Mechanical leg and robot

Abstract

The embodiment of the utility model provides a mechanical leg and a robot. The mechanical leg comprises a first leg mechanism and a second leg mechanism. The first leg mechanism is rotationally connected to a robot body of the robot. The second leg mechanism comprises a sliding part, the sliding part comprises a shell and a reinforcing rib, and the shell and the reinforcing rib extend in the first direction. The shell is provided with a weight reducing groove, and the reinforcing rib is arranged in the weight reducing groove. The shell is connected to the first leg mechanism in a sliding mode, the shell can linearly move in the first direction relative to the first leg mechanism so that the mechanical leg can stretch out and draw back, and the first direction is the stretching-out and drawing-back direction of the mechanical leg. According to the technical scheme, the rotational inertia of the mechanical leg is reduced, the energy consumption of the robot is controlled, and the response speed of the robot is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a mechanical leg and a robot. Background Art

[0002] With the continuous development of science and technology, robots are becoming more and more popular nowadays. In order to enhance their obstacle-crossing ability, the legs of existing robots are mostly retractable structures, using multi-link structures such as four-link or five-link to achieve leg extension. However, under such a setting, the overall mass of the robot's legs is large, resulting in a large moment of inertia when the legs swing relative to the body, excessive energy consumption of the robot, and the robot's response time is also easily affected. Utility Model Content

[0003] The embodiments of the utility model provide a mechanical leg and a robot, aiming to reduce the rotational inertia of the mechanical leg, control the energy consumption of the robot, and ensure the response speed of the robot.

[0004] In a first aspect, an embodiment of the utility model provides a mechanical leg, comprising:

[0005] A first leg mechanism, used for rotating a body connected to the robot;

[0006] A second leg mechanism includes a sliding portion, wherein the sliding portion includes a shell and a reinforcing rib, and the shell and the reinforcing rib extend along a first direction;

[0007] The shell is provided with a weight-reducing groove, and the reinforcing rib is arranged in the weight-reducing groove;

[0008] The shell is slidably connected to the first leg mechanism so that the second leg mechanism can move linearly along the first direction relative to the first leg mechanism so that the mechanical leg can be extended and retracted, and the first direction is the extension and retraction direction of the mechanical leg.

[0009] In the mechanical leg of the utility model, first slots communicating with the weight-reducing slots are provided on both sides of the shell in the second direction, the reinforcing ribs are clamped in the first slots, and the first direction and the second direction are perpendicular to each other.

[0010] In the mechanical leg of the utility model, a through hole connected to the weight-reducing groove is provided on the side of the shell away from the fuselage in the first direction, and the reinforcing rib is provided with a threaded hole, and a fastener is passed through the through hole and the threaded hole to connect the shell and the reinforcing rib.

[0011] In the mechanical leg of the present invention, the first leg mechanism includes a support member and a roller, the support member is rotatably connected to the fuselage, the shell is slidably connected to the support member, and the roller is rotatably connected to the support member. When the two leg mechanisms move along the first direction relative to the first leg mechanism, the roller rolls along the reinforcing rib.

[0012] In the mechanical leg of the utility model, the reinforcing rib is a columnar structure, an annular groove is provided on the outer periphery of the roller, and the reinforcing rib is movably clamped in the annular groove.

[0013] In the mechanical leg of the utility model, the roller is spaced apart from the groove wall of the weight-reducing groove.

[0014] In the mechanical leg of the utility model, the first leg mechanism comprises:

[0015] A support member, configured to be rotatably connected to the fuselage;

[0016] A guide member connected to the support member and extending along the first direction;

[0017] The housing is provided with a slide groove, and the guide member is slidably arranged in the slide groove, so that the first leg mechanism and the housing are slidably connected;

[0018] The second direction and the first direction are perpendicular to each other.

[0019] In the mechanical leg of the utility model, a mounting piece is provided on the side of the support member away from the fuselage along the first direction, and the guide member is connected to the support member through the mounting piece;

[0020] The first leg mechanism further includes a roller, which is rotatably mounted on the mounting member, and the roller rolls along the reinforcing rib when the second leg mechanism moves relative to the first leg mechanism along the first direction.

[0021] In the mechanical leg of the utility model, the shell is made of plastic material, and the reinforcing ribs are made of metal material.

[0022] In a second aspect, an embodiment of the utility model provides a robot, comprising a body and a mechanical leg as described in the first aspect, wherein a first leg mechanism of the mechanical leg is rotatably connected to the body.

[0023] The mechanical leg and robot provided by the embodiment of the utility model make the housing of the sliding part of the second leg mechanism slidably connected to the first leg mechanism, so that the second leg mechanism can move relative to the first leg mechanism in a first direction to achieve the extension and retraction of the mechanical leg, and a weight reduction groove is provided on the housing to reduce the overall mass of the mechanical leg, thereby facilitating the reduction of the rotational inertia of the mechanical leg when rotating relative to the body, thereby facilitating the control of the energy consumption of the robot and improving the response speed of the robot. In addition, a reinforcing rib is provided in the weight reduction groove of the housing, which can reduce the mass of the sliding part while ensuring the overall strength of the sliding part. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic diagram of the structure of a mechanical leg provided by an embodiment of the utility model;

[0026] Figure 2 A schematic diagram of the structure of a sliding part provided in an embodiment of the utility model;

[0027] Figure 3 An exploded schematic diagram of a sliding portion provided by an embodiment of the utility model;

[0028] Figure 4 A schematic diagram of the structure of the first leg mechanism and the sliding part provided in an embodiment of the utility model;

[0029] Figure 5 A schematic structural diagram of a robot provided in an embodiment of the utility model.

[0030] Description of main reference numerals:

[0031] 100, mechanical leg; 10, first leg mechanism; 11, support member; 12, roller; 121, annular groove; 13, guide member; 14, mounting member; 20, second leg mechanism; 21, sliding part; 211, shell; 2111, weight reduction groove; 2112, through hole; 2113, first slot; 2114, slide groove; 211a, seat; 211b, first slider; 211c, second slider; 212, reinforcing rib; 22, foot; 200, robot; 201, body. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0033] See also Figures 1 to 4 In the first aspect, an embodiment of the utility model provides a mechanical leg, which is applied to a robot. Specifically, the mechanical leg 100 includes a first leg mechanism 10 and a second leg mechanism 20. Among them, the first leg mechanism 10 is rotatably connected to the body of the robot. The second leg mechanism 20 includes a sliding portion 21, and the sliding portion 21 includes a shell 211 and a reinforcing rib 212, and the shell 211 and the reinforcing rib 212 extend along a first direction. The shell 211 is provided with a weight-reducing groove 2111, and the reinforcing rib 212 is arranged in the weight-reducing groove 2111. The shell 211 is slidably connected to the first leg mechanism 10, and the shell 211 can move linearly along the first direction relative to the first leg mechanism 10, so that the mechanical leg 100 can be retracted, and the first direction is the retractable direction of the mechanical leg 100.

[0034] It can be understood that the first leg mechanism 10 is rotatably connected to the body, and the first leg mechanism 10 and the second leg mechanism 20 can rotate relative to the body as a whole, so as to realize the rotation of the mechanical leg 100. The housing 211 of the sliding portion 21 of the second leg mechanism 20 is slidably connected to the first leg mechanism 10, so that the second leg mechanism 20 can be slidably connected to the first leg mechanism 10 as a whole, so as to realize the extension and retraction of the mechanical leg 100. For example, the extension direction of the mechanical leg 100, that is, the first direction, can be as follows: Figure 1 By enabling the mechanical legs 100 to rotate relative to the body and enabling the mechanical legs 100 to extend and retract, the robot can achieve self-balancing when walking or standing.

[0035] In addition, by providing a weight-reducing groove 2111 in the housing 211 of the sliding part 21, the weight of the sliding part 21 can be reduced, thereby reducing the overall mass of the mechanical leg 100, reducing the moment of inertia of the mechanical leg 100 when rotating relative to the fuselage, and further reducing the energy consumption of the robot for overcoming inertia, thereby improving the response speed of the robot. On the basis of providing the weight-reducing groove 2111 in the housing 211, a reinforcing rib 212 is provided in the weight-reducing groove 2111 of the housing 211 to ensure the overall strength and rigidity of the sliding part 21, and improve the overall stability and bearing capacity of the sliding part 21. In addition, since the housing 211 is mainly subjected to the force applied by the first leg mechanism 10 in the first direction, the reinforcing rib 212 is extended in the first direction, which is more conducive to the reinforcing rib 212 to withstand external force, reduce the probability of deformation of the housing 211 when subjected to force, and improve the overall impact resistance of the sliding part 21.

[0036] In some embodiments, such as Figure 1 As shown, the second leg mechanism 20 includes a sliding part 21 and a foot 22. The foot 22 can be rotatably connected to the sliding part 21 and supported on a bearing surface such as the ground, a table or a track, so that the foot 22 can move on the bearing surface by rolling or sliding to realize the movement of the robot.

[0037] Of course, in other embodiments, the end of the sliding portion 21 away from the body along the first direction may be supported on the bearing surface, and the movement of the robot may be achieved by cooperating with the rotation and extension of the mechanical leg 100 .

[0038] In some embodiments, such as Figure 2 and Figure 3 As shown, the shell 211 is provided with a through hole 2112 connected to the weight-reducing groove 2111 on one side away from the fuselage in the first direction, and the reinforcing rib 212 is provided with a threaded hole, and a fastener is passed through the through hole 2112 and the threaded hole to connect the shell 211 and the reinforcing rib 212. It can be understood that the shell 211 and the reinforcing rib 212 are arranged separately, which not only facilitates the preparation of the shell 211 and the reinforcing rib 212, but also helps to ensure the strength and rigidity of the prepared shell 211 and the reinforcing rib 212. In addition, when the robot is in a harsh environment with rugged terrain or muddy, the robot is particularly susceptible to vibration or impact. Connecting the end of the reinforcing rib 212 along the first direction to the shell 211 by fasteners such as screws or bolts is conducive to ensuring the connection stability between the reinforcing rib 212 and the shell 211, so that the robot is suitable for different environments.

[0039] Specifically, one end or both ends of the reinforcing rib 212 along the first direction may be connected to the housing 211 via fasteners, and the fasteners may be adjusted according to requirements in actual application.

[0040] Exemplarily, one side of the shell 211 along the first direction may be provided with a mounting groove connected to the weight reducing groove 2111, and the other side may be provided with a through hole connected to the weight reducing groove 2111. One end of the reinforcement rib 212 along the first direction is clamped in the mounting groove, and the other end is provided with a threaded hole, and the threaded hole corresponds to the through hole, so that a fastener can be passed through the through hole and the threaded hole to connect the reinforcement rib 212 and the shell 211.

[0041] Of course, in other embodiments, the shell 211 and the reinforcing rib 212 may also be integrally provided, or the shell 211 and the reinforcing rib 212 may be connected by snapping.

[0042] In some embodiments, the shell 211 is made of plastic and the reinforcing ribs 212 are made of metal. It is understandable that plastic is relatively light, and the use of a shell 211 made of plastic is conducive to further reducing the overall weight of the mechanical leg 100 and controlling the moment of inertia of the mechanical body, while the metal reinforcing ribs 212 have better strength and rigidity. The metal reinforcing ribs 212 are arranged in the weight-reducing grooves 2111 of the shell 211, which can significantly improve the overall strength and rigidity of the sliding part 21, which is conducive to making the mechanical leg 100 adapt to harsh environments with rugged terrain or muddy terrain, and improving the robot's obstacle-crossing ability.

[0043] For example, the shell 211 may be made of materials such as polycarbonate (PC) or acrylonitrile butadiene styrene copolymer (ABS), and the reinforcing rib 212 may be made of materials such as aluminum alloy or titanium alloy.

[0044] In other embodiments, the shell 211 and the reinforcing ribs 212 may also be made of the same material, which may be adjusted according to actual needs and is not specifically limited here.

[0045] In some embodiments, such as Figure 2 and Figure 3 As shown, the housing 211 is provided with first slots 2113 communicating with the weight-reducing slots 2111 on both sides in the second direction, and the reinforcing ribs 212 are clamped in the first slots 2113, and the first direction and the second direction are perpendicular to each other. It can be understood that when the housing 211 and the reinforcing ribs 212 are separately provided, the reinforcing ribs 212 and the first slots 2113 can be clamped, so that not only the connection stability between the housing 211 and the reinforcing ribs 212 can be ensured, but also the contact area between the reinforcing ribs 212 and the housing 211 is increased, the supporting function of the reinforcing ribs 212 is enhanced, and the overall stability of the sliding part 21 is further improved, so that the sliding part 21 is not easily deformed or damaged when subjected to external force.

[0046] It is worth noting that the shape and size of the first slot 2113 match the structure and size of the reinforcing rib 212 and can be adjusted according to actual needs.

[0047] Preferably, the peripheral surface of the reinforcing rib 212 is an arc-shaped surface, and the groove wall of the first slot 2113 is an arc-shaped wall surface matching the arc-shaped surface. Figure 1 As shown in the X direction in FIG. 2 , the reinforcing rib 212 may be a cylindrical structure, and the first slot 2113 is a semi-cylindrical slot matching the reinforcing rib 212 , so that part of the circumference of the reinforcing rib 212 abuts against the slot wall of the first slot 2113 , thereby achieving the clamping connection between the reinforcing rib 212 and the first slot 2113 .

[0048] In some embodiments, in combination Figure 1 and Figure 4 As shown, the first leg mechanism 10 includes a support member 11 and a roller 12, the support member 11 is rotatably connected to the body, the housing 211 is slidably connected to the support member 11, the roller 12 is rotatably connected to the support member 11, and when the second leg mechanism 20 moves relative to the first leg mechanism 10 along the first direction, the roller 12 rolls along the reinforcing rib 212. By providing one or more rollers 12 and enabling the rollers 12 to roll along the reinforcing rib 212, when the second leg mechanism 20 slides relative to the first leg mechanism 10, the relative position between the first leg mechanism 10 and the second leg mechanism 20 can be limited by the cooperation of the rollers 12 and the reinforcing rib 212, so as to prevent the second leg mechanism 20 from deviating during the movement relative to the first leg mechanism 10.

[0049] For example, the roller 12 may be connected to a side of the support member 11 that is away from the fuselage along the first direction, and the rotation axis of the roller 12 is perpendicular to the first direction, such as Figure 1 As shown in the Y direction in FIG. 1 , when the housing 211 drives the reinforcing rib 212 to slide relative to the supporting member 11 along the first direction, the roller 12 can roll along the reinforcing rib 212 .

[0050] Furthermore, if Figure 4 As shown, the reinforcing rib 212 is a columnar structure, and an annular groove 121 is provided on the outer periphery of the roller 12, and the reinforcing rib 212 is movably clamped in the annular groove 121. By providing the annular groove 121 on the outer periphery of the roller 12, the reinforcing rib 212 can be clamped with the annular groove 121 when the roller 12 rolls relative to the reinforcing rib 212, further defining the positional relationship between the roller 12 and the reinforcing rib 212, thereby defining the relative position between the first leg mechanism 10 and the second leg mechanism 20, and preventing the second leg mechanism 20 from being offset during movement.

[0051] Exemplarily, the reinforcing rib 212 may be a prismatic structure, a cylindrical structure, an elliptical column structure, etc., and the shape and size of the annular groove 121 may be adjusted according to the structure of the reinforcing rib 212 .

[0052] Preferably, the peripheral surface of the reinforcing rib 212 is an arc surface, and the section line of the groove wall of the annular groove 121 cut by the plane where the first direction is located is an arc line, so as to realize the clamping between the reinforcing rib 212 and the annular groove 121. For example, Figure 4 As shown, the reinforcing rib 212 is a cylindrical structure, and the circumferential surface of the reinforcing rib 212 is an arc-shaped surface. The section of the groove wall of the annular groove 121 of the roller 12 obtained by intercepting the plane where the first direction is located is an arc line, and the curvature of the arc line is the same as the curvature of the circumferential surface of the reinforcing rib 212, so that the circumferential surface of the reinforcing rib 212 can be movably clamped with the annular groove 121 of the roller 12.

[0053] Specifically, the roller 12 is spaced apart from the groove wall of the weight-reducing groove 2111 to reduce the contact area between the roller 12 and other components, so that the roller 12 rolls relative to the reinforcing rib 212 and the second leg mechanism 20 slides relative to the first leg mechanism 10 .

[0054] In some embodiments, such as Figure 1 , Figure 2 and Figure 4 As shown, the first leg mechanism 10 includes a support member 11 and a guide member 13. The support member 11 is used to be rotatably connected to the fuselage. The guide member 13 is connected to the support member 11, and the guide member 13 extends along the first direction. The shell 211 is provided with a slide groove 2114, and the guide member 13 is slidably penetrated in the slide groove 2114, so that the first leg mechanism 10 and the shell 211 are slidably connected. The support member 11 is connected to the fuselage, and the guide member 13 is connected to the support member 11, so that the support member 11 can be used to support the guide member 13, and the guide member 13 extends along the first direction. The guide member 13 is slidably penetrated in the slide groove 2114 of the shell 211, so that while realizing the sliding connection between the guide member 13 and the shell 211, the guide member 13 is used to guide the shell 211 to move linearly along the first direction to prevent the shell 211 from offsetting during the sliding process.

[0055] Specifically, the guide member 13 is a columnar structure, such as a prismatic structure, a cylindrical structure or an elliptical columnar structure, and the shape and size of the slide groove 2114 match the guide member 13 .

[0056] Exemplarily, the support member 11 is a plate-like structure extending along the first direction, the two guide members 13 are respectively located on the opposite sides of the support member 11 along the second direction, the guide member 13 is a cylindrical structure, and the shell 211 is respectively provided with a slide groove 2114 on both sides along the second direction, and the slide groove 2114 is a cylindrical through groove matching the guide member 13, and the two guide members 13 are respectively slidably engaged in the two slide grooves 2114.

[0057] Furthermore, if Figure 3As shown, the housing 211 includes a seat 211a, a first slider 211b and a second slider 211c, the seat 211a is provided with a weight reduction groove 2111, the first slider 211b is connected to the seat 211a, and the second slider 211c is connected to the side of the first slider 211b away from the seat 211a. Among them, the first slider 211b can be provided with a first groove body, the second slider 211c is provided with a second groove body, the first groove body and the second groove body are connected to form the above-mentioned slide groove 2114, or one of the first slider 211b and the second slider 211c is provided with a slide groove 2114, and the guide member 13 is slidably clamped in the slide groove 2114 to achieve the sliding connection between the first leg mechanism 10 and the second leg mechanism 20. By providing the first slider 211b and the second slider 211c, it is convenient to achieve the sliding connection between the guide member 13 and the housing 211.

[0058] In some embodiments, the support member 11 is provided with a weight-reducing groove to reduce the weight of the support member 11, thereby reducing the overall mass of the robotic leg 100, further controlling the rotational inertia of the robotic leg 100 when rotating relative to the body, reducing the energy consumption of the robot, and improving the response speed of the robot.

[0059] Exemplarily, the weight-reducing groove of the support member may extend along the first direction.

[0060] In some embodiments, such as Figure 4 As shown, a mounting member 14 is provided on one side of the support member 11 away from the fuselage in the first direction, and the guide member 13 is connected to the support member 11 through the mounting member 14. The roller 12 is rotatably mounted on the mounting member 14, and the roller 12 rolls along the reinforcing rib 212 when the second leg mechanism 20 moves relative to the first leg mechanism 10 in the first direction. It can be understood that the guide member 13 and the roller 12 are connected to the support member 11 through the mounting member 14, which is conducive to simplifying the structure of the support member 11, facilitating the preparation of the support member 11, and ensuring the strength of the support member 11. In addition, the mounting member 14 can extend in the second direction to connect the guide member 13 and the support member 11, so that the guide member 13 can be spaced apart from the support member 11 and penetrated into the slide groove 2114 of the shell 211.

[0061] Furthermore, a mounting member 14 may also be provided on one side of the support member 11 close to the fuselage along the first direction, and both ends of the guide member 13 may be respectively connected to the two mounting members 14 by fasteners such as screws or bolts to achieve the connection between the guide member 13 and the support member 11.

[0062] Second, as Figure 5As shown, the embodiment of the utility model provides a robot 200, which includes a body 201 and the mechanical leg 100 of the first aspect, and the first leg mechanism of the mechanical leg 100 is rotatably connected to the body 201. Among them, the mechanical leg 100 in the embodiment of the present application can have the same structure as any of the mechanical legs 100 in the above embodiments, and can bring the same or similar beneficial effects, which can be specifically referred to the description in the above embodiments, and will not be repeated in this embodiment.

[0063] In specific applications, the robot may be provided with one or more of the above-mentioned mechanical legs 100, and those skilled in the art may adjust accordingly according to actual needs. Since the robot 200 includes the mechanical legs 100 in the above-mentioned embodiment, the rotational inertia of the mechanical legs 100 relative to the body 201 is small, thereby reducing the energy consumption of the robot 200 and improving the response speed of the robot 200.

[0064] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the utility model, and these modifications or replacements should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A mechanical leg, applied to a robot, the robot comprising a body, characterized in that: The mechanical leg comprises: A first leg mechanism, used for rotationally connecting to the fuselage; A second leg mechanism includes a sliding portion, wherein the sliding portion includes a shell and a reinforcing rib, and the shell and the reinforcing rib extend along a first direction; The shell is provided with a weight-reducing groove, and the reinforcing rib is arranged in the weight-reducing groove; The shell is slidably connected to the first leg mechanism so that the second leg mechanism can move linearly along the first direction relative to the first leg mechanism so that the mechanical leg can be extended and retracted, and the first direction is the extension and retraction direction of the mechanical leg.

2. The mechanical leg according to claim 1, characterized in that: The shell is provided with first slots communicating with the weight-reducing slots on both sides in the second direction, the reinforcing ribs are clamped in the first slots, and the first direction and the second direction are perpendicular to each other.

3. The mechanical leg according to claim 1, characterized in that: A through hole communicating with the weight-reducing groove is provided on one side of the shell away from the fuselage in the first direction, and a threaded hole is provided on the reinforcing rib. A fastener is passed through the through hole and the threaded hole to connect the shell and the reinforcing rib.

4. The mechanical leg according to claim 1, characterized in that: The first leg mechanism includes a support member and a roller, the support member is rotatably connected to the fuselage, the shell is slidably connected to the support member, and the roller is rotatably connected to the support member. The roller can roll along the reinforcing rib when the two leg mechanisms move relative to the first leg mechanism along the first direction.

5. The mechanical leg according to claim 4, characterized in that: The reinforcing rib is a columnar structure, an annular groove is provided on the outer periphery of the roller, and the reinforcing rib is movably clamped in the annular groove.

6. The mechanical leg according to claim 4, characterized in that: The roller is spaced apart from the groove wall of the weight-reducing groove.

7. The mechanical leg according to any one of claims 1 to 3, characterized in that: The first leg mechanism comprises: A support member, used for rotationally connecting to the fuselage; A guide member connected to the support member and extending along the first direction; The shell is provided with a slide groove, and the guide member is slidably penetrated through the slide groove, so that the first leg mechanism and the shell are slidably connected.

8. The mechanical leg according to claim 7, characterized in that: A mounting member is provided on one side of the support member away from the fuselage along the first direction, and the guide member is connected to the support member through the mounting member; The first leg mechanism further includes a roller, which is rotatably mounted on the mounting member, and the roller rolls along the reinforcing rib when the second leg mechanism moves relative to the first leg mechanism along the first direction.

9. The mechanical leg according to any one of claims 1 to 6, characterized in that: The shell is made of plastic, and the reinforcing ribs are made of metal.

10. A robot, characterized in that: The robot comprises a body and a mechanical leg as described in any one of claims 1 to 9, wherein a first leg mechanism of the mechanical leg is rotatably connected to the body.

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