A liftable medical waste removal and weighing robot

Abstract

The invention discloses a liftable medical waste cleaning and weighing integrated robot, which belongs to the field of robots and comprises a machine body, a display screen is fixedly mounted on the machine body, a first roller is fixedly mounted on the bottom of the machine body, a garbage bin is movably mounted on the back of the machine body, a bin cover is movably mounted on the garbage bin, a bracket is fixedly mounted on the bottom of the garbage bin, a second roller is fixedly mounted on the bottom of the bracket, and a lifting and fixing mechanism is fixedly mounted on the machine body. Through the lifting and fixing mechanism, four side positions of the bottom of the garbage bin are restricted by fixing rods, so that when the robot climbs a slope such as a threshold, the lifting and fixing mechanism supports the garbage bin more firmly, and the garbage bin is not easy to slip. Through the provided weighing mechanism, the weight of the garbage can be accurately weighed, which is convenient for recording data. Through the provided anti-collision mechanism, it is convenient to clean up the broken strips and convenient bags through the cleaning bristles to avoid them being entangled in the first roller and making them unable to work.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a liftable medical waste removal and weighing integrated robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can perform tasks such as operation or movement through programming and automatic control. Garbage classification has become a national key concern, and as special garbage, the collection and treatment of medical waste has become a "top priority". The management of medical waste is often considered to have no technical content, but it directly affects our living environment. Medical waste is divided into infectious waste, injury waste, pathological waste, chemical waste, and drug waste. If it is not properly handled during the collection and transportation process, it will cause the risk of disease transmission and cross infection. The existing robot reciprocates to transport the medical waste bin to the designated location. By using robots, the reciprocating work of medical waste transportation can be transferred from manpower to machine operation, which is more efficient. However, during the existing robot transportation process, due to the threshold and other structures that may be set in some departments of the hospital, the robot movement may be tilted, causing the garbage bin to roll down. At the same time, the existing robot transportation device has no weighing device, and the garbage collector cannot collect data conveniently. In addition, due to the fact that there may be some broken strips and convenient bags on the hospital road, these magazines are easily entangled in the robot's rollers, causing the robot rollers to fail to work. Summary of the invention

[0003] The main purpose of the present invention is to provide a liftable medical waste removal and weighing robot, which can effectively solve the problems in the background technology.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A liftable medical waste removal and weighing integrated robot comprises a body, a display screen is fixedly mounted on the body, a No. 1 roller is fixedly mounted on the bottom surface of the body, a trash bin is movably mounted on the back surface of the body, a bin cover is movably mounted on the trash bin, a bracket is fixedly mounted on the bottom surface of the trash bin, a No. 2 roller is fixedly mounted on the bottom of the bracket, a lift and fixation mechanism is fixedly mounted on the body, the lift and fixation mechanism comprises a support frame, a No. 1 hydraulic cylinder, a No. 1 fixing plate, a No. 2 fixing plate, a fixing pipe and a fixing rod, the No. 1 hydraulic cylinder is fixedly mounted on the body, the support frame is fixedly mounted on the upper end position of the No. 1 hydraulic cylinder, the No. 1 fixing plate is fixedly mounted on the front end and rear end positions of the support frame, the No. 2 fixing plate is fixedly mounted on the left and right sides of the support frame, and the fixing pipe is fixedly mounted on the body. Installed on the No. 1 fixed plate and the No. 2 fixed plate, the fixed rod is movably installed in the fixed tube, the weighing mechanism is movably installed on the inner side of the support frame, the weighing mechanism includes a weighing slot, a mounting plate and an electronic scale, the weighing slot is fixedly installed on the machine body, the mounting plate is movably installed in the weighing slot, the electronic scale is fixedly installed on the mounting plate, an anti-collision mechanism is fixedly installed at the front position of the machine body, the anti-collision mechanism includes a V-shaped plate, a cleaning brush, a movable rod, a No. 3 hydraulic cylinder and a roller, the V-shaped plate is movably installed in the front position of the machine body, the cleaning brush is fixedly installed on the bottom position of the V-shaped plate, the movable rod is movably installed at both ends of the V-shaped plate, and the upper end of the movable rod is fixedly connected to the front of the machine body, the No. 3 hydraulic cylinder is movably connected to the upper position of the V-shaped plate, and the roller is fixedly installed on the side position of the No. 3 hydraulic cylinder.

[0006] Preferably, the lifting and fixing mechanism also includes side movable grooves and limit rods, the side movable grooves are fixedly installed at two side positions of the fixed tube, the limit rods are fixedly installed at two side positions of the lower end of the fixed rod, the limit rods are movably installed in the side movable grooves of the fixed tube, the support frame is located at the bottom surface of the trash bin, and the support frame and the bottom surface of the trash bin are movably installed relative to each other.

[0007] Preferably, the lifting and fixing mechanism further includes a spring, and the spring is movably installed in the fixing tube, and the spring is located below the fixing rod.

[0008] Preferably, the weighing mechanism also includes a No. 2 hydraulic cylinder, the lower end of the No. 2 hydraulic cylinder is fixedly installed in the weighing slot, the upper end of the No. 2 hydraulic cylinder is fixedly installed on the mounting plate, the electronic scale moves upward and is movably installed with the bottom surface of the trash bin, and the electronic scale is located at the center of the support frame.

[0009] Preferably, the anti-collision mechanism further includes a connecting plate, which is located above the V-shaped plate, with both ends of the connecting plate fixedly connected to the V-shaped plate, and the middle position of the connecting plate fixedly connected to the No. 3 hydraulic cylinder.

[0010] Preferably, the anti-collision mechanism also includes a movable tube and a limit plate, the movable tube is fixedly installed at both ends of the V-shaped plate, the movable rod is movably installed in the movable tube, the limit plate is fixedly installed at the lower end of the movable rod, and the movable tube is located above the limit plate.

[0011] Preferably, the anti-collision mechanism further includes a support rod, the roller is fixedly mounted on the support rod, and the upper end and the lower end of the support rod are fixedly mounted to the side surface of the V-shaped plate.

[0012] Preferably, the anti-collision mechanism further includes a support plate, one end of which is fixedly mounted to the machine body, and the upper end of the No. 3 hydraulic cylinder is fixedly mounted to the bottom surface of the support plate.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] By means of the lifting and fixing mechanism, the support frame, the first fixing plate and the second fixing plate are lifted and lowered, and the fixing rods at the inner part of the part are pressed by the garbage bin, so that the fixing rods are pressed into the fixing rods, and the outer fixing rods are not pressed and move upward, thereby forming a blocking structure at the outer part of the garbage bin, blocking the four sides of the garbage bin. When the machine body moves tilted on the threshold, the garbage bin is not easy to slide down due to the restriction of the bottom, and the support frame supports the garbage bin more firmly.

[0015] Through the weighing mechanism, the No. 2 hydraulic cylinder is moved upward, so that the electronic scale supports the garbage bin to move upward, thereby pushing the garbage bin upward so that it is no longer in contact with the fixed rod, thereby accurately measuring the weight of the garbage bin, which is more convenient and accurate for recording garbage;

[0016] Through the anti-collision mechanism, the front position of the machine body is cleaned by cleaning bristles, and impurities such as broken strips and convenience bags that are easily entangled in the No. 1 roller are cleared to prevent them from being entangled in the No. 1 roller and affecting the work of the No. 1 roller. At the same time, a roller structure is provided on the side position of the V-shaped plate, so that after the V-shaped plate collides with an object, the machine body can be pushed to the side through the rotation of the roller, thereby relieving part of the impact force and making the machine body have better anti-collision performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of a liftable medical waste removal and weighing robot of the present invention;

[0018] Figure 2 It is a structural schematic diagram of a lifting and fixing mechanism of a liftable medical waste removal and weighing integrated robot of the present invention;

[0019] Figure 3This is a schematic diagram of the disassembled structure of a fixed pipe of a liftable medical waste removal and weighing integrated robot according to the present invention;

[0020] Figure 4 It is a structural schematic diagram of a weighing mechanism of a liftable medical waste removal and weighing integrated robot of the present invention;

[0021] Figure 5 The present invention is a schematic structural diagram of an anti-collision mechanism of a liftable medical waste removal and weighing robot.

[0022] In the figure: 1. body; 2. display screen; 3. roller No. 1; 4. trash can; 5. box cover; 6. bracket; 7. roller No. 2; 8. lifting and fixing mechanism; 801. support frame; 802. hydraulic cylinder No. 1; 803. fixed plate No. 1; 804. fixed plate No. 2; 805. fixed pipe; 806. side movable groove; 807. spring; 808. fixed rod; 809. limit rod; 9. weighing mechanism; 901. weighing groove; 902. hydraulic cylinder No. 2; 903. mounting plate; 904. electronic scale; 10. anti-collision mechanism; 1001. V-shaped plate; 1002. connecting plate; 1003. cleaning brush; 1004. movable rod; 1005. movable pipe; 1006. limit plate; 1007. hydraulic cylinder No. 3; 1008. support plate; 1009. roller; 1010. support rod. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0024] like Figure 1-5As shown, a liftable medical waste removal and weighing integrated robot comprises a body 1, a display screen 2 is fixedly mounted on the body 1, a first roller 3 is fixedly mounted on the bottom of the body 1, a trash bin 4 is movably mounted on the back of the body 1, a bin cover 5 is movably mounted on the trash bin 4, a bracket 6 is fixedly mounted on the bottom of the trash bin 4, a second roller 7 is fixedly mounted on the bottom of the bracket 6, a lift fixing mechanism 8 is fixedly mounted on the body 1, and the lift fixing mechanism 8 comprises a support frame 801, a first hydraulic cylinder 802, a first fixing plate 803, a second fixing plate 804, and a fixing pipe 805. and a fixing rod 808, a No. 1 hydraulic cylinder 802 is fixedly mounted on the machine body 1, a support frame 801 is fixedly mounted at the upper end position of the No. 1 hydraulic cylinder 802, a No. 1 fixing plate 803 is fixedly mounted at the front end and rear end positions of the support frame 801, a No. 2 fixing plate 804 is fixedly mounted at the left and right positions of the support frame 801, a fixing pipe 805 is fixedly mounted on the No. 1 fixing plate 803 and the No. 2 fixing plate 804, a fixing rod 808 is movably mounted in the fixing pipe 805, and the lifting and fixing mechanism 8 also includes a side movable groove 806 and a limit rod 809, and the side movable groove 806 is fixedly mounted on the fixing pipe 80 5, the limiting rods 809 are fixedly installed on the two sides of the lower end of the fixing rod 808, the limiting rods 809 are movably installed in the side movable grooves 806 of the fixing pipe 805, the support frame 801 is located at the bottom surface of the garbage bin 4, and the support frame 801 and the bottom surface of the garbage bin 4 are movably installed with each other, the lifting and fixing mechanism 8 also includes a spring 807, the spring 807 is movably installed in the fixing pipe 805, and the spring 807 is located below the fixing rod 808, the two No. 1 fixing plates 803 and No. 2 fixing plates 804 at the side positions of the support frame 801 move upward, and the No. 1 fixing plates 803 and No. 2 fixing plates 804 are moved upward. Part of the fixing rod 808 on the fixing plate 804 is located at the inner side of the trash bin 4, and part of the fixing rod 808 is located at the outer side of the trash bin 4. The fixing rod 808 located at the inner side is squeezed, causing the fixing rod 808 to move downward, compressing the spring 807. Since the fixing rod 808 located at the outer side is not squeezed by the trash bin 4, as the fixing rod 808 at the inner side moves downward, the outer fixing rod 808 is located at the side position of the bottom of the trash bin 4, which can prevent the trash bin 4 from moving sideways. When the robot moves to a slope such as a door sill, the four sides of the bottom of the trash bin 4 are blocked.

[0025] A weighing mechanism 9 is movably installed on the inner side of the support frame 801, and the weighing mechanism 9 includes a weighing slot 901, a mounting plate 903 and an electronic scale 904. The weighing slot 901 is fixedly installed on the body 1, and the mounting plate 903 is movably installed in the weighing slot 901. The electronic scale 904 is fixedly installed on the mounting plate 903. An anti-collision mechanism 10 is fixedly installed at the front position of the body 1. The weighing mechanism 9 also includes a No. 2 hydraulic cylinder 902, and the lower end of the No. 2 hydraulic cylinder 902 is fixedly installed in the weighing slot 901, and the upper end of the No. 2 hydraulic cylinder 902 is fixedly installed on the mounting plate 903. The electronic scale 904 moves upward and is movably installed with the bottom surface of the garbage bin 4. The electronic scale 904 is located at the center of the support frame 801. Starting the No. 2 hydraulic cylinder 902 causes the No. 2 hydraulic cylinder 902 and the mounting plate 903 to move upward, so that the electronic scale 904 on the mounting plate 903 moves upward to contact the bottom surface of the garbage bin 4, thereby weighing the weight of the garbage bin 4.

[0026] The anti-collision mechanism 10 includes a V-shaped plate 1001, a cleaning bristle 1003, a movable rod 1004, a No. 3 hydraulic cylinder 1007 and a roller 1009. The V-shaped plate 1001 is movably installed in the front position of the machine body 1, the cleaning bristle 1003 is fixedly installed on the bottom surface of the V-shaped plate 1001, the movable rod 1004 is movably installed at both ends of the V-shaped plate 1001, and the upper end of the movable rod 1004 is fixedly connected to the front of the machine body 1, and the No. 3 hydraulic cylinder 1007 is movably connected to the upper position of the V-shaped plate 1001. The roller 1009 is fixedly installed on the side of the No. 3 hydraulic cylinder 1007. The anti-collision mechanism 10 also includes a connecting plate 1002, which is located above the V-shaped plate 1001. The two ends of the connecting plate 1002 are fixedly connected to the V-shaped plate 1001. The middle position of the connecting plate 1002 is fixedly connected to the No. 3 hydraulic cylinder 1007. The anti-collision mechanism 10 also includes a movable tube 1005 and a limit plate 1006. The movable tube 1005 is fixedly installed on the two ends of the V-shaped plate 1001. The rod 1004 is movably installed in the movable tube 1005, the limit plate 1006 is fixedly installed at the lower end of the movable rod 1004, and the movable tube 1005 is located above the limit plate 1006. The anti-collision mechanism 10 also includes a support rod 1010, and the roller 1009 is fixedly installed on the support rod 1010. The upper and lower ends of the support rod 1010 are fixedly installed with the side of the V-shaped plate 1001. The anti-collision mechanism 10 also includes a support plate 1008, and one end of the support plate 1008 is fixedly installed with the body 1 The upper end of the No. 3 hydraulic cylinder 1007 is fixedly installed on the bottom position of the support plate 1008. The No. 3 hydraulic cylinder 1007 is started downward, so that the V-shaped plates 1001 on both sides of the connecting plate 1002 move downward, and the cleaning bristles 1003 at the lower end of the V-shaped plate 1001 move downward, so that the cleaning bristles 1003 can contact the ground, and can clean up the impurities such as broken strips and convenience bags that are easily entangled in the No. 1 roller 3 in front, so as to prevent the broken strips and convenience bags from being entangled in the No. 1 roller 3, causing the No. 1 roller 3 to fail to work.

[0027] It should be noted that the present invention is a liftable medical waste removal and weighing integrated robot. The robot moves to the bottom surface of the trash bin 4 so that the back of the robot is in the middle position between the brackets 6, and then the No. 1 hydraulic cylinder 802 is started to move the No. 1 hydraulic cylinder 802 upward, pushing the support frame 801 to move upward, so that the two No. 1 fixing plates 803 and No. 2 fixing plates 804 on the side of the support frame 801 move upward, so that part of the fixing rods 808 on the No. 1 fixing plates 803 and No. 2 fixing plates 804 are located on the inner side of the trash bin 4, and part of the fixing rods 808 are located on the outer side of the trash bin 4. When the support frame 801 moves upward, the fixing rods 808 located on the inner side are pressed by the gravity of the trash bin 4, so that the fixing rods 808 moves downward in the fixed tube 805, so that the fixed rod 808 compresses the spring 807. Since the fixed rod 808 at the outer position is not pressed by the trash can 4, the fixed rod 808 at the outer position can prevent the trash can 4 at the inner position from moving sideways. At the same time, the fixed rod 808 at the inner position has a compressed spring 807 at the bottom, so that the trash can 4 has a certain buffering performance. Through the prevention of the outer fixed rod 808, when the robot moves to a slope such as a threshold, the four sides of the bottom of the trash can 4 are blocked, so that the trash can 4 is not easy to slide. When it is necessary to weigh the weight in the trash can 4, the No. 2 hydraulic cylinder 902 is started to move the No. 2 hydraulic cylinder 902 upward, so that the mounting plate 903 moves upward, so that the mounting plate 903 The electronic scale 904 on the plate 903 moves upward and contacts the trash bin 4, pushing the trash bin 4 upward so that the trash bin 4 gradually rises in height. After the bottom surface of the trash bin 4 is no longer in contact with the fixed rod 808, the No. 2 hydraulic cylinder 902 is stopped, so as to observe the data displayed on the electronic scale 904, and the weight of the trash bin 4 in the first hole can be weighed. After the net weight of the trash bin 4 is subtracted from the electronic scale 904, the weight in the trash bin 4 can be accurately measured, so as to facilitate data recording, and the No. 3 hydraulic cylinder 1007 is started downward so that the No. 3 hydraulic cylinder 1007 pushes the connecting plate 1002 to move downward, so that the V-shaped plates 1001 on both sides of the connecting plate 1002 move downward, so that the two ends of the V-shaped plates 1001 are connected through the movable tubes 1005. The movable rod 1004 is movable and moves downward, so that the cleaning bristles 1003 at the lower end of the V-shaped plate 1001 move downward, so that the cleaning bristles 1003 can contact the ground, so that the cleaning bristles 1003 can sweep the impurities such as broken strips and convenience bags that are easily entangled in the No. 1 roller 3 in front, thereby preventing the broken strips and convenience bags from being entangled in the No. 1 roller 3, causing the No. 1 roller 3 to be unable to work, and the cleaning bristles 1003 can be movably moved upward, so that the user can clean the cleaning bristles 1003. Rollers 1009 are arranged on both sides of the V-shaped plate 1001. When it is transported to impact, the rollers 1009 at the side positions of the V-shaped plate 1001 hit the impact object first, and through the rotation of the rollers 1009, the machine body 1 deflects to the side in the opposite direction and moves to the side.Thus, part of the force is diagonally removed, so that the body 1 has a better anti-collision ability.

[0028] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A liftable medical waste removal and weighing robot, comprising a body (1), a display screen (2) fixedly mounted on the body (1), a first roller (3) fixedly mounted on the bottom surface of the body (1), a trash bin (4) movably mounted on the back surface of the body (1), a bin cover (5) movably mounted on the trash bin (4), a bracket (6) fixedly mounted on the bottom surface of the trash bin (4), and a second roller (7) fixedly mounted on the bottom of the bracket (6), characterized in that: The machine body (1) is fixedly mounted with a lifting and fixing mechanism (8), the lifting and fixing mechanism (8) comprising a support frame (801), a No. 1 hydraulic cylinder (802), a No. 1 fixing plate (803), a No. 2 fixing plate (804), a fixing pipe (805) and a fixing rod (808), the No. 1 hydraulic cylinder (802) is fixedly mounted on the machine body (1), the support frame (801) is fixedly mounted at the upper end position of the No. 1 hydraulic cylinder (802), the No. 1 fixing plate (803) is fixedly mounted on the support frame ( The first and second fixing plates (803 and 804) are fixedly mounted on the front and rear ends of the support frame (801), the second fixing plate (804) is fixedly mounted on the left and right sides of the support frame (801), the fixing tube (805) is fixedly mounted on the first fixing plate (803) and the second fixing plate (804), the fixing rod (808) is movably mounted in the fixing tube (805), and a weighing mechanism (9) is movably mounted on the inner side of the support frame (801), and the weighing mechanism (9) includes a weighing slot (901), a mounting plate (903) and an electronic scale (9 04), the weighing trough (901) is fixedly mounted on the machine body (1), the mounting plate (903) is movably mounted in the weighing trough (901), the electronic scale (904) is fixedly mounted on the mounting plate (903), an anti-collision mechanism (10) is fixedly mounted at the front position of the machine body (1), the anti-collision mechanism (10) comprises a V-shaped plate (1001), cleaning bristles (1003), a movable rod (1004), a No. 3 hydraulic cylinder (1007) and a roller (1009), the V-shaped plate ( 1001) is movably mounted in the front position of the machine body (1), the cleaning bristles (1003) are fixedly mounted on the bottom surface of the V-shaped plate (1001), the movable rod (1004) is movably mounted on both ends of the V-shaped plate (1001), and the upper end of the movable rod (1004) is fixedly connected to the front of the machine body (1), the No. 3 hydraulic cylinder (1007) is movably connected to the upper position of the V-shaped plate (1001), and the roller (1009) is fixedly mounted on the side position of the No. 3 hydraulic cylinder (1007).

2. The liftable medical waste removal and weighing robot according to claim 1, characterized in that: The lifting and fixing mechanism (8) further comprises a side movable groove (806) and a limiting rod (809); the side movable groove (806) is fixedly mounted on two side positions of the fixing tube (805); the limiting rod (809) is fixedly mounted on two side positions of the lower end of the fixing rod (808); the limiting rod (809) is movably mounted in the side movable groove (806) of the fixing tube (805); the supporting frame (801) is located at the bottom surface of the garbage bin (4), and the supporting frame (801) and the bottom surface of the garbage bin (4) are movably mounted relative to each other.

3. The liftable medical waste removal and weighing robot according to claim 1, characterized in that: The lifting and fixing mechanism (8) further comprises a spring (807), wherein the spring (807) is movably mounted in the fixing tube (805), and the spring (807) is located below the fixing rod (808), and part of the fixing rod (808) on the No. 1 fixing plate (803) and the No. 2 fixing plate (804) is located inside the trash bin (4), and part of the fixing rod (808) is located outside the trash bin (4).

4. The liftable medical waste removal and weighing robot according to claim 1, characterized in that: The weighing mechanism (9) further comprises a No. 2 hydraulic cylinder (902), the lower end of the No. 2 hydraulic cylinder (902) being fixedly mounted in the weighing slot (901), the upper end of the No. 2 hydraulic cylinder (902) being fixedly mounted on the mounting plate (903), the electronic scale (904) being moved upwards and being movably mounted on the bottom surface of the trash bin (4), and the electronic scale (904) being located at the center of the support frame (801).

5. The liftable medical waste removal and weighing robot according to claim 1, characterized in that: The anti-collision mechanism (10) further comprises a connecting plate (1002), wherein the connecting plate (1002) is located above the V-shaped plate (1001), both ends of the connecting plate (1002) are fixedly connected to the V-shaped plate (1001), and the middle portion of the connecting plate (1002) is fixedly connected to the No. 3 hydraulic cylinder (1007).

6. The liftable medical waste removal and weighing robot according to claim 1, characterized in that: The anti-collision mechanism (10) further comprises a movable tube (1005) and a limiting plate (1006); the movable tube (1005) is fixedly mounted on both ends of the V-shaped plate (1001); the movable rod (1004) is movably mounted in the movable tube (1005); the limiting plate (1006) is fixedly mounted at the lower end of the movable rod (1004); and the movable tube (1005) is located above the limiting plate (1006).

7. The liftable medical waste removal and weighing robot according to claim 1, characterized in that: The anti-collision mechanism (10) further comprises a support rod (1010), the roller (1009) is fixedly mounted on the support rod (1010), and the upper end and the lower end of the support rod (1010) are fixedly mounted on the side of the V-shaped plate (1001).

8. The liftable medical waste removal and weighing robot according to claim 1, characterized in that: The anti-collision mechanism (10) further comprises a support plate (1008), one end of which is fixedly mounted on the machine body (1), and the upper end of the No. 3 hydraulic cylinder (1007) is fixedly mounted on the bottom surface of the support plate (1008).

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