Automatic flower leaf removal and sorting device

Abstract

The present invention relates to an automatic flower defoliation and sorting device, comprising a loading mechanism, a defoliation mechanism, a visual inspection system, and a quantitative unloading mechanism; the loading mechanism comprises a loading carrier, and the flowers are placed in the loading carrier in a single, flat form for loading; the defoliation mechanism comprises a defoliation clamp assembly and a clamp track, and the defoliation clamp assembly is provided with an elastic rope, and after the elastic rope clamps the flowers, the defoliation clamp assembly moves along the clamp track to remove the leaves; the visual inspection system captures images of the flowers after the leaves are removed and performs sorting processing; the quantitative unloading mechanism unloads the sorted flowers in a quantitative manner. The present invention adopts a single, flat form for loading, and through a cam-driven carrier, it can automatically clamp the flowers without damaging them and can be freely controlled to open; the clamp of the defoliation mechanism uses a cam drive to clamp the flowers with the elastic rope, and remove the leaves along the set track, with a high success rate of removing the leaves; the elastic rope can effectively avoid damage to the flowers by pulling the leaves, achieving the purpose of defoliation without damaging the flowers.

Description

Technical Field

[0001] The present invention relates to the technical field of automated visual inspection equipment, in particular to an automatic flower leaf removal and sorting device. Background Art

[0002] Currently, there are numerous flower varieties and shapes on the market. Flowers can be broadly categorized as fragile or non-fragile based on their fragility. However, current flower sorting equipment is only suitable for non-fragile varieties, such as single-head roses. Furthermore, most existing equipment uses a vertical feed method: flowers are manually fed onto two feeder belts, which hold the flower heads above them and convey them to the equipment. Dispensers then push the flowers onto designated carriers. These carriers hold the flower heads and convey them forward under external barriers. After defoliation and visual inspection, the flowers are graded and unloaded.

[0003] However, for fragile flower varieties, such as carnations, both the flower heads and pedicels are very fragile, so the vertical loading method and leaf removal method of existing sorting equipment are not applicable, which can easily cause flower damage and result in large losses. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automatic flower leaf removing and sorting device, which has the characteristics of high leaf removing success rate, no damage to flowers, strong stability, high operating speed, etc.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a flower automatic defoliation and sorting device, including a feeding mechanism, a defoliation mechanism, a visual detection system and a quantitative unloading mechanism; the feeding mechanism includes a feeding carrier, and the flowers are placed in the feeding carrier in a single-branch flat form for loading; the defoliation mechanism is arranged above the feeding mechanism, and the defoliation mechanism includes a defoliation clamping claw assembly and a clamping claw track, the defoliation clamping claw assembly is provided with an elastic rope, and after the elastic rope clamps the flowers, the defoliation clamping claw assembly moves along the clamping claw track to remove the leaves; the visual detection system collects images of the flowers after the leaves are removed and performs sorting processing; then the quantitative unloading mechanism quantitatively unloads the sorted flowers.

[0006] Furthermore, the loading carrier described in the present invention includes a base, which is fixed to the limit blocks and the guide shaft, and a carrier rotating shaft that rotates along the hole is provided between the limit blocks, and a claw head is provided on the carrier rotating shaft; a guide shaft connecting rod is provided on the guide shaft, which moves axially along the guide shaft and fixes the guide sleeve; a curved connecting rod is provided between the guide shaft connecting rod and the carrier rotating shaft, and the guide shaft connecting rod realizes rotation and sliding through a bearing provided on the side.

[0007] Furthermore, the leaf removal mechanism of the present invention further comprises a frame, asprocket A synchronously rotating chain and a chain slideway supporting the linear motion of the chain; the deleafing clamp assembly is rotatably distributed on the chain; the clamp track is arranged in the frame along the diagonal direction of the frame, and the two diagonally distributed sprockets are coaxially provided with clamp opening circles, and the two ends of the clamp track are respectively connected to the clamp opening circles; a deleafing opening and closing strip is also provided in the frame; the deleafing clamp assembly realizes the clamping action under the limit of the deleafing opening and closing strip.

[0008] Furthermore, the clamping tracks described in the present invention are two, one set at the top and the other at the bottom; the leaf removing clamping assembly moves from the clamping position in the clamping track set at the bottom to remove leaves; the leaf removing clamping assembly moves to the clamping position in the clamping track set at the top after returning upward through the sprocket.

[0009] Furthermore, the leaf removing clamp assembly described in the present invention includes a transmission mounting seat and a U-shaped limiter installed on the chain, and the transmission mounting seat is connected to a transmission rod; a clamp positioning block is slidingly provided on the transmission rod, and the clamp positioning block is connected to the arc bearing through a leaf removing moving rod; a rotatable clamping rod is provided at both ends of the clamp positioning block, a clamping rod is fixed at one end of the clamping rod, an elastic rope is provided at the end of the clamping rod, and an intermediate shaft is fixed at the other end of the clamping rod; a rotatable thrust rod is fixed on the intermediate shaft, and the thrust rod is connected to the opening and closing rod, and the opening and closing rod and the thrust rod rotate and slide relative to each other; the two ends of the opening and closing rod are arranged in the U-shaped limiter through rolling bearings and are limited by the U-shaped limiter.

[0010] Furthermore, the present invention also includes a carrier opening and closing mechanism; the carrier opening and closing mechanism includes a carrier opening and closing plate, a carrier opening plate and a fixed profile; the carrier opening and closing plate and the carrier opening plate are connected by a rotating retaining block; the carrier opening plate is provided with an anti-opening strip and an anti-dropping strip; the loading carrier is limited by the anti-opening strip and the anti-dropping strip; the carrier opening and closing port is provided at the connection between the anti-dropping strip and the rotating retaining block; the carrier opening plate is provided with a movable block, a material shifting block and a clamping and retaining block.

[0011] Furthermore, the quantitative unloading mechanism described in the present invention includes a tail mounting sheet metal installed on the adjustment profile and a diamond bearing and a cylinder guide assembly installed between the tail mounting sheet metals; a rotating shaft is installed between the diamond bearings, and the rotating shaft is relatively locked with the transmission fixing part in the cylinder guide assembly, and the rotating shaft is provided with a belt plate fixed relative to the rotating shaft and a nylon slide and a material shifting piece rotating relative to the rotating shaft; a material shifting cylinder is fixed on the nylon slide.

[0012] Furthermore, the cylinder guide assembly described in the present invention includes a mounting base and a cylinder arranged on the mounting base; the cylinder is connected to a slider through a floating joint; the slider is guided by the waist hole on the mounting base clamped by a flange bearing and is connected to the transmission fixing part of the quantitative feeding mechanism through a connecting rod by a fisheye bearing.

[0013] Furthermore, the present invention also includes a material-dipping moving mechanism; the material-dipping moving mechanism includes a material-dipping sprocket assembly, and nylon scrapers are evenly distributed on the transmission chain of the material-dipping sprocket assembly.

[0014] The beneficial effect of the present invention is that it solves the defects existing in the background technology. It adopts a single flat loading form, and can automatically clamp the flowers without damaging them through a cam-driven carrier, and can freely control the opening; the clamping claws of the leaf removal mechanism use cam transmission to clamp the flowers with an elastic rope, and pull off the flower leaves along the set track, with a high success rate of leaf pulling; the elastic rope pulling off the leaves can effectively avoid damage to the flowers, achieving the purpose of removing leaves without damaging the flowers; except for the material discharge control, the whole adopts mechanical transmission, with strong stability, continuous equipment movement, fast grading speed, and can grade fragile flowers. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention;

[0016] Figure 2 It is a structural schematic diagram of the loading carrier of the present invention;

[0017] Figure 3-Figure 4 It is a structural schematic diagram of the leaf removal mechanism of the present invention;

[0018] Figure 5 It is a structural schematic diagram of the leaf removal clamp assembly of the present invention;

[0019] Figure 6-Figure 7 It is a structural schematic diagram of the carrier opening and closing mechanism of the present invention;

[0020] Figure 8 It is a structural schematic diagram of the quantitative feeding mechanism of the present invention;

[0021] Figure 9 It is a structural schematic diagram of the cylinder guide assembly of the present invention;

[0022] Figure 10 It is a structural schematic diagram of the material shifting and moving mechanism of the present invention;

[0023] In the figure: 1. Loading carrier; 2. Leaf removal mechanism; 3. Visual inspection system; 4. Quantitative unloading mechanism; 5. Carrier opening and closing mechanism; 6. Material shifting mechanism;

[0024] 11. Base; 12. Carrier rotating shaft; 13. Curved connecting rod; 14. Guide sleeve; 15. Guide shaft; 16. Bearing; 17. Guide shaft connecting rod; 18. Transmission connecting rod; 19. Claw; 110. Limit block;

[0025] 21. Frame; 22. Gripper opening ring; 23. Bearing limit wheel; 24. Sprocket; 25. Leaf removal opening and closing strip; 26. Gripper track; 27. Chain slide; 28. Leaf removal gripper assembly;

[0026] 281. Transmission rod; 282. Intermediate shaft; 283. Thrust rod; 284. Clamping jaw position block; 285. Clamping rod; 286. Clamping jaw; 287. Stamping bearing; 288. Transmission mounting seat; 289. U-shaped stopper; 2810. Tension spring; 2811. Leaf removal lever; 2812. Leaf removal bearing block; 2813. Arc bearing; 2814. Opening and closing lever;

[0027] 41. Cylinder guide assembly; 42. Transmission fixture; 43. Diamond bearing; 44. Material shifting cylinder; 45. Belt; 46. Belt plate; 47. Material shifting piece; 48. Nylon slide;

[0028] 411. Mounting base; 412. Cylinder gasket; 413. Floating joint; 414. Flange bearing; 415. Slider; 416. Fisheye bearing; 417. Cylinder;

[0029] 51. Carrier opening and closing plate; 52. Rotating holding block; 53. Carrier opening plate; 54. Fixed profile; 55. Anti-opening strip; 56. Anti-drop strip; 57. Clamping and holding block; 58. Material shifting block; 59. Movable block; 510. Carrier opening and closing port;

[0030] 61. Feeding sprocket; 62. Expansion sleeve; 63. Sprocket; 64. Nylon scraper; 65. Connecting profile. DETAILED DESCRIPTION

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0032] like Figures 1-10 The device is shown as an automatic flower defoliation and sorting device, which is mainly used for carnations. The device includes a loading mechanism, a defoliation mechanism 2, a visual inspection system 3, a quantitative unloading mechanism 4, a carrier opening and closing mechanism 5, and a material shifting and moving mechanism 6.

[0033] The feeding mechanism includes a feeding carrier 1, and the flowers are placed in the feeding carrier in a single flat form for feeding. Figure 2As shown, the loading carrier includes a base 11, which is fixed to a limit block 110 and a guide shaft 15, and a carrier rotating shaft 12 that rotates along the hole is provided between the limit blocks, and a claw head 19 is provided on the carrier rotating shaft; a guide shaft connecting rod 17 that moves axially along the guide shaft and fixes the guide sleeve 14 is provided on the guide shaft 15; the guide shaft connecting rod and the carrier rotating shaft are connected by a curved connecting rod 13 and a transmission connecting rod 18, and the guide shaft connecting rod is rotated and slid by a bearing 16 provided on the side, and the opening and closing action of the claw head is realized by the carrier opening and closing mechanism.

[0034] like Figure 3-Figure 4 As shown, the defoliation mechanism 2 is arranged above the feeding mechanism, and the defoliation mechanism includes a defoliation claw assembly 28 and a claw track 26. In addition, the defoliation mechanism also has a frame 21, a bearing limiting wheel 23, a chain that rotates synchronously around the sprocket 24 in the frame, and a chain slide 27 that supports the linear motion of the chain; the defoliation claw assembly rotates and is distributed on the chain; the running speed of the defoliation claw assembly is the same as the running speed of the feeding carrier, so as to ensure that the flower stalks can be better clamped, so as to achieve the purpose of pulling the leaves without damaging the flowers.

[0035] like Figure 3 As shown, the clamping track is arranged along the diagonal direction of the frame in the frame, and there are two clamping tracks arranged at the upper and lower ends; the two diagonally distributed sprockets are coaxially provided with clamping jaw opening circles 22, and the two ends of the clamping track 26 are respectively connected to the clamping jaw opening circles.

[0036] A leaf removing opening and closing strip 25 is also provided in the frame; the leaf removing opening and closing strip is connected to the sprocket, and the end of the leaf removing opening and closing strip has a certain inclined guide angle, that is, the middle part of the leaf removing opening and closing strip is a long strip, and the width of the strip at the end is smaller than the width of the strip in the middle; when the leaf removing clamping claw assembly rotates with the sprocket into the leaf removing opening and closing strip, the angle of the inclined guide angle gradually becomes smaller, and under the limiting and guiding action of the inclined guide angle of the leaf removing opening and closing strip, the leaf removing clamping claw assembly passes through the clamping claw opening ring provided below and enters the clamping claw track provided below. At this time, the clamping claw track has a directional force on the leaf removing clamping claw assembly The downward pressure enables the defoliation claw assembly to clamp the pedicel of the flower, and then as the sprocket rotates, the running trajectory of the defoliation claw assembly is restricted within the claw track, so that the defoliation claw assembly moves along the claw track from the clamping position (a diagonal vertex position in the frame) to complete the leaf plucking action; after the leaves are plucking is completed, the defoliation claw assembly reaches the return position (another diagonal vertex position in the frame), and the defoliation claw assembly returns upward through the sprocket, and moves to the next clamping position through the claw track set above with the same movement principle.

[0037] The leaf removal claw assembly 28 is as follows Figure 5As shown, it includes two transmission mounting seats 288 and a U-shaped limiter 289 installed on the chain, and the two transmission mounting seats are respectively connected to a transmission rod 281 and a stamping bearing 287; the two transmission rods are connected by a sliding clamping jaw positioning block 284, and the clamping jaw positioning block is connected to the arc bearing 2813 through a leaf removal moving rod 2811 and a leaf removal bearing block 2812; a rotatable clamping rod 285 is provided at both ends of the clamping jaw positioning block, and a clamping jaw 286 is fixed at one end of the clamping rod, and an intermediate shaft 282 is fixed at the other end of the clamping rod; a tension spring 2810 is provided between the two intermediate shafts, and a rotatable thrust rod 283 is fixed on the intermediate shaft, and the thrust rod is connected to the opening and closing rod 2814, and the opening and closing rod and the thrust rod rotate and slide relative to each other; the two ends of the opening and closing rod are arranged in the U-shaped limiter through rolling bearings and are limited by the U-shaped limiter.

[0038] When the defoliation jaw assembly passes the defoliation opening and closing bar, the rolling bearing is limited and pressed downward by the defoliation opening and closing bar, thereby driving the opening and closing rod downward and opening the jaws. The circular arc bearing then enters the jaw track, which applies downward pressure. The jaws are clamped together by a series of components, including the intermediate shaft, thrust rod, and clamping rod. Because the ends of the jaws are provided with elastic cords along the opening and closing direction, the elastic cords can tighten the flower stalks while the jaws grip them. As the defoliation jaw assembly moves along the jaw track, the leaves are pulled along the stalks, thereby removing the leaves.

[0039] like Figure 6-Figure 7 As shown, the carrier opening and closing mechanism 5 includes a carrier opening and closing plate 51, a carrier opening plate 53 and a fixed profile 54; the carrier opening and closing plate and the carrier opening plate are connected by a rotating retaining block 52; the carrier opening plate is provided with an anti-opening strip 55 and an anti-dropping strip 56; the loading carrier is limited in operation by the anti-opening strip and the anti-dropping strip; a carrier opening and closing port 510 is provided at the connection between the anti-dropping strip and the rotating retaining block; the carrier opening plate is provided with a movable block 59, a material shifting block 58 and a clamping retaining block 57.

[0040] like Figure 10 As shown, the feeding mechanism 6 includes a feeding sprocket 61, an expansion sleeve 62, a sprocket 63, a chain, and a connecting profile 65. Nylon scrapers 64 are evenly distributed on the chain. After the flowers have been plucking their leaves and passing through the visual inspection system, they are flipped and transported in the reverse direction. During reverse transport, the nylon scrapers move them forward to the corresponding quantitative feeding mechanism.

[0041] like Figure 8As shown, the quantitative unloading mechanism 4 comprises a tail mounting sheet metal mounted on the adjustment profile, a diamond-shaped bearing 43 mounted between the tail mounting sheet metal, and a cylinder guide assembly 41. A rotating shaft 49 is mounted between the diamond-shaped bearings, which is locked relative to the transmission fixture 42 in the cylinder guide assembly. The rotating shaft is provided with a belt plate fixed relative to the rotating shaft, a nylon slide 48 and a material shifting piece 47 that rotate relative to the rotating shaft, and a material shifting cylinder 44 is fixed to the nylon slide. The material distribution bin is composed of a belt 45 and a belt plate 46.

[0042] like Figure 9 As shown, the cylinder guide assembly 41 includes a mounting base 411 and a cylinder 417 and a cylinder gasket 412 arranged on the mounting base; the cylinder is connected to a slider 415 through a floating joint 413; the slider is guided by the waist hole on the mounting base clamped by a flange bearing 414 and is connected to the transmission fixing part of the quantitative feeding mechanism through a connecting rod by a fisheye bearing 416.

[0043] When the equipment is running, flowers (carnations) are manually placed continuously on the loading carrier on the chain conveyor mechanism and transmitted forward, and the flowers are pressed on the loading carrier by pressing down the PU connecting belt; then the flowers enter the defoliation mechanism, and the defoliation clamp assembly runs at the same speed as the loading carrier under the drive of the chain. The opening and closing rod in the defoliation clamp assembly is pressed down under the limit of the defoliation opening and closing bar, the clamping jaw and the clamping rod are closed, the elastic rope clamps the flowers, and the arc bearing in the defoliation clamp assembly is further guided by the clamping jaw track to realize the elastic rope to pull the leaves; after the leaves are pulled, the opening and closing rod in the defoliation clamp assembly loses the limit of the defoliation opening and closing bar, and actively opens the clamping jaw and the clamping rod under the action of its own tension spring, and at the same time flows back upward. At this time, the PU connecting belt is pressed down to separate from the loading carrier. The first camera fixed on the side of the flower head and the second camera directly above the flower head collect images of the flower head. Then the third camera directly above the flower collects images of the flower body and transmits them to the control system. After algorithm operation and data processing, the flowers (carnations) are classified by grade.

[0044] Next, the bearings in the loading carriage shift their positions relative to the base, controlled by the carriage's opening and closing mechanism. While the claws still grip the flower heads, the tails, held in place by the anti-runaway plate, are turned and transported in the opposite direction by the loading carriage. The flowers then enter the feeder's moving mechanism, where they are moved forward by nylon scrapers. Once they pass through the corresponding quantitative unloading mechanism, a cylinder mounted on a nylon slide swings upward under the control of the PLC system. Simultaneously, a cylinder in the carriage's opening and closing mechanism swings upward, causing a movable block to shift the position of the bearings in the loading carriage relative to the base. The claws release the flower heads, allowing the flowers (carnations) to drop into the feed bin. When the bin reaches the set number of flowers, the cylinder in the cylinder guide assembly, controlled by the PLC system, moves downward, driving the slider. Driven by components such as the drive mechanism, the bin opens, allowing the entire bin of flowers (carnations) to drop onto the receiving conveyor. The flowers (carnations) then travel along the receiving conveyor, from the bottom of the equipment, up a ramp to the outside, where they are transported to other processing steps.

[0045] The above description only describes specific embodiments of the present invention. Various examples do not limit the essential content of the present invention. After reading the description, ordinary technicians in the relevant technical field can make modifications or variations to the specific embodiments described above without departing from the essence and scope of the invention.

Claims

1. A device for automatically removing and sorting flowers, characterized by: The device comprises a feeding mechanism, a defoliating mechanism, a visual inspection system, and a quantitative unloading mechanism; the feeding mechanism comprises a feeding carrier, on which flowers are placed in a single, flat manner for loading; the defoliating mechanism is arranged above the feeding mechanism, and comprises a defoliating claw assembly and a claw track; the defoliating claw assembly is provided with an elastic rope, and after the elastic rope clamps the flowers, the defoliating claw assembly moves along the claw track to remove the leaves; the visual inspection system captures images of the flowers after defoliation and performs sorting processing; and the quantitative unloading mechanism then quantitatively unloads the sorted flowers. The loading carrier includes a base, the base is fixed to the limit block and the guide shaft, a carrier rotating shaft is provided between the limit blocks and rotates along the hole, and a claw is provided on the carrier rotating shaft; a guide shaft connecting rod is provided on the guide shaft and moves axially along the guide shaft and fixes the guide sleeve; a curved connecting rod is provided between the guide shaft connecting rod and the carrier rotating shaft, and the guide shaft connecting rod realizes rotation and sliding through a bearing provided on the side; The leaf removal mechanism also comprises a frame, an inner portion surrounding the frame, and a sprocket A synchronously rotating chain and a chain slideway supporting the linear motion of the chain; the deleafing clamp assembly is rotatably distributed on the chain; the clamp track is arranged in the frame along the diagonal direction of the frame, and the two diagonally distributed sprockets are coaxially provided with clamp opening circles, and the two ends of the clamp track are respectively connected to the clamp opening circles; a deleafing opening and closing strip is also provided in the frame; the deleafing clamp assembly realizes the clamping action under the limit of the deleafing opening and closing strip.

2. The automatic flower leaf removal and sorting device according to claim 1, characterized in that: The described clamping tracks are two, one at the top and the other at the bottom; the described leaf removing clamping assembly moves from the clamping position in the clamping track arranged at the bottom to remove leaves; the described leaf removing clamping assembly moves to the clamping position in the clamping track arranged at the top after passing through the sprocket and returning upward.

3. The automatic flower leaf removal and sorting device according to claim 1 or 2, characterized in that: The deleafing clamp assembly includes a transmission mounting seat and a U-shaped limiter installed on the chain, and the transmission mounting seat is connected to a transmission rod; a clamp positioning block is slidingly provided on the transmission rod, and the clamp positioning block is connected to the arc bearing through a deleafing moving rod; a rotatable clamping rod is provided at both ends of the clamp positioning block, a clamping rod is fixed at one end of the clamping rod, an elastic rope is provided at the end of the clamping rod, and an intermediate shaft is fixed at the other end of the clamping rod; a rotatable thrust rod is fixed on the intermediate shaft, the thrust rod is connected to the opening and closing rod, and the opening and closing rod and the thrust rod rotate and slide relative to each other; the two ends of the opening and closing rod are arranged in the U-shaped limiter through rolling bearings and are limited by the U-shaped limiter.

4. The automatic flower leaf removal and sorting device according to claim 1, characterized in that: It also includes a carrier opening and closing mechanism; the carrier opening and closing mechanism includes a carrier opening and closing plate, a carrier opening plate and a fixed profile; the carrier opening and closing plate and the carrier opening plate are connected by a rotating retaining block; the carrier opening plate is provided with an anti-opening strip and an anti-dropping strip; the loading carrier is limited by the anti-opening strip and the anti-dropping strip; the connection between the anti-dropping strip and the rotating retaining block is provided with a carrier opening and closing port; the carrier opening plate is provided with a movable block, a material shifting block and a clamping and retaining block.

5. The automatic flower leaf removal and sorting device according to claim 1, characterized in that: The quantitative unloading mechanism includes a tail mounting sheet metal installed on the adjustment profile and a diamond bearing and a cylinder guide assembly installed between the tail mounting sheet metals; a rotating shaft is installed between the diamond bearings, and the rotating shaft is relatively locked with the transmission fixing part in the cylinder guide assembly. The rotating shaft is provided with a belt plate fixed relative to the rotating shaft and a nylon slide and a material strip rotating relative to the rotating shaft; a material stripping cylinder is fixed on the nylon slide.

6. The automatic flower leaf removal and sorting device according to claim 5, characterized in that: The cylinder guide assembly includes a mounting base and a cylinder arranged on the mounting base; the cylinder is connected to the slider through a floating joint; the slider is guided by the waist hole on the mounting base clamped by a flange bearing and is connected to the transmission fixing part of the quantitative feeding mechanism through a connecting rod by a fisheye bearing.

7. The automatic flower leaf removal and sorting device according to claim 1, characterized in that: It also includes a material-dipping moving mechanism; the material-dipping moving mechanism includes a material-dipping sprocket assembly, and nylon scrapers are evenly distributed on the transmission chain of the material-dipping sprocket assembly.

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