Material taking and placing device and electronic product assembling device

Abstract

The utility model relates to the technical field of electronic product manufacturing, in particular to a material taking and placing device and an electronic product assembling device. The material taking and placing device comprises a platform, a plurality of clamping assemblies, a driving assembly and a limiting assembly, a linear guide rail is arranged on the platform, each clamping assembly comprises a moving seat and a suction nozzle part, the moving seats are connected with the linear guide rail in a sliding mode in the first direction, the first direction is the extension line direction of the linear guide rail, and the suction nozzle part is arranged on the moving seats. The suction nozzle part is arranged on the moving seats and used for taking and placing keys to be installed, the driving assembly is connected with the multiple moving seats so that the multiple moving seats can do reciprocating motion in the first direction, and the limiting assembly is connected with the moving seats and can make the moving seats have a first position and a second position along the linear guide rail. According to the material taking and placing device, the limiting assembly can provide a grading strategy, so that the working efficiency is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of electronic product manufacturing, in particular to a material taking and placing device and an electronic product assembling device. Background Art

[0002] In the electronics manufacturing industry, especially in the assembly of charging box buttons, it has traditionally relied mainly on manual assembly or semi-automatic equipment. This approach may have met production needs in the early stages, but with the development of the company and the diversification of product processes, the existing assembly methods have gradually exposed their limitations. Especially under high-volume demand, traditional methods are no longer sufficient to support the production capacity requirements of the back-end process, and the problem can usually only be solved by increasing manpower, which not only increases costs but also affects production efficiency. Utility Model Content

[0003] The purpose of the utility model is to at least solve the problem of low efficiency of traditional manual assembly methods. This purpose is achieved through the following technical solutions:

[0004] The first aspect of the utility model provides a material taking and discharging device, comprising:

[0005] A platform, wherein a linear guide rail is provided on the platform;

[0006] A plurality of clamping assemblies, each of which comprises a movable seat and a suction nozzle, wherein the plurality of movable seats are respectively connected to the linear guide rail in a slidable manner along a first direction, wherein the first direction is an extension direction of the linear guide rail, and the suction nozzle is arranged on the movable seat for taking and placing materials;

[0007] A driving assembly, wherein the driving assembly is respectively connected to the plurality of moving seats so as to make the plurality of moving seats reciprocate along the first direction;

[0008] A limit assembly is connected to the moving seat and is used to limit the reciprocating movement of the moving seat between a first position and a second position.

[0009] According to the material picking and unloading device of the utility model, multiple clamping components are used, each of which includes a movable seat and a suction nozzle, and can simultaneously perform the picking and placing operations of multiple keys, thereby improving the efficiency of picking and assembling. Furthermore, the limit component can provide a grading strategy, in the first position, the suction nozzle can clamp part of the keys, and in the second position, the suction nozzle can clamp another part of the keys spaced apart from the upper part along the first direction, thereby further improving the work efficiency and meeting the requirements of modern production for high efficiency and high quality.

[0010] In addition, the material taking and discharging device according to the utility model may also have the following additional technical features:

[0011] In some embodiments of the present utility model, the material taking and discharging device further includes a plurality of limit plates, and the two movable seats are connected via the limit plates.

[0012] In some embodiments of the utility model, the limiting assembly includes a limiting rod and a first limiting member and a second limiting member spaced apart along the first direction, one end of the limiting rod is connected to the movable seat, when the movable seat is located at the first position, the limiting rod is limited by the first limiting member, and when the movable seat is located at the second position, the limiting rod is limited by the second limiting member.

[0013] In some embodiments of the utility model, the limit assembly also includes a limit cylinder, which includes a piston hole arranged along the first direction and a piston slidably arranged in the piston hole, and the piston is connected to the limit rod. The limit cylinder is provided with a first through hole and a second through hole along a direction perpendicular to the first direction, and the first through hole and the second through hole are both connected to the piston hole. The first limit member is slidably arranged in the first through hole, and the second limit member is slidably arranged in the second through hole. When the movable seat is located at the first position, the first limit member abuts against the piston, and when the movable seat is located at the second position, the second limit member abuts against the piston.

[0014] In some embodiments of the utility model, the nozzle portion includes a power assembly, a connecting rod and a suction head, the power assembly is slidably connected to the movable seat, the suction head is connected to the power assembly via the connecting rod, and the axial direction of the connecting rod is perpendicular to the first direction.

[0015] In some embodiments of the utility model, a limit block is provided on the movable seat, a limit hole is provided on the limit block, and the connecting rod is slidably disposed in the limit hole.

[0016] In some embodiments of the present invention, the suction nozzle portion further includes a first floating spring, one end of the first floating spring is connected to the power assembly, and the other end of the first floating spring is connected to the limit block.

[0017] In some embodiments of the present invention, the nozzle portion further includes a guide rod, the guide rod is sleeved on the connecting rod and communicated with the limiting hole, and the guide rod is located between the limiting block and the suction head.

[0018] In some embodiments of the present invention, the driving assembly includes a power cylinder, the power cylinder includes a power piston, and the power piston is connected to the moving seat.

[0019] The second aspect of the utility model provides an electronic product assembly device, comprising the above-mentioned material picking and placing device, wherein the material picking and placing device is used for picking and placing materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only used for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention. Moreover, the same reference numerals are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0021] Figure 1 The schematic diagram of the structure of the material taking and discharging device according to the embodiment of the utility model is schematically shown;

[0022] Figure 2 The schematic diagram of the structure of the material taking and discharging device according to the embodiment of the utility model from the first perspective is shown schematically;

[0023] Figure 3 A schematic diagram of the structure of the clamping assembly according to an embodiment of the utility model from a second viewing angle is schematically shown;

[0024] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0025] Figure 5 The schematic diagram schematically shows the structure of the clamping assembly according to the embodiment of the utility model from a third viewing angle;

[0026] Figure 6 for Figure 5 A partial enlarged view of point B in the middle;

[0027] Figure 7 The schematic diagram of the structure of the limit assembly according to the embodiment of the utility model is schematically shown.

[0028] The reference numerals are as follows:

[0029] 100. Material taking and discharging device;

[0030] 10. Platform; 11. Linear guide; 20. Clamping assembly; 201. Active clamping assembly; 202. Driven clamping assembly; 21. Moving seat; 211. Limiting block; 22. Suction nozzle; 221. Power assembly; 222. Connecting rod; 223. Suction head; 224. First floating spring; 225. Guide rod; 2251. Second floating spring; 30. Driving assembly; 40. Limiting assembly; 41. Limiting rod; 42. First limiting member; 43. Second limiting member; 44. Limiting cylinder; 441. Piston hole; 442. First through hole; 443. Second through hole; 50. Limiting plate. DETAILED DESCRIPTION

[0031] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0032] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0033] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0034] For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, then the elements described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both above and below orientations.

[0035] like Figures 1 to 7 As shown, according to the embodiment of the utility model, a material picking and discharging device 100 is proposed, including a platform 10, a plurality of clamping components 20, a driving component 30 and a limiting component 40, wherein a linear guide rail 11 is provided on the platform 10, and each clamping component 20 includes a moving seat 21 and a suction nozzle 22, and along a first direction, a plurality of moving seats 21 are respectively connected to the linear guide rail 11 in a slidable manner, and the first direction is the extension line direction of the linear guide rail 11, and the suction nozzle 22 is arranged on the moving seat 21 for picking up and placing materials (in this embodiment, the buttons to be installed), and the driving components 30 are respectively connected to the plurality of moving seats 21 so that the plurality of moving seats 21 make reciprocating motion along the first direction, and the limiting component 40 is connected to the moving seat 21, and can make the moving seat 21 have a first position and a second position along the linear guide rail 11.

[0036] According to the material picking and discharging device 100 of the utility model, multiple clamping assemblies 20 are used, each of which includes a movable seat 21 and a suction nozzle 22, and can simultaneously perform the picking and placing operations of multiple keys, thereby improving the efficiency of picking and assembling. Further, the limit assembly 40 can provide a grading strategy, in the first position, the suction nozzle 22 can clamp part of the keys, and in the second position, the suction nozzle 22 can clamp another part of the keys spaced apart from the upper part along the first direction, thereby further improving the work efficiency and meeting the requirements of modern production for high efficiency and high quality.

[0037] like Figure 1 and Figure 2 As shown, the direction of arrow a is the first direction.

[0038] In some embodiments, the number of clamping assemblies 20 is 6, the distance between each clamping assemblies 20 is the same, and during the movement, the distance between the six clamping assemblies 20 remains unchanged, and the 6 clamping assemblies 20 include an active clamping assembly 201 and a driven clamping assembly 202, the active clamping assembly 201 is connected to the driving assembly 30, and the driven clamping assembly 202 is connected to the limiting assembly 40. The active clamping assembly 201 is directly connected to the driving assembly 30 (, and is responsible for starting and controlling the movement of the entire clamping assembly 20 system. The driven clamping assembly 202 is connected to the limit assembly 40 to control the terminal position of the driven assembly to ensure that it stops accurately at the preset first position and the second position. A synchronization mechanism is set between the active clamping assembly 201 and the driven clamping assembly 202 to ensure that all clamping assemblies 20 can maintain coordinated and consistent movements even during high-speed operation. The direct drive of the active clamping assembly 201 and the precise limit of the driven clamping assembly 202 can greatly improve the motion control accuracy of the entire system, which is particularly important for electronic products that require precise assembly.

[0039] like Figure 2 As shown, in some embodiments, the material picking and discharging device 100 also includes a plurality of limit plates 50, and the two movable seats 21 are connected by at least one limit plate 50. The limit plate 50 is a plate-like structure made of a rigid material, which is located between two adjacent movable seats 21. These plates can be made of metal or high-strength plastic, and have sufficient mechanical strength to withstand the tensile and compressive forces during operation. In addition, the limit plate 50 has a plurality of mounting holes or slots for fixing and adjusting the relative positions of the two movable seats 21 to ensure that a fixed spacing is maintained during the movement. By arranging the limit plates 50 between adjacent movable seats 21, the stability of the overall structure can be greatly improved, and the vibration caused by high-speed movement can be reduced, which is crucial for improving operational accuracy and reducing mechanical wear. In addition, the limit plate 50 ensures that the movable seat 21 maintains a fixed relative position during operation, which helps to improve the position accuracy and repeatability of product assembly, especially on high-speed or long-running production lines.

[0040] In some embodiments, the limiting assembly 40 includes a limiting rod 41 and a first limiting member 42 and a second limiting member 43 arranged at intervals along the first direction. One end of the limiting rod 41 is connected to the moving seat 21, specifically the moving seat 21 of the driven clamping assembly 202. When the moving seat 21 is in the first position, the limiting rod 41 is limited by the first limiting member 42. When the moving seat 21 is in the second position, the limiting rod 41 is limited by the second limiting member 43. When the moving seat 21 moves to the first position, the limiting rod 41 contacts the first limiting member 42, thereby stopping the movement. This position can be used for the first material picking operation; when the moving seat 21 needs to move to the second position, it continues to drive until the limiting rod 41 contacts the second limiting member 43 and stops again. This setting allows the device to operate at two different working points, increasing the flexibility of operation. By setting the first limiting member 42 and the second limiting member 43, the material picking and discharging device 100 can be switched between two positions, providing greater operational flexibility, so that the device can adapt to diverse production needs.

[0041] like Figure 7 As shown, specifically, the limiting assembly 40 also includes a limiting cylinder 44, which includes a shell, a piston hole 441 is provided in the shell, the axis of the piston hole 441 is the same as the first direction, and the piston is provided in the piston hole 441, and reciprocates along the first direction. The piston is connected to the limiting rod 41, and the shell is provided with a first through hole 442 and a second through hole 443 in a direction perpendicular to the first direction. The first through hole 442 and the second through hole 443 are both connected to the piston hole 441. The first limiting member 42 is slidably provided in the first through hole 442, and the second limiting member 43 is slidably provided in the second through hole 443. When the moving seat 21 is located in the first position, the first limiting member 42 abuts against the piston, and when the moving seat 21 is located in the second position, the second limiting member 43 abuts against the piston. The piston is located in the piston hole 441 and can reciprocate along the first direction. This movement directly affects the limiting rod 41 connected thereto, thereby controlling the position of the moving seat 21. The first through hole 442 and the second through hole 443 are provided on the housing and are perpendicular to the first direction and communicated with the piston hole 441. This design allows the limiter to contact the piston when necessary to achieve precise control. The first limiter 42 and the second limiter 43 are respectively arranged in the first through hole 442 and the second through hole 443, and are slidably arranged therein, and they abut against the piston to control its stay at a specific position. Through the abutment between the piston and the first limiter 42 or the second limiter 43, the stop of the moving seat 21 at two positions can be precisely controlled, and this precise control is crucial to the repeatability and accuracy in automated equipment. The ability to quickly switch positions reduces the idle time of the machine, thereby improving production efficiency.

[0042] like Figure 5 and Figure 6As shown, in some embodiments, the nozzle portion 22 includes a power assembly 221, a connecting rod 222 and a suction head 223, the power assembly 221 is connected to the mobile seat 21 in a slidable manner, and the suction head 223 is connected to the power assembly 221 through the connecting rod 222, and the axial direction of the connecting rod 222 is perpendicular to the first direction. The power assembly 221 is responsible for providing a power source, usually including a motor or a cylinder, etc. The power assembly 221 is directly connected to the mobile seat 21, providing the required movement or force to operate the connecting rod 222 and the suction head 223. The connecting rod 222 connects the power assembly 221 with the suction head 223, allowing the suction head 223 to accurately move to a specified position for operation. The axial direction of the connecting rod 222 is perpendicular to the first direction (the extension direction of the linear guide 11), which enables the suction head 223 to work in a plane perpendicular to the moving direction, increasing the operational flexibility and reach of the device. The suction head 223 is the part that directly contacts the material to be processed, and is usually designed to accurately adsorb or release small parts, such as electronic components. The suction head 223 is connected to the power assembly 221 through the connecting rod 222, and its precise movement is controlled by the power assembly 221. The direct connection of the power assembly 221 reduces the loss of energy transmission, improves the response speed and operation speed, and thus improves the overall production efficiency.

[0043] Specifically, a guide rail is provided on the moving seat 21, and a slider is provided on the shell of the power assembly 221. The slider is connected to the guide rail, so that the power assembly 221 is connected to the moving seat 21 in a slidable manner.

[0044] Specifically, the suction head 223 is made of a soft and elastic material, such as silicone or soft rubber, to prevent damage to the surface of the key during the suction process. The shape of the suction head 223 is designed to match the shape of the key. For example, if the key is round, the suction head 223 should also be designed as a circular groove to ensure that the key can be completely covered and firmly adsorbed. The suction head 223 is connected to a negative pressure system. When the suction head 223 is attached to the surface of the key, the system draws out air to form a vacuum, thereby firmly adsorbing the key. This method is simple, efficient, and not easy to cause damage to the key. Using a vacuum adsorption system can quickly absorb and release the key, greatly improving the operation speed and production efficiency.

[0045] Specifically, the power assembly 221 can be a stepper motor, which provides precise angle control and is very suitable for applications that require precise position control. Each input pulse causes the motor to rotate a fixed angle, and very precise position control can be achieved by controlling the number of pulses. The power assembly 221 can also be a cylinder, which is driven by compressed air and can provide strong thrust and fast movement. In the material discharging device 100, the cylinder is often used to achieve fast linear motion or provide necessary thrust.

[0046] like Figure 5 As shown, it can be understood that the movable seat 21 is provided with a limit block 211, the limit block 211 is provided with a limit hole, and the connecting rod 222 is slidably arranged in the limit hole. The limit hole provides a stable support and guide for the limit rod 41, reduces vibration and deviation during movement, and thus enhances the stability of the entire device.

[0047] like Figure 3 and Figure 4 As shown, specifically, the suction nozzle part 22 also includes a first floating spring 224, one end of the first floating spring 224 is connected to the power assembly 221, and the other end of the first floating spring 224 is connected to the limit block 211. The addition of the first floating spring 224 effectively absorbs the impact force and vibration generated during the movement, reduces the wear on mechanical parts, and prolongs the service life of the equipment. Through the elastic effect of the first floating spring 224, the connecting rod 222 can remain more stable during the movement, thereby improving the accuracy of the operation of the suction nozzle part 22. In particular, when assembling or picking and placing precision parts, higher positioning accuracy can be ensured. The presence of the first floating spring 224 allows the suction nozzle part 22 to flexibly cope with materials of different heights or positions within a certain range, providing a larger operating range and adaptability.

[0048] Specifically, the suction nozzle 22 also includes a guide rod 225, which is sleeved on the connecting rod 222 and connected to the limit hole, and the guide rod 225 is located between the limit block 211 and the suction head 223. A second floating spring 2251 is provided in the guide rod 225, and the second floating spring 2251 is sleeved on the connecting rod 222. One end of the second floating spring 2251 is connected to the connecting rod 222, and the other end of the second floating spring 2251 is connected to the limit block 211. The guide rod 225 ensures that the suction head 223 moves accurately along the predetermined path, greatly improving the accuracy of the suction head 223 operation, especially when taking and placing precision components. The presence of the second floating spring 2251 allows the suction nozzle 22 to automatically adjust the pressure when contacting the workpiece, avoiding damage to sensitive components, and is particularly suitable for delicate operations of electronic components. In addition, by using the guide rod 225 and the second floating spring 2251, the impact and wear of the mechanical parts of the suction nozzle 22 will be significantly reduced, extending the service life of the equipment. In addition, the elastic adjustment function of the second floating spring 2251 can provide a natural buffer when it contacts sensitive electronic components, thereby protecting these components from damage due to excessive pressure.

[0049] In some embodiments, the drive assembly 30 includes a power cylinder, which includes a power piston, and the power piston is connected to the moving seat 21. The power cylinder includes a closed cylinder body, and a power piston is arranged inside. The piston reciprocates along the inside of the cylinder body under the action of compressed air. The power piston is directly connected to the moving seat 21, and converts the linear motion generated by the cylinder into the linear movement of the moving seat 21.

[0050] The working principle of the material picking and discharging device 100 of this embodiment is that before starting work, the equipment is initialized and the movable seat 21 is adjusted to the first position. The limit cylinder 44 positions the movable seat 21 by controlling the contact between the limit rod 41 and the first limit member 42. When the movable seat 21 is positioned to the material picking position, the suction nozzle part 22 is activated by the power component 221, and the suction head 223 is lowered above the component. The suction head 223 absorbs a part of the button located on the material tray through negative pressure. After picking up the component, the power cylinder adjusts the position of the movable seat 21. Under the action of the power cylinder, the suction nozzle part 22 adjusts the component spacing along the linear guide rail 11 to prepare for discharging. After moving to the discharging position, the suction nozzle part 22 releases the component and accurately assembles the component to the corresponding part of the electronic product, such as the charging box button. After completing a round of pick-and-place, the movable seat 21 is adjusted to the second position, and the limit cylinder 44 positions the movable seat 21 by controlling the contact between the limit rod 41 and the second limit member 43, and absorbs another part of the keys located on the material tray according to the above steps.

[0051] This embodiment further proposes an electronic product assembly device, including a material picking and placing device 100, and the material picking and placing device 100 is used for picking and placing materials.

[0052] The above is only a preferred specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model 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 material taking and discharging device, characterized in that: include: A platform, wherein a linear guide rail is provided on the platform; A plurality of clamping assemblies, each of which comprises a movable seat and a suction nozzle, wherein the plurality of movable seats are respectively connected to the linear guide rail in a slidable manner along a first direction, wherein the first direction is an extension direction of the linear guide rail, and the suction nozzle is arranged on the movable seat for taking and placing materials; A driving assembly, wherein the driving assembly is respectively connected to the plurality of moving seats so as to make the plurality of moving seats reciprocate along the first direction; A limiting assembly is connected to the moving seat and is used to limit the reciprocating movement of the moving seat between a first position and a second position.

2. The material discharging device according to claim 1, characterized in that: The material taking and discharging device also includes a plurality of limit plates, and the two movable seats are connected by the limit plates.

3. The material discharging device according to claim 1, characterized in that: The limiting assembly includes a limiting rod and a first limiting member and a second limiting member spaced apart along the first direction. One end of the limiting rod is connected to the moving seat. When the moving seat is located at the first position, the limiting rod is limited by the first limiting member. When the moving seat is located at the second position, the limiting rod is limited by the second limiting member.

4. The material taking and discharging device according to claim 3 is characterized in that: The limit assembly also includes a limit cylinder, which includes a piston hole arranged along the first direction and a piston slidably arranged in the piston hole, the piston is connected to the limit rod, and the limit cylinder is provided with a first through hole and a second through hole along a direction perpendicular to the first direction, the first through hole and the second through hole are both connected to the piston hole, the first limit member is slidably arranged in the first through hole, and the second limit member is slidably arranged in the second through hole, when the moving seat is located at the first position, the first limit member abuts against the piston, and when the moving seat is located at the second position, the second limit member abuts against the piston.

5. The material taking and discharging device according to any one of claims 1 to 4, characterized in that: The suction nozzle portion includes a power assembly, a connecting rod and a suction head. The power assembly is slidably connected to the movable seat. The suction head is connected to the power assembly via the connecting rod. The axial direction of the connecting rod is perpendicular to the first direction.

6. The material taking and discharging device according to claim 5, characterized in that: The movable seat is provided with a limit block, the limit block is provided with a limit hole, and the connecting rod is slidably arranged in the limit hole.

7. The material taking and discharging device according to claim 6, characterized in that: The suction nozzle portion further includes a first floating spring, one end of the first floating spring is connected to the power assembly, and the other end of the first floating spring is connected to the limit block.

8. The material taking and discharging device according to claim 6, characterized in that: The suction nozzle portion further comprises a guide rod, which is sleeved on the connecting rod and communicated with the limiting hole, and the guide rod is located between the limiting block and the suction head.

9. The material taking and discharging device according to any one of claims 1 to 4, characterized in that: The driving assembly includes a power cylinder, the power cylinder includes a power piston, and the power piston is connected to the moving seat.

10. An electronic product assembly device, characterized in that: It comprises a material taking and discharging device according to any one of claims 1 to 9, wherein the material taking and discharging device is used for taking and discharging materials.

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