Wheeled humanoid robot

Abstract

The invention provides a wheeled humanoid robot which comprises a wheeled chassis walking mechanism, a robot trunk mechanism is arranged above the wheeled chassis walking mechanism, a robot head mechanism is mounted on the robot trunk mechanism, and robot arm mechanisms are mounted on the two sides of the robot trunk mechanism. The end, away from the robot trunk mechanism, of each robot arm mechanism is provided with a clamping jaw. A robot lower limb waist mechanism is arranged between the robot trunk mechanism and the wheel type chassis walking mechanism, and the robot trunk mechanism and the wheel type chassis walking mechanism are connected through the robot lower limb waist mechanism. Through cooperative arrangement of all the structures and arrangement of the wheeled humanoid robot, the problem that in the prior art, a foot type humanoid robot is low in moving speed under the flat ground environment is effectively solved, the degree of freedom of the whole robot is high, the robot can adapt to various working environments, and popularization is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field related to robots, and in particular to a wheeled humanoid robot. Background Art

[0002] Humanoid robots are humanoid robots that are more suitable for replacing humans in related activities in environments where humans live, work, and reside, such as in smart factories, warehousing and logistics, and service industries. With the development of artificial intelligence technology, the operating functions and working environment of humanoid robots have been further improved. In recent years, there has been a boom in the research of humanoid robots.

[0003] The current products related to legged humanoid robots have the following disadvantages: legged humanoid robots have flexible movement modes, but they move slowly and inefficiently on flat ground;

[0004] Therefore, based on the above problems, the present invention provides a wheeled humanoid robot. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a wheeled humanoid robot that solves the problems mentioned in the background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] A wheeled humanoid robot comprises a wheeled chassis walking mechanism, a robot trunk mechanism is arranged above the wheeled chassis walking mechanism, a robot head mechanism is installed on the robot trunk mechanism, robot arm mechanisms are installed on both sides of the robot trunk mechanism, and a gripper is installed at one end of each robot arm mechanism away from the robot trunk mechanism;

[0008] A robot lower limb waist mechanism is arranged between the robot torso mechanism and the wheeled chassis walking mechanism and is connected through the robot lower limb waist mechanism.

[0009] Furthermore, the wheeled chassis walking mechanism comprises a bottom plate, a chassis shell is fixedly arranged on the top surface of the bottom plate, a chassis upper cover is fixedly arranged on the top surface of the chassis shell, a lower limb fixing circular tube is fixedly arranged on the top surface of the bottom plate, the top end of the lower limb fixing circular tube passes through the chassis upper cover, and the robot lower limb waist mechanism is detachably mounted on the lower limb fixing circular tube;

[0010] A battery, a first industrial computer, and two drivers are arranged in the chassis shell. The first industrial computer, the driver, and the battery are all fixed on the bottom plate, and the driver is electrically connected to the first industrial computer. A driving wheel is installed on the power output end of each driver. Two mounting wheel grooves are penetrated through the bottom plate, and each driving wheel is located in a corresponding mounting wheel groove.

[0011] Furthermore, the wheeled chassis walking mechanism also includes an emergency stop button, a start-stop button, a depth camera, a first multi-line laser radar, a single-line laser radar, a speaker and an ultrasonic sensor. The emergency stop button, the start-stop button, the depth camera, the first multi-line laser radar, the single-line laser radar, the speaker and the ultrasonic sensor are all electrically connected to the first industrial control machine. The emergency stop button, the start-stop button, the depth camera and the first multi-line laser radar are all fixed on the chassis cover, the ultrasonic sensor is fixed on the chassis shell, and the speaker and the single-line laser radar are both fixed on the bottom plate.

[0012] Furthermore, the robot lower limb waist mechanism includes a plurality of lower limb modules, a large connecting rod is provided between two adjacent lower limb modules and connected by the large connecting rod, a lower limb adapter flange is fixedly provided at the bottom end of the lower limb module located at the bottom, and a plurality of mounting bolts are evenly provided between the lower limb adapter flange and the lower limb fixed circular tube and connected by a plurality of mounting bolts;

[0013] A waist module is arranged above the lower limb module located at the top, a small connecting rod is arranged between the waist module and the lower limb module located at the top and connected through the small connecting rod, a waist adapter flange is installed on one side of the waist module, and a robot torso mechanism is detachably installed on the waist adapter flange.

[0014] Furthermore, the robot trunk mechanism includes a trunk shell, a trunk frame is fixedly arranged in the trunk shell, a connecting flange is fixedly arranged at the bottom end of the trunk frame, and a plurality of matching bolts are evenly arranged between the connecting flange and the waist adapter flange and connected by the plurality of matching bolts;

[0015] A second industrial computer and a second multi-line laser radar are fixedly mounted on the torso frame, the second industrial computer is electrically connected to the second multi-line laser radar, and a robot head mechanism is mounted on the torso frame, robot arm mechanisms are arranged on both sides of the robot head mechanism, and each of the robot arm mechanisms is mounted on the torso frame.

[0016] Furthermore, the robot head mechanism includes a neck connection, which is arranged in the torso shell and is detachably connected to the torso frame, a head module is installed on the neck connection, a head fixing part is installed on the end of the head module away from the neck connection, a head outer shell is fixed on the head fixing part, and a head depth camera is fixed on the head outer shell.

[0017] Furthermore, the robot arm mechanism includes three arm modules a, three arm modules b, and an arm shell assembly. The three arm modules a are composed of a shoulder link and an upper arm link a, and a fixed link is arranged between one of the arm modules a and the torso skeleton and fixedly connected through the fixed link. An upper arm link b is arranged between the arm module b located at the top and the upper arm link a and connected through the upper arm link b. A small arm link is arranged between the arm module b located at the top and the adjacent arm module b and connected through the small arm link. A wrist link is arranged between the arm module b located at the bottom and the adjacent arm module b and connected through the wrist link. An end flange is fixed at the bottom end of the wrist link, and a plurality of locking bolts are arranged between the end flange and the clamp and connected through a plurality of locking bolts. The arm module a, upper arm link a, upper arm link b, arm module b, small arm link and wrist link are all located in the arm shell assembly.

[0018] Furthermore, universal wheels are installed at the four corners of the bottom surface of the base plate.

[0019] The present invention provides a wheeled humanoid robot. Compared with the prior art, it has the following advantages:

[0020] Beneficial effects:

[0021] 1. The wheeled chassis walking mechanism of the present invention adopts a differential wheeled chassis, which has flexible steering, fast moving speed and easy control, greatly improving the operating efficiency of the humanoid robot in a flat ground environment;

[0022] 2. The upper body and chassis of the wheeled humanoid robot of the present invention are equipped with laser radar, depth camera, ultrasonic sensor, etc., and have strong environmental perception ability. The wheeled humanoid robot has 2 degrees of freedom in the lower limbs, 2 degrees of freedom in the waist, 6 degrees of freedom in each arm, 1 degree of freedom in each claw, 2 degrees of freedom in the head, and 20 degrees of freedom in the whole machine. Combined with the two-wheel differential chassis, the whole machine has strong operating functions and large operating space, and can adapt to a variety of working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A three-dimensional connection schematic diagram of the overall structure of the present invention is shown;

[0025] Figure 2 A schematic diagram of the three-dimensional connection of the waist mechanism of the lower limbs of the robot of the present invention is shown;

[0026] Figure 3 A schematic diagram of the three-dimensional split structure of the robot head mechanism, robot trunk mechanism and robot arm mechanism of the present invention is shown;

[0027] Figure 4 A three-dimensional connection diagram of a part of the structure of the robot arm mechanism of the present invention is shown;

[0028] Figure 5 A schematic diagram of the three-dimensional connection of the wheeled chassis walking mechanism of the present invention is shown;

[0029] Figure 6 A three-dimensional schematic diagram of a part of the structure of the wheeled chassis walking mechanism of the present invention is shown;

[0030] As shown in the figure: 1. Wheeled chassis walking mechanism; 101. Chassis cover; 102. Lower limb fixed round tube; 103. Driving wheel; 104. Universal wheel; 105. Bottom plate; 106. Battery; 107. Driver; 108. First industrial computer; 109. Emergency stop button; 110. Start-stop button; 111. Depth camera; 112. Single-line laser radar; 113. First multi-line laser radar; 114. Speaker; 115. Ultrasonic sensor; 116. Chassis shell; 2. Robot lower limb waist mechanism; 201. Lower limb adapter flange; 202. Lower limb module; 203. Large connecting rod; 204. Small connecting rod; 205. Waist module; 206. Waist Adapter flange; 3. Robot torso mechanism; 301. Trunk shell; 302. Trunk skeleton; 303. Second industrial computer; 304. Second multi-line laser radar; 4. Robot arm mechanism; 401. Fixed link; 402. Arm module a; 403. Shoulder link; 404. Upper arm link a; 405. Upper arm link b; 406. Lower arm link; 407. Arm module b; 408. Wrist link; 409. End flange; 410. Arm shell assembly; 411. Gripper; 5. Robot head mechanism; 501. Neck connection; 502. Head module; 503. Head fixing part; 504. Head shell; 505. Head depth camera. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example

[0033] In order to solve the technical problems in the background technology, a wheeled humanoid robot is provided as follows:

[0034] Combination Figure 1-6 As shown, a wheeled humanoid robot provided by the present invention includes a wheeled chassis walking mechanism 1, a robot trunk mechanism 3 is arranged above the wheeled chassis walking mechanism 1, a robot head mechanism 5 is installed on the robot trunk mechanism 3, robot arm mechanisms 4 are installed on both sides of the robot trunk mechanism 3, and each robot arm mechanism 4 is installed with a clamping claw 411 at one end away from the robot trunk mechanism 3; universal wheels 104 are installed at the four corners of the bottom surface of the base plate 105.

[0035] A robot lower limb waist mechanism 2 is provided between the robot torso mechanism 3 and the wheeled chassis walking mechanism 1 and is connected through the robot lower limb waist mechanism 2 .

[0036] See also Figure 1 , Figure 5 , Figure 6 As shown, the wheeled chassis walking mechanism 1 includes a bottom plate 105, a chassis shell 116 is fixedly arranged on the top surface of the bottom plate 105, a chassis upper cover 101 is fixedly arranged on the top surface of the chassis shell 116, a lower limb fixing circular tube 102 is fixedly arranged on the top surface of the bottom plate 105, the top end of the lower limb fixing circular tube 102 passes through the chassis upper cover 101, and the robot lower limb waist mechanism 2 is detachably mounted on the lower limb fixing circular tube 102;

[0037] The chassis housing 116 is provided with a battery 106, a first industrial computer 108, and two drivers 107. The first industrial computer 108, the driver 107, and the battery 106 are all fixedly mounted on the bottom plate 105, and the driver 107 is electrically connected to the first industrial computer 108. A driving wheel 103 is mounted on the power output end of each driver 107. Two mounting wheel grooves are provided through the bottom plate 105, and each driving wheel 103 is located in a corresponding mounting wheel groove. The two driving wheels can realize differential steering, and the universal wheel 104 plays a supporting role.

[0038] The wheeled chassis walking mechanism 1 also includes an emergency stop button 109, a start-stop button 110, a depth camera 111, a first multi-line laser radar 113, a single-line laser radar 112, a speaker 114 and an ultrasonic sensor 115. The emergency stop button 109, the start-stop button 110, the depth camera 111, the first multi-line laser radar 113, the single-line laser radar 112, the speaker 114 and the ultrasonic sensor 115 are all electrically connected to the first industrial computer 108. The emergency stop button 109, the start-stop button 110, the depth camera 111, and the first multi-line laser radar 113 are all fixedly arranged on the chassis cover 101, the ultrasonic sensor 115 is fixedly arranged on the chassis shell 116, and the speaker 114 and the single-line laser radar 112 are all fixedly arranged on the bottom plate 105.

[0039] See also Figure 1 and Figure 2 As shown, the robot lower limb waist mechanism 2 includes a plurality of lower limb modules 202, and a large connecting rod 203 is provided between two adjacent lower limb modules 202 and connected by the large connecting rod 203. A lower limb adapter flange 201 is fixedly provided at the bottom end of the lower limb module 202 at the bottom, and a plurality of mounting bolts are evenly provided between the lower limb adapter flange 201 and the lower limb fixed circular tube 102 and connected by a plurality of mounting bolts.

[0040] A waist module 205 is arranged above the lower limb module 202 located at the top, and a small connecting rod 204 is arranged between the waist module 205 and the lower limb module 202 located at the top and connected through the small connecting rod 204. A waist adapter flange 206 is installed on one side of the waist module 205, and a robot torso mechanism 3 is detachably installed on the waist adapter flange 206.

[0041] The lower limbs have two pitch degrees of freedom, which are realized by two identical standard lower limb modules 202. The reducer output end of the module is connected to the large connecting rod 203 to realize the adjustment of the height and front and back position of the upper body; the waist has two degrees of freedom, which are realized by two identical standard waist modules 205. The reducer output end of the lower waist module 205 is connected to the small connecting rod 204, the reducer output end of the upper waist module 205 is connected to the fixed end of the lower waist module 205, and the fixed end of the upper waist module 205 is connected to the waist adapter flange 206 to realize the pitch and yaw adjustment of the upper body.

[0042] See also Figure 3 , Figure 1 As shown, the robot torso mechanism 3 includes a torso shell 301, a torso frame 302 is fixedly arranged in the torso shell 301, a connecting flange is fixedly arranged at the bottom end of the torso frame 302, and a plurality of matching bolts are evenly arranged between the connecting flange and the waist adapter flange 206 and connected by the plurality of matching bolts;

[0043] A second industrial computer 303 and a second multi-line laser radar 304 are fixedly mounted on the torso skeleton 302, and the second industrial computer 303 and the second multi-line laser radar 304 are electrically connected. A robot head mechanism 5 is installed on the torso skeleton 302, and robot arm mechanisms 4 are arranged on both sides of the robot head mechanism 5, and each robot arm mechanism 4 is installed on the torso skeleton 302.

[0044] The robot head mechanism 5 includes a neck connection 501, which is disposed in the trunk shell 301 and detachably connected to the trunk frame 302. A head module 502 is mounted on the neck connection 501. A head fixing member 503 is mounted on one end of the head module 502 away from the neck connection 501. A head shell 504 is fixed on the head fixing member 503, and a head depth camera 505 is fixed on the head shell 504. The robot head mechanism 5 has two degrees of freedom, namely pitch and yaw, which are realized by two identical standard head modules 502.

[0045] See also Figure 3 , Figure 4As shown, the robot arm mechanism 4 includes three arm modules a402, three arm modules b407, and an arm housing assembly 410. The three arm modules a402 are combined by a shoulder link 403 and a large arm link a404. A fixed link 401 is provided between one of the arm modules a402 and the trunk skeleton 302, and the fixed link 401 is fixedly connected. A large arm link b405 is provided between the uppermost arm module b407 and the large arm link a404, and the large arm link b405 is connected. The uppermost arm module b407 and the adjacent arm module b40 7 is provided with a small arm link 406 and is connected by the small arm link 406, and a wrist link 408 is provided between the arm module b407 located at the bottom and the adjacent arm module b407 and is connected by the wrist link 408, an end flange 409 is fixed to the bottom end of the wrist link 408, a plurality of locking bolts are provided between the end flange 409 and the clamping jaw 411 and are connected by a plurality of locking bolts, the arm module a402, the upper arm link a404, the upper arm link b405, the arm module b407, the small arm link 406 and the wrist link 408 are all located in the arm housing assembly 410.

[0046] The robot arm mechanism 4 is connected to the trunk skeleton 301 through a fixed link 401. The single arm has 6 degrees of freedom, including 3 shoulder degrees of freedom, 1 elbow degree of freedom, and 2 wrist degrees of freedom. The adjacent joint axes are perpendicular to each other. The three arm modules a402 are respectively connected to the fixed link 401, the shoulder link 403, and the upper arm link a404. The three modules b407 are respectively connected to the upper arm link b405, the forearm link 406, and the wrist link 408. The end flange 409 is connected to the wrist link 408, the clamp 411 is connected to the end flange 409, and the arm shell assembly 410 is fixed on the corresponding link. The robot arm mechanism 4 has the same left and right arm mechanisms. When installed on the trunk, it only needs to rotate the shoulder roll joint.

[0047] To sum up, the wheeled chassis walking mechanism 1 of the present invention adopts a differential wheeled chassis, which has flexible steering, fast moving speed and easy control, greatly improving the working efficiency of the humanoid robot in a flat ground environment. In addition, the upper body and chassis of the robot are equipped with laser radar, depth camera, ultrasonic sensor, etc., and have strong environmental perception ability. At the same time, the robot has 2 degrees of freedom in the lower limbs and 2 degrees of freedom in the waist, 6 degrees of freedom in both arms, 1 degree of freedom in each hand claw, 2 degrees of freedom in the head, and 20 degrees of freedom in the whole machine. Combined with the two-wheel differential chassis, the whole machine has strong operating functions and large working space, and can adapt to a variety of working environments.

[0048] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0049] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wheeled humanoid robot, characterized in that: The invention comprises a wheeled chassis walking mechanism (1), a robot trunk mechanism (3) is arranged above the wheeled chassis walking mechanism (1), a robot head mechanism (5) is installed on the robot trunk mechanism (3), robot arm mechanisms (4) are installed on both sides of the robot trunk mechanism (3), and a clamping claw (411) is installed at one end of each robot arm mechanism (4) away from the robot trunk mechanism (3); A robot lower limb waist mechanism (2) is provided between the robot trunk mechanism (3) and the wheeled chassis walking mechanism (1), and the robot lower limb waist mechanism (2) is connected thereto.

2. A wheeled humanoid robot according to claim 1, characterized in that: The wheeled chassis walking mechanism (1) comprises a bottom plate (105), a chassis shell (116) is fixedly provided on the top surface of the bottom plate (105), a chassis upper cover (101) is fixedly provided on the top surface of the chassis shell (116), a lower limb fixing circular tube (102) is fixedly provided on the top surface of the bottom plate (105), the top end of the lower limb fixing circular tube (102) passes through the chassis upper cover (101), and the robot lower limb waist mechanism (2) is detachably mounted on the lower limb fixing circular tube (102); A battery (106), a first industrial computer (108), and two drivers (107) are arranged in the chassis shell (116); the first industrial computer (108), the driver (107), and the battery (106) are all fixedly arranged on the bottom plate (105); and the driver (107) is electrically connected to the first industrial computer (108); a driving wheel (103) is installed on the power output end of each driver (107); two mounting wheel grooves are provided through the bottom plate (105); and each driving wheel (103) is located in a corresponding mounting wheel groove.

3. A wheeled humanoid robot according to claim 2, characterized in that: The wheeled chassis walking mechanism (1) further comprises an emergency stop button (109), a start-stop button (110), a depth camera (111), a first multi-line laser radar (113), a single-line laser radar (112), a loudspeaker (114) and an ultrasonic sensor (115); the emergency stop button (109), the start-stop button (110), the depth camera (111), the first multi-line laser radar (113), the single-line laser radar (112), the loudspeaker (114) and the ultrasonic sensor (115) are all electrically connected to the first industrial computer (108); the emergency stop button (109), the start-stop button (110), the depth camera (111) and the first multi-line laser radar (113) are all fixedly arranged on the chassis upper cover (101); the ultrasonic sensor (115) is fixedly arranged on the chassis shell (116); and the loudspeaker (114) and the single-line laser radar (112) are all fixedly arranged on the bottom plate (105).

4. A wheeled humanoid robot according to claim 2, characterized in that: The robot lower limb waist mechanism (2) comprises a plurality of lower limb modules (202), a large connecting rod (203) is provided between two adjacent lower limb modules (202) and connected via the large connecting rod (203), a lower limb adapter flange (201) is fixedly provided at the bottom end of the lower limb module (202) located at the bottom, and a plurality of mounting bolts are evenly provided between the lower limb adapter flange (201) and the lower limb fixed circular tube (102) and connected via the plurality of mounting bolts; A waist module (205) is arranged above the lower limb module (202) located at the top, a small connecting rod (204) is arranged between the waist module (205) and the lower limb module (202) located at the top, and the waist module (205) and the lower limb module (202) are connected through the small connecting rod (204), and a waist adapter flange (206) is installed on one side of the waist module (205), and a robot torso mechanism (3) is detachably installed on the waist adapter flange (206).

5. A wheeled humanoid robot according to claim 4, characterized in that: The robot trunk mechanism (3) comprises a trunk shell (301), a trunk frame (302) is fixedly arranged in the trunk shell (301), a connecting flange is fixedly arranged at the bottom end of the trunk frame (302), and a plurality of matching bolts are evenly arranged between the connecting flange and the waist adapter flange (206) and connected by the plurality of matching bolts; A second industrial computer (303) and a second multi-line laser radar (304) are fixedly mounted on the trunk frame (302). The second industrial computer (303) and the second multi-line laser radar (304) are electrically connected. A robot head mechanism (5) is mounted on the trunk frame (302). Robot arm mechanisms (4) are disposed on both sides of the robot head mechanism (5). Each of the robot arm mechanisms (4) is mounted on the trunk frame (302).

6. A wheeled humanoid robot according to claim 5, characterized in that: The robot head mechanism (5) comprises a neck connection (501), wherein the neck connection (501) is arranged in a trunk shell (301) and is detachably connected to a trunk frame (302), a head module (502) is mounted on the neck connection (501), a head fixing member (503) is mounted on one end of the head module (502) away from the neck connection (501), a head outer shell (504) is fixedly mounted on the head fixing member (503), and a head depth camera (505) is fixedly mounted on the head outer shell (504).

7. A wheeled humanoid robot according to claim 5, characterized in that: The robot arm mechanism (4) comprises three arm modules a (402), three arm modules b (407), and an arm housing assembly (410). The three arm modules a (402) are assembled by a shoulder link (403) and a large arm link a (404). A fixed link (401) is arranged between one of the arm modules a (402) and a trunk skeleton (302), and the fixed link is connected to the trunk skeleton (302) by the fixed link. A large arm link b (405) is arranged between the uppermost arm module b (407) and the large arm link a (404), and the large arm link is connected to the trunk skeleton (302) by the large arm link b (405). The uppermost arm module b (407) and the adjacent arm module b (407) are connected. A small arm link (406) is arranged between them and they are connected by the small arm link (406), and a wrist link (408) is arranged between the arm module b (407) located at the bottom and the adjacent arm module b (407) and they are connected by the wrist link (408), the bottom end of the wrist link (408) is fixed with an end flange (409), and a plurality of locking bolts are arranged between the end flange (409) and the clamping claw (411) and they are connected by a plurality of locking bolts, and the arm module a (402), the upper arm link a (404), the upper arm link b (405), the arm module b (407), the small arm link (406) and the wrist link (408) are all located in the arm housing assembly (410).

8. A wheeled humanoid robot according to claim 2, characterized in that: Universal wheels (104) are installed at the four corners of the bottom surface of the bottom plate (105).

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