A safety monitoring structure and safety operating system for a picking vehicle

Abstract

The present invention discloses a safety monitoring structure and a safety operating system for a picking vehicle, comprising a vehicle body, a controller and a lifting gantry are arranged on the vehicle body, a gantry chain is installed on the vehicle body, and is used for driving the lifting gantry, a detector and a detection block, the detector is fixed to the vehicle body, the detection block is fixed to the end of the gantry chain, the detection block is located above the detector in an initial state, the detectors are all electrically connected to the controller, and an elastic member is used for driving the gantry chain to move toward the detector. The controller sends a signal to the vehicle machine to warn the operator, so that the operator stops the vehicle for inspection and maintenance to avoid more serious accidents. The operator's safety can be more comprehensively guaranteed by giving early warning. At the same time, only when the operator stands in the correct operating position and performs correct operations with his left and right hands, the vehicle can walk, turn and lift, which is beneficial to improving the safety and standardization of the operator when operating the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment operation safety, and more specifically, to a safety monitoring structure for a picking vehicle. In addition, the present invention also relates to a safety operating system for the above-mentioned safety monitoring structure for a picking vehicle. Background Art

[0002] A picking vehicle is usually a lifting vehicle with an operating platform that rises and falls with a platform or fork, allowing the operator to stack loads from a load-bearing attachment onto a shelf, or to take loads from a shelf and place them on a load-bearing attachment. The picking vehicle series equipment mainly includes three types of vehicles: low, medium and high cargo picking vehicles.

[0003] When the high-lift sorting vehicle is working, the operator is often working at high altitude. Therefore, for the operator, the vehicle needs to have high and comprehensive operational safety to avoid accidents caused by some internal or external reasons, especially to avoid safety problems caused by workers' illegal operations or misoperations, so as to effectively ensure the safety of the operator.

[0004] In summary, how to provide a picking vehicle with high safety performance is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a safety monitoring structure for a picking vehicle to provide structural support for the safety of the picking vehicle.

[0006] Another object of the present invention is to provide a safe operating system for the above-mentioned safety monitoring structure.

[0007] Another object of the present invention is to provide a picking vehicle including the above-mentioned safety monitoring structure and safety operating system.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A picking vehicle safety monitoring structure, comprising:

[0010] A vehicle body, wherein a controller and a lifting gantry are provided on the vehicle body;

[0011] A gantry chain, the gantry chain is installed on the vehicle body and is used to drive the lifting gantry to rise and fall;

[0012] A detector and a detection block, wherein the detector is fixed to the vehicle body, the detection block is fixed to the end of the gantry chain, the detection block is located above the detector in an initial state, and the detectors are electrically connected to the controller;

[0013] An elastic member is used to drive the gantry chain to move toward the detector.

[0014] The present invention further includes:

[0015] A guide sleeve is sleeved on the outside of the end of the door frame chain, and the elastic member is a spring and is located inside the guide sleeve.

[0016] According to the present invention, a guardrail assembly is provided on the lifting gantry, and the guardrail assembly includes a plurality of cross bars hinged on the vehicle body and at least one vertical bar, wherein the vertical bar is hinged to the ends of the plurality of cross bars, and the guardrail assembly also includes a height sensor and a guardrail sensor located on the vehicle body, and the height sensor and the guardrail sensor are both electrically connected to the controller.

[0017] Furthermore, the present invention is provided with an alarm on the lifting gantry, and the alarm is electrically connected to the controller.

[0018] The present invention further provides that the vehicle body is provided with an emergency descent valve, and the emergency descent valve is electrically connected to the controller.

[0019] Furthermore, the vehicle body is provided with a drive motor for controlling the movement of the vehicle body, an oil pump motor for controlling the lifting of the lifting gantry, a steering motor for controlling the steering of the vehicle body, and the lifting gantry is provided with a dashboard, the dashboard is provided with an instrument display, a drive handle, a steering handle and an emergency descent switch which are all electrically connected to the controller, and the instrument display, the oil pump motor, the steering motor, the drive motor and the detector are all electrically connected to the controller.

[0020] A safety control system, comprising the above safety monitoring structure, further comprising a station position sensing device, wherein the driving handle is provided with a driving position sensor, the steering handle is provided with a steering position sensor, and the station position sensing device, the driving position sensor and the steering position sensor are all electrically connected to the controller;

[0021] When the controller detects signals from the station position sensing device, the drive position sensor and the steering position sensor at the same time, the controller will send a signal to the drive motor or the steering motor when the user manipulates the drive handle and the steering handle.

[0022] Furthermore, in the present invention, the station position sensing device, the driving position sensor and the steering position sensor may adopt photoelectric or pressure structure sensors.

[0023] The present invention further includes a lifting button. When the controller detects the signals of the standing position sensing device and the steering position sensor at the same time, the user operates the lifting button and the controller will send a signal to the oil pump motor.

[0024] Furthermore, the present invention provides that when the detection block contacts the detector, the detector sends a signal to the controller, the detector sends a stop signal to the drive motor and the oil pump motor, and controls the instrument display to display corresponding prompt content.

[0025] Furthermore, the present invention sends real-time data detected by the height sensor to the controller. When the controller compares the real-time height data with the preset high-speed data and does not satisfy the comparison, the guardrail sensor detects that the guardrail assembly is open and sends a signal to the controller. The controller sends a stop signal to the drive motor and the oil pump motor, and simultaneously sends a signal to the alarm.

[0026] The safety monitoring structure of the picking vehicle provided by the present invention has a controller and a lifting gantry on the vehicle body when in use. The lifting gantry chain of the vehicle is used to drive the lifting of the lifting gantry through the lifting gantry. The detector is fixed to the vehicle body, and the detection block is fixed to the end of the chain. In the initial state, the detection block is located above the detector. The detectors are all electrically connected to the controller, and the elastic member is used to drive the gantry chain to move toward the detector. In other words, the gantry chain carries the safety of the entire lifting system. When the gantry chain is broken, abnormally stretched, or other dangerous situations occur, the gantry chain increases in length at this time, that is, the elastic member will pull the slack gantry chain downward, and at the same time, the detection block fixed at the end of the gantry chain will move downward with the gantry chain, and then contact and trigger the detector. The detector will send a signal to the controller, and the controller will send a signal to the vehicle computer to warn the operator, so that the operator can stop the vehicle for inspection and maintenance to avoid more serious accidents. The operator's safety can be more comprehensively guaranteed by giving early warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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 embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0028] Figure 1 This is a schematic structural diagram of the overall front axial side of the device provided by the present invention;

[0029] Figure 2 This is a schematic structural diagram of the overall back axial side of the device provided by the present invention;

[0030] Figure 3 A schematic diagram of the structure of a detector and a local detection block provided by the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of the instrument panel provided by the present invention from a top view;

[0032] Figure 5 A schematic diagram of the structure of the control system during the driving process provided by the present invention;

[0033] Figure 6 A schematic diagram of the structure of a control system during the steering process provided by the present invention;

[0034] Figure 7 A schematic diagram of the structure of the control system during the driving process provided by the present invention;

[0035] Figure 8 This is a schematic diagram of the structure of the control system when the detector provided by the present invention is triggered;

[0036] Fig. 9 This is a schematic diagram of the structure of the control system when the guardrail detector provided by the present invention is triggered.

[0037] Figure 1-Figure 9 , the reference numerals include:

[0038] Vehicle body 1, controller 2, lifting gantry 3, gantry chain 4, detection block 41, detector 42, guide sleeve 43, elastic member 44, guardrail assembly 5, cross bar 51, vertical bar 52, guardrail sensor 53, height sensor 54, alarm 6, emergency descent valve 7, drive motor 8, steering motor 9, oil pump motor 10, instrument panel 11, drive handle 12, drive position sensor 121, lifting button 13, instrument display 14, steering handle 15, steering position sensor 151, emergency descent switch 16, standing position sensing device 17. DETAILED DESCRIPTION

[0039] 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.

[0040] The core of the present invention is to provide a safety monitoring structure for a picking vehicle to provide structural support for the safety of the picking vehicle.

[0041] Another core of the present invention is to provide a safe operating system for the above-mentioned safety monitoring structure.

[0042] Please refer to Figure 1-Figure 9A picking vehicle safety monitoring structure includes a vehicle body 1, a gantry chain 4, an elastic member 44, a detector 42 and a detection block 41. The vehicle body 1 is provided with a controller 2 and a lifting gantry 3. The gantry chain 4 is installed on the vehicle body 1 to drive the lifting gantry 3 to move up and down. The detector 42 is fixed to the vehicle body 1, and the detection block 41 is fixed to the end of the chain. In the initial state, the detection block 41 is located above the detector 42. The detector 42 is electrically connected to the controller 2. The elastic member 44 is used to drive the gantry chain 4 to move toward the detector 42.

[0043] When in use, a controller 2 and a lifting gantry 3 are provided on the vehicle body 1. The lifting gantry 3 of the vehicle is realized through the lifting gantry 3. The chain is used to drive the lifting of the lifting gantry 3. The detector 42 is fixed to the vehicle body 1, and the detection block 41 is fixed to the end of the chain. In the initial state, the detection block 41 is located above the detector 42. The detector 42 is electrically connected to the controller 2. The elastic member 44 is used to drive the gantry chain 4 to move toward the detector 42. In other words, the gantry chain 4 carries the safety of the entire lifting system. When the gantry chain 4 is broken, abnormally stretched, or other dangerous situations occur, the gantry chain 4 has an increased length, that is, the elastic member 44 will pull the loose gantry chain 4 downward, and at the same time, the detection block 41 fixed at the end of the gantry chain 4 will move downward with the gantry chain 4, and then contact and trigger the detector 42. The detector 42 will send a signal to the controller 2, and the controller 2 will send a signal to the vehicle computer to warn the operator, so that the operator can stop the vehicle for inspection and maintenance to avoid more serious accidents. The operator's safety can be more comprehensively guaranteed by early warning.

[0044] It should be noted that the picking vehicle in the embodiment of the present invention also has other necessary components.

[0045] In addition, the detector 42 in the embodiment of the present invention can be a photoelectric sensor or a pressure sensor.

[0046] Optionally, in the above embodiment, when the detector 42 adopts a photoelectric sensor, a protective cover can be installed on the outside of the detector 42, and the protective cover places the detector 42 inside to prevent the detector 42 from being accidentally touched due to external interference.

[0047] Please refer to Figure 1-Figure 9 In some embodiments, a guide sleeve 43 is also included. The guide sleeve 43 is sleeved on the outside of the end of the chain. The elastic member 44 is a spring and is located inside the guide sleeve 43. That is to say, the end of the chain is fixed by the guide sleeve 43, and the elastic member 44 is placed inside the guide sleeve 43 to ensure better directional accuracy when the chain is stretched.

[0048] It should be noted that the guide sleeve 43 in the embodiment of the present invention can be made of metal or rubber. When metal is used, stainless steel can be used, which can fix the end of the chain. When rubber is used, it can cover the elastic member 44 and also has the function of stretching the chain downward, which is beneficial to ensure that the chain triggers the detector 42 after a finer stretch.

[0049] Please refer to Figure 1-Figure 9 In some embodiments, a guardrail assembly 5 is provided on the lifting door frame 3, and the guardrail assembly 5 includes a plurality of cross bars 51 and at least one vertical bar 52 hinged on the vehicle body 1, and the vertical bar 52 is hinged with the ends of the plurality of cross bars 51, and a height sensor 54 and a guardrail sensor 53 are provided on the vehicle body 1, and the height sensor 54 and the guardrail sensor 53 are both electrically connected to the controller 2, that is, the guardrail assembly 5 is a well-shaped or E-shaped structure composed of a plurality of cross bars 51 and vertical bars 52, and is hinged with the vehicle body 1 through the cross bars 51, and the vertical bars 52 are hinged with the plurality of cross bars 51, so when the vertical bars 52 are lifted, the plurality of cross bars 51 rotate in the same direction, so that the guardrail is retracted, so as to facilitate the operation of the vehicle in and out of the operating room of the vehicle body 1,

[0050] Optionally, in order to keep the guardrail fixed after being raised, in some embodiments, a damping member is provided at the hinge between the cross bar 51 and the vehicle body 1, and the damping member is used to reset and damp the cross bar 51, so that the guardrail remains fixed after being raised and opened.

[0051] In other embodiments, a fixing piece may be provided on the vehicle body 1, and the fixing piece is a concave-shaped structure. When the cross bar 51 is lifted and kept vertical, it is inserted into the fixing piece to fix the guardrail.

[0052] In other embodiments, a magnet may be provided on the vehicle body 1, and the cross bar 51 is made of iron. When the cross bar 51 is lifted and kept vertical, the cross bar 51 contacts the magnet to fix the guardrail.

[0053] Please refer to Figure 1-Figure 9 In order to further enhance the warning effect on the operator, in some embodiments, an alarm 6 is provided on the lifting gantry 3, and the alarm 6 is electrically connected to the controller 2. When the detector 42 is triggered or there is an illegal operation on the guardrail, the controller 2 sends a signal to the alarm 6 to put it in an alarm state, thereby raising the operator's attention and improving the operator's safety.

[0054] Please refer to Figure 1-Figure 9In some embodiments, an emergency descending valve 7 is provided on the vehicle body 1, and the emergency descending valve 7 is electrically connected to the controller 2. At the same time, an emergency descending button electrically connected to the controller 2 can also be provided in the operating room of the vehicle body 1. When the operator is working at a high position, if the oil pump motor 10 or the controller 2 fails and the power supply of the whole vehicle is still normal, the emergency descending switch 16 is operated. The emergency descending switch 16 directly controls the emergency descending valve 7 to operate and safely and slowly lower the operator to the ground. If the vehicle has no power, the emergency descending valve 7 is operated by ground personnel to slowly lower the operator to the ground, thereby avoiding the situation where the operator cannot get off the vehicle normally due to a power failure of the vehicle body 1.

[0055] Please refer to Figure 1-Figure 9 In some embodiments, the vehicle body 1 is also provided with a drive motor 8 for controlling the movement of the vehicle body 1, an oil pump motor 10 for controlling the lifting of the lifting gantry 3, a steering motor 9 for controlling the steering of the vehicle body 1, and an instrument panel 11. The instrument panel 11 is provided with an instrument display 14. The instrument panel 11 is provided with a drive handle 12, a steering handle 15 and an emergency descent switch 16 which are all electrically connected to the controller 2. The instrument display 14, the oil pump motor 10, the steering motor 9, the drive motor 8 and the detector 42 are all electrically connected to the controller 2. That is to say, the lifting or lowering of the upgrading gantry is controlled by the oil pump motor 10 to meet the lifting function of the vehicle body 1, the moving cabinet of the vehicle body 1 is controlled by the drive motor 8, and the steering function of the vehicle body 1 is met by the steering motor 9. The instrument display 14 is used to display the current state of the vehicle. At the same time, the operator controls the oil pump motor 10, the drive motor 8 and the steering motor 9 through the drive handle 12, the steering handle 15 and the emergency descent switch 16.

[0056] A safety control system includes the above-mentioned safety monitoring structure, and also includes a position sensing device 17. A driving position sensor 121 is provided on the driving handle 12, and a steering position sensor 151 is provided on the steering handle 15. The position sensing device 17, the driving position sensor 121 and the steering position sensor 151 are all electrically connected to the controller 2. When the controller 2 simultaneously detects the signals of the position sensing device 17, the driving position sensor 121 and the steering position sensor 151, the controller 2 will send a signal to the driving motor 8 or the steering motor 9 when the user manipulates the driving handle 12 and the steering handle 15. The above-mentioned operation method can ensure that the operator maintains the correct position and posture during operation, thereby greatly improving the safety of the picking vehicle operation process.

[0057] Optionally, in some embodiments, the station position sensing device 17, the driving position sensor 121 and the steering position sensor 151 may adopt photoelectric or pressure structure sensors.

[0058] Optionally, in some embodiments, a lifting button 13 is also included. When the controller 2 detects the signals of the standing position sensing device 17 and the steering position sensor 151 at the same time, the user operates the lifting button 13, and the controller 2 will send a signal to the oil pump motor 10. That is to say, the operator must stand in the correct position and keep his left hand gripping the steering handle 15. At this time, the lifting button 13 is operated, and the controller 2 will send an operation signal to the oil pump motor 10 to avoid the operator accidentally falling due to misoperation.

[0059] That is to say, the vehicle can only move, turn and lift when the operator stands in the correct operating position and operates the left and right hands correctly. If the above safety functions are not implemented, the vehicle will not move even if the operator touches or operates the steering handle 15, the driving handle 12 and the lifting switch by mistake, which is conducive to improving the safety and standardization of the operator when operating the vehicle.

[0060] At the same time, in order to further improve the warning effect of vehicle safety, in the event of an erroneous operation of the above operation, a corresponding icon will be displayed on the instrument 6 to prompt the operator.

[0061] At the same time, in order to standardize the operator's use and improve safety in production, incorrect operations can be recorded. When abnormalities occur multiple times, the records can be queried to warn the operator to perform standardized operations on the vehicle.

[0062] Optionally, in some embodiments, when the detection block 41 contacts the detector 42, the detector 42 sends a signal to the control, the detector 42 sends a stop signal to the drive motor 8 and the oil pump motor 10, and controls the instrument display 14 to display corresponding prompt content.

[0063] Optionally, in some embodiments, the real-time data detected by the height sensor 54 is sent to the controller 2. When the controller 2 detects that the real-time height data does not match the preset high-speed data, the guardrail sensor 53 detects that the guardrail is open and sends a signal to the controller 2. The controller 2 sends a stop signal to the drive motor 8 and the oil pump motor 10, and sends a signal to the alarm 6 at the same time. That is to say, the guardrail assembly 5 can avoid the risk of the operator falling from a height. When the lifting gantry 3 is lifted to a dangerous height, the height sensor 54 sends a height signal to the controller 2. At this time, when the guardrail arm is lifted up, the interlocking mechanism drives the entire guardrail to open, and the guardrail detection sensor detects that the guardrail is open and sends a signal to the controller 2. After logical judgment, the controller 2 stops the driving action brought by the drive motor 8 and the lifting action brought by the oil pump motor 10 through the height signal sent by the height sensor 54 and the detection signal sent by the guardrail detection sensor, and controls the alarm 6 to sound an alarm. The instrument display 14 displays the corresponding icon to remind and warn the operator.

[0064] That is to say, the focus of the embodiment of the present invention is that when the gantry chain 4 is in a dangerous situation caused by breakage, abnormal stretching, etc., the length of the gantry chain 4 increases, that is, the elastic member 44 will pull the slack gantry chain 4 downward, and at the same time, the detection block 41 fixed at the end of the gantry chain 4 will move downward with the gantry chain 4, and then contact and trigger the detector 42. The detector 42 will send a signal to the controller 2, and the controller 2 will send a signal to the vehicle computer to alert the operator, so that the operator can stop the vehicle for inspection and maintenance to avoid more serious accidents. The operator's safety can be more comprehensively guaranteed by early warning. At the same time, through the mutual cooperation of multiple position sensors, the operator is required to perform standardized operations, which greatly improves the safety of the vehicle during use and reduces the occurrence of accidents.

[0065] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0066] The above is a detailed introduction to a picking vehicle safety monitoring structure, a safety operating system and a picking vehicle provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A safety monitoring structure for a picking vehicle, characterized in that: include: A vehicle body (1), wherein a controller (2) and a lifting gantry (3) are provided on the vehicle body (1); A gantry chain (4), the gantry chain (4) being mounted on the vehicle body (1) and being used to drive the lifting gantry (3) to rise and fall; A detector (42) and a detection block (41), wherein the detector (42) is fixed to the vehicle body (1), and the detection block (41) is fixed to the end of the gantry chain (4); in an initial state, the detection block (41) is located above the detector (42), and the detector (42) is electrically connected to the controller (2); An elastic member (44), wherein the elastic member (44) is used to drive the gantry chain (4) to move in the direction of the detector (42).

2. A safety monitoring structure for a picking vehicle according to claim 1, characterized in that: Also includes: A guide sleeve (43) is sleeved on the outside of the end of the door frame chain (4); the elastic member (44) is a spring and is located inside the guide sleeve (43).

3. A safety monitoring structure for a picking vehicle according to claim 1, characterized in that: The lifting gantry (3) is provided with a guardrail assembly (5), the guardrail assembly (5) comprising a plurality of cross bars (51) hinged on the vehicle body (1) and at least one vertical bar (52), the vertical bar (52) being hinged to the ends of the plurality of cross bars (51), the guardrail assembly (5) further comprising a height sensor (54) and a guardrail sensor (53) located on the vehicle body (1), the height sensor (54) and the guardrail sensor (53) both being electrically connected to the controller (2).

4. A safety monitoring structure for a picking vehicle according to claim 3, characterized in that: An alarm (6) is provided on the lifting door frame (3), and the alarm (6) is electrically connected to the controller (2).

5. A safety monitoring structure for a picking vehicle according to claim 3, characterized in that: The vehicle body (1) is provided with an emergency descent valve (7), and the emergency descent valve (7) is electrically connected to the controller (2).

6. A safety monitoring structure for a picking vehicle according to claim 3, characterized in that: The vehicle body (1) is also provided with a driving motor (8) for controlling the movement of the vehicle body (1), an oil pump motor (10) for controlling the lifting of the lifting gantry (3), and a steering motor (9) for controlling the steering of the vehicle body (1). The lifting gantry (3) is provided with a dashboard (11), and the dashboard (11) is provided with an instrument display (14), a driving handle (12), a steering handle (15), and an emergency descent switch (16) all of which are electrically connected to the controller (2). The instrument display (14), the oil pump motor (10), the steering motor (9), the driving motor (8), and the detector (42) are all electrically connected to the controller (2).

7. A safety control system, characterized in that: The safety monitoring structure according to items 1 to 6 above also includes a position sensing device (17), a driving position sensor (121) is provided on the driving handle (12), a steering position sensor (151) is provided on the steering handle (15), and the position sensing device (17), the driving position sensor (121) and the steering position sensor (151) are all electrically connected to the controller (2); When the controller (2) simultaneously detects signals from the standing position sensing device (17), the driving position sensor (121) and the steering position sensor (151), and the user manipulates the driving handle (12) and the steering handle (15), the controller (2) will send a signal to the driving motor (8) or the steering motor (9).

8. A safety control system according to claim 7, characterized in that: The station position sensing device (17), the driving position sensor (121) and the steering position sensor (151) may adopt photoelectric or pressure structure sensors.

9. A safety control system according to claim 8, characterized in that: It also includes a lifting button (13). When the controller (2) detects signals from the station position sensing device (17) and the steering position sensor (151) at the same time, the controller (2) will send a signal to the oil pump motor (10) only when the user operates the lifting button (13).

10. A safety control system according to claim 7, characterized in that: When the detection block (41) contacts the detector (42), the detector (42) sends a signal to the controller (2), the detector (42) sends a stop signal to the drive motor (8) and the oil pump motor (10), and controls the instrument display (14) to display corresponding prompt content.

11. A safety control system according to claim 7, characterized in that: The real-time data detected by the height sensor (54) is sent to the controller (2). When the controller (2) compares the real-time height data with the preset high-speed data and the result is not satisfied, the guardrail sensor (53) detects that the guardrail assembly (5) is open and sends a signal to the controller (2). The controller (2) sends a stop signal to the drive motor (8) and the oil pump motor (10), and simultaneously sends a signal to the alarm (6).

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