Pedal simulator

Abstract

The utility model discloses a pedal simulator which comprises a cylinder body, a pedal part, a feedback end and an induction part, the pedal part is connected to the feedback end, when the pedal part is operated for braking, the pedal part drives at least part of the feedback end to be compressed in the linear direction, and the induction part monitors a compression displacement signal of the feedback end and transmits the displacement signal to a brake. The pedal simulator recognizes the braking action of a driver, and traditional mechanical braking signal transmission is replaced; when the pedal part is loosened and braking is stopped, at least part of the feedback end rebounds in the opposite direction, force is fed back to the pedal part, braking feeling feedback is achieved, meanwhile, a traditional complex force transmission structure from the pedal part to a brake is omitted through the pedal simulator, the structure is compact, installation is convenient, space is saved, and space arrangement of a carrier braking system is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of wire-controlled braking, in particular to a pedal simulator. Background Art

[0002] The electronic mechanical brake system (EMB) is widely used in the vehicle's braking system. The EMB replaces the hydraulic signal with an electrical signal, uses the motor as the power to drive the actuator for braking, and the pedal and the brake actuator are completely decoupled.

[0003] CN201880025784.X discloses a pedal synchronous braking system, in which a pedal brake lever can synchronously transmit the braking drive force to the rear wheel brake and the front wheel brake. The pedal brake lever can be movably pivoted to a motion pivot member around a first pivot axis. The brake lever is operably connected to a first drive member to drive any one of the brakes. The motion pivot member is operably connected to a second drive member, and the second drive member can drive any other of the brakes. The second drive member is driven by the pivot reaction of the pedal brake lever pivoted to the motion pivot member. Therefore, how to replace the traditional booster with a pedal simulator, identify the driver's braking action and provide braking feeling feedback has become a problem that needs to be solved urgently. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a pedal simulator, which is used to replace the traditional booster through the pedal simulator, identify the driver's foot braking action and provide good braking feeling feedback, and has a compact structure and is easy to install.

[0005] According to the pedal simulator of the first aspect of the utility model, the pedal simulator comprises a cylinder body, a pedal part, a feedback end and a sensing part, wherein the cylinder body has a accommodating chamber inside; the pedal part and the cylinder body are movably connected so that the pedal part can move on the cylinder body and has a first state and a second state for braking; the feedback end is built into the accommodating chamber, and the feedback end and the pedal part are connected, wherein when the pedal part is in the first state, the pedal part drives at least part of the feedback end to be compressed in a direction away from the pedal part; when the pedal part is in the second state, at least part of the feedback end rebounds in a direction close to the pedal part to drive the pedal part to reset toward the first state; the sensing part is arranged on the cylinder body, and the sensing part can monitor the displacement signal of the feedback end and transmit it to the outside world to control the braking state of the vehicle.

[0006] A pedal simulator in an embodiment of the present application is connected to a feedback end through a pedal part. When the pedal part is operated to brake, the pedal part drives at least a portion of the feedback end to be compressed in a straight line direction. The sensing part monitors the compression displacement signal of the feedback end and transmits the displacement signal to the brake, so that the pedal simulator can recognize the driver's braking action and replace the traditional mechanical brake signal transmission. When the pedal part is released to stop braking, at least a portion of the feedback end rebounds in the opposite direction and feeds back the force to the pedal part, thereby realizing braking feeling feedback. At the same time, the pedal simulator eliminates the complex force transmission structure from the traditional pedal part to the brake, has a compact structure, is easy to install, saves space, and is beneficial to the spatial layout of the vehicle braking system.

[0007] In some embodiments, the sensing part includes a permanent magnet and a displacement sensor, the permanent magnet is fixed to the displaceable part of the feedback end, the permanent magnet is fixed on the cylinder body, the permanent magnet and the displacement sensor are arranged correspondingly, and the displacement sensor is used to detect the displacement information of the permanent magnet, replacing the traditional mechanical brake signal transmission.

[0008] In some embodiments, the feedback end includes a piston, a first elastic part and a second elastic part, one end of the piston is connected to the pedal part through a connecting rod, the other end of the piston is connected to one end of the first elastic part, the other end of the first elastic part is connected to one end of the second elastic part, and the other end of the second elastic part is connected to the inner wall of the accommodating cavity.

[0009] In some embodiments, the first elastic portion includes a first elastic member and a first movable seat arranged along the axial direction of the connecting rod, the first movable seat is fixedly connected to an end of the piston away from the connecting rod, one end of the first elastic member abuts against the first movable seat, and the other end abuts against the second elastic portion.

[0010] In some embodiments, the first elastic portion also includes a guide rod arranged along the axial direction of the connecting rod, the first elastic member is sleeved on the guide rod, one end of the guide rod is slidingly connected to the first movable seat along the axial direction of the connecting rod, and the other end of the guide rod is fixedly connected to the second elastic portion.

[0011] In some embodiments, the first elastic portion further includes a first buffer member, which is sleeved on the guide rod, one end of the first buffer member is connected to the second elastic portion, and the other end of the first buffer member can abut against the first movable seat.

[0012] In some embodiments, the second elastic portion includes a second elastic member and a second movable seat arranged along the axial direction of the connecting rod, the second movable seat is connected to the end of the first elastic portion away from the piston, one end of the second elastic member abuts against the second movable seat, and the other end abuts against the inner wall of the accommodating cavity away from the end of the connecting rod.

[0013] In some embodiments, the second elastic portion further includes a second buffer, one end of which is connected to the inner wall of the cylinder body, and the other end of which can abut against the second movable seat.

[0014] In some embodiments, the pedal portion includes a pedal body and a push rod, one end of the push rod is connected to the feedback end and cooperates with the feedback end, and the other end and the middle part of the pedal body are provided with a rotating shaft, and the pedal body can rotate around the rotating shaft to control the swing of the two ends of the pedal.

[0015] In some embodiments, the pedal portion also includes an eccentric sleeve, a first support rod, a second support rod and a tension spring. The eccentric sleeve is fixedly connected to the pedal body, the first support rod is inserted into the eccentric sleeve, the outer wall of the cylinder body is fixedly connected to the second support rod, and the two ends of the tension spring are respectively fixedly connected to the first support rod and the second support rod.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0018] Figure 1 A schematic diagram of a pedal simulator according to an embodiment of the present application;

[0019] Figure 2 for Figure 1 An exploded view of the pedal simulator in ;

[0020] Figure 3 for Figure 1 A cross-sectional view of the pedal simulator in FIG.

[0021] Figure 4 is a curve diagram of feedback force and displacement of the displacement sensor 52 .

[0022] Cylinder body 10, accommodating chamber 11;

[0023] Pedal part 20, pedal body 21, push rod 22, rotating shaft 23, eccentric sleeve 24, first support rod 25, second support rod 26, tension spring 27;

[0024] Feedback end 30, piston 31, first elastic portion 32, first elastic member 321, first movable seat 322, guide rod 323, first buffer member 324, boss 325, slide groove 3251, second elastic portion 33, second elastic member 331, second movable seat 332, second buffer member 333;

[0025] Connecting rod 40;

[0026] Sensing unit 50 , permanent magnet 51 , displacement sensor 52 . DETAILED DESCRIPTION

[0027] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0028] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do 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 should not be understood as a limitation on the present invention.

[0029] In the description of the present utility model, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0030] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0031] Figure 1 A schematic diagram of a pedal simulator according to an embodiment of the present application; Figure 2 for Figure 1 An exploded view of the pedal simulator in ; Figure 3 for Figure 1 A cross-sectional view of the pedal simulator in FIG. Figure 4 is a curve diagram of feedback force and displacement of the displacement sensor 52 .

[0032] Please refer to Figures 1 to 3 The embodiment of the present application provides a pedal simulator, including a cylinder 10, a pedal portion 20, a feedback end 30 and a sensing portion 50, wherein the cylinder 10 has an accommodating chamber 11 inside; the pedal portion 20 and the cylinder 10 are movably connected so that the pedal portion 20 can move on the cylinder 10 and has a first state and a second state for braking; the feedback end 30 is built into the accommodating chamber 11, and the feedback end 30 is connected to the pedal portion 20, wherein when the pedal portion 20 is in the first state, the pedal portion 20 drives at least part of the feedback end 30 to be compressed in a direction away from the pedal portion 20; when the pedal portion 20 is in the second state, at least part of the feedback end 30 rebounds in a direction close to the pedal portion 20 to drive the pedal portion 20 to reset toward the first state; the sensing portion 50 is disposed on the cylinder 10, and the sensing portion 50 can monitor the displacement signal of the feedback end 30 and transmit it to the outside to control the braking state of the vehicle.

[0033] In some embodiments, the sensing unit 50 can monitor the displacement signal of the feedback end 30, and after converting the displacement signal into an electrical signal, control the brake to work or stop working through an external controller. For example, on the one hand, by stepping on the pedal unit 20, the pedal unit 20 is in the first state. At this time, the pedal unit 20 drives at least part of the feedback end 30 to compress along the straight line direction A1, and the sensing unit 50 monitors the compression displacement signal of the feedback end 30 and transmits the displacement signal to the external controller, and controls the brake to work through the controller, so that the pedal simulator recognizes the driver's braking action, replacing the traditional mechanical brake signal transmission; on the other hand, when the pedal unit 20 is released to stop braking, at least part of the feedback end 30 rebounds along the straight line direction A2, and the force is fed back to the pedal unit 20, so that the brake feeling feedback is realized. At this time, the sensing unit 50 monitors the release displacement signal of the feedback end 30, and transmits the displacement signal to the external controller, and stops the brake through the controller.

[0034] In summary, the pedal simulator eliminates the complex force transmission structure from the traditional pedal part 20 to the brake, achieves the purpose of replacing the mechanical brake signal with the electronically controlled brake signal, and can also realize the feedback of the braking feeling. The pedal simulator of the embodiment of the present application has a compact structure, is easy to install, saves space, and is beneficial to the spatial layout of the vehicle braking system.

[0035] In some embodiments, please refer to Figures 1 to 3 The sensing part 50 includes a permanent magnet 51 and a displacement sensor 52. The permanent magnet 51 is fixed to the displaceable part of the feedback end 30. The permanent magnet 51 is fixed to the cylinder body 10. The permanent magnet 51 and the displacement sensor 52 are correspondingly arranged, and the displacement sensor 52 is used to detect the displacement information of the permanent magnet 51, replacing the traditional mechanical brake signal transmission.

[0036] In some embodiments, please refer to Figures 1 to 3The feedback end 30 includes a piston 31, a first elastic portion 32, and a second elastic portion 33. The arrangement directions of the piston 31, the first elastic portion 32, and the second elastic portion 33 are collinear with the linear directions A1 and A2. One end of the piston 31 is connected to the pedal portion 20 via a connecting rod 40, the other end of the piston 31 is connected to one end of the first elastic portion 32, the other end of the first elastic portion 32 is connected to one end of the second elastic portion 33, and the other end of the second elastic portion 33 is connected to the inner wall of the accommodating chamber 11, wherein the connecting rod 40 and the piston 31 are at least partially built into the accommodating chamber 11, and can reciprocate in the accommodating chamber 11 along the linear directions A1 and A2.

[0037] In some embodiments, please refer to Figures 1 to 3 One side of the cylinder body 10 is open and has a permanent magnet 51 built therein. A cover plate is fixedly connected to the side of the cylinder body 10 to block the open side. The permanent magnet 51 is fixedly connected to the piston 31 and moves with the movement of the piston 31 .

[0038] In some embodiments, please refer to Figures 1 to 3 The first end of the cylinder body 10 away from the connecting rod 40 is open and fixedly connected with a sealing seat, so as to facilitate the installation of the piston 31 , the first elastic part 32 and the second elastic part 33 .

[0039] It should be emphasized that please refer to Figures 1 to 3 In order to improve the sealing performance and prevent dust from accumulating inside the cylinder body 10 , a first sealing ring is provided between the cover plate and the cylinder body 10 , and a second sealing ring is provided between the sealing seat and the cylinder body 10 .

[0040] In some embodiments, please refer to Figure 3 The first elastic portion 32 includes a first elastic member 321 and a first movable seat 322 arranged along the axial direction of the connecting rod 40 . The first movable seat 322 is fixedly connected to an end of the piston 31 away from the connecting rod 40 . One end of the first elastic member 321 abuts against the first movable seat 322 , and the other end abuts against the second elastic portion 33 .

[0041] In some embodiments, the first elastic portion 32 also includes a guide rod 323 arranged along the axial direction of the connecting rod 40, the first elastic member 321 is sleeved on the guide rod 323, one end of the guide rod 323 is slidingly connected to the first movable seat 322 along the axial direction of the connecting rod 40, and the other end of the guide rod 323 is fixedly connected to the second elastic portion 33.

[0042] In some embodiments, the second elastic portion 33 includes a second elastic member 331 and a second movable seat 332 arranged along the axial direction of the connecting rod 40, the second movable seat 332 is connected to the end of the first elastic portion 32 away from the piston 31, one end of the second elastic member 331 abuts against the second movable seat 332, and the other end abuts against the inner wall of the end of the accommodating chamber 11 away from the connecting rod 40.

[0043] In some embodiments, the second elastic portion 33 further includes a second buffer member 333 , one end of the second buffer member 333 is connected to the inner wall of the cylinder body 10 , and the other end of the second buffer member 333 can abut against the second movable seat 332 .

[0044] The first buffer member 324 and the second buffer member 333 may both be rubber springs, and the first elastic member 321 and the second elastic member 331 may be coil springs.

[0045] In some embodiments, please refer to Figures 1 to 3 When the pedal part 20 is driven to be in the first state, by stepping on the pedal part 20, the pedal part 20 drives the connecting rod 40 to lift the piston 31 along the straight direction A1, and the piston 31 drives the first movable seat 322 to move, and the first movable seat 322 compresses the first elastic member 321 until the first movable seat 322 and the first buffer member 324 abut against each other. After the first buffer member 324 is compressed to the limit, it will drive the second movable seat 332 to move along the straight direction A1, and the second movable seat 332 compresses the second elastic member 331 until the second movable seat 332 and the second buffer member 333 abut against each other. The second buffer member 333 is compressed to the limit and abuts against the inner wall of the accommodating chamber 11. In the process of converting to the first state, its force feedback is as shown in the attached figure. Figure 4 shown.

[0046] In some embodiments, when the pedal part 20 is driven to the second state, by releasing the pedal part 20, the second buffer 333 rebounds until the second movable seat 332 is separated from the second buffer 333, the second elastic member 331 rebounds until the second elastic member 331 returns to a normal state, and then the first buffer 324 rebounds until the first buffer 324 is separated from the first movable seat 322. Then the first elastic member 321 rebounds until the first elastic member 321 returns to a normal state. At this time, the first movable seat 322 is reset, and the force of the process is transmitted to the connecting rod 40 through the piston 31 and finally fed back to the pedal part 20, and the pedal part 20 is controlled to reset to the second state, wherein the reset force corresponding to the process corresponds to the four stages of force in the first state.

[0047] Specifically, in the above working process, the first buffer 324 and the second buffer 333 can reduce the damage to the first movable seat 322 and the second movable seat 332 during the displacement process. Further, in some embodiments, the first elastic part 32 also includes a first buffer 324, which is sleeved on the guide rod 323, one end of the first buffer 324 is connected to the second elastic part 33, and the other end can abut against the first movable seat 322. When the piston 31 and the first movable seat 322 move together, the first movable seat 322 can move along the axial direction of the guide rod 323, that is, the linear direction A1 and the linear direction A2. Through the guiding and positioning function of the guide rod 323, the first elastic part 321 and the first buffer 324 sleeved on the guide rod 323 can both move back and forth along a fixed direction. Specifically, in this embodiment, the first movable seat 322 and the piston 31 are integrally formed, and a boss 325 is provided at the end of the first movable seat 322 away from the piston 31, and a slide groove 3251 is provided through the end of the boss 325 facing the first buffer member 324, and the guide rod 323 is inserted into the slide groove 3251 and slidably cooperates with the slide groove 3251, the boss 325 and the first buffer member 324 are correspondingly arranged, and the first elastic member 321 is sleeved on the boss 325 and the first buffer member 324, and then abuts against the first movable seat 322.

[0048] In some embodiments, the pedal portion 20 includes a pedal body 21 and a push rod 22, one end of the push rod 22 is connected to the feedback end 30 through a connecting rod 40, and cooperates with the feedback end 30, and the other end and the middle part of the pedal body 21 are provided with a rotating shaft 23, and the pedal body 21 can rotate around the rotating shaft 23 to control the swing of the two ends of the pedal.

[0049] Specifically, in some embodiments, when the pedal part 20 is driven to be in the first state, by stepping on one end of the pedal body 21 away from the push rod 22, the other end of the pedal body 21 can be driven to drive the connecting rod 40 to lift the piston 31 along the straight line direction A1, and the piston 31 drives the first moving seat 322 to move, and the first moving seat 322 compresses the first elastic member 321 until the first moving seat 322 abuts against the first buffer member 324. After the first buffer member 324 is compressed to the limit, it will drive the second moving seat 332 to move along the straight line direction A1, and the second moving seat 332 compresses the second elastic member 331 until the second moving seat 332 abuts against the second buffer member 333, and the second buffer member 333 is compressed to the limit and abuts against the inner wall of the accommodating chamber 11. In the process of converting to the first state.

[0050] In some embodiments, when the pedal portion 20 is in the second state, the pedal body 21 is released so that the force is cancelled, the second buffer 333 rebounds until the second movable seat 332 is separated from the second buffer 333, the second elastic member 331 rebounds until the second elastic member 331 returns to a normal state, and then the first buffer 324 rebounds until the first buffer 324 is separated from the first movable seat 322. Then the first elastic member 321 rebounds until the first elastic member 321 returns to a normal state. At this time, the first movable seat 322 is reset, and the force of the process is transmitted to the connecting rod 40 through the piston 31 and finally fed back to the push rod 22, and the push rod 22 controls the pedal body 21 to reset, and controls the entire pedal portion 20 to reset to the second state.

[0051] In some embodiments, the pedal part 20 further includes an eccentric sleeve 24, a first support rod 25, a second support rod 26 and a tension spring 27. The eccentric sleeve 24 is fixedly connected to the pedal body 21, the first support rod 25 is inserted into the eccentric sleeve 24, the outer wall of the cylinder body 10 is fixedly connected to the second support rod 26, and the two ends of the tension spring 27 are respectively fixedly connected to the first support rod 25 and the second support rod 26. In the first state, the tension spring 27 is stretched, and in the second state, that is, after the pedal body 21 is released, the tension spring 27 can be used to cooperate with the first elastic part 32 and the second elastic part 33 to drive the pedal body 21 to reset.

[0052] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A pedal simulator, characterized in that: include: A cylinder body (10), wherein the cylinder body (10) has a receiving chamber (11) inside; A pedal part (20), the pedal part (20) and the cylinder body (10) being movably connected so that the pedal part (20) can move on the cylinder body (10) and having a first state and a second state for braking; a feedback end (30), the feedback end (30) being built into the accommodating cavity (11), the feedback end (30) being connected to the pedal portion (20), wherein when the pedal portion (20) is in the first state, the pedal portion (20) drives at least a portion of the feedback end (30) to be compressed in a direction away from the pedal portion (20); and when the pedal portion (20) is in the second state, at least a portion of the feedback end (30) rebounds in a direction close to the pedal portion (20), so as to drive the pedal portion (20) to return to the first state; A sensing part (50), wherein the sensing part (50) is arranged on the cylinder body (10), and the sensing part (50) is capable of monitoring the displacement signal of the feedback end (30) and transmitting the displacement signal to the outside world to control the braking state of the vehicle.

2. The pedal simulator according to claim 1, characterized in that The sensing part (50) comprises a permanent magnet (51) and a displacement sensor (52); the permanent magnet (51) is fixed to a displaceable portion of the feedback end (30); the permanent magnet (51) is fixed to the cylinder body (10); the permanent magnet (51) and the displacement sensor (52) are arranged correspondingly, and the displacement sensor (52) is used to detect displacement information of the permanent magnet (51).

3. The pedal simulator according to claim 1, characterized in that The feedback end (30) comprises a piston (31), a first elastic part (32) and a second elastic part (33); one end of the piston (31) is connected to the pedal part (20) via a connecting rod (40); the other end of the piston (31) is connected to one end of the first elastic part (32); the other end of the first elastic part (32) is connected to one end of the second elastic part (33); and the other end of the second elastic part (33) is connected to the inner wall of the accommodating chamber (11).

4. The pedal simulator according to claim 3, characterized in that The first elastic part (32) includes a first elastic member (321) and a first movable seat (322) arranged along the axial direction of the connecting rod (40); the first movable seat (322) is fixedly connected to one end of the piston (31) away from the connecting rod (40); one end of the first elastic member (321) abuts against the first movable seat (322), and the other end abuts against the second elastic part (33).

5. The pedal simulator according to claim 4, characterized in that The first elastic portion (32) also includes a guide rod (323) arranged along the axial direction of the connecting rod (40), the first elastic member (321) is sleeved on the guide rod (323), one end of the guide rod (323) is slidably connected to the first movable seat (322) along the axial direction of the connecting rod (40), and the other end of the guide rod (323) is fixedly connected to the second elastic portion (33).

6. The pedal simulator according to claim 5, characterized in that The first elastic part (32) also includes a first buffer (324), which is sleeved on the guide rod (323), one end of the first buffer (324) is connected to the second elastic part (33), and the other end can abut against the first movable seat (322).

7. The pedal simulator according to claim 3, characterized in that The second elastic portion (33) includes a second elastic member (331) and a second movable seat (332) arranged along the axial direction of the connecting rod (40), the second movable seat (332) being connected to one end of the first elastic portion (32) away from the piston (31), one end of the second elastic member (331) abuts against the second movable seat (332), and the other end abuts against the inner wall of one end of the accommodating chamber (11) away from the connecting rod (40).

8. The pedal simulator according to claim 7, characterized in that The second elastic portion (33) further comprises a second buffer member (333), one end of which is connected to the inner wall of the cylinder body (10), and the other end of which is capable of abutting against the second movable seat (332).

9. The pedal simulator according to claim 1, characterized in that The pedal part (20) includes a pedal body (21) and a push rod (22), one end of the push rod (22) is connected to the feedback end (30) and cooperates with the feedback end (30), and the other end and the middle part of the pedal body (21) are provided with a rotating shaft (23), and the pedal body (21) can rotate around the rotating shaft (23) to control the swing of the two ends of the pedal.

10. The pedal simulator according to claim 9, characterized in that The pedal portion (20) further comprises an eccentric sleeve (24), a first support rod (25), a second support rod (26) and a tension spring (27); the eccentric sleeve (24) is fixedly connected to the pedal body (21); the first support rod (25) is inserted into the eccentric sleeve (24); the outer wall of the cylinder body (10) is fixedly connected to the second support rod (26); and the two ends of the tension spring (27) are respectively fixedly connected to the first support rod (25) and the second support rod (26).

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