a latch and a second slide bar E04. The sixth motor E01 is connected to the single-chip microcomputer signal, the drive shaft of the sixth motor E01 is connected to the fifth threaded screw E02, the sixth motor E01 is fixed on the upper bottom plate A01 and the fifth threaded screw E02 is perpendicular to the upper bottom plate A01, the end of the fifth threaded screw E02 away from the sixth motor E01 is connected to the bottom plate E03 with a latch located on the lower side of the lower bottom plate A01. The plate E03 is fixedly connected, and a plurality of latches are provided on the bottom plate E03 with latches. The sixth motor E01 drives the fifth screw rod E02 to rotate, thereby driving the bottom plate E03 with latches to move in the vertical direction. The latches are inserted into the latch holes F01 on the workbench F. A vertically arranged second slide bar E04 is provided on the lower bottom plate A01. A through hole matching the second slide bar E04 is provided on the bottom plate E03 with latches. The second slide bar E04 passes through the through hole on the bottom plate E03 with latches and is fixed to the lower bottom plate A01. A limit device is provided on the end of the second slide bar E04 away from the lower bottom plate A01.

[0058] The coordinate adjustment mechanism C is used to adjust the position of the height-adjustable support D on the mobile chassis. Figure 4As shown, it includes four secondary bases C03 fixed on the upper base plate A01 and arranged in a square shape, a first slide rod C02 is provided between the first secondary base and the second secondary base, a third threaded screw C08 parallel to the first slide rod C02 is provided between the third secondary base and the fourth secondary base, a first slide C04 is installed on the first slide rod C02, a second slide C07 is fixed on the third threaded screw C08, the third threaded screw C08 is connected to the drive shaft of the fourth motor C09, a second threaded screw C05 perpendicular to the third threaded screw C08 is provided between the first slide C04 and the second slide C07, a pillar base is fixed on the second threaded screw C05, the second threaded screw C05 is connected to the drive shaft of the third motor C01, and the third motor C01 and the fourth motor C09 are respectively connected to the single-chip microcomputer signal;

[0059] The height-adjustable support D includes a support height adjustment mechanism for adjusting the support height. Figure 5 As shown, it includes a fourth threaded screw D01, a box cover D02, a hollow shaft D03, a first gear D05, a second gear D07, a fifth motor D08 and a support sheath D10 (square tube structure), the fifth motor D08 is connected to the single-chip signal, the driving shaft of the fifth motor D08 is equipped with a second gear D07, the second gear D07 is engaged with the first gear D05, the hollow shaft D03 is arranged in the first gear D05 and is fixedly connected to the first gear D05, the fourth threaded screw D 01 is located in the hollow shaft D03, and the threaded structure in the hollow shaft D03 is connected to the fourth threaded screw D01 through a spiral pair (including a sleeve D06, a rolling bearing D09 and a key D04). One end of the fourth threaded screw D01 is arranged in the hollow structure of the pillar outer sheath D10, and the other end passes through the box cover D02. The pillar height adjustment mechanism is provided with a laser ranging sensor for measuring the vertical displacement of the fourth threaded screw D01, and the laser ranging sensor is connected to the single-chip microcomputer signal.

[0060] Those skilled in the art should understand that they can implement variations by combining the prior art with the above embodiments, which will not be described in detail here. Such variations do not affect the essence of the present invention and will not be described in detail here.

[0061] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-mentioned disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention that do not depart from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. An automatically adjustable tire frame for assembling large flexible thin panels, characterized by: It includes a mobile chassis and an auxiliary positioning mechanism, a fixed latch mechanism, a coordinate adjustment mechanism and a height-adjustable support arranged on the mobile chassis; The mobile chassis is arranged on a workbench and has pin holes and boss structures distributed on the workbench. The mobile chassis is provided with a control unit, which can receive instructions through the control unit to move the mobile chassis to a target position. The mobile chassis includes upper and lower base plates that are parallel to each other, and the control unit includes a single-chip microcomputer; The auxiliary positioning mechanism is used to cooperate with the boss structure on the workbench to fine-tune the position of the mobile chassis to ensure that it reaches the target position accurately; The auxiliary positioning mechanism includes a second motor, a first threaded screw and a concave slide; The second motor is connected to the single-chip microcomputer signal, the second motor is fixed to the lower base plate, the drive shaft of the second motor is connected to the first threaded screw, and concave slides are fixed at both ends of the first threaded screw. The concave slides are provided with notches that match the dovetail grooves provided on the lower base plate. The second motor drives the first threaded screw to drive the concave slides on both sides to extend to both sides and cooperate with the boss structure on the workbench to fine-tune the position of the mobile chassis; The fixed latch mechanism is used to cooperate with the latch hole on the workbench to fix the mobile chassis at the target position; The fixed latch mechanism includes a sixth motor, a fifth threaded screw, a bottom plate with a latch and a second sliding rod; The sixth motor is connected to the single-chip microcomputer signal, the drive shaft of the sixth motor is connected to the fifth threaded screw, the sixth motor is fixed to the upper base plate and the fifth threaded screw is perpendicular to the upper base plate, the fifth threaded screw is fixedly connected to the bottom plate with a latch located on the lower side of the lower base plate away from the end of the sixth motor, the bottom plate with a latch is provided with a plurality of latches, the sixth motor drives the fifth threaded screw to rotate and thereby drives the bottom plate with the latch to move in the vertical direction, and the latch is inserted into the latch hole on the workbench; The lower base plate is provided with a second vertically arranged slide bar, the base plate with a latch is provided with a through hole matching the second slide bar, the second slide bar is fixed to the lower base plate through the through hole on the base plate with the latch, and a limiting device is provided at the end of the second slide bar away from the lower base plate; The coordinate adjustment mechanism is used to adjust the position of the height-adjustable support column on the mobile chassis; The height-adjustable support column includes a support height adjustment mechanism for adjusting the height of the support column.

2. The automatic adjustable tire frame for assembling large flexible thin panels according to claim 1, characterized in that: The mobile chassis includes a first motor, a wheel set, and upper and lower base plates parallel to each other; The wheel set is fixed on the lower base plate, and the first motor is connected to the wheel set to drive the wheel set.

3. The automatic adjustable tire frame for assembling large flexible thin panels according to claim 2, characterized in that: The wheel set is a Mecanum wheel.

4. The automatic adjustable tire frame for assembling large flexible thin panels according to claim 2, characterized in that: The control unit includes a two-dimensional distance measuring sensor, a magnetic compass module, a single chip microcomputer and a driver board; The two-dimensional distance measuring sensor, magnetic compass module, single chip microcomputer and driving board are fixed on the mobile chassis; The two-dimensional distance measuring sensor, magnetic compass module and driving board are respectively connected to the single chip microcomputer signal; The two-dimensional distance measuring sensor and magnetic compass module are used to obtain the position information of the mobile chassis; The driving board is connected to the first motor signal.

5. The automatic adjustable tire frame for assembling large flexible thin panels according to claim 4, characterized in that: The coordinate adjustment mechanism includes four secondary bases arranged in a square shape and fixed to the upper base plate; A first sliding rod is provided between the first and second secondary bases, a third threaded screw parallel to the first sliding rod is provided between the third and fourth secondary bases, a first slide is provided on the first sliding rod, a second slide is fixed on the third threaded screw, the third threaded screw is connected to the drive shaft of the fourth motor, a second threaded screw perpendicular to the third threaded screw is provided between the first slide and the second slide, a support base is fixed on the second threaded screw, and the second threaded screw is connected to the drive shaft of the third motor; The third motor and the fourth motor are respectively connected to the single chip microcomputer signal.

6. The automatic adjustable tire frame for assembling large flexible thin panels according to claim 4, characterized in that: The pillar height adjustment mechanism includes a fourth threaded screw, a box cover, a hollow shaft, a first gear, a second gear, a fifth motor and a pillar outer sheath; The fifth motor is connected to the single-chip microcomputer signal, and a second gear is mounted on the drive shaft of the fifth motor, which is engaged with the first gear. The hollow shaft is arranged in the first gear and fixedly connected to the first gear. The fourth threaded screw is located in the hollow shaft, and the threaded structure in the hollow shaft is connected to the fourth threaded screw through a spiral pair. One end of the fourth threaded screw is arranged in the hollow structure of the outer sheath of the pillar, and the other end passes through the box cover.

7. The automatic adjustable tire frame for assembling large flexible thin panels according to claim 6, characterized in that: The outer sheath of the support is a square tube structure; The pillar height adjustment mechanism is provided with a laser distance measuring sensor for measuring the displacement of the fourth threaded screw in the vertical direction, and the laser distance measuring sensor is connected to the single chip microcomputer signal.

8. The automatic adjustable tire frame for assembling large flexible thin panels according to claim 1, characterized in that: There are a plurality of pin holes and boss structures, which are evenly distributed on the workbench.

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