Automatic alignment loading and unloading mechanism of guided missile loading and unloading vehicle

Abstract

The automatic alignment loading and unloading mechanism comprises a frame plate and a driving device connected to the bottom wall of the frame plate, the top wall of the frame plate is fixedly connected with supporting plates, the supporting plates are symmetrically arranged about the central axis of the frame plate, the top walls of the supporting plates are fixedly connected with missile loading plates, and the missile loading plates are fixedly connected to the bottom wall of the frame plate. A sliding groove is formed in the top wall of the frame plate, a linkage plate is slidably connected to the top wall of the frame plate through the sliding groove, a containing groove is formed in the side wall of the frame, a supporting frame is fixedly connected to the side wall of the containing groove, a first air cylinder is fixedly connected to the top wall of the supporting frame, and the output end of the first air cylinder is fixedly connected with the linkage plate. The top wall of the missile carrying plate is fixedly connected with a missile carrying part for carrying missiles, the inner wall of the linkage plate is slidably connected with a loading and unloading part for loading the missiles, the missile carrying part can adapt to different types of missiles conveniently, the applicability is higher, meanwhile, automatic loading and unloading of the missiles can be achieved conveniently through the loading and unloading part, and therefore the loading and unloading efficiency is improved; and the practicability is higher.

Description

Technical Field

[0001] The invention relates to the field of aviation military technology, and in particular to an automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle. Background Art

[0002] Missiles are important weapons in the field of aviation and military, and their use is highly complex and precise. During the loading and unloading process of missiles, the missiles need to be accurately transported to the designated aircraft position and safely hung on the aircraft's missile rack. This series of actions requires extremely high precision and stability, otherwise it may cause damage to the missile or aircraft, and may even cause safety accidents, so an automatic alignment loading and unloading mechanism for missile loading and unloading vehicles is needed.

[0003] However, the prior art still has the following deficiencies: 1. Since each aircraft carries different types of missiles, it is not convenient to carry missiles of different types according to loading and unloading requirements, and the applicability is poor; 2. After the missiles are transported to a suitable location, multiple groups of operators are required to carry the missiles and then hang them on the missile hangers of the aircraft. During the manual hanging of missiles, safety accidents are prone to occur due to operational errors, and it is not convenient to improve the loading efficiency.

[0004] Therefore, an automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle is urgently needed to solve the above problems. Summary of the invention

[0005] In view of the defects in the prior art, the object of the present invention is to provide an automatic alignment loading and unloading mechanism for a missile loading and unloading vehicle.

[0006] According to the present invention, an automatic positioning loading and unloading mechanism of a missile loading and unloading vehicle comprises a frame plate and a driving device connected to the bottom wall of the frame plate, the top wall of the frame plate is fixedly connected with a support plate, the support plate is symmetrically arranged in two groups along the central axis of the frame plate, the top wall of the support plate is fixedly connected with a bomb loading plate, the top wall of the frame plate is provided with a slide groove, the slide groove is symmetrically arranged in two groups along the central axis of the frame plate, the top wall of the frame plate is slidably connected with a group of linkage plates through the slide groove, the side wall of the frame is provided with a placement groove, the side wall of the placement groove is fixedly connected with a support frame, the top wall of the support frame is fixedly connected with a first cylinder, the output end of the first cylinder is fixedly connected to the linkage plate, the top wall of the bomb loading plate is fixedly connected with a bomb loading component for carrying the missile, and the inner wall of the linkage plate is slidably connected with a loading and unloading component for loading the missile.

[0007] Preferably, the bullet-carrying component includes a fixed block fixedly connected to the top wall of the bullet-carrying plate, and there are two to five groups of fixed blocks evenly distributed along the top wall of the bullet-carrying plate. A bracket is opened on the inner wall of the fixed block, and a cushion is connected to the inner wall of the bracket. Two groups of cushions are symmetrically arranged along the central axis of the bracket. A sliding rod is fixedly connected to the outer wall of the cushion. Two groups of sliding rods are symmetrically arranged along the central axis of the cushion. A spring is sleeved on the outer wall of the sliding rod, and both ends of the spring are respectively fixedly connected to the cushion and the fixed block.

[0008] Preferably, the loading and unloading components include support rods slidably connected to the inner wall of the linkage plate, and two groups of support rods are symmetrically arranged along the central axis of the linkage plate. The top walls of the two groups of support rods are fixedly connected to the lifting plate, and the bottom wall of the linkage plate is fixedly connected to the second cylinder, and the output end of the second cylinder is fixedly connected to the lifting plate.

[0009] Preferably, the top wall of the lifting plate is provided with movable grooves, and two groups of movable grooves are symmetrically arranged along the central axis of the lifting plate. The top wall of the lifting plate is slidably connected to a group of connecting plates through the movable grooves, and the bottom wall of the connecting plate is fixedly connected to a rack.

[0010] Preferably, a driving groove is opened on the top wall of the lifting plate, the side wall of the driving groove is rotatably connected to the first gear, the first gear is meshed with the rack, the top wall of the driving groove is fixedly connected to the first driving motor, and the output end of the first driving motor is fixedly connected to the first gear.

[0011] Preferably, the top wall of the connecting plate is rotatably connected to the angle adjustment rod, the top wall of the angle adjustment rod is fixedly connected to the angle adjustment plate, the outer wall of the angle adjustment rod is fixedly connected to the second gear, the top wall of the rack is fixedly connected to the support plate, the side wall of the support plate is fixedly connected to the second drive motor, the output end of the second drive motor is fixedly connected to the third gear, and the third gear is meshingly connected to the second gear.

[0012] Preferably, the top wall of the angle adjustment plate is provided with adjustment grooves, and two groups of adjustment grooves are symmetrically arranged along the central axis of the angle adjustment plate.

[0013] Preferably, a bidirectional screw is rotatably connected to the inner wall of the angle adjustment plate, and the bidirectional screw passes through one end of the angle adjustment plate and is fixedly connected to the screwing shaft.

[0014] Preferably, a clamping plate is slidably connected to the top wall of the adjusting groove, and two groups of the clamping plates are symmetrically arranged along the central axis of the adjusting groove, and the clamping plates are threadedly connected to the bidirectional screw.

[0015] Preferably, a protective pad is fixedly connected to the inner wall of the clamping plate, and an infrared ray is fixedly connected to the top wall of the clamping plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) The present invention can drive the soft pad to fit the outer surface of the missile through the spring, and can also adjust the position of the clamping plate according to the model of the missile through the bidirectional screw, so as to be suitable for missiles of different models and have stronger applicability, thus solving the problem of poor applicability in the prior art that different types of missiles are suspended on different aircraft, making it inconvenient to carry missiles of different models according to loading and unloading requirements;

[0018] (2) The present invention can drive the lifting plate to move up and down through the second cylinder, and the connecting plate can slide on the lifting plate. Under the action of the angle adjustment plate, the deflection angle of the missile can be adjusted, thereby improving the convenience of hanging bombs on the aircraft and improving the efficiency of hanging bombs. It solves the problem in the prior art that after the missiles are transported to the appropriate position, they need to be moved by multiple groups of operators and then hung on the missile rack of the aircraft. During the manual hanging of bombs, safety accidents are easily caused due to operating errors, and it is not convenient to improve the loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0020] Figure 1 This is one of the overall structural schematic diagrams of an automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle provided in this application;

[0021] Figure 2 The second schematic diagram of the overall structure of the automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle provided in this application;

[0022] Figure 3 The third schematic diagram of the overall structure of the automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle provided in this application;

[0023] Figure 4 A schematic diagram of a portion of the structure of an automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle provided in this application;

[0024] Figure 5 The present invention provides an automatic positioning loading and unloading mechanism for a missile loading and unloading vehicle. Figure 1 A magnified view of the structure in the middle;

[0025] Figure 6 The present invention provides an automatic positioning loading and unloading mechanism for a missile loading and unloading vehicle. Figure 3 Middle B is an enlarged view of the structure;

[0026] Figure 7 The present invention provides an automatic positioning loading and unloading mechanism for a missile loading and unloading vehicle. Figure 4 Enlarged view of the structure in C.

[0027] Indicated in the figure:

[0028] 100, frame plate; 101, driving device; 102, support plate; 103, bullet-carrying plate; 104, slide groove; 105, linkage plate; 106, placement groove; 107, support frame; 108, first cylinder; 110, fixing block; 111, bracket; 112, cushion; 113, slide bar; 114, spring; 120, support rod; 121, lifting plate; 122, second cylinder; 123, moving groove; 12 4. Connecting plate; 125. Rack; 126. Driving slot; 127. First gear; 128. First driving motor; 130. Angle adjustment rod; 131. Angle adjustment plate; 132. Second gear; 133. Support plate; 134. Second driving motor; 135. Third gear; 136. Adjusting slot; 137. Bidirectional screw; 138. Twisting shaft; 140. Clamping plate; 141. Protective pad; 142. Infrared ray. DETAILED DESCRIPTION

[0029] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0030] Example

[0031] This embodiment provides an automatic alignment loading and unloading mechanism for a missile loading and unloading vehicle, such as Figure 1-3 As shown, it includes a frame plate 100 and a driving device 101 connected to the bottom wall of the frame plate 100, a support plate 102 is fixedly connected to the top wall of the frame plate 100, and two groups of support plates 102 are symmetrically arranged about the central axis of the frame plate 100, and a bullet-carrying plate 103 is fixedly connected to the top wall of the support plate 102. A slide groove 104 is opened on the top wall of the frame plate 100, and two groups of slide grooves 104 are symmetrically arranged about the central axis of the frame plate 100. The top wall of the frame plate 100 is slidably connected to a group of linkage plates 105 through the slide groove 104, and the side wall of the frame is opened to release A slot 106 is provided, and a support frame 107 is fixedly connected to the side wall of the slot 106. A first cylinder 108 is fixedly connected to the top wall of the support frame 107. An output end of the first cylinder 108 is fixedly connected to the linkage plate 105. A missile-carrying component for carrying the missile is fixedly connected to the top wall of the missile-carrying plate 103. A loading and unloading component for loading the missile is slidably connected to the inner wall of the linkage plate 105. The linkage plate 105 is driven to move by the first cylinder 108, so that the missiles on different fixed blocks 110 can be lifted up, thereby improving the convenience of use.

[0032] like Figure 1-5As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, the ammunition loading component includes a fixed block 110 fixedly connected to the top wall of the ammunition loading plate 103, and the fixed block 110 is evenly distributed in two to five groups along the top wall of the ammunition loading plate 103. A bracket 111 is opened on the inner wall of the fixed block 110, and a cushion 112 is connected to the inner wall of the bracket 111. Two groups of the cushion 112 are symmetrically arranged about the central axis of the bracket 111. A slide bar 113 is fixedly connected to the outer wall of the cushion 112. Two groups of the slide bar 113 are symmetrically arranged about the central axis of the cushion 112. A spring 114 is sleeved on the outer wall of the slide bar 113, and both ends of the spring 114 are fixedly connected to the cushion 112 and the fixed block 110 respectively. Through the action of the slide bar 113 and the spring 114, it is easy to drive the cushion 112 to fit the outer surface of the missile, which can adapt to missiles of different types and has stronger applicability.

[0033] like Figure 1-2 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, the loading and unloading components include a support rod 120 slidably connected to the inner wall of the linkage plate 105, and two groups of support rods 120 are symmetrically arranged about the central axis of the linkage plate 105. The top walls of the two groups of support rods 120 are fixedly connected to a lifting plate 121, and the bottom wall of the linkage plate 105 is fixedly connected to a second cylinder 122. The output end of the second cylinder 122 is fixedly connected to the lifting plate 121. By setting the second cylinder 122, the lifting plate 121 can be driven to rise, so that the height of the missile can be adjusted, which is convenient for saving manpower and improving the efficiency of hanging bombs.

[0034] like Figure 1-4 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, a movable groove 123 is opened on the top wall of the lifting plate 121, and two groups of movable grooves 123 are symmetrically arranged about the central axis of the lifting plate 121. The top wall of the lifting plate 121 is slidably connected with a group of connecting plates 124 through the movable grooves 123, and the bottom wall of the connecting plate 124 is fixedly connected with a rack 125. By setting the movable grooves 123, it is convenient to limit the connecting plate 124, thereby improving the stability of the connecting plate 124 when moving.

[0035] like Figure 1-7 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, a driving groove 126 is opened on the top wall of the lifting plate 121, and the side wall of the driving groove 126 is rotatably connected with a first gear 127, and the first gear 127 is meshed with the rack 125. The top wall of the driving groove 126 is fixedly connected with a first driving motor 128, and the output end of the first driving motor 128 is fixedly connected with the first gear 127. The first gear 127 is meshed with the rack 125, so that the position of the connecting plate 124 can be adjusted conveniently, and the practicality is stronger.

[0036] like Figure 1-6As shown, as a preferred embodiment, on the basis of the above method, further, the top wall of the connecting plate 124 is rotatably connected to the angle adjustment rod 130, the top wall of the angle adjustment rod 130 is fixedly connected to the angle adjustment plate 131, the outer wall of the angle adjustment rod 130 is fixedly connected to the second gear 132, the top wall of the rack 125 is fixedly connected to the support plate 133, the side wall of the support plate 133 is fixedly connected to the second drive motor 134, the output end of the second drive motor 134 is fixedly connected to the third gear 135, the third gear 135 is meshingly connected to the second gear 132, and the third gear 135 is driven to rotate by the second drive motor 134, so that the angle adjustment rod 130 can be driven to deflect by the second gear 132, so as to facilitate the adjustment of the angle of the angle adjustment plate 131, and realize the convenience of hanging bombs on the missile.

[0037] like Figure 1-4 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, an adjustment groove 136 is opened on the top wall of the angle adjustment plate 131, and two groups of adjustment grooves 136 are symmetrically arranged about the central axis of the angle adjustment plate 131. The adjustment grooves 136 facilitate further adaptation to different types of missiles and are more convenient to use.

[0038] like Figure 1-4 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, the inner wall of the angle adjustment plate 131 is rotatably connected with a bidirectional screw 137, and one end of the bidirectional screw 137 passing through the angle adjustment plate 131 is also fixedly connected with a screwing shaft 138. By setting the threads of the bidirectional screw 137 to have opposite directions, it is more convenient to adjust the position of the clamping plate 140.

[0039] like Figure 1-5 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, the top wall of the adjusting groove 136 is slidably connected with a clamping plate 140, and two groups of clamping plates 140 are symmetrically arranged about the central axis of the adjusting groove 136, and the clamping plates 140 are threadedly connected with the bidirectional screw 137. Under the action of the clamping plates 140, the missile can be better lifted from the fixed block 110, saving the time of hanging the missile.

[0040] like Figure 1-6 As shown, as a preferred embodiment, on the basis of the above method, further, the inner wall of the clamping plate 140 is fixedly connected with a protective pad 141, and the top wall of the clamping plate 140 is fixedly connected with an infrared ray 142, so as to improve the accuracy of hanging bombs.

[0041] Specifically, when the automatic alignment loading and unloading mechanism of the missile loading and unloading vehicle is used: first, the driving device 101 is started to drive the frame plate 100 to move to a suitable position, and then the missile is carried to the fixed block 110, and the missile is supported by the soft pad 112. At the same time, under the action of the spring 114 and the slide bar 113, the soft pad 112 can be driven to fit the missile according to the size of the missile, thereby improving the stability of the missile during transportation, and it is also convenient to adapt to different types of missiles, and then the driving device 101 is started to drive the frame plate 100 to move to the position where the aircraft needs to hang the order, and then the first cylinder 108 is started to drive the linkage plate 105 through the slide groove 104 is moved, thereby moving the angle adjustment plate 131 to the bottom of the missile on the fixed block 110, and then it is more necessary to rotate the screw shaft 138 to drive the bidirectional screw 137 to rotate, and the bidirectional screw 137 drives the clamping plate 140 to move in the same direction or in the opposite direction, so that it can better fit the outer surface of the missile. After the clamping plate 140 is adjusted to a suitable position, the lifting plate 121 is driven to move upward by starting the second cylinder 122, and the lifting plate 121 is supported by the support rod 120, so that the missile is lifted out of the soft pad 112 by the clamping plate 140, and the protective pad 141 is used to further improve the contact with the missile. The safety of the missile is ensured when it is touched. Then, when the missile is lifted to a suitable height, the first driving motor 128 can be started as needed, and the first driving motor 128 drives the first gear 127 to rotate. The first gear 127 is meshed with the rack 125, thereby driving the connecting plate 124 to slide on the lifting plate 121 through the moving groove 123, thereby adjusting the horizontal position of the missile. At the same time, the infrared ray 142 is used to irradiate, which can improve the accuracy of hanging the missile. At the same time, the second driving motor 134 is started to drive the third gear 135 to rotate, and the third gear 135 drives the second gear 132 to rotate, thereby driving the angle adjustment rod 1 30 is rotated, and the deflection angle of the angle adjustment plate 131 is adjusted by the adjusting rod, so that fine adjustment can be achieved in the process of hanging bombs on the missile. When the bomb hanging is completed, the lifting plate 121 is reset by contracting the second cylinder 122. When the missile on the other side needs to be lifted, the linkage plate 105 is first moved to the extreme position of the slide slot 104, and then the first drive motor 128 is started to mesh with the rack 125 through the gear, so as to adjust the position of the connecting plate 124, thereby driving the clamping plate 140 to move to the bottom of the missile on the other side, and then continue to hang bombs on the missile, which improves the convenience of use and increases the efficiency of hanging bombs.

[0042] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An automatic alignment loading and unloading mechanism for a missile loading and unloading vehicle, comprising a frame plate (100) and a driving device (101) connected to the bottom wall of the frame plate (100), characterized in that: The top wall of the frame plate (100) is fixedly connected with a support plate (102), and two groups of the support plates (102) are symmetrically arranged along the central axis of the frame plate (100). The top wall of the support plate (102) is fixedly connected with a bullet-carrying plate (103). The top wall of the frame plate (100) is provided with a slide groove (104), and two groups of the slide groove (104) are symmetrically arranged along the central axis of the frame plate (100). The top wall of the frame plate (100) is slidably connected with a group of linkage plates through the slide groove (104). (105), a placement groove (106) is provided on the side wall of the frame, a support frame (107) is fixedly connected to the side wall of the placement groove (106), a first cylinder (108) is fixedly connected to the top wall of the support frame (107), an output end of the first cylinder (108) is fixedly connected to the linkage plate (105), a missile-carrying component for carrying missiles is fixedly connected to the top wall of the missile-carrying plate (103), and a loading and unloading component for loading missiles is slidably connected to the inner wall of the linkage plate (105).

2. The automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle according to claim 1, characterized in that: The bullet-carrying component comprises a fixed block (110) fixedly connected to the top wall of the bullet-carrying plate (103), and the fixed block (110) is evenly distributed in two to five groups along the top wall of the bullet-carrying plate (103); a bracket (111) is provided on the inner wall of the fixed block (110), and a soft pad (112) is connected to the inner wall of the bracket (111), and two groups of the soft pad (112) are symmetrically arranged along the central axis of the bracket (111); a sliding rod (113) is fixedly connected to the outer wall of the soft pad (112), and two groups of the sliding rod (113) are symmetrically arranged along the central axis of the soft pad (112); a spring (114) is sleeved on the outer wall of the sliding rod (113), and two ends of the spring (114) are respectively fixedly connected to the soft pad (112) and the fixed block (110).

3. The automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle according to claim 1, characterized in that: The loading and unloading component comprises a support rod (120) slidably connected to the inner wall of the linkage plate (105); two groups of the support rods (120) are symmetrically arranged along the central axis of the linkage plate (105); the top walls of the two groups of the support rods (120) are fixedly connected to a lifting plate (121); the bottom wall of the linkage plate (105) is fixedly connected to a second cylinder (122); and the output end of the second cylinder (122) is fixedly connected to the lifting plate (121).

4. The automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle according to claim 3, characterized in that: The top wall of the lifting plate (121) is provided with a movable groove (123), and two groups of the movable grooves (123) are symmetrically arranged along the central axis of the lifting plate (121). The top wall of the lifting plate (121) is slidably connected to a group of connecting plates (124) through the movable grooves (123), and the bottom wall of the connecting plate (124) is fixedly connected to a rack (125).

5. The automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle according to claim 4, characterized in that: The top wall of the lifting plate (121) is provided with a driving groove (126), the side wall of the driving groove (126) is rotatably connected to a first gear (127), the first gear (127) is meshed and connected to the rack (125), the top wall of the driving groove (126) is fixedly connected to a first driving motor (128), and the output end of the first driving motor (128) is fixedly connected to the first gear (127).

6. The automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle according to claim 5, characterized in that: The top wall of the connecting plate (124) is rotatably connected to an angle adjustment rod (130), the top wall of the angle adjustment rod (130) is fixedly connected to an angle adjustment plate (131), the outer wall of the angle adjustment rod (130) is fixedly connected to a second gear (132), the top wall of the rack (125) is fixedly connected to a support plate (133), the side wall of the support plate (133) is fixedly connected to a second drive motor (134), the output end of the second drive motor (134) is fixedly connected to a third gear (135), and the third gear (135) is meshed and connected with the second gear (132).

7. The automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle according to claim 6, characterized in that: The top wall of the angle adjustment plate (131) is provided with adjustment grooves (136), and two groups of the adjustment grooves (136) are symmetrically arranged along the central axis of the angle adjustment plate (131).

8. The automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle according to claim 7, characterized in that: A bidirectional screw rod (137) is rotatably connected to the inner wall of the angle adjustment plate (131), and one end of the bidirectional screw rod (137) passes through the angle adjustment plate (131) and is fixedly connected to a screwing shaft (138).

9. The automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle according to claim 8, characterized in that: The top wall of the adjusting groove (136) is slidably connected with a clamping plate (140), and two groups of the clamping plates (140) are symmetrically arranged along the central axis of the adjusting groove (136). The clamping plates (140) are threadedly connected to the bidirectional screw (137).

10. The automatic alignment loading and unloading mechanism of a missile loading and unloading vehicle according to claim 9, characterized in that: A protective pad (141) is fixedly connected to the inner wall of the clamping plate (140), and an infrared ray (142) is fixedly connected to the top wall of the clamping plate (140).

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