Charging device and three-dimensional storage robot

Abstract

The utility model relates to a charging device and a three-dimensional storage robot. The charging device includes a power receiving portion, a power supply portion, and a guide portion. The power receiving part comprises a first mounting structure and a power receiving end connector, the first mounting structure is used for being arranged on to-be-charged equipment, and the power receiving end connector is arranged on the first mounting structure. The power supply part comprises a second mounting structure and a power supply end connector, the second mounting structure is used for being arranged on the charging pile, the power supply end connector is arranged on the second mounting structure, and the power supply end connector can be in butt joint with the power receiving end connector to charge the to-be-charged equipment. The guide part comprises a guide seat and a guide post, one of the guide seat and the guide post is arranged on the first mounting structure, the other one of the guide seat and the guide post is arranged on the second mounting structure, and the guide seat is provided with a guide channel matched with the guide post. The whole charging device is modularized, is convenient to transplant and integrate, is convenient to process, manufacture and assemble, and can realize accurate butt joint under the guide action of the butt joint guide channel of the guide column.

Description

Technical Field

[0001] The present application relates to the technical field of charging of warehousing and logistics equipment, and in particular to a charging device and a three-dimensional warehousing robot. Background Art

[0002] With the development of automated logistics technology, three-dimensional storage robots have emerged. Three-dimensional storage robots can run in multiple directions and detect obstacles to achieve storage and scheduling of goods in three-dimensional warehouses. In order to realize the automated and intelligent operation of three-dimensional warehouses, three-dimensional storage robots are usually equipped with built-in power supplies to provide battery life for the three-dimensional storage robots. At the same time, charging piles are provided inside the three-dimensional warehouses, so that the three-dimensional storage robots can autonomously dock with the charging piles to replenish power when running in the three-dimensional warehouse. However, the charging interface of the three-dimensional storage robot needs to be independently manufactured and installed on the three-dimensional storage robot. The charging interface is usually manufactured in an integrated manner, which makes the manufacturing difficult and time-consuming. In addition, there is a problem of misalignment when the three-dimensional storage robot autonomously docks with the charging pile, which makes it difficult for the charging interface of the three-dimensional storage machine to accurately dock with the charging pile. Summary of the invention

[0003] Based on this, it is necessary to provide a charging device and a three-dimensional storage robot to address the problems of high manufacturing cost and difficulty in docking of the autonomous charging device of the three-dimensional storage robot.

[0004] The present application provides a charging device, the charging device comprising:

[0005] The power receiving unit comprises a first mounting structure and a power receiving terminal connector, wherein the first mounting structure is used to be arranged on the device to be charged, and the power receiving terminal connector is arranged on the first mounting structure;

[0006] The power supply unit includes a second mounting structure and a power supply terminal connector, wherein the second mounting structure is used to be arranged on the charging pile, and the power supply terminal connector is arranged on the second mounting structure, and the power supply terminal connector can be docked with the power receiving terminal connector to charge the device to be charged;

[0007] The guide portion includes a guide seat and a guide column, one of the guide seat and the guide column is arranged on the first mounting structure, and the other of the guide seat and the guide column is arranged on the second mounting structure, and the guide seat is configured to have a guide channel that cooperates with the guide column.

[0008] In one embodiment, the first mounting structure includes a mounting base plate and a mounting side plate, the mounting base plate having a first mounting surface and a second mounting surface opposite to each other, the mounting base plate is used to be mounted on the device to be charged through the first mounting surface, the mounting side plate is arranged on the second mounting surface of the mounting base plate, and the power receiving end connector is arranged on the mounting side plate.

[0009] In one embodiment, the guide seat is arranged on the first mounting structure, the guide column is arranged on the second mounting structure, the guide seat and the power receiving end connector are arranged on the same side of the mounting side plate, and the guide seat is connected to the mounting side plate and / or the mounting base plate.

[0010] In one of the embodiments, the guide seat includes a first guide seat and a second guide seat, and the first guide seat and the second guide seat are respectively arranged above and below the power receiving end connector.

[0011] In one of the embodiments, the power receiving part further includes a manual connector, and the manual connector and the power receiving end connector are arranged side by side on the same side of the mounting side plate, and the manual connector is connected to the mounting side plate and / or the mounting base plate.

[0012] In one embodiment, at least one of the following is also included:

[0013] The installation side plate is provided with a through first wiring groove, and the opening position of the first wiring groove corresponds to the setting position of the power receiving terminal connector;

[0014] The installation side plate is provided with a through second wiring groove, and the opening position of the second wiring groove corresponds to the setting position of the manual connector.

[0015] In one of the embodiments, the axial direction of the guide channel is parallel to the opening direction of the power receiving end interface, and the axial direction of the guide column is parallel to the axial direction of the guide channel.

[0016] In one embodiment, the direction in which the guide column moves into the guide channel is taken as the first direction, and the guide channel has a first guide section and a first cylindrical section in sequence along the first direction, and the diameter of the first guide section gradually decreases along the first direction; the guide column has a second cylindrical section and a second guide section in sequence along the first direction, and the diameter of the second guide section gradually decreases along the first direction.

[0017] In one of the embodiments, a third cylindrical segment is disposed at one end of the second cylindrical segment away from the second guide segment, and a diameter of the second cylindrical segment is smaller than a diameter of the third cylindrical segment.

[0018] The present application also proposes a three-dimensional storage robot, comprising:

[0019] Robot body;

[0020] In the above-mentioned charging device, the power receiving part is arranged on the side of the robot body, and the power supply part is used to be arranged on the charging pile.

[0021] In the technical solution of the present application, the charging device includes a power receiving part, a power supply part and a guide part. The first mounting structure of the power receiving part is provided with a power receiving end connector, the second mounting structure of the power supply part is provided with a power supply end connector, and the guide seat and the guide column are also provided through the first mounting structure and the second mounting structure. The charging device is divided into the first mounting structure, the charging end connector, the second mounting structure, the power receiving end connector, the guide seat and the guide column. The charging device is modular as a whole, which is convenient for transplantation and integration, and convenient for processing, manufacturing and assembly. The guide seat is provided with a guide channel that cooperates with the guide column. When the three-dimensional storage robot is docked with the charging pile, the power receiving end interface and the charging end interface can be accurately docked under the guiding action of the guide column docking guide channel, thereby avoiding the problem of docking deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a schematic diagram of the docking of a three-dimensional storage robot and a charging pile according to an embodiment of the charging device and the three-dimensional storage robot of the present application.

[0023] FIG. 2 is a schematic diagram of a partial structure of FIG. 1 .

[0024] FIG3 is a schematic structural diagram of the power receiving part of an embodiment of the charging device and the three-dimensional storage robot of the present application from a first perspective.

[0025] FIG. 4 is a schematic structural diagram of the power receiving part of an embodiment of the charging device and the three-dimensional storage robot of the present application from a second viewing angle.

[0026] FIG5 is a schematic structural diagram of the power supply part of an embodiment of the charging device and the three-dimensional storage robot of the present application from a first perspective.

[0027] FIG6 is a schematic structural diagram of the power supply part of an embodiment of the charging device and the three-dimensional storage robot of the present application from a second viewing angle.

[0028] 7 is a schematic cross-sectional structure diagram of the connection between the power receiving part and the power supply part of an embodiment of the charging device and the three-dimensional storage robot of the present application.

[0029] Description of component numbers in the attached figure:

[0030] 1000, charging device; 100, power receiving unit; 110, first mounting structure; 120, mounting base; 121, first mounting surface; 122, second mounting surface; 130, mounting side plate; 131, first wiring groove; 132, second wiring groove; 140, power receiving terminal connector; 150, manual connector; 200, power supply unit; 210, second mounting structure; 220, power supply terminal connector; 300, guide unit; 310, guide seat; 320, guide channel; 321, first guide section; 322, first cylindrical section; 330, first guide seat; 340, second guide seat; 360, guide column; 361, second cylindrical section; 362, second guide section; 363, third cylindrical section; 2000, three-dimensional storage robot; 400, robot body; 500, charging pile. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0032] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0033] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0034] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0035] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0036] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0037] Referring to Figures 1 and 2, Figure 1 shows a schematic diagram of the docking of the three-dimensional warehouse robot 2000 of the present application with the charging pile 500. Figure 2 is a schematic diagram of the partial structure of Figure 1. The present application proposes a charging device 1000, which includes a power receiving part 100, a power supply part 200 and a guide part 300. The power receiving part 100 includes a first mounting structure 110 and a power receiving end connector 140, the first mounting structure 110 is used to be set on the device to be charged, and the power receiving end connector 140 is set on the first mounting structure 110. The power supply part 200 includes a second mounting structure 210 and a power supply end connector 220, the second mounting structure 210 is used to be set on the charging pile 500, the power supply end connector 220 is set on the second mounting structure 210, and the power supply end connector 220 can be docked with the power receiving end connector 140 to charge the device to be charged. The guide portion 300 includes a guide seat 310 and a guide column 360, one of the guide seat 310 and the guide column 360 is arranged on the first mounting structure 110, and the other of the guide seat 310 and the guide column 360 is arranged on the second mounting structure 210, and the guide seat 310 is configured to have a guide channel 320 that cooperates with the guide column 360.

[0038] The charging device 1000 includes a power receiving part 100, a power supply part 200 and a guide part 300. The first mounting structure 110 of the power receiving part 100 is provided with a power receiving end connector 140, and the second mounting structure 210 of the power supply part 200 is provided with a power supply end connector 220. The guide seat 310 and the guide column 360 are also provided through the first mounting structure 110 and the second mounting structure 210. The charging device 1000 is divided into the first mounting structure 110, the charging end connector, the second mounting structure 210, the power receiving end connector 140, the guide seat 310 and the guide column 360. The charging device 1000 is modular as a whole, which is convenient for transplantation and integration, and convenient for processing, manufacturing and assembly. The guide seat 310 is provided with a guide channel 320 matched with the guide column 360. When the three-dimensional storage robot 2000 is docked with the charging pile 500, the power receiving end interface and the charging end interface can be accurately docked under the guiding effect of the guide column 360 docking the guide channel 320, thereby avoiding the problem of docking deviation.

[0039] Refer to Figures 3 and 4, which respectively show the schematic diagrams of the structure of the power receiving unit 100 from the first and second perspectives. Specifically, the first mounting structure 110 includes a mounting base plate 120 and a mounting side plate 130, the mounting base plate 120 has a first mounting surface 121 and a second mounting surface 122 opposite to each other, and the mounting base plate 120 is used to be mounted on the device to be charged through the first mounting surface 121. The connection between the first mounting structure 110 and the device to be charged can be a detachable connection method such as threaded connection and riveting, which is not specifically limited here. Exemplarily, a through connection hole is provided on the first mounting structure 110, and the threaded connector mounts the first mounting structure 110 on the device to be charged through the connection hole, and the first mounting surface 121 of the first mounting structure 110 is attached to the device to be charged. The mounting side plate 130 is arranged on the second mounting surface 122 of the mounting base plate 120, and the power receiving terminal connector 140 is arranged on the mounting side plate 130. The mounting side plate 130 can be directly connected to the mounting base plate 120, or the mounting side plate 130 can be connected to the mounting base plate 120 through other components, so as to be arranged on the mounting base plate 120, which is not specifically limited here. Exemplarily, the mounting side plate 130 is connected to the guide seat 310, and the mounting side plate 130 is arranged on the second mounting surface of the mounting base plate 210 through the guide seat 310. The connection method between the mounting side plate 130 and the guide seat 310 can be a detachable connection method such as threaded connection and riveting, which is not specifically limited here. Specifically, the mounting side plate 130 is vertically arranged on the second mounting surface 122. The connection method between the power receiving end connector 140 and the mounting side plate 130 can be a detachable connection such as threaded connection and riveting, which is not specifically limited here. Exemplarily, the power receiving end connector 140 is threadedly connected to the mounting side plate 130.

[0040] Referring to FIG. 2 and FIG. 3 , the guide seat 310 is arranged on the first mounting structure 110, the guide column 360 is arranged on the second mounting structure 210, the guide seat 310 and the power receiving end connector 140 are both arranged on the same side of the mounting side plate 130, and the guide seat 310 is connected to the mounting side plate 130 and / or the mounting base plate 120. The connection between the guide seat 310 and the first mounting structure 110 can be a detachable connection method such as a threaded connection and a riveted connection, which is not specifically limited here. Exemplarily, a threaded connector is provided on the side of the guide seat 310 opposite to the second mounting surface 122 of the mounting base plate 120, the guide seat 310 is connected to the mounting base plate 120 through the threaded connector, and the side of the guide seat 310 opposite to the mounting side plate 130 abuts against the mounting side plate 130. The first mounting structure 110 formed by the mounting base plate 120 and the mounting side plate 130 can provide sufficient mounting space for components such as the power receiving end connector 140 and the guide seat 310, so that the space occupied by the charging device 1000 is small, and the thin plate-type first mounting structure 110 has the advantages of low processing difficulty, easy assembly, and high structural strength.

[0041] Referring to FIG. 3 , specifically, the guide seat 310 includes a first guide seat 330 and a second guide seat 340, and the first guide seat 330 and the second guide seat 340 are respectively arranged above and below the power receiving end connector 140. When the power receiving part 100 and the power supply part 200 of the charging device 1000 are docked, when the device to be charged deviates during the process of moving toward the charging pile 500, the axial inconsistency between the guide column 360 and the guide channel 320 is easy to occur in the single-sided guide channel 320, and the two interfere with each other, and the guide column 360 is difficult to enter the guide channel 320. Therefore, the first guide seat 330 and the second guide seat 340 are respectively arranged above and below the power receiving end connector 140 to form a double-sided guide channel 320, which helps the guide column 360 to be axially consistent with the corresponding guide channel 320 and improves the guiding accuracy.

[0042] Referring to FIG. 3 , the power receiving unit 100 further includes a manual connector 150, which is arranged side by side with the power receiving terminal connector 140 on the same side of the mounting side plate 130, and the manual connector 150 is connected to the mounting side plate 130 and / or the mounting bottom plate 120. The connection between the manual connector 150 and the mounting side plate 130 and / or the mounting bottom plate 120 can be a detachable connection such as a threaded connection or a riveted connection, which is not specifically limited here. The manual connector 150 of the charging device 1000 can be used to dock with an external mobile power source to play a temporary charging role, so that the operator can provide emergency charging for the three-dimensional storage robot 2000, which is convenient for the three-dimensional storage robot 2000 to charge during the installation and commissioning process. In this way, the power receiving terminal connector 140 and the manual connector 150 are integrated on the charging device 1000, which avoids the problem of large space occupied by the automatic charging connector and the manual charging connector being dispersedly arranged on the body of the three-dimensional storage robot 2000, which is conducive to the integrity of the structural design of the peripheral parts and reduces the design, processing and installation costs.

[0043] Referring to FIG. 4 , a through first wiring groove 131 is provided on the mounting side plate 130, and the opening position of the first wiring groove 131 corresponds to the setting position of the power receiving terminal connector 140. The wires at the tail of the power receiving terminal connector 140 can be connected to the device to be charged through the first wiring groove 131, so as to realize the electrical connection between the power receiving terminal connector 140 and the device to be charged, and facilitate the wiring of the power receiving terminal connector 140. A through second wiring groove 132 is provided on the mounting side plate 130, and the opening position of the second wiring groove 132 corresponds to the setting position of the manual connector 150. The wires at the tail of the manual connector 150 can be connected to the device to be charged through the second wiring groove 132, so as to realize the electrical connection between the manual connector 150 and the device to be charged, and facilitate the wiring of the manual connector 150.

[0044] Referring to FIGS. 5 to 7 , FIGS. 5 and 6 respectively show schematic diagrams of the structure of the power supply unit 200 at the first and second viewing angles. FIG. 7 shows a schematic diagram of the cross-sectional structure of the power receiving unit 100 and the power supply unit 200 docking. The axial direction of the guide channel 320 is parallel to the opening direction of the power receiving end interface, and the axial direction of the guide column 360 is parallel to the axial direction of the guide channel 320. Taking the direction in which the guide column 360 moves into the guide channel 320 as the first direction, the guide channel 320 has a first guide section 321 and a first cylindrical section 322 in sequence along the first direction, and the diameter of the first guide section 321 gradually decreases along the first direction. The guide column 360 has a second cylindrical section 361 and a second guide section 362 in sequence along the first direction, and the diameter of the second guide section 362 gradually decreases along the first direction. When the guide post 360 is docked with the guide channel 320, the second guide section 362 of the guide post 360 enters the guide channel 320 through the first guide section 321 of the guide channel 320, and the end of the second guide section 362 with the smallest diameter enters the guide channel 320 from the port of the first guide section 321 with the largest diameter, so as to facilitate the guide post 360 to enter the guide channel 320. The diameter of the first cylindrical section 322 is set to correspond to the diameter of the second cylindrical section 361, so that the second cylindrical section 361 can be matched with the first cylindrical section 322. Exemplarily, the diameter of the second cylindrical section 361 is slightly smaller than the diameter of the first cylindrical section 322. As the guide post 360 continues to advance into the guide channel 320, the second cylindrical section 361 of the guide post 360 is matched with the first cylindrical section 322 of the guide channel 320, and the power receiving end connector 140 is docked with the power supply end connector 220 under the guiding action of the guide portion 300, and signal communication is established to realize the transmission of electric energy.

[0045] 6, a third cylindrical section 363 is provided at one end of the second cylindrical section 361 away from the second guide section 362, and the diameter of the second cylindrical section 361 is smaller than the diameter of the third cylindrical section 363. The third cylindrical section 363 has a larger diameter, which can enhance the structural strength of the guide column 360 in the axial direction and ensure a smooth docking process between the power receiving end interface and the power supply end interface.

[0046] Referring to FIG. 1 , the present application also proposes a three-dimensional storage robot 2000, including a robot body 400 and the above-mentioned charging device 1000, and the power receiving part 100 is arranged on the side of the robot body 400. Exemplarily, the power receiving part 100 is arranged on the corner of the robot body 400. The power supply part 200 is used to be arranged on the charging pile 500. The charging pile 500 is installed in the direction of the track on which the three-dimensional storage robot 2000 travels, and the power supply end connector 220 is electrically connected to the charging pile 500, serving as the output end of the charging pile 500 for releasing electric energy.

[0047] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A charging device, It is characterized in that The charging device comprises: The power receiving unit comprises a first mounting structure and a power receiving terminal connector, wherein the first mounting structure is used to be arranged on the device to be charged, and the power receiving terminal connector is arranged on the first mounting structure; The power supply unit includes a second mounting structure and a power supply terminal connector, wherein the second mounting structure is used to be arranged on the charging pile, and the power supply terminal connector is arranged on the second mounting structure, and the power supply terminal connector can be docked with the power receiving terminal connector to charge the device to be charged; The guide portion includes a guide seat and a guide column, one of the guide seat and the guide column is arranged on the first mounting structure, and the other of the guide seat and the guide column is arranged on the second mounting structure, and the guide seat is configured to have a guide channel that cooperates with the guide column.

2. The charging device according to claim 1, It is characterized in that The first mounting structure includes a mounting base plate and a mounting side plate, the mounting base plate having a first mounting surface and a second mounting surface opposite to each other, the mounting base plate is used to be mounted on the device to be charged through the first mounting surface, the mounting side plate is arranged on the second mounting surface of the mounting base plate, and the power receiving end connector is arranged on the mounting side plate.

3. The charging device according to claim 2, It is characterized in that The guide seat is arranged on the first mounting structure, the guide column is arranged on the second mounting structure, the guide seat and the power receiving end connector are arranged on the same side of the mounting side plate, and the guide seat is connected to the mounting side plate and / or the mounting base plate.

4. The charging device according to claim 3, It is characterized in that The guide seat comprises a first guide seat and a second guide seat, and the first guide seat and the second guide seat are respectively arranged above and below the power receiving end connector.

5. The charging device according to claim 2, It is characterized in that The power receiving part further comprises a manual connector, which is arranged side by side with the power receiving end connector on the same side of the mounting side plate, and is connected to the mounting side plate and / or the mounting bottom plate.

6. The charging device according to claim 5, It is characterized in that Also includes at least one of the following: The installation side plate is provided with a through first wiring groove, and the opening position of the first wiring groove corresponds to the setting position of the power receiving terminal connector; The installation side plate is provided with a through second wiring groove, and the opening position of the second wiring groove corresponds to the setting position of the manual connector.

7. The charging device according to claim 1, It is characterized in that The axial direction of the guide channel is parallel to the opening direction of the power receiving end connector, and the axial direction of the guide column is parallel to the axial direction of the guide channel.

8. The charging device according to claim 1, It is characterized in that Taking the direction in which the guide column moves into the guide channel as the first direction, the guide channel has a first guide section and a first cylindrical section in sequence along the first direction, and the diameter of the first guide section gradually decreases along the first direction; the guide column has a second cylindrical section and a second guide section in sequence along the first direction, and the diameter of the second guide section gradually decreases along the first direction.

9. The charging device according to claim 8, It is characterized in that A third cylindrical segment is disposed at one end of the second cylindrical segment away from the second guiding segment, and a diameter of the second cylindrical segment is smaller than a diameter of the third cylindrical segment.

10. A three-dimensional storage robot, It is characterized in that include: Robot body; According to the charging device as described in any one of claims 1 to 9, the power receiving part is arranged on the side of the robot body, and the power supply part is used to be arranged on the charging pile.

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