Mechanical arm tool and tunnel hidden disease diagnosis equipment

Abstract

The invention discloses a mechanical arm tool and tunnel hidden disease diagnosis equipment, and relates to the technical field of tunnel structure disease diagnos.The mechanical arm tool comprises a fixing base, a multi-degree-of-freedom mechanical arm and a detection device. The multi-degree-of-freedom mechanical arm comprises a sliding seat, a rotary telescopic large arm, a rotary joint, a rotary small arm and a telescopic small arm, so that the mechanical arm tool realizes flexible movement of the detection device relative to the fixed seat through the multi-degree-of-freedom mechanical arm, and the mechanical arm can bypass a contact network to inspect the wall surface of a tunnel; the flexibility and adaptability of the mechanical arm tool are remarkably improved, the mechanical arm tool can cope with most complex environments, too much intervention of engineers is not needed, and the detection convenience and efficiency are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel structure disease diagnosis, and in particular to a mechanical arm tooling and tunnel hidden disease diagnosis equipment. Background Art

[0002] Tunnel hidden disease diagnosis equipment is mainly used to detect and evaluate the health status of tunnel structures. These devices use a variety of sensors and detection technologies to achieve real-time detection and analysis of tunnel hidden disease conditions.

[0003] Tunnel hidden disease diagnosis equipment mainly uses a mechanical arm to drive the detection device close to the tunnel wall to inspect the diseases behind the tunnel. However, when dealing with situations where complicated devices are installed on the tunnel wall, such as tunnels for rail trains, compared with conventional tunnels, there are not only lamps, warning signs and other devices, but also additional contact networks to provide power for rail trains. In the existing tunnel hidden disease diagnosis equipment, the mechanical arm has a low degree of freedom and is not flexible enough. Engineering personnel are required to constantly adjust the position of the tunnel hidden disease diagnosis equipment, or use auxiliary tools for inspection, which is more troublesome. Summary of the invention

[0004] The main purpose of the present invention is to provide a mechanical arm tooling and tunnel hidden disease diagnosis equipment, aiming to improve the flexibility of the mechanical arm tooling.

[0005] To achieve the above object, the present invention provides a robot arm tooling, comprising: Fixed seat; A multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm comprising a sliding seat, a rotating telescopic arm, a rotating joint, a rotating arm and a telescopic arm, the sliding seat is slidably connected to the fixed seat, one end of the rotating telescopic arm is rotatably connected to the sliding seat, and the other end is telescopically arranged and rotatably connected to the rotating joint, the axial direction of the rotating joint is the same as the telescopic direction of the rotating telescopic arm, one end of the rotating arm is rotatably connected to the rotating joint, the axial direction of the rotating arm rotating around the rotating joint is perpendicular to the telescopic direction of the rotating telescopic arm, the telescopic arm is slidably connected to the rotating arm, and the sliding direction is perpendicular to the axial direction of the telescopic arm; and A detection device is installed on the telescopic arm, and the detection device is used to detect the tunnel wall surface.

[0006] In some embodiments of the present invention, the telescopic arm includes an arm body, a telescopic adjustment mechanism and a rotation adjustment mechanism, the two ends of the telescopic adjustment mechanism are respectively connected to the arm body and the rotation adjustment mechanism, the detection device is connected to the rotation adjustment mechanism, and can rotate under the drive of the rotation adjustment mechanism, and move under the drive of the telescopic adjustment mechanism.

[0007] In some embodiments of the present invention, the telescopic adjustment mechanism includes a cylinder body and a push rod, the arm body is provided with a mounting groove, the cylinder body is installed in the mounting groove, one end of the push rod is telescopically arranged in the cylinder body, and the other end extends outside the mounting groove, and the detection device and the rotation adjustment mechanism are both connected to the end of the push rod away from the cylinder body.

[0008] In some embodiments of the present invention, a first hinged lug is provided on one side of the detection device; A second hinged lug is provided at the end of the push rod, and a rotation hole is opened in the second hinged lug. The rotation adjustment mechanism is an adjustment motor, and the adjustment motor includes a housing and an output shaft. The housing and the first hinged lug are respectively arranged on opposite sides of the second hinged lug, and the output shaft can rotatably pass through the rotation hole and be connected to the first hinged lug.

[0009] In some embodiments of the present invention, the detection device includes a mounting cover, a ground penetrating radar and an obstacle avoidance module, the first hinged lug is formed on one side of the mounting cover, a storage groove is provided on the other side of the mounting cover, the ground penetrating radar is installed in the storage groove, and the obstacle avoidance module is installed on the outer peripheral side of the mounting cover.

[0010] In some embodiments of the present invention, the obstacle avoidance module includes a plurality of distance measuring sensors, and the plurality of distance measuring sensors are arranged at a corner portion of the mounting cover on a side away from the second hinged lug.

[0011] In some embodiments of the present invention, the obstacle avoidance module includes a binocular camera, and two cameras of the binocular camera are respectively arranged on opposite sides of the mounting cover on the rotation axis.

[0012] In some embodiments of the present invention, the detection device further includes a camera and a fill light, wherein the camera and the fill light are both installed on the outside of the mounting cover, the camera is used to collect the detection image, and the fill light is used to provide lighting for the camera.

[0013] In some embodiments of the present invention, a plurality of the detection devices are provided, and a plurality of the telescopic adjustment mechanisms and the rotation adjustment mechanisms are provided correspondingly. One rotation adjustment mechanism connects one telescopic adjustment mechanism and one detection device, and the plurality of detection devices are arranged at intervals in a direction perpendicular to the rotation axis.

[0014] The present invention also proposes a tunnel hidden disease diagnosis device, comprising a box body, a box door and the above-mentioned mechanical arm tooling, wherein the fixing seat is installed on the box body, the box door is connected to the box body and covers the above-mentioned mechanical arm tooling.

[0015] In some embodiments of the present invention, a plurality of the robot arm tools are provided and are arranged at intervals along the length direction of the box.

[0016] In some embodiments of the present invention, the box door is a foldable box door and can be folded or unfolded along the length direction of the box body.

[0017] In the technical solution of the present invention, the multi-degree-of-freedom robotic arm includes a sliding seat, a rotating telescopic arm, a rotating joint, a rotating forearm and a telescopic forearm, so that the robotic arm tooling can realize the flexible movement of the detection device relative to the fixed seat through the multi-degree-of-freedom robotic arm, so that the robotic arm can bypass the contact network to inspect the tunnel wall, which significantly improves the flexibility and adaptability of the robotic arm tooling, enables it to cope with most complex environments without excessive intervention from engineering personnel, and greatly improves the convenience and efficiency of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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 the structures shown in these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the structure of an embodiment of a tunnel hidden disease diagnosis device provided by the present invention; Figure 2 An exploded view of an embodiment of a tunnel hidden disease diagnosis device provided by the present invention; Figure 3 It is a schematic diagram of the structure of the tunnel hidden disease diagnosis equipment in the present invention when the mechanical arm tooling is unfolded; Figure 4 This is a schematic diagram of the structure of the robot arm tooling in the solution of the present invention when it is in an unfolded state; Figure 5 for Figure 4 Enlarged view of point A in the middle.

[0020] Description of Figure Numbers: 100. Robot arm tooling; 10. Fixed seat; 20. Multi-degree-of-freedom robot arm; 23. Sliding seat; 24. Rotating telescopic arm; 25. Rotating joint; 26. Rotating small arm; 27. Telescopic small arm; 271. Arm body; 2711. Mounting slot; 272. Telescopic adjustment mechanism; 2721. Cylinder body; 2722. Push rod; 2723. Second articulated lug; 273. Rotation adjustment mechanism; 273', adjustment motor; 40. Detection device; 41. Mounting cover; 411. First articulated lug; 412. Storage slot; 42. Ground penetrating radar; 43. Obstacle avoidance module; 431. Distance measuring sensor; 432. Binocular camera; 44. Camera; 45. Fill light; 1000. Tunnel hidden disease diagnosis equipment; 200. Box body; 300. Box door.

[0021] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0023] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0024] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0025] See also Figures 1 to 5The present invention proposes a mechanical arm tooling 100, which is applied to a tunnel hidden disease diagnosis device 1000. The mechanical arm tooling 100 includes a fixed seat 10, a multi-degree-of-freedom mechanical arm 20 and a detection device 40, wherein the multi-degree-of-freedom mechanical arm 20 includes a sliding seat 23, a rotating telescopic arm 24, a rotating joint 25, a rotating arm 26 and a telescopic arm 27. The sliding seat 23 is slidably connected to the fixed seat 10, one end of the rotating telescopic arm 24 is rotatably connected to the sliding seat 23, and the other end is telescopically arranged and connected to the rotating arm 27. The joint 25 is rotatably connected, and the axial direction of the rotating joint 25 is the same as the telescopic direction of the rotating telescopic arm 24. One end of the rotating arm 26 is rotatably connected to the rotating joint 25. The axial direction of the rotating arm 26 rotating around the rotating joint is perpendicular to the telescopic direction of the rotating telescopic arm 24. The telescopic arm 27 is slidably connected to the rotating arm 26, and the sliding direction is perpendicular to the axial direction of the telescopic arm 27. The detection device 40 is installed on the telescopic arm 27, and the detection device 40 is used to detect the tunnel wall.

[0026] In the technical solution of the present invention, the multi-degree-of-freedom manipulator 20 includes a sliding seat 23, a rotating telescopic arm 24, a rotating joint 25, a rotating arm 26 and a telescopic arm 27. In this way, the manipulator tooling 100 realizes that the detection device 40 can be flexibly moved relative to the fixed seat 10 through the multi-degree-of-freedom manipulator 20, so that the manipulator can bypass the contact network to inspect the tunnel wall, which significantly improves the flexibility and adaptability of the manipulator tooling 100, enabling it to cope with most complex environments without excessive intervention from engineers, greatly improving the convenience and efficiency of detection.

[0027] In order to further improve the flexibility of the robotic arm tooling 100, in some embodiments of the present invention, the telescopic arm 27 includes an arm body 271, a telescopic adjustment mechanism 272 and a rotation adjustment mechanism 273, and the two ends of the telescopic adjustment mechanism 272 are respectively connected to the arm body 271 and the rotation adjustment mechanism 273, and the detection device 40 is connected to the rotation adjustment mechanism 273, and can rotate under the drive of the rotation adjustment mechanism 273, and move under the drive of the telescopic adjustment mechanism 272.

[0028] Through the above scheme, the telescopic adjustment mechanism 272 and the rotation adjustment mechanism 273 can perform more subtle position and angle adjustments on the detection device 40, effectively coping with the uneven wall surface of the tunnel. The detection range can also be further expanded through adjustment, so that the detection device 40 can cover various areas of the tunnel wall, ensuring the comprehensiveness and completeness of the detection process and achieving higher detection accuracy.

[0029] The telescopic adjustment mechanism 272 can be driven by a cylinder, a linear motor, a hydraulic cylinder, etc. The rotation adjustment mechanism 273 can also be driven by a cylinder, a linear motor, a hydraulic cylinder, and can convert the linear motion into rotation through a crank rocker mechanism. Of course, a servo motor can also be used to directly drive the detection device 40 to rotate. In some embodiments of the present invention, the telescopic adjustment mechanism 272 is a cylinder, and the rotation adjustment mechanism 273 is a motor. The output shaft of the cylinder is fixedly connected to the housing of the motor, and the output shaft of the motor is connected to the adjustment device. There are many specific implementations of the telescopic adjustment mechanism 272 and the rotation adjustment mechanism 273, which are not listed here one by one.

[0030] Further, in some embodiments of the present invention, the telescopic adjustment mechanism 272 includes a cylinder 2721 and a push rod 2722, the arm 271 is provided with a mounting slot 2711, the cylinder 2721 is mounted in the mounting slot 2711, one end of the push rod 2722 is telescopically arranged in the cylinder 2721, and the other end extends outside the mounting slot 2711, and the detection device 40 and the rotation adjustment mechanism 273 are both connected to one end of the push rod 2722 away from the cylinder 2721. The telescopic adjustment mechanism 272 is mounted in the mounting slot 2711, has high stability and high compactness, and is conducive to the compactness of the overall structure of the end of the robot arm tooling 100, so as to further improve its flexibility and adaptability.

[0031] In some embodiments of the present invention, a first hinged lug 411 is provided on one side of the detection device 40; a second hinged lug 2723 is provided at the end of the push rod 2722, and a rotation hole is opened in the second hinged lug 2723; the rotation adjustment mechanism 273 is an adjustment motor 273', and the adjustment motor 273' includes a housing and an output shaft, and the housing and the first hinged lug 411 are respectively provided on opposite sides of the second hinged lug 2723, and the output shaft rotatably passes through the rotation hole and is connected to the first hinged lug 411. The rotation flexibility of the detection device 40 is improved, and the stability of the detection device 40 during movement is ensured by a stable connection structure.

[0032] In some embodiments of the present invention, the detection device 40 includes a mounting cover 41, a ground penetrating radar 42 and an obstacle avoidance module 43, the first hinged lug 411 is formed on one side of the mounting cover 41, and a storage groove 412 is provided on the other side of the mounting cover 41, the ground penetrating radar 42 is installed in the storage groove 412, and the obstacle avoidance module 43 is installed on the outer peripheral side of the mounting cover 41. The detection device 40 integrates the mounting cover 41, the ground penetrating radar 42 and the obstacle avoidance module 43, and the ground penetrating radar 42 is stored in the storage groove 412, which is more compact, can ensure the safety and reliability of the tunnel detection capability, and avoid the ground penetrating radar 42 from scratching the tunnel wall and being damaged, and the manipulator tooling 100 can better cope with the complex environment in the tunnel where the rail train passes.

[0033] The above-mentioned ground penetrating radar 42 is the main component for detecting the tunnel wall. It can penetrate the tunnel wall, detect the integrity of the internal structure, cracks, water leakage, etc., and provide important data for the health status assessment of the tunnel. The above-mentioned obstacle avoidance module 43 is used to monitor the environment around the detection device 40 in real time, identify and avoid obstacles (such as contact lines, lamps, warning signs, etc.). It can sense the distance and position of surrounding objects through sensors (such as laser radar, ultrasonic sensors, etc.) to ensure that the detection device 40 will not collide during operation.

[0034] Further, in some embodiments of the present invention, the obstacle avoidance module 43 includes a plurality of distance measuring sensors 431, and the plurality of distance measuring sensors 431 are arranged at the corner of the mounting cover 41 away from the second hinged lug 2723. In some other embodiments of the present invention, the obstacle avoidance module 43 includes a binocular camera 432, and the two cameras of the binocular camera 432 are respectively arranged on opposite sides of the mounting cover 41 in the rotation axis. The types of distance measuring sensors 431 include but are not limited to laser radar, ultrasonic sensor, infrared sensor, etc. The binocular camera 432 can obtain the depth information of the front environment in real time by simulating the principle of human binocular vision, so as to accurately detect the position and distance of obstacles. The above scheme can realize all-round environmental perception and accurate obstacle detection. In this way, the surrounding environment is monitored in real time by the distance measuring sensor 431 and the binocular camera 432, so that the monitoring device can be prevented from touching obstacles, and the safety and adaptability of the detection device 40 in complex environments are further improved.

[0035] In some embodiments of the present invention, the detection device 40 further includes a camera 44 and a fill light 45, both of which are mounted on the outside of the mounting cover 41, the camera 44 is used to collect detection images, and the fill light 45 is used to provide lighting for the camera 44. The fill light 45 is used to provide lighting for the camera 44 to ensure that the camera 44 can clearly collect images in a low-light or no-light tunnel environment. The use of the fill light 45 can significantly improve the quality and clarity of the image, thereby improving the accuracy of the detection. The camera 44 is used to collect image information of the tunnel wall so as to visually detect the surface condition of the tunnel (such as cracks, water leakage, peeling, etc.). The collected image can be processed and analyzed subsequently to determine the quality of the tunnel.

[0036] In some embodiments of the present invention, the detection device 40 is provided in plurality, and the telescopic adjustment mechanism 272 and the rotation adjustment mechanism 273 are provided in plurality accordingly, and one rotation adjustment mechanism 273 connects one telescopic adjustment mechanism 272 and one detection device 40, and the plurality of detection devices 40 are arranged at intervals in a direction perpendicular to the rotation axis. The detection devices 40 are arranged at intervals, so that the plurality of detection devices 40 can detect different areas of the tunnel wall at the same time, which significantly improves the detection efficiency. Moreover, since the detection devices 40 are arranged at intervals in a direction perpendicular to the rotation axis, they do not affect each other when the detection devices 40 rotate.

[0037] The present invention further proposes a tunnel hidden disease diagnosis device 1000, comprising a box body 200, a box door 300 and the mechanical arm fixture 100, wherein the fixing seat 10 is installed on the box body 200, and the box door 300 is connected to the box body 200 and covers the mechanical arm fixture 100. The specific structure of the mechanical arm fixture 100 refers to the above embodiment, and since the present tunnel hidden disease diagnosis device 1000 adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here one by one.

[0038] In some embodiments of the present invention, the robot arm fixture 100 is provided in plurality and is arranged at intervals along the length direction of the box body 200. Multiple robot arm fixtures 100 can work simultaneously to detect different areas of the tunnel wall, thereby reducing the detection time and improving the detection efficiency. The number of robot arms can be set to 2, 3, 4 or more, which is not limited here.

[0039] In some embodiments of the present invention, the door 300 is a foldable door 300, and can be folded or unfolded along the length direction of the box body 200. The foldable door 300 is composed of a plurality of foldable panels, and when folded, the door 300 can be folded along the length direction of the box body 200 to reduce space occupation, and is more suitable for narrow spaces such as tunnels.

[0040] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A robot arm tooling (100), characterized in that: include: Fixed seat (10); A multi-degree-of-freedom mechanical arm (20), the multi-degree-of-freedom mechanical arm (20) comprising a sliding seat (23), a rotating telescopic arm (24), a rotating joint (25), a rotating arm (26) and a telescopic arm (27), the sliding seat (23) being slidably connected to the fixed seat (10), one end of the rotating telescopic arm (24) being rotatably connected to the sliding seat (23), the other end being telescopically arranged and rotatably connected to the rotating joint (25), the axial direction of the rotating joint (25) being the same as the telescopic direction of the rotating telescopic arm (24), one end of the rotating arm (26) being rotatably connected to the rotating joint (25), the axial direction of the rotating arm (26) rotating around the rotating joint being arranged perpendicular to the telescopic direction of the rotating telescopic arm (24), the telescopic arm (27) being slidably connected to the rotating arm (26), and the sliding direction being perpendicular to the axial direction of the telescopic arm (27); as well as A detection device (40) is installed on the telescopic arm (27), and the detection device (40) is used to detect the tunnel wall surface.

2. The robot arm tooling (100) according to claim 1, characterized in that: The telescopic arm (27) comprises an arm body (271), a telescopic adjustment mechanism (272) and a rotation adjustment mechanism (273); two ends of the telescopic adjustment mechanism (272) are respectively connected to the arm body (271) and the rotation adjustment mechanism (273); the detection device (40) is connected to the rotation adjustment mechanism (273) and can rotate under the drive of the rotation adjustment mechanism (273), and can move under the drive of the telescopic adjustment mechanism (272).

3. The robot arm tooling (100) according to claim 2, characterized in that: The telescopic adjustment mechanism (272) comprises a cylinder body (2721) and a push rod (2722); the arm body (271) is provided with a mounting groove (2711); the cylinder body (2721) is mounted in the mounting groove (2711); one end of the push rod (2722) is telescopically arranged in the cylinder body (2721), and the other end extends out of the mounting groove (2711); the detection device (40) and the rotation adjustment mechanism (273) are both connected to the end of the push rod (2722) away from the cylinder body (2721).

4. The robot arm tooling (100) according to claim 3, characterized in that: A first hinged lug (411) is provided on one side of the detection device (40); A second hinged lug (2723) is provided at the end of the push rod (2722), and a rotation hole is opened in the second hinged lug (2723). The rotation adjustment mechanism (273) is an adjustment motor (273'), and the adjustment motor (273') includes a housing and an output shaft. The housing and the first hinged lug (411) are respectively arranged on opposite sides of the second hinged lug (2723), and the output shaft can rotatably pass through the rotation hole and is connected to the first hinged lug (411).

5. The robot arm tooling (100) according to claim 4, characterized in that: The detection device (40) comprises a mounting cover (41), a ground penetrating radar (42) and an obstacle avoidance module (43); the first hinged lug (411) is formed on one side of the mounting cover (41); a storage groove (412) is provided on the other side of the mounting cover (41); the ground penetrating radar (42) is installed in the storage groove (412); and the obstacle avoidance module (43) is installed on the outer peripheral side of the mounting cover (41).

6. The robot arm tooling (100) according to claim 5, characterized in that: The obstacle avoidance module (43) comprises a plurality of distance measuring sensors (431), and the plurality of distance measuring sensors (431) are arranged at a corner portion of the mounting cover (41) away from the second hinged lug (2723); And / or, the obstacle avoidance module (43) comprises a binocular camera (432), and two cameras of the binocular camera (432) are respectively arranged on opposite sides of the mounting cover (41) on the rotation axis.

7. The robot arm tooling (100) according to claim 5, characterized in that: The detection device (40) further comprises a camera (44) and a fill light (45); the camera (44) and the fill light (45) are both mounted on the outside of the mounting cover (41); the camera (44) is used to collect detection images, and the fill light (45) is used to provide lighting for the camera (44).

8. The robot arm tooling (100) according to any one of claims 2 to 7, characterized in that: The detection device (40) is provided in plurality, and the telescopic adjustment mechanism (272) and the rotation adjustment mechanism (273) are provided in plurality accordingly. One rotation adjustment mechanism (273) connects one telescopic adjustment mechanism (272) and one detection device (40), and the plurality of detection devices (40) are arranged at intervals in a direction perpendicular to the rotation axis.

9. A tunnel hidden disease diagnosis device (1000), characterized in that: It comprises a box body (200), a box door (300) and a robot arm tooling (100) as claimed in any one of claims 1 to 8, wherein the fixing seat (10) is installed on the box body (200), the box door (300) is connected to the box body (200) and covers the robot arm tooling (100).

10. The tunnel hidden disease diagnosis device (1000) according to claim 9, characterized in that: A plurality of the mechanical arm tooling (100) are provided and are arranged at intervals along the length direction of the box (200); And / or, the box door (300) is a foldable box door (300) and can be folded or unfolded along the length direction of the box body (200).

Images