Automatic glue brushing method for shoe production line robot

Abstract

The present invention belongs to the field of glue brushing for shoe materials, and specifically relates to an automatic glue brushing method for a robot in a shoemaking production line, comprising a process data generating part and a real-time glue brushing compensation control part. The robot's glue brushing path is simulated to obtain the required parameters such as glue brushing pressure, glue brushing displacement and glue output amount, and the glue brushing pressure is compensated by adjusting the displacement between the glue brushing device and the shoe upper, and the glue output amount is compensated by adjusting the rotation speed of a micro screw pump, so as to solve the problem of inconsistent glue thickness during the glue brushing process, ensure that the glue thickness during the glue brushing process is uniform, improve product quality, and at the same time reduce the number of glue cleaning operations and improve production efficiency.

Description

Technical Field

[0001] The invention belongs to the field of gluing of shoe materials, and in particular relates to an automatic gluing method for a robot of a shoemaking production line. Background Art

[0002] At present, in the traditional shoemaking production line, due to the harsh environment of manual gluing, complex gluing process, and high work intensity, with the improvement of automation technology, automated processes in which robots replace manual operations have gradually been introduced into the shoemaking production line.

[0003] At present, most of the alternatives to manual gluing on the market mostly use robots equipped with spray gun fixtures composed of spray guns to spray glue on the shoe uppers. Specifically, the robot executes the corresponding spray trajectory through a specific program to complete the spraying operation. Due to the variety of shoe materials and the large change in the curvature of the spraying surface, when the robot completes the spraying operation, on the one hand, it is limited by the robot's own characteristics. In places with large changes in curvature and at the corners of the shoe toe, the robot cannot guarantee the consistency of the speed of the entire spraying process when executing the spray trajectory, resulting in inconsistent glue thickness on the spraying surface at various locations, affecting the quality of the final product; on the other hand, the main principle of using a spray gun for spraying is to use a specific pressure to send gas into the atomization port of the spray gun, and squeeze the glue through the spray gun nozzle to form a fan. The glue spraying area is shaped, and the distance between the spray gun and the shoe upper is controlled to spray glue onto the shoe upper. Due to the high-speed gas squeezing the glue, there will be glue splashing, resulting in fog edge and overflow of the shoe upper in the spraying area, affecting the quality of glue spraying. This problem is almost a common pain point for all glue spraying operations using spray guns. Therefore, it is necessary to set up corresponding glue cleaning personnel for fog edge and overflow glue in the later stage to increase labor costs. At the same time, in the actual glue spraying process, due to the characteristics of glue, as the working time increases, glue crusting and hardening of glue will appear on the spray gun nozzle, causing gun blockage or reduced glue output from the nozzle. Therefore, it is necessary to perform glue cleaning operations regularly to ensure that the spray gun nozzle is clean. However, too frequent glue cleaning will affect the glue spraying efficiency of the robot. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an automatic glue brushing method for a robot of a shoe production line.

[0005] The present invention adopts the following technical solution:

[0006] An automatic glue brushing method for a shoe production line robot, comprising:

[0007] A. The process data generation part specifically includes the following steps:

[0008] Shoe material data collection steps: obtain the shape profile information and material information of the shoe material to be glued;

[0009] Obtaining the basic gluing trajectory of the shoe material: Scanning the shoe material outline with a 3D camera to obtain the basic gluing trajectory of the shoe material;

[0010] Acquisition of preset glue brushing trajectory of shoe materials: According to the collected shoe material information, the corresponding shoe material template trajectory is called to match with the acquired basic glue brushing trajectory, and the difference of related point cloud data is compensated, and finally the preset glue brushing trajectory of the shoe material is produced:

[0011] Acquisition of basic glue brushing pressure value and basic glue brushing displacement: The robot brushes glue on the glue-coated surface of the shoe material along the basic glue brushing motion trajectory, and detects through the force sensor with displacement feedback on the glue brushing device to obtain the basic glue brushing pressure value and the distance from the glue brushing device to the glue-coated surface of the shoe material, i.e., the basic glue brushing displacement;

[0012] Real-time change value of glue brushing pressure and real-time change value of glue brushing displacement: The robot performs basic glue brushing test along the preset glue brushing trajectory, and obtains the real-time change value of glue brushing pressure and real-time change value of glue brushing position through detection by the force sensor with displacement feedback on the glue brushing device;

[0013] Acquisition of the final gluing trajectory of the shoe material: The real-time compensation offset of the robot's gluing motion trajectory is calculated based on the difference between the real-time change value of the gluing pressure and the basic gluing pressure value, and the preset gluing trajectory is superimposed to obtain the final gluing trajectory of the shoe material;

[0014] Confirmation of basic glue flow value: Confirm the corresponding basic glue flow value according to the material information of the shoe surface;

[0015] Confirmation of preset glue flow rate: The robot simulates along the final glue brushing trajectory to obtain the speed at which the glue brushing device sweeps across the glue-coated surface of the shoe material. Then, based on the obtained speed and the basic glue flow rate value, the preset glue flow rate value is calculated to make the glue change at each position of the glue-coated surface of the shoe material consistent;

[0016] Confirmation of real-time glue flow rate: The real-time glue flow rate is controlled by controlling the real-time rotation speed of the micro screw pump on the glue brushing device, wherein a flow meter is provided on the micro screw pump to provide real-time feedback of the real-time glue flow rate of the glue brushing;

[0017] Generation of glue brushing process data package: The final glue brushing process data package is generated based on the final glue brushing trajectory of the shoe material and the real-time rotation speed of the micro screw pump.

[0018] Furthermore, it also includes

[0019] B. The real-time compensation control part of glue brushing includes the following steps:

[0020] Initial setting steps: set the preset glue flow value to Q, the real-time glue flow value to Q1, the parameter of the real-time difference of glue flow to △Q, the basic glue brushing pressure value to P, the basic glue brushing displacement to S, the real-time change value of glue brushing pressure to P1, the real-time change value of glue brushing displacement to S1, the parameter of the real-time difference of glue brushing pressure to △P, and the parameter of the real-time difference of glue brushing displacement to △S; the real-time speed of the micro screw pump is set to V1, and the maximum speed of the micro screw pump with the maximum output is set to Vmax;

[0021] Pressure detection and judgment method: the difference between the real-time change value P1 of the glue brushing pressure and the basic glue brushing pressure value P is judged, that is, P1-P=△P. If △P≠0, pressure compensation is performed to ensure the stability of the glue line of the glue brushing device during the glue brushing process; when △P>0, it means that the real-time change value of the glue brushing pressure is greater than the basic glue brushing pressure value. At this time, △S=S1-S<0, and the glue brushing pressure is changed by increasing the displacement between the glue brushing device and the upper to ensure △S=0; when △P<0, it means that the real-time change value of the glue brushing pressure is less than the basic glue brushing pressure value. At this time, △S=S1-S>0, and the glue brushing pressure is changed by reducing the displacement between the glue brushing device and the upper to ensure △S=0;

[0022] Glue discharge flow detection and judgment method: make a difference judgment between the real-time glue discharge flow value Q1 and the preset glue discharge flow value Q, that is, Q1-Q=△Q. If △Q>0 and V1<Vmax, reduce the speed of the micro screw pump to adjust the glue discharge of the micro screw pump to ensure △Q=0, so as to ensure the uniform thickness of the glue during the glue brushing process; if △Q<0 and V1≥Vmax, it means that the real-time glue discharge flow is less than the preset glue discharge flow, and even if the speed of the micro screw pump is increased, the glue discharge requirement cannot be met. At this time, the robot performs the glue clearing step; after executing the glue clearing step, it is necessary to perform the judgment again. If △Q=0, the glue clearing is completed and the glue spraying continues; if △Q≠0, it proves that the brush head has hardened and needs to be replaced.

[0023] Furthermore, the glue brushing device includes a glue brushing mechanism connected to the robot and a micro screw pump connected between the glue brushing mechanism and the glue barrel, the glue brushing mechanism includes a glue brushing rack connected to the robot, a brush head rotatably arranged in the glue brushing rack, a glue brushing motor arranged in the glue brushing rack and connected to and driving the brush head to rotate, and a detection component arranged on the glue brushing rack for detecting pressure changes and displacement changes of the brush head.

[0024] Furthermore, the detection member includes a force sensor with displacement feedback and a contact roller arranged on the force sensor and coaxially with the brush head. The outer peripheral surface of the contact roller contacts the glue-coated surface of the shoe material, and its outer diameter is equal to the outer diameter of the brush head.

[0025] Furthermore, it also includes a mounting frame rotatably arranged in the glue brushing frame for mounting a motor, and a buffer cylinder arranged on the glue brushing frame and connected to the mounting frame.

[0026] Furthermore, the micro screw pump includes a pump body, a servo motor with a rotating speed arranged at the top of the pump body, and a flow meter arranged at the lower end of the pump body.

[0027] From the above description of the present invention, it can be seen that compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides an automatic glue brushing method for a robot in a shoemaking production line, by simulating the robot's glue brushing path to obtain the required parameters such as glue brushing pressure, glue brushing displacement and glue output, and by adjusting the displacement between the glue brushing device and the shoe upper to compensate for the glue brushing pressure, and adjusting the speed of the micro screw pump to compensate for the glue output, so as to solve the problem of inconsistent glue thickness during the glue brushing process, ensure that the glue thickness during the glue brushing process is uniform, improve product quality, and at the same time reduce the number of glue cleaning operations and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the glue brushing device;

[0029] Figure 2 Schematic diagram of the glue brushing mechanism Figure 1 ;

[0030] Figure 3 The structure diagram of the glue brushing mechanism Figure 2 ;

[0031] Figure 4 It is a structural schematic diagram of a micro screw pump;

[0032] Figure 5 Generate partial process framework diagrams for process data;

[0033] Figure 6 This is the process framework diagram of the real-time compensation control part of the glue brushing;

[0034] In the figure, 1-glue brushing mechanism, 2-micro screw pump, 11-glue brushing frame, 12-brush head, 13-glue brushing motor, 14-detection part, 15-mounting frame, 16-buffer cylinder, 17-glue inlet pipe, 141-force sensor, 142-contact roller, 21-pump body, 22-servo motor, 23-flow meter. DETAILED DESCRIPTION

[0035] The present invention is further described below through specific implementation modes.

[0036] An automatic glue brushing method for a shoe production line robot, comprising:

[0037] A. The process data generation part specifically includes the following steps:

[0038] Shoe material data collection steps: obtain the shape profile information and material information of the shoe material to be glued;

[0039] Obtaining the basic gluing trajectory of the shoe material: Scanning the shoe material outline with a 3D camera to obtain the basic gluing trajectory of the shoe material;

[0040] Acquisition of preset glue brushing trajectory of shoe materials: According to the collected shoe material information, the corresponding shoe material template trajectory is called to match with the acquired basic glue brushing trajectory, and the difference of related point cloud data is compensated, and finally the preset glue brushing trajectory of the shoe material is produced:

[0041] Acquisition of basic glue brushing pressure value and basic glue brushing displacement: The robot brushes glue on the glue-coated surface of the shoe material along the basic glue brushing motion trajectory, and detects through the force sensor 141 with displacement feedback on the glue brushing device to obtain the basic glue brushing pressure value and the distance from the glue brushing device to the glue-coated surface of the shoe material, i.e., the basic glue brushing displacement;

[0042] Real-time change value of glue brushing pressure and real-time change value of glue brushing displacement: The robot performs basic glue brushing test along the preset glue brushing track, and obtains the real-time change value of glue brushing pressure and real-time change value of glue brushing position through detection by the force sensor 141 with displacement feedback on the glue brushing device;

[0043] Acquisition of the final gluing trajectory of the shoe material: The real-time compensation offset of the robot's gluing motion trajectory is calculated based on the difference between the real-time change value of the gluing pressure and the basic gluing pressure value, and the preset gluing trajectory is superimposed to obtain the final gluing trajectory of the shoe material;

[0044] Confirmation of basic glue flow value: Confirm the corresponding basic glue flow value according to the material information of the shoe surface;

[0045] Confirmation of preset glue flow rate: The robot simulates along the final glue brushing trajectory to obtain the speed at which the glue brushing device sweeps across the glue-coated surface of the shoe material. Then, based on the obtained speed and the basic glue flow rate value, the preset glue flow rate value is calculated to make the glue change at each position of the glue-coated surface of the shoe material consistent;

[0046] Confirmation of the real-time glue flow rate value: The real-time glue flow rate value is controlled by controlling the real-time rotation speed of the micro screw pump 2 on the glue brushing device, wherein the micro screw pump 2 is provided with a flow meter 23 to provide real-time feedback of the real-time glue flow rate value of the glue brushing;

[0047] Generation of glue brushing process data package: The final glue brushing process data package is generated based on the final glue brushing trajectory of the shoe material and the real-time rotation speed of the micro screw pump;

[0048] B. The real-time compensation control part of glue brushing includes the following steps:

[0049] Initial setting steps: set the preset glue flow value to Q, the real-time glue flow value to Q1, the parameter of the real-time difference of glue flow to △Q, the basic glue brushing pressure value to P, the basic glue brushing displacement to S, the real-time change value of glue brushing pressure to P1, the real-time change value of glue brushing displacement to S1, the parameter of the real-time difference of glue brushing pressure to △P, and the parameter of the real-time difference of glue brushing displacement to △S; the real-time speed of the micro screw pump is set to V1, and the maximum speed of the micro screw pump with the maximum output is set to Vmax;

[0050] Pressure detection and judgment method: the difference between the real-time change value P1 of the glue brushing pressure and the basic glue brushing pressure value P is judged, that is, P1-P=△P. If △P≠0, pressure compensation is performed to ensure the stability of the glue line of the glue brushing device during the glue brushing process; when △P>0, it means that the real-time change value of the glue brushing pressure is greater than the basic glue brushing pressure value. At this time, △S=S1-S<0, and the glue brushing pressure is changed by increasing the displacement between the glue brushing device and the upper to ensure △S=0; when △P<0, it means that the real-time change value of the glue brushing pressure is less than the basic glue brushing pressure value. At this time, △S=S1-S>0, and the glue brushing pressure is changed by reducing the displacement between the glue brushing device and the upper to ensure △S=0;

[0051] Glue discharge flow detection and judgment method: make a difference judgment between the real-time glue discharge flow value Q1 and the preset glue discharge flow value Q, that is, Q1-Q=△Q. If △Q>0 and V1<Vmax, reduce the speed of the micro screw pump to adjust the glue discharge of the micro screw pump to ensure △Q=0, so as to ensure the uniform thickness of the glue during the glue brushing process; if △Q<0 and V1≥Vmax, it means that the real-time glue discharge flow is less than the preset glue discharge flow, and even if the speed of the micro screw pump is increased, the glue discharge requirement cannot be met. At this time, the robot performs the glue clearing step; after executing the glue clearing step, it is necessary to perform the judgment again. If △Q=0, the glue clearing is completed and the glue spraying continues; if △Q≠0, it proves that the brush head has hardened and needs to be replaced.

[0052] Among them, the glue brushing device includes a glue brushing mechanism 1 connected to the robot and a micro screw pump 2 connected between the glue brushing mechanism 1 and the glue barrel; when working, according to the real-time glue flow data provided by the generated glue brushing process data packet, the micro screw pump 2 quantitatively transports the glue to the glue brushing mechanism 1 to ensure uniform glue discharge during the glue brushing process.

[0053] The glue brushing mechanism 1 includes a glue brushing frame 11 connected to the robot, a brush head 12 rotatably arranged in the glue brushing frame 11, a glue brushing motor 13 arranged in the glue brushing frame 11 and connected to and driving the brush head 12 to rotate, a detection part 14 arranged on the glue brushing frame 11 for detecting pressure changes and displacement changes of the brush head 12, a mounting frame 15 rotatably arranged in the glue brushing frame 11 for mounting the glue brushing motor 13, a buffer cylinder 16 arranged on the glue brushing frame 11 and connected to the mounting frame 15, and a glue inlet pipe 17 passing through the glue brushing motor 13 and connected to the brush head 12.

[0054] The detection member 14 includes a force sensor 141 with displacement feedback and a contact roller 142 arranged on the force sensor 141 and coaxially arranged with the brush head. The outer peripheral surface of the contact roller 142 contacts the glue-coated surface of the shoe material, and its outer diameter is equal to the outer diameter of the brush head. It can be moved left and right for a certain distance in the direction close to the glue-coated surface of the shoe material through a reset member such as a spring. During the glue-brushing process, the brush head 12 and the contact roller 142 are in contact with the glue-coated surface of the shoe material at the same time. The displacement change of the brush head 12 caused by the pressure change will also be caused by the coaxially arranged contact roller 142. The force sensor 141 with displacement feedback can detect the pressure change of the brush head 12 during the glue-brushing process in real time. and displacement changes; and the buffer cylinder 16 connected to the mounting bracket 15 can adaptively adjust the pressure on the brush head 12 during the glue brushing process, reduce the large changes in the real-time pressure of the glue brushing, reduce the displacement changes of the robot during the glue brushing process, ensure the stability of the robot's glue brushing, and improve the quality of the product; however, the pressure change during the glue brushing process is greater than the adaptive adjustment range of the buffer cylinder 16. At this time, the robot needs to control the brush head 12 to make adjustments to ensure a uniform amount of glue output; specifically, the force sensor 141 with displacement feedback is a commonly used sensor type in sensors, and its specific selection and working principle will not be further elaborated here.

[0055] The micro screw 2 pump includes a pump body 21, a servo motor 22 with a rotating speed arranged at the top of the pump body 21, and a flow meter 23 arranged at the lower end of the pump body 21. The flow meter 23 can provide real-time feedback of the real-time glue discharge flow value of the pump body 21. When brushing glue, the required real-time glue discharge flow value is fed back to the flow meter 23, and then the real-time rotation speed of the pump body 21 is obtained, and then the rotation speed of the pump body 21 is controlled by the servo motor 22 to achieve the required real-time glue discharge flow value.

[0056] The present invention provides an automatic glue brushing method for a robot in a shoe production line. The method simulates the glue brushing path of the robot to obtain required parameters such as glue brushing pressure, glue brushing displacement and glue output amount, and compensates for the glue brushing pressure by adjusting the displacement between the glue brushing device and the shoe upper, and compensates for the glue output amount by adjusting the rotation speed of a micro screw pump 2, so as to solve the problem of inconsistent glue thickness in the glue brushing process, ensure that the glue thickness in the glue brushing process is uniform, improve product quality, reduce the number of glue cleaning operations, and improve production efficiency.

[0057] The above description is only a preferred embodiment of the present invention, and therefore cannot be used to limit the scope of implementation of the present invention. That is, equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the specification should still fall within the scope covered by the patent of the present invention.

Claims

1. An automatic glue brushing method for a shoe production line robot, characterized in that: include A. The process data generation part specifically includes the following steps: Shoe material data collection steps: obtain the shape profile information and material information of the shoe material to be glued; Obtaining the basic gluing trajectory of the shoe material: Scanning the shoe material outline with a 3D camera to obtain the basic gluing trajectory of the shoe material; Acquisition of preset gluing trajectory of shoe materials: According to the collected shoe material data, the corresponding shoe material template trajectory is called to match with the acquired basic gluing trajectory, and the difference of related point cloud data is compensated to finally generate the preset gluing trajectory of shoe materials: Acquisition of basic glue brushing pressure value and basic glue brushing displacement: The robot brushes glue on the glue-coated surface of the shoe material along the basic glue brushing motion trajectory, and detects through the force sensor with displacement feedback on the glue brushing device to obtain the basic glue brushing pressure value and the distance from the glue brushing device to the glue-coated surface of the shoe material, i.e., the basic glue brushing displacement; Real-time change value of glue brushing pressure and real-time change value of glue brushing displacement: The robot performs basic glue brushing test along the preset glue brushing trajectory, and obtains the real-time change value of glue brushing pressure and real-time change value of glue brushing position through detection by the force sensor with displacement feedback on the glue brushing device; Acquisition of the final gluing trajectory of the shoe material: The real-time compensation offset of the robot's gluing motion trajectory is calculated based on the difference between the real-time change value of the gluing pressure and the basic gluing pressure value, and the preset gluing trajectory is superimposed to obtain the final gluing trajectory of the shoe material; Confirmation of basic glue flow value: Confirm the corresponding basic glue flow value according to the material information of the shoe surface; Confirmation of preset glue flow rate: The robot simulates along the final glue brushing trajectory to obtain the speed at which the glue brushing device sweeps across the glue-coated surface of the shoe material. Then, based on the obtained speed and the basic glue flow rate value, the preset glue flow rate value is calculated to make the glue change at each position of the glue-coated surface of the shoe material consistent; Confirmation of real-time glue flow rate: The real-time glue flow rate is controlled by controlling the real-time rotation speed of the micro screw pump on the glue brushing device, wherein a flow meter is provided on the micro screw pump to provide real-time feedback of the real-time glue flow rate of the glue brushing; Generation of glue brushing process data package: The final glue brushing process data package is generated based on the final glue brushing trajectory of the shoe material and the real-time rotation speed of the micro screw pump.

2. The automatic glue brushing method for a shoe production line robot according to claim 1, characterized in that: Also includes B. The real-time compensation control part of glue brushing includes the following steps: Initial setting steps: set the preset glue flow value to Q, the real-time glue flow value to Q1, the parameter of the real-time difference of glue flow to △Q, the basic glue brushing pressure value to P, the basic glue brushing displacement to S, the real-time change value of glue brushing pressure to P1, the real-time change value of glue brushing displacement to S1, the parameter of the real-time difference of glue brushing pressure to △P, and the parameter of the real-time difference of glue brushing displacement to △S; the real-time speed of the micro screw pump is set to V1, and the maximum speed of the micro screw pump with the maximum output is set to Vmax; Pressure detection and judgment method: the difference between the real-time change value P1 of the glue brushing pressure and the basic glue brushing pressure value P is judged, that is, P1-P=△P. If △P≠0, pressure compensation is performed to ensure the stability of the glue line of the glue brushing device during the glue brushing process; when △P>0, it means that the real-time change value of the glue brushing pressure is greater than the basic glue brushing pressure value. At this time, △S=S1-S<0, and the glue brushing pressure is changed by increasing the displacement between the glue brushing device and the upper to ensure △S=0; when △P<0, it means that the real-time change value of the glue brushing pressure is less than the basic glue brushing pressure value. At this time, △S=S1-S>0, and the glue brushing pressure is changed by reducing the displacement between the glue brushing device and the upper to ensure △S=0; Glue discharge flow detection and judgment method: make a difference judgment between the real-time glue discharge flow value Q1 and the preset glue discharge flow value Q, that is, Q1-Q=△Q. If △Q>0 and V1<Vmax, reduce the speed of the micro screw pump to adjust the glue discharge of the micro screw pump to ensure △Q=0, so as to ensure the uniform thickness of the glue during the glue brushing process; if △Q<0 and V1≥Vmax, it means that the real-time glue discharge flow is less than the preset glue discharge flow, and even if the speed of the micro screw pump is increased, the glue discharge requirement cannot be met. At this time, the robot performs the glue clearing step; after executing the glue clearing step, it is necessary to perform the judgment again. If △Q=0, the glue clearing is completed and the glue spraying continues; if △Q≠0, it proves that the brush head has hardened and needs to be replaced.

3. The automatic glue brushing method for a shoe production line robot according to claim 1, characterized in that: The glue brushing device includes a glue brushing mechanism connected to the robot and a micro screw pump connected between the glue brushing mechanism and the glue barrel. The glue brushing mechanism includes a glue brushing rack connected to the robot, a brush head rotatably arranged in the glue brushing rack, a glue brushing motor arranged in the glue brushing rack and connected to and driving the brush head to rotate, and a detection component arranged on the glue brushing rack for detecting pressure changes and displacement changes of the brush head.

4. The automatic glue brushing method for a shoe production line robot according to claim 3 is characterized in that: The detection member includes a force sensor with displacement feedback and a contact roller arranged on the force sensor and coaxially with the brush head. The outer peripheral surface of the contact roller contacts the glue-coated surface of the shoe material, and its outer diameter is equal to that of the brush head.

5. The automatic glue brushing method for a shoe production line robot according to claim 3 is characterized in that: It also includes a mounting frame rotatably arranged in the glue brushing frame for mounting a motor, and a buffer cylinder arranged on the glue brushing frame and connected to the mounting frame.

6. The automatic glue brushing method for a shoe production line robot according to claim 3 is characterized in that: The micro screw pump comprises a pump body, a rotating speed servo motor arranged at the top of the pump body, and a flow meter arranged at the lower end of the pump body.

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