Flexible manipulator with adjustable claw distance

Abstract

The invention relates to the technical field of flexible manipulators, and discloses a claw-distance-adjustable flexible manipulator which comprises a base, a rotating shaft is rotatably connected to the center of the base in a penetrating mode, a rotating disc is fixedly installed at the bottom end of the rotating shaft, a vortex thread is arranged at the top of the rotating disc, and a driving motor is fixedly installed at the top end of the rotating shaft. And the driving motor is fixedly installed at the top of the base, adjusting assemblies are arranged between the base and the rotating disc in an array mode and engaged with the surface of the vortex-shaped threads, the ends of the adjusting assemblies are movably connected with clamping jaw bases, and rubber clamping jaws are fixedly installed at the bottoms of the clamping jaw bases. The driving motor drives the assembly body of the rotating shaft and the rotating disc to rotate relative to the base, the insertion plate is driven to slide along the caulking groove in cooperation with the meshing effect of the vortex-shaped threads and the threaded block, the distance between the U-shaped plate and the axis of the base is adjusted, the claw distance between the rubber clamping claws is adjusted, and therefore the purpose of conveniently adjusting the claw distance is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of flexible manipulators, in particular to a flexible manipulator with adjustable claw distance. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms to grasp, move objects or operate tools according to a fixed procedure. The claws or fingers of a flexible manipulator are made of flexible materials, and objects are clamped by the claws or fingers to prevent damage to the objects through the characteristics of its flexible material.

[0003] The conventional flexible manipulator has a fixed claw distance and can only clamp objects of fixed size. When the object exceeds the claw distance, it is difficult to clamp the object, and the manipulator with a different claw distance needs to be replaced to clamp the object, which increases production costs. The process of replacing the claws will also waste a lot of time and reduce production efficiency. Summary of the invention

[0004] 1. Technical issues to be resolved In view of the deficiencies in the prior art, the present invention provides a flexible manipulator with adjustable claw distance, which has the advantages of convenient adjustment of the claw distance and solves the problem that the claw distance is fixed and cannot be adjusted.

[0005] (II) Technical solution In order to achieve the above-mentioned purpose of conveniently adjusting the claw distance, the present invention provides the following technical solutions: a flexible manipulator with adjustable claw distance, comprising a base, a rotating shaft passing through the center of the base and rotatably connected, a turntable is fixedly installed on the bottom end of the rotating shaft, a spiral thread is arranged on the top of the turntable, a driving motor is fixedly installed on the top of the rotating shaft, and the driving motor is fixedly installed on the top of the base, an adjustment component is arranged in an array between the base and the turntable, the adjustment component is meshed on the surface of the spiral thread, a clamping claw seat is movably connected to the end of the clamping claw seat, a rubber clamping claw is fixedly installed on the bottom of the clamping claw seat, a column is arranged in an array on the top of the base, a mounting plate is fixedly installed on the top of the column, a driving component is fixedly installed on the bottom of the mounting plate, an extension plate is arranged in an array on the side of the driving component, and an inclined push plate is hinged between the extension plate and the end of the clamping claw seat away from the axis of the base.

[0006] Preferably, the adjustment assembly includes an array of plug plates arranged on the side of the base, strip flanges are fixedly installed on both sides of the plug plates, and embedding grooves are arranged in an array on the circumferential surface of the base, the assembly of the plug plate and the strip flange is adapted to the embedding groove, and the assembly of the plug plate and the strip flange is slidably connected in the embedding groove, a U-shaped plate is fixedly installed on one end of the plug plate away from the center of the base, a threaded block is fixedly installed on the bottom of the other end of the plug plate, a thread matching the spiral thread is provided on the bottom of the threaded block, the threaded block and the spiral thread are meshed with each other, the end of the clamping claw seat close to the center of the base is hinged to the bottom of the U-shaped plate, and the inclined push plate passes through and is inserted in the middle of the U-shaped plate.

[0007] Preferably, the rubber clamp comprises a vertical portion and an inclined portion fixedly mounted on the bottom of the clamp seat, the vertical portion is located inside the inclined portion, a plurality of reinforcements are arranged between the vertical portion and the inclined portion, and the reinforcements are fixedly mounted to the vertical portion and the inclined portion.

[0008] Preferably, the rubber clamp also includes a guide rod 1 fixedly installed on the top of the bottommost reinforcement, a pull rope is fixedly installed on the topmost reinforcement close to the inclined portion, and a guide rod 2 is fixedly installed on the top of the second reinforcement from top to bottom. The pull rope extends downward and passes through multiple reinforcements in sequence, bypasses the bottom of the guide rod 1, and then extends upward and passes through multiple reinforcements and the clamp seat in sequence, and is fixedly installed on the bottom of the U-shaped plate away from the plug plate, and an elastic band is fixedly installed between the two ends of the outer side of the inclined portion.

[0009] Preferably, the driving assembly includes a cylinder fixedly mounted on the bottom of the mounting plate, a sliding disk is fixedly mounted on the bottom output end of the cylinder, the column passes through the sliding disk, the sliding disk is slidably connected to the surface of the column, a boss array is provided on the circumferential surface of the sliding disk, a slide groove is provided at the end of the boss, the slide groove extends into the sliding disk, an avoidance groove is provided in the bottom array of the sliding disk and the boss assembly, the avoidance groove is connected with the slide groove, the extension plate is slidably connected in the slide groove, a limiting ring is fixedly mounted on the surface of the column, the limiting ring is located on the upper side of the driving motor, and the sliding disk abuts against the top of the limiting ring.

[0010] Preferably, the extension plate is located inside the slide groove and has blocking blocks fixedly installed on both sides of one end, the blocking blocks are slidably connected in the slide groove, a piston rod is fixedly installed at the bottom of the extension plate, the piston rod passes through and is slidably connected in the avoidance groove, a piston cylinder is sleeved on the outside of the piston rod, and the bottom end of the piston cylinder is fixedly installed on the top of the plug plate.

[0011] Preferably, a clamping assembly is fixedly installed on the bottom of the turntable, and the clamping assembly includes an insertion rod fixedly installed at the bottom center of the turntable, a sleeve is provided on the outside of the insertion rod, a spring is fixedly installed between the bottom end of the insertion rod and the bottom wall of the sleeve, an arc-shaped pressure plate is fixedly installed on the bottom of the sleeve, a guide bar array is provided on the circumferential surface of the insertion rod, and a guide groove is provided on the inner wall of the sleeve corresponding to the guide bar array, and the guide bar is slidably connected in the guide groove.

[0012] (III) Beneficial effects Compared with the prior art, the present invention provides a flexible manipulator with adjustable claw distance, which has the following beneficial effects:

[0013] 1. The flexible manipulator with adjustable claw distance drives the assembly of the rotating shaft and the turntable to rotate relative to the base through the driving motor, and drives the plug plate to slide along the embedded groove in cooperation with the meshing action of the vortex thread and the thread block, so as to adjust the distance between the U-shaped plate and the axis of the base, and then adjust the distance between the clamping claw seat and the rubber clamping claw and the axis of the base, and adjust the claw distance between the rubber clamping claws, so as to achieve the purpose of conveniently adjusting the claw distance.

[0014] 2. In the flexible manipulator with adjustable claw distance, during the deflection of the claw seat, the distance between the outer end of the claw seat and the U-shaped plate becomes larger, so that the pull rope slides relatively on the surface of the guide rod, so that the length of the pull rope close to the inclined part is reduced, and the inclined part is deflected inwardly, that is, the bottom end of the rubber claw is bent inwardly, further ensuring the contact area with the object and ensuring the stability of clamping the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the three-dimensional structure of a flexible manipulator with adjustable claw distance proposed by the present invention; Figure 2 This is a schematic diagram of the main cross-sectional three-dimensional structure of a flexible manipulator with adjustable claw distance proposed by the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of an adjustment component of a flexible manipulator with adjustable claw distance proposed by the present invention; Figure 4 A schematic diagram of the three-dimensional structure of the rubber clamping claw of a flexible manipulator with adjustable claw distance proposed by the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of a driving component of a flexible manipulator with adjustable claw distance proposed by the present invention; Figure 6 This is a schematic diagram of a three-dimensional cross-section structure of a sliding disk of a flexible manipulator with adjustable claw distance proposed by the present invention; Figure 7 This is a schematic diagram of the three-dimensional structure of the clamping assembly of a flexible manipulator with adjustable claw distance proposed by the present invention.

[0016] In the figure: 1, base; 2, rotating shaft; 3, rotating disk; 4, vortex thread; 5, driving motor; 6, adjusting assembly; 7, clamping jaw seat; 8, rubber clamping jaw; 9, column; 10, mounting plate; 11, driving assembly; 12, extension plate; 13, inclined push plate; 14, clamping assembly; 61, plug plate; 62, strip flange; 63, embedded groove; 64, U-shaped plate; 65, thread block; 81, vertical part; 82, inclined part; 83, Reinforcement; 84, guide rod one; 85, pull rope; 86, guide rod two; 87, elastic band; 91, limit ring; 111, cylinder; 112, sliding plate; 113, boss; 114, slide groove; 115, avoidance groove; 121, blocking block; 122, piston rod; 123, piston cylinder; 141, plug rod; 142, guide strip; 143, sleeve; 144, guide groove; 145, spring; 146, arc pressure plate. DETAILED DESCRIPTION

[0017] 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.

[0018] See also Figure 1-3 A flexible manipulator with adjustable claw distance includes a base 1, a rotating shaft 2 is rotatably connected through the center of the base 1, a rotating disk 3 is fixedly installed at the bottom of the rotating shaft 2, a spiral thread 4 is arranged on the top of the rotating disk 3, a driving motor 5 is fixedly installed on the top of the rotating shaft 2, the driving motor 5 is fixedly installed on the top of the base 1, and the output shaft of the driving motor 5 is fixed to the rotating shaft 2, which is used to drive the rotating shaft 2 and the rotating disk 3 to rotate. An adjustment component 6 is arranged in an array between the base 1 and the rotating disk 3, the adjustment component 6 is arranged along the radial direction of the base 1, the adjustment component 6 is meshed on the surface of the spiral thread 4, a clamping claw seat 7 is movably connected at the end of the adjustment component 6, a rubber clamping claw 8 is fixedly installed at the bottom of the clamping claw seat 7, a column 9 is arranged in an array on the top of the base 1, a mounting plate 10 is fixedly installed on the top of the column 9, a driving component 11 is fixedly installed at the bottom of the mounting plate 10, an extension plate 12 is arranged in an array on the side of the driving component 11, and an inclined push plate 13 is hinged between the extension plate 12 and the end of the clamping claw seat 7 away from the axis of the base 1.

[0019] See also Figure 3-4The adjustment assembly 6 includes an array of plug plates 61 arranged on the side of the base 1. Strip flanges 62 are fixedly installed on both sides of the plug plates 61. Embedding grooves 63 are arranged in an array on the circumferential surface of the base 1. The assembly of the plug plates 61 and the strip flanges 62 is adapted to the embedding grooves 63. The assembly of the plug plates 61 and the strip flanges 62 is slidably connected in the embedding grooves 63, so that the plug plates 61 and the base 1 are stably slidably connected. A U-shaped plate 64 is fixedly installed at one end of the plug plates 61 away from the center of the base 1. A thread block 65 is fixedly installed at the bottom of the other end of the plug plates 61. The bottom of the thread block 65 is provided with threads adapted to the spiral thread 4. The thread block 65 and the spiral thread 4 are meshed with each other, so that when the turntable 3 rotates, the assembly of the thread block 65 and the plug plates 61 is driven to slide along the embedding grooves 63 to adjust the distance between the U-shaped plate 64 and the center of the base 1. The end of the clamping jaw seat 7 near the center of the base 1 is hinged at the bottom of the U-shaped plate 64, and the inclined push plate 13 is inserted through the middle of the U-shaped plate 64. The plug plate 61 is slidably connected to the base 1 to adjust the distance between the clamping jaw seat 7 and the rubber clamping jaw 8 and the center of the base 1, thereby adjusting the claw distance between the rubber clamping jaws 8.

[0020] See also Figure 3-4 The rubber clamp 8 includes a vertical portion 81 and an inclined portion 82 fixedly mounted at the bottom of the clamp seat 7. The vertical portion 81 is located inside the inclined portion 82. A plurality of reinforcement bars 83 are arranged between the vertical portion 81 and the inclined portion 82. The reinforcement bars 83 are fixedly mounted to the vertical portion 81 and the inclined portion 82. The vertical portion 81 and the inclined portion 82 are supported by the reinforcement bars 83. The rubber clamp 8 also includes a guide rod 1 84 fixedly mounted on the top of the bottommost reinforcement bar 83. A pull rope 85 is fixedly mounted on the end of the topmost reinforcement bar 83 close to the inclined portion 82. A guide rod 2 86 is fixedly mounted on the top of the second reinforcement bar 83 from top to bottom. The pull rope 85 extends downward and passes through the plurality of reinforcement bars 83 in sequence, bypasses the bottom of the guide rod 1 84, and then extends upward and passes through the plurality of reinforcement bars 83 and the clamp seat 7 in sequence, and is fixedly mounted on the bottom of the U-shaped plate 64 away from the plug plate 61. An elastic band 87 is fixedly mounted between the two ends of the outer side of the inclined portion 82. Therefore, when the rubber clamp 8 deflects inwardly relative to the clamp seat 7, the distance between the right end of the clamp seat 7 and the U-shaped plate 64 increases, causing the pull rope 85 to slide relative to the guide rod 84, and the length of the pull rope 85 near the inclined portion 82 becomes shorter, causing the vertical portion 81 and the inclined portion 82 to bend, so that the bottom end of the rubber clamp 8 bends close to the axis of the base 1, further ensuring the stability of clamping the object.

[0021] See also Figure 5-6The driving assembly 11 includes a cylinder 111 fixedly mounted on the bottom of the mounting plate 10, a sliding plate 112 is fixedly mounted on the output end of the bottom of the cylinder 111, the column 9 passes through the sliding plate 112, the sliding plate 112 is slidably connected to the surface of the column 9, a boss 113 is arranged in an array on the circumferential surface of the sliding plate 112, a slide groove 114 is provided at the end of the boss 113, the slide groove 114 extends into the sliding plate 112, an avoidance groove 115 is arranged in an array at the bottom of the assembly of the sliding plate 112 and the boss 113, the avoidance groove 115 is communicated with the slide groove 114, the extension plate 12 is slidably connected in the slide groove 114, a limiting ring 91 is fixedly mounted on the surface of the column 9, the limiting ring 91 is located on the upper side of the driving motor 5, and the sliding plate 112 abuts against the top of the limiting ring 91. The limiting ring 91 blocks the sliding plate 112 to prevent the sliding plate 112 from hitting the driving motor 5 during the downward movement.

[0022] See also Figure 5-6 The extension plate 12 is located inside the slide groove 114 and has blocking blocks 121 fixedly installed on both sides of one end. The blocking blocks 121 are slidably connected in the slide groove 114 to prevent the extension plate 12 from escaping from the slide groove 114. A piston rod 122 is fixedly installed at the bottom of the extension plate 12. The piston rod 122 penetrates and is slidably connected in the avoidance groove 115. A piston cylinder 123 is sleeved on the outer side of the piston rod 122. The assembly of the piston rod 122 and the piston cylinder 123 can be extended and retracted, thereby ensuring that the sliding plate 112 can move up and down stably. The bottom end of the piston cylinder 123 is fixedly installed on the top of the plug plate 61, so that when the plug plate 61 slides along the embedded groove 63, it drives the extension plate 12 to slide along the slide groove 114 synchronously.

[0023] See also Figure 7 The bottom of the turntable 3 is fixedly installed with a clamping assembly 14, which includes an insertion rod 141 fixedly installed at the center of the bottom of the turntable 3, a sleeve 143 is sleeved on the outside of the insertion rod 141, a spring 145 is fixedly installed between the bottom end of the insertion rod 141 and the bottom wall of the sleeve 143, an arc-shaped pressing plate 146 is fixedly installed at the bottom of the sleeve 143, a guide bar 142 is arranged in an array on the circumferential surface of the insertion rod 141, and a guide groove 144 is opened on the inner wall of the sleeve 143 corresponding to the array of the guide bar 142, and the guide bar 142 is slidably connected in the guide groove 144. The guide bar 142 cooperates with the guide groove 144 to further guide the moving path of the sleeve 143 to prevent the sleeve 143 and the arc-shaped pressing plate 146 from twisting.

[0024] When in use, the assembly of the rotating shaft 2 and the turntable 3 is driven to rotate relative to the base 1 by driving the motor 5, and the meshing action of the spiral thread 4 and the thread block 65 drives the insert plate 61 to slide along the embedding groove 63, thereby adjusting the distance between the U-shaped plate 64 and the axis of the base 1, and then adjusting the distance between the clamping claw seat 7 and the rubber clamping claw 8 and the axis of the base 1, and adjusting the jaw distance between the rubber clamping claws 8.

[0025] When the insert plate 61 slides along the embedded groove 63, the piston rod 122 and the piston cylinder 123 are connected to drive the extension plate 12 to slide synchronously along the slide groove 114, so that the inclined push plate 13 maintains a stable inclination angle; then, the output shaft of the cylinder 111 is extended, driving the sliding plate 112 to slide downward along the column 9, driving the extension plate 12 to move downward, so that the extension plate 12 pushes the clamping claw seat 7 downward through the inclined push plate 13, driving the clamping claw seat 7 to deflect, so that the rubber clamping claw 8 is deflected close to the axis of the base 1 to clamp the object;

[0026] During the deflection of the clamping jaw seat 7, the distance between the outer end of the clamping jaw seat 7 and the U-shaped plate 64 increases, so that the pull rope 85 slides relatively on the surface of the guide rod 84, so that the length of the pull rope 85 close to the inclined portion 82 is reduced, so that the inclined portion 82 deflects inward, that is, the bottom end of the rubber clamping jaw 8 bends inward, further ensuring the contact area with the object and ensuring the stability of the clamping of the object;

[0027] The arc-shaped pressure plate 146 is then used to block the top of the object, and the elasticity of the spring 145 applies a downward thrust to the arc-shaped pressure plate 146, so that when the rubber clamp 8 deflects inward and the bottom of the rubber clamp 8 bends inward, the object is clamped from the upper and lower sides to ensure the stability of the object clamping.

[0028] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flexible manipulator with adjustable claw distance, comprising a base (1), characterized in that: A rotating shaft (2) is rotatably connected to the center of the base (1), a rotating disk (3) is fixedly mounted on the bottom end of the rotating shaft (2), a spiral thread (4) is arranged on the top of the rotating disk (3), a driving motor (5) is fixedly mounted on the top of the rotating shaft (2), and the driving motor (5) is fixedly mounted on the top of the base (1), an adjustment component (6) is arranged in an array between the base (1) and the rotating disk (3), the adjustment component (6) is meshed on the surface of the spiral thread (4), a clamping claw seat (7) is movably connected to the end of the adjustment component (6), and a rubber clamping claw (8) is fixedly mounted on the bottom of the clamping claw seat (7), a column (9) is arranged in an array on the top of the base (1), a mounting plate (10) is fixedly mounted on the top of the column (9), and a driving component (11) is fixedly mounted on the bottom of the mounting plate (10), and an extension plate (12) is arranged in an array on the side of the driving component (11), and an inclined push plate (13) is hinged between the extension plate (12) and the end of the clamping claw seat (7) away from the axis of the base (1).

2. The claw-adjustable flexible manipulator according to claim 1 is characterized in that: The adjustment assembly (6) comprises an array of plug plates (61) arranged on the side of the base (1), strip flanges (62) are fixedly mounted on both sides of the plug plates (61), and embedding grooves (63) are arranged in an array on the circumferential surface of the base (1), the assembly of the plug plates (61) and the strip flanges (62) are adapted to the embedding grooves (63), the assembly of the plug plates (61) and the strip flanges (62) are slidably connected in the embedding grooves (63), and the plug plates (61) are away from A U-shaped plate (64) is fixedly mounted at one end of the center of the base (1), a threaded block (65) is fixedly mounted at the bottom of the other end of the plug plate (61), a threaded block (65) is provided at the bottom of the threaded block (65) with a thread matching the vortex thread (4), the threaded block (65) and the vortex thread (4) are meshed with each other, one end of the clamping jaw seat (7) close to the center of the base (1) is hinged to the bottom of the U-shaped plate (64), and the inclined push plate (13) penetrates and is plugged into the middle of the U-shaped plate (64).

3. The claw-adjustable flexible manipulator according to claim 1 is characterized in that: The rubber clamping jaw (8) comprises a vertical portion (81) and an inclined portion (82) fixedly mounted on the bottom of the clamping jaw seat (7); the vertical portion (81) is located inside the inclined portion (82); a plurality of reinforcing bars (83) are provided between the vertical portion (81) and the inclined portion (82); the reinforcing bars (83) are fixedly mounted to the vertical portion (81) and the inclined portion (82).

4. The claw-adjustable flexible manipulator according to claim 3 is characterized in that: The rubber clamp (8) further comprises a guide rod 1 (84) fixedly mounted on the top of the bottommost reinforcement (83); a pull rope (85) is fixedly mounted on one end of the topmost reinforcement (83) close to the inclined portion (82); a guide rod 2 (86) is fixedly mounted on the top of the second reinforcement (83) from the top; the pull rope (85) extends downwardly, passes through a plurality of reinforcements (83) in sequence, bypasses the bottom of the guide rod 1 (84), and then extends upwardly, passes through a plurality of reinforcements (83) and the clamp seat (7) in sequence, and is fixedly mounted on the bottom of the U-shaped plate (64) away from the plug plate (61); an elastic band (87) is fixedly mounted between the two ends of the outer side of the inclined portion (82).

5. The flexible manipulator with adjustable claw distance according to claim 1 is characterized in that: The driving assembly (11) comprises a cylinder (111) fixedly mounted on the bottom of the mounting plate (10); a sliding disk (112) is fixedly mounted on the output end of the bottom of the cylinder (111); the column (9) passes through the sliding disk (112); the sliding disk (112) is slidably connected to the surface of the column (9); a boss (113) is arranged in an array on the circumferential surface of the sliding disk (112); a slide groove (114) is provided at the end of the boss (113); the slide groove (114) ) extends into the sliding plate (112), the sliding plate (112) and the boss (113) assembly bottom array is provided with an avoidance groove (115), the avoidance groove (115) is communicated with the slide groove (114), the extension plate (12) is slidably connected in the slide groove (114), a limit ring (91) is fixedly installed on the surface of the column (9), the limit ring (91) is located on the upper side of the drive motor (5), and the sliding plate (112) abuts against the top of the limit ring (91).

6. The claw-adjustable flexible manipulator according to claim 5 is characterized in that: The extension plate (12) is located inside the slide groove (114) and has blocking blocks (121) fixedly installed on both sides of one end thereof. The blocking blocks (121) are slidably connected in the slide groove (114). A piston rod (122) is fixedly installed at the bottom of the extension plate (12). The piston rod (122) penetrates and is slidably connected in the avoidance groove (115). A piston cylinder (123) is sleeved on the outside of the piston rod (122). The bottom end of the piston cylinder (123) is fixedly installed on the top of the plug plate (61).

7. The claw-adjustable flexible manipulator according to claim 1 is characterized in that: A clamping assembly (14) is fixedly mounted on the bottom of the turntable (3), and the clamping assembly (14) comprises an insertion rod (141) fixedly mounted at the center of the bottom of the turntable (3); a sleeve (143) is sleeved on the outer side of the insertion rod (141); a spring (145) is fixedly mounted between the bottom end of the insertion rod (141) and the bottom wall of the sleeve (143); an arc-shaped pressure plate (146) is fixedly mounted on the bottom of the sleeve (143); a guide bar (142) is arranged in an array on the circumferential surface of the insertion rod (141); a guide groove (144) is provided on the inner wall of the sleeve (143) corresponding to the array of the guide bars (142); and the guide bar (142) is slidably connected in the guide groove (144).

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