A wraparound compression release mechanism

Abstract

The application discloses a band type compression release mechanism, which comprises a band assembly (3) connected to a target parent body (1) at one end and connected to one end of a fusible rope (4) at the other end, a rope pre-tightening device (6) connected to the other end of the fusible rope (4) and used for adjusting the tightness of the fusible rope (4), and a hot knife assembly (5) arranged close to the fusible rope (4) and used for heating and fusing the fusible rope (4) to release the band assembly (3) and realize the unlocking and release between the target child body (2) and the target parent body (1). The scheme of the application is used for overcoming the shortcomings of large impact and single use of the existing pyrotechnic compression release mechanism and has the advantages of small impact in the release process and low cost.

Description

Technical Field

[0001] This invention relates to the field of aerospace structures and mechanisms, and more particularly to a compression and release mechanism. Background Technology

[0002] Satellites or other spacecraft, as well as their payloads such as solar arrays and antennas, often need to perform clamping and releasing actions based on mission requirements or due to constraints. These actions include on-orbit separation between the parent and daughter satellites, or between individual satellites and the main satellite. These actions are accomplished through clamping and releasing mechanisms. These mechanisms must not only ensure that the spacecraft provides reliable constraints for the target payload on the ground and during launch, but also ensure that the target payload can be safely and reliably separated after the spacecraft enters orbit.

[0003] Compression and release are the two most important functions of the compression and release mechanism, and also the two key force-bearing links. Compression refers to the spacecraft constraining the target payload in a designated position during ground or launch and ensuring that it can withstand the thermal and mechanical environment of the ground or launch phase; release refers to the spacecraft releasing the constraint of the target payload after entering the predetermined orbit, completing the separation or partial separation of the target payload from the spacecraft body.

[0004] Currently, most mature clamping and release mechanisms use pyrotechnic devices to unlock the clamping mechanism, and the release mechanism separates the target payload. However, clamping and release mechanisms based on pyrotechnic devices have several insurmountable drawbacks: firstly, they are expensive, as the pyrotechnic device can only unlock once, requiring replacement for subsequent unlocking; secondly, they generate large impact loads, which can affect the structure or attitude of satellites or spacecraft upon detonation; thirdly, they are large in size and weight, making them unsuitable for small payloads on microsatellites; and fourthly, due to their hazardous nature, transportation costs remain high. Summary of the Invention

[0005] This invention provides a wrap-around compression and release mechanism to overcome the shortcomings of existing pyrotechnic compression and release mechanisms, which suffer from large impact and can only be used once, and offers a novel compression and release solution.

[0006] This invention provides a strap-type compression and release mechanism, characterized in that it includes:

[0007] The strap assembly 3 has one end connected to the target mother body 1 and the other end connected to one end of the fusible rope 4;

[0008] A rope pretensioning device 6, which is connected to the other end of the fusible rope 4, is used to adjust the tension of the fusible rope 4;

[0009] After the rope pretensioning device 6 is adjusted, the function of pressing the target sub-body 2 onto the target mother body 1 based on the strap assembly 3 is realized;

[0010] A hot knife assembly 5, which is disposed in close proximity to the fusible rope 4, is used to heat and melt the fusible rope 4 to release the strap assembly 3.

[0011] Preferably, the rope pretensioning device 6 includes:

[0012] The screw support 63 is fixedly connected to the target mother body 1;

[0013] Adjusting screw 62 is inserted into the through hole of screw bracket 63. One end of adjusting screw 62 is U-shaped cavity, and there are mounting holes on both sides.

[0014] The connecting screw 61 is installed based on the mounting holes on both sides of the U-shaped cavity, and passes through the eyelet of the fusible rope 4 inside the U-shaped cavity to connect the adjusting screw to the fusible rope.

[0015] Preferably, the hot knife assembly 5 includes:

[0016] The hot knife holder 52 is fixed to the target mother body 1 and is used to mount the hot knife 51;

[0017] A hot knife 51 is mounted on the hot knife bracket 52, and its heating element is connected to a power supply cable so that the heating element heats up after the power is turned on, thereby melting the fusible rope 4.

[0018] Preferably, the hot knife assembly 5 further includes:

[0019] The guide post 53 is arranged on the hot knife support 52 with its axis parallel to the heating element of the hot knife 51, and it contacts the fusible rope 4 to form a preset wrap angle, which is used to change the stretching direction of the fusible rope 4.

[0020] Preferably, the two ends of the fusible rope 4 are provided with eyelets;

[0021] One end of the fusible rope 4 is fixedly connected to the strap assembly 3 via a loop;

[0022] The other end of the fusible rope 4 is fixedly connected to the connecting screw 61 through a loop.

[0023] Preferably, the compression release structure further includes a strap adjustment device 7, which is fixed on the target mother body 1 and used to adjust the tightness of the strap assembly 3;

[0024] The strap adjustment device 7 includes:

[0025] The fixing seat 701 is fixedly connected to the target body 1 and is located on the other side of the body opposite to the rope pretensioning device 6;

[0026] The rotating plate 702 is connected to the fixed base 701 by a pin screw 703 and can rotate relative to the fixed base 701 around the pin screw 703. Its movable end is connected and fixed to the end of the strap assembly 3. It is also connected to the target mother body 1 by an adjusting screw 706. Adjusting the adjusting screw 706 causes the rotating plate 702 to rotate, thereby realizing the tension adjustment 3 of the strap assembly.

[0027] Preferably, self-lubricating gaskets 705 are provided on both sides of the rotating plate 702 that are connected to the pin screw 703.

[0028] Preferably, the strap adjustment device 7 further includes:

[0029] Clip 712, together with the rotating piece 702, clamps and fixes the end of the strap assembly 3 by screws;

[0030] Preferably, the rotating plate 702 is further provided with a ball concave, and a ball protrusion is installed inside the ball concave. When the adjusting screw 706 is adjusted, the pressure of the adjusting screw is transmitted to the rotating plate through the ball protrusion.

[0031] Preferably, the adjusting screw 706 passes through a conformal spring, which is a compression spring with one end pressing against the mother body and the other end pressing against the rotating plate.

[0032] The embodiments of this invention, through the designed wrap-around compression and release mechanism, can ensure the compression effect of the target parent and target daughter. Furthermore, after release, the fusible rope can be replaced for reuse, offering the advantage of low cost. Simultaneously, the impact during the hot-blade fusion of the rope comes only from the wrap-around preload force, significantly reducing the impact compared to the combined impact of gunpowder and preload force during the detonation of pyrotechnic devices in traditional solutions. This is highly beneficial for satellites, especially microsatellites.

[0033] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0034] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0035] Figure 1 This is a schematic diagram of the compression state of the strap-type compression and release mechanism of this application;

[0036] Figure 2 This is a schematic diagram of the release state of the strap-type compression release mechanism of this application;

[0037] Figure 3 This is a partial schematic diagram of the rope pretensioning device of the strap-type compression release mechanism of this application;

[0038] Figure 4 This is a partial schematic diagram of the strap adjustment device of the strap-type compression and release mechanism of this application. Detailed Implementation

[0039] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0040] This invention provides a strap-type compression release mechanism, such as... Figure 1 As shown, it includes:

[0041] The strap assembly 3 has one end connected to the strap adjustment device 7 and the other end connected to one end of the fusible rope 4. The strap adjustment device 7 is fixed to the target body 1 and is used to adjust the tension of the strap assembly 3. The rope pretensioning device 6 is connected to the other end of the fusible rope 4 and is used to adjust the tension of the fusible rope 4.

[0042] After the strap adjustment device 7 and the rope pretensioning device 6 are adjusted, the target sub-body 2 is pressed onto the target mother body 1 based on the strap assembly 3.

[0043] A hot knife assembly 5, located near the fusible rope 4, is used to heat and melt the fusible rope 4 to release the strap assembly 3.

[0044] Specifically, in this embodiment, the strap assembly 3 is connected to the fusible rope 4, one end of the strap assembly 3 is connected to the strap adjustment device 7, and one end of the fusible rope 4 is connected to the rope pretensioning device 6.

[0045] In this embodiment, the clamping and releasing mechanism is used to clamp the target sub-body 2 onto the target parent body 1 to form a structure. The clamping between the target sub-body and the target parent body provides a certain degree of rigidity. In this embodiment, the clamping force is applied to the sub-body via a strap and then transmitted to the parent body. Both ends of the strap assembly are equipped with a rope pre-tensioning device 6 and a strap adjustment device 7, respectively. Both can be adjusted to control the clamping force, ensuring that the structural rigidity meets requirements. The adjustment devices on both sides ensure balanced force on both sides of the sub-body, guaranteeing the stability of the structure. Conversely, if adjustment is only made on one side of the sub-body, the clamping force on the side furthest from the adjustment mechanism will be smaller due to friction between the strap and the sub-body, making it prone to stiffness changes during vibration.

[0046] The working process of the strap-type compression and release mechanism in this embodiment is as follows:

[0047] Before launch, the target sub-body 2 is pressed and gathered onto the target mother body 1 by the adjustment devices (belt adjustment device 7 and rope pretensioning device 6) at both ends of the target mother body, so that the structure formed by the sub-body and the mother body has a certain rigidity.

[0048] like Figure 2 As shown, after the satellite product enters orbit, the hot knife 51 is energized. In some embodiments, the hot knife assembly 5 can be positioned close to the fusible rope 4, heating the hot knife 51 to melt and sever the fusible rope 4. The heating element melts the fusible rope 4, and the wrapping assembly 3 unfolds under its own rebound force, releasing the constraint on the target sub-body 2 and moving away from the structure. Simultaneously, the target sub-body detaches from the parent body using the elastic potential energy stored in the compressed state and enters the working state. When it is necessary to compress and retract again, only the fusible rope needs to be replaced; the hot knife is reusable.

[0049] In some embodiments, the rope pretensioning device 6 includes:

[0050] The screw support 63 is fixedly connected to the target mother body 1;

[0051] Adjusting screw 62, the screw part of which is inserted into the through hole of screw bracket 63, one end of adjusting screw 62 is U-shaped cavity, and there are mounting holes on both sides;

[0052] The connecting screw 61 is installed using mounting holes on both sides of the U-shaped cavity and passes through the eyelet of the fusible rope 4 within the U-shaped cavity, thus connecting the adjusting screw to the fusible rope. The rope tension can be adjusted by moving the adjusting screw along the screw holder. Specifically, as shown... Figure 3As shown, the rope pretensioning device 6 consists of a connecting screw 61, an adjusting screw 62, a screw bracket 63, and a locking nut 64. The screw bracket 63 is fixed to the target body. The threaded end of the adjusting screw is inserted into the through hole of the screw bracket 63. The other end of the adjusting screw is U-shaped, with through holes and threaded holes on both sides. The connecting screw passes through the through hole end, through the loop of the fusible rope in the U-shaped cavity, and finally screws into the threaded hole. In this example, the cross-section of the strap assembly 3 is C-shaped, similar to a measuring tape, which has higher bending stiffness than a rectangular cross-section. The strap assembly 3 includes a strap body and an end 32. The end 32 of the strap assembly 3 is fixed to the strap by screwing or riveting. The fusible rope 4 can be woven from high-strength fiber filaments and has loops at both ends. One end of the fusible rope 4 is connected to the strap assembly 3 through the hole on the end 32, and the other end is connected to the adjusting screw 62 through the connecting screw 61.

[0053] When the fusible rope 4 is pre-tightened, tighten the pre-tightening nut on the outside of the screw bracket 63 using a torque wrench until the tightening torque reaches the set value. During tightening, the adjusting screw should only move horizontally, not rotate. Then tighten the nut on the inside of the screw bracket to fix the relative position of the adjusting screw in the screw bracket. Finally, tighten the anti-loosening nut on the outside of the screw bracket.

[0054] In this example, the two ends of the fusible rope 4 are braided into loops, which are then attached to the end holes or connecting screws, without the need for binding. There are three disadvantages to binding the rope: 1. The rope strength is significantly reduced; 2. After pre-tensioning, the rope undergoes structural elongation, reducing the structural stiffness; 3. The bound knots are at risk of loosening or slipping.

[0055] In some embodiments, the hot knife assembly 5 includes:

[0056] The hot knife holder 52 is fixed to the target mother body 1 and is used to mount the hot knife 51.

[0057] A hot knife 51, mounted on the hot knife holder 52, has a heating element connected to a power cable to heat up after power is supplied, melting and severing the fusible rope 4. Specifically, as follows... Figure 3 As shown, the heating element of the hot knife 51 can be cylindrical. The hot knife 51 is mounted on the hot knife bracket 52, and the hot knife body is axially horizontal. The power supply cable is located at the rear end of the hot knife 51. After being powered on, the heating element of the hot knife can heat up, thereby heating the fusible rope 4 and quickly melting it.

[0058] The fusible rope 4 forms a wrap angle on the right side of the hot knife. During the rope's melting process, two aspects are noteworthy: 1. The rope diameter decreases, the length increases, and the preload of the strap decreases or even becomes zero, resulting in lower structural rigidity. 2. The wrap angle decreases; when the wrap angle is 0°, it means the rope is no longer tightly pressed against the hot knife, potentially preventing it from melting. However, the strap assembly 3 designed in this invention, due to its own rebound force, pulls the fusible rope to continue pressing tightly against the hot knife until it melts.

[0059] like Figure 2 As shown, after the fusible rope 4 is fused, one section of the rope moves away from the structure as the strap unfolds, avoiding snagging on the structure. The self-rebound function of the strap assembly 3 is similar to a rope winding mechanism, which has advantages such as simple structure and light weight.

[0060] The total length of the strap assembly 3 and the fusible rope 4 is determined by the dimensions of the target sub-body and the target parent body. The strap assembly 3 should be as long as possible, and the rope should be as short as possible. The shorter the rope, the lower the risk of snagging; the shorter the rope, the smaller, even negligible, the creep caused by the rope. Otherwise, the structural stiffness cannot be maintained, and re-pre-tensioning is required before launch. In some embodiments, the fusible rope 4 is pre-stretched before installation to eliminate structural elongation and prevent the structural pre-tension force from decreasing.

[0061] In some embodiments, the hot knife assembly 5 further includes:

[0062] The guide post 53 is arranged on the hot knife support 52 with its axis parallel to the heating element of the hot knife 51, and is in contact with the pre-tightened fusible rope 4.

[0063] Its function is to change the direction of the fusible rope 4, so that the rope pretensioning device can be placed horizontally, reducing the installation height of the hot knife and making the structure more compact.

[0064] In some embodiments, the strap adjustment device 7 includes:

[0065] The fixing seat 701 is fixedly connected to the target body 1 and is located on the other side opposite to the rope pretensioning device 6;

[0066] A rotating plate 702, connected to the fixed base 701 by a pin screw 703, is rotatable based on the pin screw 703. Its movable end is fixedly connected to the end of the strap assembly 3 (relative to the other end connected to the fusible rope 4). It is also connected to the target body 1 by an adjusting screw 706. Adjusting the adjusting screw 706 can drive the rotating plate 702 to rotate, thereby adjusting the tightness of the strap assembly 3. In some embodiments, self-lubricating pads 705 are provided on both sides of the rotating plate 702 connected to the pin screw 703. In some embodiments, the strap adjustment device 7 further includes a clamping plate 712, which is fixedly connected to the rotating plate 702 to fix one end of the strap assembly 3; in some embodiments, the strap adjustment mechanism uses a conformal spring 710 to ensure the rigidity of the strap adjustment device after unlocking.

[0067] Specifically, such as Figure 4 As shown, in this example, the fixed base 701 and the rotating plate 702 form a rotating mechanism via a pin and screw 703, allowing the rotating plate 702 to rotate around the axis of the pin and screw 703. Tightening the adjusting screw 706 moves the screw head downwards, causing the rotating plate 702 to rotate downwards, thereby pulling the strap assembly 3 and pre-tightening the strap. The pin and screw 703 serves as the pivot between the rotating plate and the fixed base. One end of the pivot is axially positioned by a nut 704. Self-lubricating washers 705 on both sides between the fixed base 701 and the rotating plate 702 ensure flexible rotation and prevent jamming. The rotating plate 702 and the clamping plate 712 clamp and fix one end of the strap in the strap assembly 3 with screws. Two spherical concave surfaces are symmetrically arranged on both sides of the middle of the rotating plate 702, each containing two spherical convex surfaces 708. The mating surfaces of the spherical concave and convex surfaces are spherical. When the rotating plate rotates, the spherical concave surfaces rotate relative to the spherical convex surfaces, and the two surfaces are always in surface contact, resulting in a stronger contact strength compared to point and line contact. The preload of the adjusting screw is transmitted through the spring washer 707 to the ball cam, then to the rotating plate, then to the strap assembly 3, then to the target sub-body, and finally to the target mother body, ultimately achieving a state of force balance.

[0068] After the strap assembly 3 is unfolded, if the rotating piece is not constrained, it will swing significantly and for a long time after being disturbed. This embodiment solves this problem by using a conformal spring 710. The conformal spring 710 is fitted onto the adjusting screw 706. When the conformal spring 710 is compressed, one end acts on the main body through the fixing nut 711, and the other end acts on the rotating piece through the baffle 709, causing the rotating piece to press upward against the adjusting screw head, thereby maintaining the posture of the rotating piece and the strap.

[0069] The preload of the strap is controlled by a torque wrench. Once the tightening torque of both pin screws reaches the set value, tighten the fixing nut 711 to fix the state of the adjusting screw.

[0070] The function of the baffle 709 is to allow the adjusting screw 706 to pass through its inner hole. One side contacts the conformal spring, and the other side contacts the bottom surface of the rotating plate. Without the baffle, the conformal spring would directly contact the ball convexity, which would cause two problems: first, the conformal spring might pass through the ball concave hole, causing jamming during rotation; second, the spring's contact with the spherical surface would easily lead to tilting and instability.

[0071] The function of spring pad 707: During pretensioning, spring pad 707 is flattened. When the fused rope undergoes creep elongation, the spring pad returns to its original position, reducing the decrease in pretension force.

[0072] The clamping release mechanism is in the unlocked and released state as follows: Figure 2 As shown, the strap assembly 3 unfolds at an upward angle, rather than horizontally. This orientation is to prevent the strap from affecting the satellite plume or colliding with lower components. This is achieved by having one end of the clamping tab angled upwards, clamping the strap assembly 3 together with the rotating tab.

[0073] In this embodiment, there are two adjusting screws 706 instead of one, and they are located on both sides of the strap. This design ensures the strength of the strap assembly 3 and facilitates pre-tightening. If the adjusting screw were placed in the middle, a hole would need to be drilled in the middle of the steel strap to insert the adjusting screw, but the strap strength would be reduced at the drilled area. In addition, if the adjusting screw were placed in the middle, it would interfere with the strap when turning it with a torque wrench. Although using a torque wrench with an angle could avoid interference, it could not be turned a full turn, resulting in low efficiency.

[0074] The upper center of the rotating disc has two spherical recesses on either side, with spherical protrusions installed inside each recess. Spring washers are mounted on the protrusions, and adjusting screws are mounted on the washers. A baffle is installed on the lower side of the rotating disc, and a conformal spring is installed below the baffle. The conformal spring also fits onto the adjusting screw, and a fixing nut is installed below the conformal spring. The lower end of the fixing nut is tightly pressed against the mounting surface of the mother body via a flat washer. Adjusting the adjusting screw 706 transmits the pressure of the adjusting screw to the rotating disc through the spherical protrusions. Although the angle of the rotating disc changes, the self-adaptive adjustment of the spherical protrusions and recesses ensures that they always maintain surface contact, guaranteeing a high level of pretension for the strapping.

[0075] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0076] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0077] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A wrap-around type compression and release mechanism, characterized in that, include: The strap assembly (3) is connected at one end to the target body (1) and at the other end to one end of the fusible rope (4); A rope pretensioning device (6) is connected to the other end of a fusible rope (4) for adjusting the tension of the fusible rope (4); After the rope pretensioning device (6) is adjusted, the function of pressing the target sub-body (2) onto the target mother body (1) based on the strap assembly (3) is realized; The hot knife assembly (5), which is set close to the fusible rope (4), is used to heat and melt the fusible rope (4) to release the strap assembly (3) and complete the unlocking and release of the target sub-body and the target mother body; It also includes a strap adjustment device (7), which is fixed on the target body (1) and is used to adjust the tightness of the strap assembly (3); The rope pretensioning device (6) includes: The screw support (63) is fixedly connected to the target mother body (1); Adjusting screw (62), the screw part of which is inserted into the through hole of the screw bracket (63), one end of the adjusting screw (62) is U-shaped, and there are mounting holes on both sides; The connecting screw (61) is installed based on the mounting holes on both sides of the U-shaped cavity and passes through the eye of the fusible rope (4) in the U-shaped cavity to realize the connection between the adjusting screw and the fusible rope. The tension of the rope is adjusted by moving the adjusting screw on the screw holder. The strap adjustment device (7) includes: A fixed base (701) is fixedly connected to the target body (1) and is located on the other side of the body relative to the rope pretensioning device (6); The rotating plate (702) is connected to the fixed base (701) by a pin screw (703) and can rotate relative to the fixed base (701) around the pin screw (703). Its movable end is connected and fixed to the end of the strap assembly (3). It is also connected to the target mother body (1) by an adjusting screw (706). Adjusting the adjusting screw (706) can drive the rotating plate (702) to rotate, so as to adjust the tightness of the strap assembly. The hot knife assembly (5) includes: A hot knife holder (52) is fixed to the target mother body (1) and is used to mount the hot knife (51); A hot knife (51) is mounted on the hot knife bracket (52), and its heating element is connected to a power supply cable so that the heating element heats up after the power is turned on so as to melt the fusible rope (4).

2. The wrap-around compression and release mechanism as described in claim 1, characterized in that, The hot knife assembly (5) also includes: The guide post (53) is arranged on the hot knife support (52) with its axis parallel to the heating element of the hot knife (51), and it contacts the fusible rope (4) to form a preset wrap angle, which is used to change the stretching direction of the fusible rope (4).

3. The wrap-around compression and release mechanism as described in claim 1, characterized in that, The two ends of the fusible rope (4) are provided with eyelets; One end of the fusible rope (4) is fixedly connected to the strap assembly (3) through a loop; The other end of the fusible rope (4) is fixedly connected to the connecting screw (61) through a loop.

4. The wrap-around compression and release mechanism as described in claim 1, characterized in that, Self-lubricating gaskets (705) are provided on both sides of the rotating plate (702) that are connected to the pin screw (703).

5. The wrap-around compression and release mechanism as described in claim 1, characterized in that, The strap adjustment device (7) further includes: The clip (712), together with the rotating piece (702), clamps and secures the end of the strap assembly (3) to the strap by screws.

6. The wrap-around compression and release mechanism as described in claim 5, characterized in that, The rotating plate (702) is also provided with a ball concave, and a ball protrusion is installed inside the ball concave. When the adjusting screw (706) is adjusted, the pressure of the adjusting screw is transmitted to the rotating plate through the ball protrusion.

7. The wrap-around compression and release mechanism as described in claim 1, characterized in that, The adjusting screw (706) passes through the conformal spring, which is a compression spring, with one end pressing against the mother body and the other end pressing against the rotating plate.

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