Visual inspection equipment for interior of gas cylinder

Abstract

The invention relates to the field of gas cylinder inner cavity detection equipment, in particular to visual detection equipment for the interior of a gas cylinder. The detection equipment comprises a rack, an image acquisition assembly, an image acquisition assembly pushing mechanism, a support, a support supporting mechanism, a centering supporting mechanism and an image acquisition assembly locating mechanism, the image acquisition assembly pushing mechanism is installed on the rack, and the tail end of the support is movably connected to the image acquisition assembly pushing mechanism; the top end of the support is connected with an image acquisition assembly, and one side of the rack is provided with an image acquisition assembly locating mechanism. The image acquisition assembly is pushed by the image acquisition assembly pushing mechanism and the bracket to move forwards to enter the gas cylinder. And the image acquisition assembly can be supported at the center of the inner cavity of the gas cylinder for shooting through the centering supporting mechanism. The image acquisition assembly is guided by the image acquisition assembly locating mechanism to accurately find the bottle opening, so that the image acquisition assembly can conveniently and accurately enter the inner cavity of the gas cylinder. The device saves manpower, and improves the detection efficiency of the inner cavity of the gas cylinder.

Description

Technical Field

[0001] The invention relates to the field of gas cylinder inner cavity detection equipment, in particular to gas cylinder internal visual detection equipment. Background Art

[0002] The existing quality inspection of gas cylinders requires workers to insert the image acquisition component into the gas cylinder to take pictures and obtain image information of the inner wall of the gas cylinder. However, manual operation cannot completely center the image acquisition component in the gas cylinder, and manual operation is time-consuming and labor-intensive, and the inspection efficiency is low. Summary of the invention

[0003] The technical problem to be solved by the present invention is: in order to solve the technical problem described in the background technology, the present invention provides a visual inspection device for the inside of a gas cylinder. The image acquisition component is pushed forward to enter the gas cylinder by the image acquisition component pushing mechanism and the bracket. The image acquisition component can be supported at the center of the inner cavity of the gas cylinder for shooting by the centering support mechanism. The image acquisition component is guided to find the bottle mouth by the image acquisition component positioning mechanism, so that the image acquisition component can accurately enter the inner cavity of the gas cylinder. This application saves manpower and improves the efficiency of gas cylinder cavity inspection.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A gas cylinder internal visual inspection device comprises a frame, an image acquisition component, an image acquisition component pushing mechanism, a bracket, a bracket supporting mechanism, a centering supporting mechanism, and an image acquisition component positioning mechanism. The frame is provided with an image acquisition component pushing mechanism, the rear end of the bracket is movably connected to the image acquisition component pushing mechanism, the top end of the bracket is connected to the image acquisition component, the bracket is provided with a centering supporting mechanism for centering the image acquisition component in the inner cavity of the gas cylinder, one side of the frame is provided with an image acquisition component positioning mechanism for helping the image acquisition component to align with the bottle mouth, the frame is provided with a bracket supporting mechanism for supporting the bracket, and the bracket passes through the bracket supporting mechanism.

[0006] Specifically, the image acquisition component driving mechanism includes a toothed chain transmission mechanism, a sliding seat, and a rotating table. The sliding seat is slidably connected to the horizontal straight rail of the frame, the sliding seat is connected to the chain of the toothed chain transmission mechanism, the sliding seat is rotatably connected to the rotating table through a vertical shaft rod, and the rotating table is rotatably connected to the rear end of the bracket through a horizontal shaft rod;

[0007] The toothed chain transmission mechanism is composed of a chain, a sprocket and a motor. The two sprockets are rotatably connected to the two ends of the frame respectively. The output shaft of the motor is connected to a sprocket. Both sprockets are engaged with the chain, and the chain is placed in a linear groove of the frame.

[0008] Specifically, the bracket support mechanism includes a sliding seat 2, a gear, a lower roller, an upper roller, and a single-rod cylinder. The top of the sliding seat 2 is rotatably connected with a lower roller and an upper roller that are parallel to each other, and a space for passing the bracket is provided between the lower roller and the upper roller. The sliding seat 2 is slidably connected to the horizontal straight rail of the frame, and the sliding seat 2 is rotatably connected with a gear, which is meshed with a chain. A single-rod cylinder for supporting the horizontal straight rail of the frame is fixed to the bottom of the sliding seat 2.

[0009] Specifically, the central supporting mechanism includes a single-rod cylinder 1, a sliding sleeve, and a movable X-frame. Several centrally symmetrical single-rod cylinders 1 are distributed on the bracket, the sliding sleeve is sleeved and slidably connected to the bracket, the piston rod end of the single-rod cylinder 1 is connected to the sliding sleeve, and several centrally symmetrical movable X-frames are evenly distributed on the bracket, and the two tail ends of the movable X-frame are respectively hinged on the sliding sleeve and the bracket.

[0010] Specifically, the image acquisition component positioning mechanism includes a horizontal walking mechanism, a visual guide mechanism, a horizontal linear module, a lifting linear module, and a guide tube. The horizontal walking mechanism is installed on the frame, the cylinder body of the horizontal linear module is installed on the horizontal walking mechanism, the slide of the horizontal linear module is fixed on the cylinder body of the lifting linear module, a mounting seat is fixed on the slide of the lifting linear module, a guide tube for guiding the position of the image acquisition component is connected to the mounting seat, and a visual guide mechanism is installed on the cylinder body of the lifting linear module.

[0011] Specifically, the mounting seat is rotatably connected to a U-shaped seat via a vertical shaft rod, and both ends of the U-shaped seat are hinged together with the guide tube via a horizontal shaft rod, a rocker arm is fixed to the outer end of the horizontal shaft rod, and two vertical screws are threadedly connected to the side surface of the U-shaped seat, and the two vertical screws are respectively located below the two ends of the rocker arm, and two horizontal screws are threadedly connected to the mounting seat, and the two horizontal screws are respectively located behind the bottom plate of the U-shaped seat.

[0012] Specifically, a tapered channel for guiding the image acquisition component is provided in the guide tube.

[0013] Specifically, the image acquisition component includes a housing and a camera. Several cameras facing different directions are fixed in the housing, and the housing is connected to the top of the bracket.

[0014] Specifically, the horizontal walking mechanism includes a base, gear one, a gear rotating motor, and a horizontal spur rack. The base is fixed on the cylinder body of the horizontal linear module, and the base is slidably connected to the horizontal straight rail of the frame. The base is fixed with a gear rotating motor, and gear one is fixed on the output shaft of the gear rotating motor. Gear one is meshed with the horizontal spur rack, and the horizontal spur rack is fixed on the frame.

[0015] Specifically, the visual guidance mechanism includes a rotary cylinder and a CCD camera. The rotary cylinder is fixed on the cylinder body of the lifting linear module. The output shaft of the rotary cylinder is fixed on one end of the connecting frame, and the CCD camera is fixed on the other end of the connecting frame.

[0016] The beneficial effects of the present invention are as follows: the present invention provides a visual inspection device for the inside of a gas cylinder. The image acquisition component is pushed forward to enter the gas cylinder by the image acquisition component pushing mechanism and the bracket. The image acquisition component can be supported at the center of the inner cavity of the gas cylinder for shooting by the centering support mechanism. The image acquisition component is guided to find the bottle mouth by the image acquisition component positioning mechanism, so that the image acquisition component can accurately enter the inner cavity of the gas cylinder. This application saves manpower and improves the efficiency of gas cylinder inner cavity inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 It is a schematic diagram of the structure of the present invention;

[0019] Figure 2 It is a structural schematic diagram of the image acquisition component driving mechanism of the present invention;

[0020] Figure 3 is a schematic structural diagram of the support mechanism of the present invention;

[0021] Figure 4 It is a structural schematic diagram of the centering support mechanism of the present invention;

[0022] Figure 5 It is a structural schematic diagram of the positioning mechanism of the image acquisition component of the present invention;

[0023] In the figure, 1. frame, 2. image acquisition component, 3. image acquisition component driving mechanism, 4. bracket, 5. support

[0024] Frame support mechanism, 6. Centering support mechanism, 7. Image acquisition component positioning mechanism, 8. U-shaped seat, 9. Rocker, 10. Vertical screw, 11. Horizontal screw, 31. Tooth chain transmission mechanism, 32. Sliding seat,

[0025] 33. Rotating table, 51. Sliding seat 2, 52. Gear, 53. Lower roller, 54. Upper roller, 55. Single-rod cylinder, 61. Single-rod cylinder 1, 62. Sliding sleeve, 63. Movable X-frame, 71. Base, 72. Horizontal linear module, 73. Lifting linear module, 74. Rotating cylinder, 75. Guide tube, 76. Gear 1, 77. Gear rotating motor, 78. CCD camera. DETAILED DESCRIPTION

[0026] The present invention will now be described in further detail with reference to the accompanying drawings. 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. Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 The structure of the image acquisition component driving mechanism of the present invention is shown in FIG.

[0027] intention; Figure 3 is a schematic structural diagram of the support mechanism of the present invention; Figure 4 It is a structural schematic diagram of the centering support mechanism of the present invention; Figure 5 It is a structural schematic diagram of the positioning mechanism of the image acquisition component of the present invention.

[0028] As attached Figure 1 As shown, a gas cylinder internal visual inspection device includes a frame 1, an image acquisition component 2, an image acquisition component pushing mechanism 3, a bracket 4, a bracket supporting mechanism 5, a centering supporting mechanism 6, and an image acquisition component positioning mechanism 7. The image acquisition component pushing mechanism 3 is installed on the frame 1, the rear end of the bracket 4 is movably connected to the image acquisition component pushing mechanism 3, the top of the bracket 4 is connected to the image acquisition component 2, the bracket 4 is installed with a centering supporting mechanism 6 for centering the image acquisition component 2 in the inner cavity of the gas cylinder, an image acquisition component positioning mechanism 7 for helping the image acquisition component 2 to align with the bottle mouth is installed on one side of the frame 1, and a bracket supporting mechanism 5 for supporting the bracket 4 is installed on the frame 1, and the bracket 4 passes through the bracket supporting mechanism 5.

[0029] As attached Figure 2 As shown, the image acquisition component driving mechanism 3 includes a toothed chain transmission mechanism 31, a sliding seat 32, and a rotating table 33. The sliding seat 32 is slidably connected to the horizontal straight rail of the frame 1, and the sliding seat 32 is connected to the chain of the toothed chain transmission mechanism 31. The sliding seat 32 is rotatably connected to the rotating table 33 through a vertical shaft rod, and the rotating table 33 is rotatably connected to the tail end of the bracket 4 through a horizontal shaft rod;

[0030] The support 4 can be rotated in a vertical plane on the rotating platform 33 by means of a horizontal shaft rod. The rotating platform 33 and the support 4 can be rotated in a horizontal plane on the sliding seat 32 by means of a vertical shaft rod.

[0031] The toothed chain transmission mechanism 31 is composed of a chain, a sprocket, and a motor. The two sprockets are rotatably connected to the two ends of the frame 1 respectively. The output shaft of the motor is connected to a sprocket. Both sprockets are engaged with the chain, and the chain is placed in a linear groove of the frame 1.

[0032] The motor drives the sprocket to rotate, so that the chain is transmitted on the two sprockets, and the chain drags the sliding seat 32 and the bracket 4 to move horizontally and linearly along the horizontal straight rail.

[0033] As attached Figure 3As shown, the bracket support mechanism 5 includes a sliding seat 2 51, a gear 52, a lower roller 53, an upper roller 54, and a single-rod cylinder 55. The top of the sliding seat 2 51 is rotatably connected with a lower roller 53 and an upper roller 54 which are parallel to each other. A space for passing the bracket 4 is provided between the lower roller 53 and the upper roller 54. The sliding seat 2 51 is slidably connected to the horizontal straight rail of the frame 1. The sliding seat 2 51 is rotatably connected with a gear 52, which is meshed with a chain. The bottom of the sliding seat 2 51 is fixed with a single-rod cylinder 55 for supporting the horizontal straight rail of the frame 1.

[0034] The sliding seat 2 51 can be pushed to move horizontally and linearly along the horizontal straight rail, and the gear 52 can roll along the chain. After moving to the right position, the piston rod of the single-rod cylinder 55 extends and supports the horizontal straight rail, so that the sliding seat 2 51 can be locked in the current position. The bracket 4 passes between the lower roller 53 and the upper roller 54, so as to support the bracket 4.

[0035] As attached Figure 4 As shown, the central supporting mechanism 6 includes a single-rod cylinder 61, a sliding sleeve 62, and a movable X-frame 63. Several centrally symmetrical single-rod cylinders 61 are distributed on the bracket 4. The sliding sleeve 62 is sleeved and slidably connected to the bracket 4. The piston rod end of the single-rod cylinder 61 is connected to the sliding sleeve 62. Several centrally symmetrical movable X-frames 63 are evenly distributed on the bracket 4. The two tail ends of the movable X-frame 63 are respectively hinged on the sliding sleeve 62 and the bracket 4.

[0036] In the initial state, the piston rods of all single-rod cylinders 61 are not extended. At this time, the two hinged straight rods of the movable X-frame 63 are almost parallel. At this time, the image acquisition component 2 and the centering support mechanism 6 can extend into the inner cavity of the gas cylinder. After the centering support mechanism 6 enters the inner cavity of the gas cylinder, the piston rods of all single-rod cylinders 61 extend, driving the sliding sleeve 62 to slide along the bracket 4 toward the direction of the image acquisition component 2. At this time, the two straight rods that make up the movable X-frame 63 move in a scissor-like cross motion. After all the movable X-frames 63 are opened, they can help the image acquisition component 2 to be centered in the inner cavity of the gas cylinder.

[0037] As attached Figure 5 As shown, the image acquisition component positioning mechanism 7 includes a horizontal walking mechanism, a visual guidance mechanism, a horizontal linear module 72, a lifting linear module 73, and a guide tube 75. The horizontal walking mechanism is installed on the frame 1, the cylinder body of the horizontal linear module 72 is installed on the horizontal walking mechanism, the slide of the horizontal linear module 72 is fixed on the cylinder body of the lifting linear module 73, the slide of the lifting linear module 73 is fixed with a mounting seat, the mounting seat is connected with a guide tube 75 for guiding the position of the image acquisition component 2, and the cylinder body of the lifting linear module 73 is installed with a visual guidance mechanism.

[0038] The horizontal walking mechanism includes a base 71, a gear 76, a gear rotating motor 77, and a horizontal spur rack. The base 71 is fixed on the cylinder body of the horizontal linear module 72. The base 71 is slidably connected to the horizontal straight rail of the frame 1. A gear rotating motor 77 is fixed on the base 71. A gear 76 is fixed on the output shaft of the gear rotating motor 77. The gear 76 is meshed with the horizontal spur rack, and the horizontal spur rack is fixed on the frame 1.

[0039] The visual guidance mechanism includes a rotary cylinder 74 and a CCD camera 78. The rotary cylinder 74 is fixed on the cylinder body of the lifting linear module 73. The output shaft of the rotary cylinder 74 is fixed on one end of the connecting frame, and the CCD camera 78 is fixed on the other end of the connecting frame.

[0040] Before finding the bottle mouth, the rotary cylinder 74 drives the CCD camera 78 to swing to the front of the bottle mouth, inputs the bottle mouth position information into the PLC, and then drives the CCD camera 78 to reset. Then the PLC controls the horizontal linear module 72 and the lifting linear module 73 to drive the guide tube 75 to move to the bottle mouth position.

[0041] The gear rotating motor 77 drives the gear 1 76 to rotate, and the gear 1 76 can roll along the horizontal straight rack, thereby driving the image acquisition component positioning mechanism 7 to move forward and backward along the horizontal straight rail. The horizontal linear module 72 can drive the guide tube 75 to move horizontally and linearly left and right, and the lifting linear module 73 can drive the guide tube 75 to move vertically, so that the guide tube 75 can be aligned with the bottle mouth.

[0042] The mounting seat is rotatably connected to a U-shaped seat 8 via a vertical shaft rod. Both ends of the U-shaped seat 8 are hinged together with the guide tube 75 via a horizontal shaft rod. A swing rod 9 is fixed to the outer end of the horizontal shaft rod. Two vertical screws 10 are threadedly connected to the side of the U-shaped seat 8. The two vertical screws 10 are respectively located below the two ends of the swing rod 9. Two horizontal screws 11 are threadedly connected to the mounting seat. The two horizontal screws 11 are respectively located behind the bottom plate of the U-shaped seat 8.

[0043] The guide tube 75 can be rotated back and forth along the U-shaped seat 8 in the vertical plane through the horizontal screw 11 to adjust the angle. When the guide tube 75 rotates back and forth, the horizontal screw 11 will drive the swing rod 9 to swing back and forth. After the swing rod 9 and the guide tube 75 have rotated to a good angle, the two vertical screws 10 are screwed so that the rod ends of the two vertical screws 10 are respectively against the two ends of the swing rod 9, so that the swing rod cannot continue to swing, thereby fixing the current angle of the guide tube 75. The U-shaped seat 8 can be rotated in the horizontal plane along the mounting seat through the vertical shaft. When the U-shaped seat 8 is rotated into place, the two horizontal screws 11 are screwed so that the rod bodies of the two horizontal screws 11 are respectively against the rear side of the bottom plate of the U-shaped seat 8, so that the U-shaped seat 8 cannot continue to rotate, thereby realizing the adjustment of the angle of the guide tube 75 in the horizontal plane.

[0044] A tapered hole for guiding the image acquisition component 2 is provided in the guide tube 75. The tapered hole can guide the image acquisition component 2 to enter the guide tube 75 more efficiently.

[0045] The image acquisition component 2 includes a housing and a camera. Several cameras facing different directions are fixed inside the housing. The housing is connected to the top of the bracket 4.

[0046] The working method of the present application is as follows: first, the image acquisition component 2 is placed in the guide tube 75, and then the image acquisition component positioning mechanism 7 drives the guide tube 75 to automatically align with the bottle mouth, and at this time, the guide tube 75 drives the image acquisition component 2 to align with the bottle mouth. Then the image acquisition component pushing mechanism 3 pushes the image acquisition component 2 and the centering support mechanism 6 to move forward and extend into the inner cavity of the gas cylinder through the bottle mouth. Then open the centering support mechanism 6 so that the centering support mechanism 6 evenly supports the inner wall of the gas cylinder, allowing the image acquisition component 2 located on the center line to be centered in the gas cylinder. Finally, the image acquisition component 2 transmits the image information in the gas cylinder to the PLC, and the PLC determines whether the gas cylinder is qualified.

[0047] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A visual inspection device for the inside of a gas cylinder, characterized in that: The invention comprises a frame (1), an image acquisition component (2), an image acquisition component pushing mechanism (3), a bracket (4), a bracket supporting mechanism (5), a centering supporting mechanism (6), and an image acquisition component positioning mechanism (7); the frame (1) is provided with an image acquisition component pushing mechanism (3); the rear end of the bracket (4) is movably connected to the image acquisition component pushing mechanism (3); the top end of the bracket (4) is connected to the image acquisition component (2); the bracket (4) is provided with a centering supporting mechanism (6) for centering the image acquisition component (2) in the inner cavity of the gas cylinder; one side of the frame (1) is provided with an image acquisition component positioning mechanism (7) for helping the image acquisition component (2) to align with the bottle mouth; the frame (1) is provided with a bracket supporting mechanism (5) for supporting the bracket (4); the bracket (4) passes through the bracket supporting mechanism (5).

2. The gas cylinder internal visual inspection device according to claim 1, characterized in that: The image acquisition component driving mechanism (3) comprises a toothed chain transmission mechanism (31), a sliding seat (32), and a rotating platform (33); the sliding seat (32) is slidably connected to a horizontal straight rail of the frame (1); the sliding seat (32) is connected to a chain of the toothed chain transmission mechanism (31); the sliding seat (32) is rotatably connected to the rotating platform (33) via a vertical shaft rod; the rotating platform (33) is rotatably connected to the rear end of the bracket (4) via a horizontal shaft rod; The toothed chain transmission mechanism (31) is composed of a chain, a sprocket, and a motor. The two sprockets are rotatably connected to the two ends of the frame (1), the output shaft of the motor is connected to a sprocket, and the two sprockets are meshed on the chain. The chain is placed in a linear groove of the frame (1).

3. The gas cylinder internal visual inspection device according to claim 2, characterized in that: The support support mechanism (5) comprises a second sliding seat (51), a gear (52), a lower roller (53), an upper roller (54), and a single-rod cylinder (55); the top of the second sliding seat (51) is rotatably connected with a lower roller (53) and an upper roller (54) which are parallel to each other; a space for passing the support (4) is provided between the lower roller (53) and the upper roller (54); the second sliding seat (51) is slidably connected to a horizontal straight rail of the frame (1); the second sliding seat (51) is rotatably connected with a gear (52); the gear (52) is meshed with a chain; the bottom of the second sliding seat (51) is fixed with a single-rod cylinder (55) for supporting the horizontal straight rail of the frame (1).

4. The gas cylinder internal visual inspection device according to claim 1, characterized in that: The central support mechanism (6) comprises a single-rod cylinder (61), a sliding sleeve (62), and a movable X-frame (63); a plurality of centrally symmetrical single-rod cylinders (61) are distributed on the bracket (4); the sliding sleeve (62) is sleeved and slidably connected to the bracket (4); the piston rod end of the single-rod cylinder (61) is connected to the sliding sleeve (62); a plurality of centrally symmetrical movable X-frames (63) are evenly distributed on the bracket (4); and two tail ends of the movable X-frame (63) are respectively hinged to the sliding sleeve (62) and the bracket (4).

5. The gas cylinder internal visual inspection device according to claim 1, characterized in that: The image acquisition component positioning mechanism (7) comprises a horizontal walking mechanism, a visual guiding mechanism, a horizontal linear module (72), a lifting linear module (73), and a guide tube (75); the horizontal walking mechanism is mounted on a frame (1); the cylinder of the horizontal linear module (72) is mounted on the horizontal walking mechanism; the slide of the horizontal linear module (72) is fixed on the cylinder of the lifting linear module (73); a mounting seat is fixed on the slide of the lifting linear module (73); a guide tube (75) for guiding the position of the image acquisition component (2) is connected to the mounting seat; and the cylinder of the lifting linear module (73) is mounted with a visual guiding mechanism.

6. The gas cylinder interior visual inspection device according to claim 5, characterized in that: The mounting seat is rotatably connected to a U-shaped seat (8) via a vertical shaft rod, and the two ends of the U-shaped seat (8) are hinged together with a guide tube (75) via a horizontal shaft rod. A swing rod (9) is fixed to the outer end of the horizontal shaft rod. Two vertical screw rods (10) are threadedly connected to the side of the U-shaped seat (8), and the two vertical screw rods (10) are respectively located below the two ends of the swing rod (9). Two horizontal screw rods (11) are threadedly connected to the mounting seat, and the two horizontal screw rods (11) are respectively located behind the bottom plate of the U-shaped seat (8).

7. The gas cylinder interior visual inspection device according to claim 5, characterized in that: The guide tube (75) is provided with a tapered channel for guiding the image acquisition component (2).

8. The gas cylinder interior visual inspection device according to claim 1, characterized in that: The image acquisition component (2) comprises a housing and a camera. A plurality of cameras facing in different directions are fixed in the housing. The housing is connected to the top of a bracket (4).

9. The gas cylinder interior visual inspection device according to claim 5, characterized in that: The horizontal walking mechanism comprises a base (71), a gear 1 (76), a gear rotating motor (77), and a horizontal spur rack. The base (71) is fixed on a cylinder body of a horizontal linear module (72). The base (71) is slidably connected to a horizontal straight rail of a frame (1). A gear rotating motor (77) is fixed on the base (71). A gear 1 (76) is fixed on an output shaft of the gear rotating motor (77). The gear 1 (76) meshes with the horizontal spur rack. The horizontal spur rack is fixed on the frame (1).

10. The gas cylinder interior visual inspection device according to claim 5, characterized in that: The visual guidance mechanism comprises a rotary cylinder (74) and a CCD camera (78); the rotary cylinder (74) is fixed on the cylinder body of the lifting linear module (73); the output shaft of the rotary cylinder (74) is fixed on one end of a connecting frame; and the CCD camera (78) is fixed on the other end of the connecting frame.

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