Axially slippable self-locking robot joint module and motor thereof

Abstract

The application provides an axially-slidable self-locking robot joint module, which comprises a rotating mechanism, the rotating mechanism comprising a rotating shell, a speed reducer and a motor assembly; a sliding base, the sliding base comprising an end plate and an outer ring shell, the rotating shell being embedded in the inner part of the outer ring shell from the side of the outer ring shell away from the end plate; a sliding plate, the sliding plate comprising a sliding plate and a sliding block fixedly connected with the rotating shell, a first spring being arranged between the sliding block and the end plate; a guide mechanism for limiting the axial sliding of the sliding plate being arranged on the inner wall of the outer ring shell, a second spring being arranged in the guide mechanism; the first spring and the second spring being respectively arranged on the two sides of the sliding plate; an electromagnetic base, the electromagnetic base forming a sliding channel, the sliding block being slid in the inner part of the sliding channel. The axially-slidable self-locking robot joint module provided by the application reduces the rigid impact of the axial force on the axially-slidable self-locking robot joint module through the elastic structure, and improves the overall impact resistance of the equipment.

Description

Technical Field

[0001] This invention belongs to the field of robot joint module technology, and particularly relates to an axially sliding self-locking robot joint module and its motor. Background Technology

[0002] Robot joint modules are highly integrated mechatronic core components, equivalent to the "muscles and joints" of a robot, directly determining the robot's motion accuracy, load capacity, response speed, and overall dynamic performance. They integrate precision components such as motors, reducers, sensors, actuators, and brakes into a compact housing, serving as the core power unit for industrial robots, collaborative robots, and humanoid robots.

[0003] The motors, reducers, sensors, drivers, and brakes of a robot joint module are efficiently integrated into a single structure that can be used in specific fields. Robot joint modules facilitate torque control and compliant interaction, improving the safety of human-machine collaboration. However, most existing robot joint modules can only perform rotational movements. In actual operation, robot joint modules need to undertake complex motions. When a robot joint module is subjected to axial force, the axial force can easily damage the part of the robot joint module that can only perform rotational movements, affecting the service life of the robot joint module. Summary of the Invention

[0004] This invention provides an axially sliding self-locking robot joint module, which can be used as a lightweight joint module for wearable devices. It aims to solve the problem that current robot joint modules need to undertake complex movements, and when the robot joint module is subjected to axial force, the axial force can easily damage the structure of the robot joint module that can only perform rotational movements, thus affecting the service life of the robot joint module.

[0005] This invention is implemented as follows: an axially sliding self-locking robot joint module, comprising:

[0006] A rotating mechanism, comprising a rotating housing, a speed reducer and a motor assembly arranged inside the rotating housing;

[0007] The sliding base includes an end plate and an outer ring shell. Both ends of the outer ring shell are open structures, with one side closed by the end plate. The rotating housing is inserted into the outer ring shell from the side away from the end plate. The rotating housing is inserted into the outer ring shell along the rotation axis of the motor assembly.

[0008] A sliding plate includes a sliding plate and a slider fixedly connected to a rotating housing. A first spring for resetting is provided between the slider and the end plate. A guide mechanism for restricting the axial sliding of the sliding plate is provided on the inner wall of the outer ring housing. The sliding plate is fixedly connected to the guide mechanism. A second spring is provided inside the guide mechanism. The first spring and the second spring abut against both sides of the sliding plate.

[0009] An electromagnetic base, wherein there are two sets of electromagnetic bases arranged in parallel and spaced apart to form a sliding channel, and the slider slides inside the sliding channel.

[0010] Preferably, the end plate is assembled on one side of the outer ring shell, and the side of the outer ring shell away from the end plate is a sliding groove for accommodating the insertion of the rotating housing; a sealing element is provided at the sliding groove, and the sealing element is nested on the outside of the rotating housing inserted into the inner sliding cavity.

[0011] The outer ring shell has an inner sliding cavity to accommodate the sliding plate. The rotating shell extends from the sliding groove into the inner sliding cavity. After the rotating shell is inserted into the inner sliding cavity, it is fixedly connected to the slide plate. The rotating shell and the slide plate slide synchronously.

[0012] Preferably, the guiding mechanism includes:

[0013] Guide plate, which is fixedly connected to the slide plate;

[0014] The guide groove is embedded in the inner wall of the outer ring shell, and a portion of the guide plate extends into the guide groove. The slide plate is assembled on the portion of the guide plate located outside the guide groove.

[0015] The second spring is disposed in the guide groove, and one end of the second spring abuts against the portion of the guide plate that extends into the guide groove.

[0016] The guide slide adopts a two-end structure. One end is a slide rail adapted to the guide slider structure, and the other end is a cylindrical cavity specifically for placing the second spring. One end of the second spring is fixedly connected to the bottom of the cylindrical cavity, and a second thin-film pressure sensor is set on the contact end face of the guide slider and the second spring.

[0017] Preferably, the end face of the slider away from the slide plate is provided with a spring assembly groove, one end of the first spring member abuts against the spring assembly groove, the end face of the end plate facing the inner sliding cavity is provided with the same spring groove, one end of the first spring member abuts against the spring assembly groove, and the other end is fixedly connected to the spring groove, a first thin film pressure sensor is provided in the spring assembly groove, the first spring member is pressed against the first thin film pressure sensor, and the thin film pressure sensor is used to sense the extension and contraction state of the first spring member.

[0018] Preferably, there are two sets of guiding mechanisms, and the slide plate is fixedly connected to each of the two sets of guiding mechanisms.

[0019] Preferably, the slider is provided with a first plane and a second plane that are parallel to each other, and the two sets of electromagnetic bases are provided with magnetic attraction surfaces. The magnetic attraction surfaces are in contact with the first plane and the second plane. After an electromagnet module is provided inside the electromagnetic base to generate magnetic force, the magnetic attraction surfaces will be attracted to the first plane and the second plane respectively.

[0020] Preferably, the electromagnet modules in the two sets of electromagnetic bases generate magnetic fields in the same direction, and the adjacent end faces of the two sets of electromagnetic bases are magnetic attraction surfaces, with the magnetic poles of the two magnetic attraction surfaces being opposite.

[0021] Preferably, the guide plate includes:

[0022] A guide slider extends into a guide groove and slides within the guide groove, and the second spring abuts against the guide slider;

[0023] An assembly plate is provided, the guide slider is connected to the assembly plate, the assembly plate is located outside the guide slider, and the slide plate is assembled on the assembly plate.

[0024] Preferably, the slide plate is provided with a mounting slot, and the assembly plate is provided with a wedge that matches the mounting slot, and the mounting slot and the wedge fit together.

[0025] Preferably, the direction of the force exerted by the first spring member against the sliding plate member is opposite to the direction of the force exerted by the second spring member against the sliding plate member.

[0026] The working principle of this invention is as follows:

[0027] When the axial force on the motor assembly is transmitted to the sliding plate as the rotating mechanism moves, when the first thin-film pressure sensor on the first spring side detects that the pressure value increases and stabilizes, or when the pressure of the second spring on the first thin-film pressure sensor increases and stabilizes, the electromagnetic base starts to generate a magnetic attraction to complete the clamping action on the slider and prevent the slider from continuing to move.

[0028] During normal use, when the external axial force is no longer present, the elastic potential energy accumulated by the first or second spring will fluctuate the instant the force is lost. The first or second thin-film pressure sensor will detect the corresponding fluctuation data. At this time, the electromagnetic base will actively release and clamp the slider. The axially sliding self-locking robot joint module will return to its initial state. After returning to the initial state, the sliding plate will repeat the previous action under the action of external force.

[0029] This invention also provides a motor that is applied to an existing multi-axis robot, and the motor adopts the above-mentioned axially sliding self-locking robot joint module.

[0030] Compared with the prior art, the embodiments of this application have the following main advantages:

[0031] 1. The axially sliding self-locking robot joint module provided by the present invention can be used as a lightweight joint module for wearable devices. Through the cooperation between the sliding base and the sliding plate, the axial force of the rotating mechanism is fully absorbed by the preset pressure on the first spring and the second spring, thereby reducing the rigid impact of the axial force on the axially sliding self-locking robot joint module and improving the overall impact resistance of the device.

[0032] 2. The axially sliding self-locking robot joint module provided by the present invention uses an electromagnetic base to generate a magnetic attraction force on the slider to restrict the slider's sliding, thereby realizing the rigid structure transformation, satisfying the rigid fixation after the axial force is generated, and enhancing the stability of the structure during operation. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of an axially sliding self-locking robot joint module provided by the present invention.

[0034] Figure 2 This is an exploded structural diagram of an axially sliding self-locking robot joint module provided by the present invention.

[0035] Figure 3 This is a schematic diagram of the outer ring shell structure of an axially sliding self-locking robot joint module provided by the present invention.

[0036] Figure 4 This is a schematic diagram of the internal structure of an axially sliding self-locking robot joint module provided by the present invention.

[0037] Figure 5 This is a schematic diagram of a sliding plate structure for an axially sliding self-locking robot joint module provided by the present invention.

[0038] Figure 6 This is a schematic diagram of the sliding plate and guide plate structure of an axially sliding self-locking robot joint module provided by the present invention.

[0039] Figure 7 This is a schematic diagram of the guide plate and guide groove structure of an axially sliding self-locking robot joint module provided by the present invention.

[0040] Figure 8 This is a schematic diagram of the inner sliding cavity structure of an axially sliding self-locking robot joint module provided by the present invention.

[0041] Figure 9 This is a schematic diagram of the separation structure of the end plate and outer ring shell of an axially sliding self-locking robot joint module provided by the present invention.

[0042] Figure 10 This is a partially enlarged schematic diagram of section A of an axially sliding self-locking robot joint module provided by the present invention.

[0043] Explanation of reference numerals in the attached figures:

[0044] 100. Rotating mechanism; 110. Rotating housing; 120. Motor assembly;

[0045] 200, Sliding base; 210, End plate; 220, Outer ring shell; 230, Seal; 240, First spring; 201, Inner sliding cavity; 202, Sealing cavity; 203, Sliding groove;

[0046] 300, sliding plate; 310, sliding plate; 320, slider; 330, limiting ring; 301, mounting slot; 302, spring assembly slot;

[0047] 400. Electromagnetic base;

[0048] 500, Guide mechanism; 510, Guide plate; 511, Guide slider; 512, Assembly plate; 520, Second spring component; 530, Guide groove. Detailed Implementation

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0050] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0051] This invention provides an axially sliding self-locking robot joint module, which can be used as a lightweight joint module for wearable devices, such as... Figures 1-10 As shown, the axially sliding self-locking robot joint module includes:

[0052] The rotating mechanism 100 includes a rotating housing 110 and a reducer and motor assembly 120 arranged inside the rotating housing 110. In addition to the reducer and motor assembly 120, the rotating mechanism 100 also includes an encoder and other related structures. The rotating mechanism 100 here is basically the same as the structure of the robot joint module in the prior art.

[0053] The sliding base 200 includes an end plate 210 and an outer ring shell 220. Both ends of the outer ring shell 220 are open structures, with one side closed by the end plate 210. The rotating housing 110 is inserted into the outer ring shell 220 from the side of the outer ring shell 220 away from the end plate 210. The rotating housing 110 is inserted into the outer ring shell 220 along the rotation axis of the motor assembly 120.

[0054] The sliding plate 300 includes a sliding plate 310 and a slider 320 fixedly connected to the rotating housing 110. A first spring 240 for resetting is provided between the slider 320 and the end plate 210. The inner wall of the outer ring housing 220 is provided with a guide mechanism 500 to restrict the axial sliding of the sliding plate 300. There are two sets of guide mechanisms 500. The sliding plate 310 is fixedly connected to the guide mechanism 500. The sliding plate 300 moves in a linear sliding manner inside the sliding base 200 through the guide mechanism 500.

[0055] The part of the rotating housing 110 inserted into the outer ring housing 220 is fixedly connected to the sliding plate 300. The rotating mechanism 100 will move synchronously with the sliding plate 300. Here, the sliding direction of the sliding plate 300 is parallel to the rotation axis of the motor assembly 120. The axial force on the motor assembly 120 will be transmitted to the sliding plate 300.

[0056] The guiding mechanism 500 includes:

[0057] Guide plate 510, which is fixedly connected to slide plate 310;

[0058] The guide groove 530 is embedded in the inner wall of the outer ring shell 220. A portion of the guide plate 510 extends into the guide groove 530. The slide plate 310 is assembled on the portion of the guide plate 510 located outside the guide groove 530.

[0059] The second spring member 520 is disposed in the guide groove 530, and one end of the second spring member 520 abuts against the portion of the guide plate 510 extending into the guide groove 530.

[0060] The electromagnetic base 400 is provided in two sets and is arranged in parallel and spaced apart to form a sliding channel. The slider 320 slides inside the sliding channel. The slider 320 is provided with a first plane and a second plane that are parallel to each other. The two sets of electromagnetic bases 400 are provided with magnetic surfaces that are respectively attached to the first plane and the second plane.

[0061] The electromagnetic base 400 mentioned here generates magnetic force through electromagnet technology, and the slider 320 is made of iron-based material that can be magnetically attracted. The adjacent end faces of the two sets of electromagnetic bases 400 are N poles and S poles that can attract each other. The magnetic force generated by the electromagnetic base 400 will act on the slider 320 at the same time.

[0062] In this application, the sliding plate 300, as a transition component, achieves elastic sliding on the sliding base 200 through the guide mechanism 500 and the first spring 240. It should be noted that both the first spring 240 and the second spring 520 need to generate elastic forces to support the sliding plate 300. When the magnitudes of the forces applied by the first spring 240 and the second spring 520 are the same, the sliding plate 300 will maintain relative balance. It should also be noted that the direction of the force exerted by the first spring 240 against the sliding plate 300 is opposite to the direction of the force exerted by the second spring 520 against the sliding plate 300.

[0063] When the axial force on the motor assembly 120 is transmitted to the sliding plate 300, the first spring 240 and the second spring 520 will absorb the impact through active deformation. When the external force is continuously applied, the electromagnetic base 400 will generate magnetic force to hold the slider 320. After the electromagnetic base 400 holds the slider 320, the sliding plate 300 and the sliding base 200 will become a rigid structure again.

[0064] The above structural design utilizes the cooperation between the sliding base 200 and the sliding plate 300 to effectively absorb the axial force of the rotating mechanism 100, reduce the rigid impact of the axial force on the axially sliding self-locking robot joint module, and improve the overall impact resistance of the equipment.

[0065] As a preferred embodiment of this embodiment, the end face of the slider 320 away from the slide plate 310 is provided with a spring mounting groove 302, and similarly, the end face of the end plate 210 facing the inner sliding cavity 201 is provided with the same spring groove, and one end of the first spring member 240 abuts against the spring mounting groove 302.

[0066] A first thin-film pressure sensor is provided in the spring assembly groove 302 to sense the extension and contraction state of the first spring 240. The other end of the first spring 240 is fixedly connected to the end plate 210. The guide slide 530 adopts a two-end structure. One end is a slide rail adapted to the guide slider 511 structure, and the other end is a cylindrical cavity specifically for placing the second spring 520. One end of the second spring 520 is fixedly connected to the bottom of the cylindrical cavity, and the second thin-film pressure sensor is provided on the contact end face of the guide slider 511 and the second spring 520.

[0067] The first spring 240 and the second spring 520 are high-strength springs, and the compression generates elastic force. The pre-compression force is configured in combination with the existing application environment. The axially sliding self-locking robot joint module of this application is mainly used in light environments. Therefore, the preset pressure on the first spring 240 and the second spring 520 can maintain a certain structural stability.

[0068] The function of the first and second thin-film pressure sensors is to sense pressure changes in the first spring 240 and the second spring 520. For example, when the axial movement of the rotating mechanism 100 generates a force that is transmitted to the first spring 240 or the second spring 520, the pressure signals from the first and second thin-film pressure sensors generate a magnetic attraction force on the slider 320 to restrict the slider 320 from sliding, thereby realizing the rigid structure transformation. This satisfies the rigid fixation after the axial force is generated, enhances the stability of the structure during operation, and avoids damage to the axially sliding self-locking robot joint module caused by the lack of buffering in the rigid structure due to the direct axial force.

[0069] In a preferred embodiment of this invention, a sealing element 230 is provided at the sliding groove 203, and the sealing element 230 is nested on the outside of the rotating housing 110 inserted into the inner sliding cavity 201; the end face of the outer ring shell 220 used for assembling the end plate 210 is provided with a sealing cavity 202, and a sealing ring is also provided where the end plate 210 is embedded in the sealing cavity 202.

[0070] In this embodiment, the outer ring shell 220 or the end plate 210 also needs to have a corresponding wiring harness port for transmitting power signals to the electric device in the inner sliding cavity 201. The wiring harness port also needs to be sealed.

[0071] In a preferred embodiment of this invention, the guide plate 510 includes:

[0072] Guide slider 511 extends into guide groove 530 and slides in guide groove 530; second spring 520 abuts against guide slider 511.

[0073] Assembly plate 512, the guide slider 511 is connected to the assembly plate 512, the assembly plate 512 is located outside the guide slider 511, and the slide plate 310 is assembled on the assembly plate 512;

[0074] In this embodiment, the slide plate 310 is provided with a mounting slot 301, and the assembly plate 512 is provided with a wedge that is adapted to the mounting slot 301, and the mounting slot 301 and the wedge fit together.

[0075] In this invention, the motor assembly 120 and the rotating housing 110 rotate relative to each other. The rotating housing 110 is inserted into the inner sliding cavity 201 from the sliding slot 203, and the sliding plate 300 is pushed into the inner sliding cavity 201 from the side of the outer ring shell 220 where the assembly end plate 210 is not completed. This completes the assembly with the guide mechanism 500 preset on the inner wall of the inner sliding cavity 201. Then, the sliding plate 310 is fixed to the rotating housing 110. Here, the assembly is all done by bolt fixing.

[0076] Then, the electromagnetic base 400 is installed and fixed. The electromagnetic base 400 adopts an arc-shaped plate body. An electromagnet structure is set inside the electromagnetic base 400. It should be noted that the electromagnetic base 400 has a magnetic attraction surface. The electromagnetic base 400 is fixed in the inner sliding cavity 201 after the sliding plate 300 is assembled. Then, the end plate 210 is assembled on the outer ring shell 220, and the first spring 240 on the end plate 210 is pressed against the end face of the slider 320.

[0077] The working principle of this application is as follows:

[0078] When the axial force on the motor assembly 120 is transmitted to the sliding plate 300, taking the increase in pressure value detected by the first thin-film pressure sensor on the first spring 240 as an example, the pressure on the second spring 520 decreases after the first thin-film pressure sensor on the first spring 240 detects an increase in pressure value. It should be noted that the pressure value detected by the first thin-film pressure sensor needs to remain stable for more than 0.5 seconds. Subsequently, the electromagnetic base 400 starts to generate a magnetic attraction to complete the clamping action of the slider 320. The short-term data fluctuations are mainly absorbed by the first spring 240 and the second spring 520 to absorb the impact force. The continuous pressure change indicates that the external force is always present. Therefore, the overall structure needs to be rigidly fixed to reduce fluctuations.

[0079] During normal use, when the external axial force is no longer present, the elastic potential energy accumulated in the first spring 240 will fluctuate the instant the force is lost. Therefore, the pressure value detected by the first thin-film pressure sensor will also fluctuate to a certain extent. At this time, the electromagnetic base 400 will actively release and clamp the slider 320, and the axially sliding self-locking robot joint module will return to its initial state. After returning to the initial state, the sliding plate 300 will repeat the previous action under the action of external force.

[0080] This invention also provides a motor that is applied to an existing multi-axis robot, and the motor adopts the above-mentioned axially sliding self-locking robot joint module.

[0081] It should be noted that, for the sake of simplicity, the foregoing embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to the present invention. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0082] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions also fall within the scope of protection of the present invention.

Claims

1. An axially sliding self-locking robot joint module, characterized in that, include: A rotating mechanism, comprising a rotating housing, a speed reducer and a motor assembly arranged inside the rotating housing; A sliding base, the sliding base including an end plate and an outer ring shell, wherein the rotating housing is embedded inside the outer ring shell from the side of the outer ring shell away from the end plate; A sliding plate includes a sliding plate and a slider fixedly connected to a rotating housing. A first spring for resetting is provided between the slider and the end plate. A guide mechanism for restricting the axial sliding of the sliding plate is provided on the inner wall of the outer ring housing. The sliding plate is fixedly connected to the guide mechanism. A second spring is provided inside the guide mechanism. The first spring and the second spring abut against both sides of the sliding plate. An electromagnetic base, wherein there are two sets of electromagnetic bases arranged in parallel and spaced apart to form a sliding channel, and the slider slides inside the sliding channel.

2. The axially sliding self-locking robot joint module as described in claim 1, characterized in that, The end plate is assembled on one side of the outer ring shell, and the side of the outer ring shell away from the end plate is a sliding slot for accommodating the insertion of the rotating housing. The outer ring shell has an inner sliding cavity inside to accommodate the sliding plate, and the rotating shell extends from the sliding groove into the inner sliding cavity.

3. The axially sliding self-locking robot joint module as described in claim 2, characterized in that, The guiding mechanism includes: Guide plate, which is fixedly connected to the slide plate; The guide groove is embedded in the inner wall of the outer ring shell, and a portion of the guide plate extends into the guide groove. The slide plate is assembled on the portion of the guide plate located outside the guide groove. The second spring is disposed in the guide groove, and one end of the second spring abuts against the portion of the guide plate that extends into the guide groove.

4. The axially sliding self-locking robot joint module as described in claim 3, characterized in that, The number of guide mechanisms is two sets, and the slide plate is fixedly connected to the two sets of guide mechanisms respectively.

5. The axially sliding self-locking robot joint module as described in claim 1, characterized in that, The slider has a first plane and a second plane that are parallel to each other, and the two sets of electromagnetic bases have magnetic surfaces that are respectively attached to the first plane and the second plane.

6. The axially sliding self-locking robot joint module as described in claim 4, characterized in that, The guide plate includes: A guide slider extends into a guide groove and slides within the guide groove, and the second spring abuts against the guide slider; An assembly plate is provided, the guide slider is connected to the assembly plate, the assembly plate is located outside the guide slider, and the slide plate is assembled on the assembly plate.

7. The axially sliding self-locking robot joint module as described in claim 6, characterized in that, The slide plate is provided with a mounting slot, and the assembly plate is provided with a wedge that fits the mounting slot. The mounting slot and the wedge fit together.

8. The axially sliding self-locking robot joint module as described in claim 7, characterized in that, The end face of the slider away from the slide plate is provided with a spring assembly groove, and one end of the first spring abuts against the spring assembly groove.

9. The axially sliding self-locking robot joint module as described in claim 8, characterized in that, A sealing element is provided at the sliding groove, and the sealing element is nested on the outside of the rotating housing inserted into the inner sliding cavity.

10. The axially sliding self-locking robot joint module as described in claim 1, characterized in that, The direction of the force exerted by the first spring member against the sliding plate member is opposite to the direction of the force exerted by the second spring member against the sliding plate member.

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