Blocking mechanism and mobile robot

Abstract

The utility model relates to a blocking mechanism and a mobile robot, wherein the blocking mechanism comprises a base; the driving assembly comprises a rotating shaft which is horizontally and rotatably connected to the base and a follow-up element which is eccentrically arranged at one end of the rotating shaft; the other end of the rotating shaft has power input; the barrier plate is elastically connected with the base through an elastic element; the blocking plate comprises a blocking part and a connecting part which are arranged in a bent mode. The elastic element is vertically arranged; one end of the elastic element abuts against the connecting part, and the other end of the elastic element abuts against the base. The connecting part abuts against the follow-up element upwards under the action of the elastic force of the elastic element and ascends and descends synchronously with the blocking part in the process that the follow-up element rotates along with the rotating shaft. According to the utility model, the problems that the barrier plate lifts slowly and the barrier plate jacks up materials due to control failure in the transmission process are solved.

Description

Technical Field

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

[0002] With the increasing degree of industrial automation, mobile robots are playing a vital role in various fields. Mobile robots, in particular, with conveyor lines, enable docking and transfer with automated equipment. However, when materials are transferred to the mobile robot's line, the inertia generated by the mobile robot's starting and stopping can cause the material to shift with the robot. This can even cause the material to slip off the line, damaging it and potentially causing accidents. Therefore, designing a reliable blocking mechanism at the beginning and end of the line is crucial for improving the safety and stability of the mobile robot line.

[0003] With the rapid development of the conveying machinery industry, the blocking mechanism has begun to be studied and designed as an independent component. The design of the blocking mechanism mainly focuses on preventing the accumulation and blockage of materials during the conveying process and ensuring the stable operation of the conveyor line.

[0004] The existing blocking mechanism mainly controls the passage of materials by directly driving the blocking component to rise and fall through the driving module: when the driving module drives the blocking component to descend, the material is allowed to pass; when the driving module drives the blocking component to rise, the material is blocked from passing. For example, Chinese utility model patent CN201821756058.9 discloses a blocking mechanism and a movable platform for installing the blocking mechanism, which realizes blocking control by driving a ball screw pair driven by a motor to raise and lower the blocking component. At the same time, it can solve the problem of space occupied by the blocking mechanism in the conveying direction, and facilitate docking and transmission. However, there are still some problems: 1. The rotation of the screw needs to be converted into the lifting and lowering of the blocking component, resulting in a slow lifting process; 2. There is no elastic space in the blocking component. If the control fails, it is easy to lift up the transmitted material. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model discloses a blocking mechanism and a mobile robot.

[0006] The technical solutions adopted in this utility model are as follows:

[0007] In a first aspect, a blocking mechanism is provided, comprising:

[0008] base;

[0009] A driving assembly includes a rotating shaft horizontally connected to the base and a follower element eccentrically arranged at one end of the rotating shaft; the other end of the rotating shaft has a power input;

[0010] A blocking plate is elastically connected to the base via an elastic element; the blocking plate includes a bent blocking portion and a connecting portion; the elastic element is vertically arranged; one end of the elastic element abuts the connecting portion, and the other end of the elastic element abuts the base; the connecting portion abuts upward against the follower element under the elastic force of the elastic element, and rises and falls synchronously with the blocking portion during the process of the follower element rotating with the rotating shaft.

[0011] In one embodiment of the present invention, it further includes a guide rod fixed to the base; the elastic element is sleeved on the guide rod; the connecting portion is slidably connected to the guide rod and can be lifted and lowered along the guide rod.

[0012] In one embodiment of the present invention, it also includes a bushing seat fixed on the blocking plate and a shouldered oil-free bushing embedded in the bushing seat; the shouldered oil-free bushing is arranged between the bushing seat and the blocking plate; the guide rod passes through the shouldered oil-free bushing and slides with it.

[0013] In one embodiment of the present invention, the drive assembly also includes a bearing seat fixed to the base, a one-way bearing arranged in the bearing seat, and a motor fixed to the bearing seat; the rotating shaft and the end away from the follower element horizontally pass through the inner ring of the one-way bearing and are connected to the output end of the motor; the rotating shaft is key-connected to the one-way bearing.

[0014] In one embodiment of the present invention, it also includes a first slot-type photoelectric and a second slot-type photoelectric arranged on both sides of the rotating shaft and a photoelectric baffle arranged at one end of the rotating shaft; the photoelectric baffle is arranged at the end of the rotating shaft away from the motor and is adapted to the first slot-type photoelectric and the second slot-type photoelectric.

[0015] In one embodiment of the present invention, the photoelectric barrier is arranged along the radial direction of the rotating shaft, and the direction of the line connecting the photoelectric barrier and the center of the rotating shaft is perpendicular to the direction of the line connecting the follower element and the center of the rotating shaft.

[0016] In a second aspect, a mobile robot is provided, comprising:

[0017] Moving subjects;

[0018] A conveying line is provided on the mobile body;

[0019] The blocking mechanism provided in the first aspect is provided at at least one end of the conveying line along the conveying direction.

[0020] In one embodiment of the present invention, a sealing plate is further included which is installed on the outside of the conveying line.

[0021] The above technical solution of the utility model has the following advantages compared with the prior art:

[0022] The blocking mechanism described in the present invention can, through power input, convert the rotation of the rotating shaft into the lifting movement of the blocking plate. That is, during one rotation of the rotating shaft, the blocking plate achieves one lifting movement. This can greatly improve the lifting efficiency of the blocking plate, facilitate rapid blocking of conveyed materials, and prevent them from falling. Furthermore, because the driving force for the blocking rise is primarily dependent on the elastic element, the blocking plate has a certain amount of elastic space in the vertical direction. Therefore, even if the control fails during the docking and conveying of materials, the blocking plate will not lift the material being conveyed, greatly improving the safety of the material docking and conveying process. Furthermore, the blocking mechanism described in the present invention has a simple structure, low cost, and is easy to promote and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0024] Figure 1 It is a structural diagram of a mobile robot.

[0025] Figure 2 It is a structural diagram of the blocking mechanism.

[0026] Figure 3 It is a partial cross-sectional view of the blocking mechanism.

[0027] Figure 4 yes Figure 3 Enlarged schematic diagram of point A in the middle.

[0028] Figure 5 It is the main view of the blocking mechanism.

[0029] Figure 6 yes Figure 5 Cross-sectional view at the middle BB (when the follower element rotates to near the lowest point).

[0030] Figure 7 It is a schematic diagram of the installation structure of the rotating shaft, the photoelectric baffle and the follower element (showing the second elastic retaining ring).

[0031] Figure 8 It is a schematic diagram of the installation structure of the blocking plate, bushing seat, guide rod and elastic element.

[0032] Figure 9 It is a cross-sectional view of the follower element in the blocking mechanism when it rotates to the highest point.

[0033] Description of the accompanying drawings:

[0034] 100, blocking mechanism; 201, conveying line; 202, sealing plate; 300, moving body;

[0035] 1. Base; 2. Bearing seat; 3. Motor fixing plate; 4. Motor; 5. Rotating shaft; 6. One-way bearing; 7. First elastic retaining ring; 8. Second elastic retaining ring; 9. Follower element; 10. Bushing seat; 11. Oil-free bushing with shoulder; 12. Guide rod; 13. Elastic element; 14. Photoelectric baffle; 15. Blocking plate; 151. Blocking part; 152. Connecting part; 16. First slot-type photoelectric; 17. Second slot-type photoelectric; 18. Mounting plate; 19. Fastening element. DETAILED DESCRIPTION

[0036] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0037] Existing mobile robots with conveyor lines require a blocking mechanism when docking and transmitting with automated equipment. The blocking mechanism is used to block the materials on the mobile robot. This avoids the problem of materials being displaced on the conveyor line of the mobile robot due to the inertia generated by the start or stop of the mobile robot, which in turn causes the materials to fall. The applicant has found in long-term application practice that the blocking control of the existing blocking mechanism has a certain delay, that is, it cannot block or cancel the block immediately, affecting the material transportation efficiency; at the same time, the existing blocking mechanism generally adopts an intelligent control method. When the control fails, it is very likely that the blocking mechanism will lift up the transmitted material, causing material damage, or safety risks such as falling.

[0038] In order to solve the above problems, this embodiment provides a blocking mechanism and a mobile robot.

[0039] Reference Figure 1 As shown, this embodiment provides a mobile robot, including a mobile body 300, a conveying line 201 provided on the mobile body 300, and a blocking mechanism 100 provided at at least one end of the conveying line 201 along the conveying direction.

[0040] The mobile body 300 can be an AMR, AGV, or IGV chassis equipped with a laser radar and / or camera, capable of autonomous movement and high-precision positioning and obstacle avoidance during movement. In actual applications, the mobile body 300 can also adopt other types of chassis structures, such as a chassis structure that achieves autonomous movement based on magnetic induction lines.

[0041] In this embodiment, the conveyor line 201 can be a roller conveyor line. A roller conveyor line primarily consists of rollers, a frame, a drive unit, and other key components, forming an automated system for continuous material conveying. The drive unit can be driven by a chain, belt, or synchronous belt to transmit power to the rollers. The rollers of the roller conveyor line can also be directly powered by electric rollers. The blocking mechanism 100 is located at at least one end of the roller conveyor line. For example, if the roller conveyor line only supports single-sided butt-joint transmission, the blocking mechanism 100 is located at the butt-joint end of the roller conveyor line. If the roller conveyor line supports double-sided transmission, the blocking mechanism 100 is located at both ends of the roller conveyor line in the conveying direction. Furthermore, in this embodiment, the blocking mechanism 100 is installed at a lower height than the roller conveyor line. When material on the roller conveyor line needs to be blocked, the portion of the blocking mechanism 100 responsible for blocking the material rises and protrudes above the roller conveyor line to block the material.

[0042] Furthermore, a sealing plate 202 is provided on the outermost side of the conveyor line 201. The sealing plate 202 protects the conveying and mechanical structures inside the conveyor line 201 from external contamination and damage. At the same time, to prevent materials from slipping during transportation or movement of the mobile robot, the height of the sealing plates 202 on both sides of the conveying direction of the conveyor line 201 should be higher than the conveyor line 201 itself. The height of the sealing plates 202 at both ends of the conveyor line 201 in the vertical direction should be lower than the conveyor line 201. Of course, if necessary, the sealing plates 202 can also be designed to be height-adjustable.

[0043] Combine Figures 2 to 6 The blocking mechanism 100 includes a base 1 , a driving assembly, and a blocking plate 15 .

[0044] Among them, the driving assembly includes a rotating shaft 5 horizontally connected to the base 1 and a follower element 9 eccentrically arranged at one end of the rotating shaft 5. The other end of the rotating shaft 5 has a power input. The base 1 is fixedly mounted on the mobile body 300. Specifically, the driving assembly also includes a bearing seat 2 fixed to the base 1, a one-way bearing 6 arranged in the bearing seat 2, and a motor 4 fixed to the bearing seat 2. The motor 4 forms a power input. The rotating shaft 5 and the end away from the follower element 9 horizontally pass through the inner ring of the one-way bearing 6 and are connected to the output end of the motor 4. The rotating shaft 5 is key-connected to the one-way bearing 6. In this embodiment, the follower element 9 can be a cam follower.

[0045] The blocking plate 15 is elastically connected to the base 1 via an elastic element 13. The blocking plate 15 includes a bent blocking portion 151 and a connecting portion 152. The blocking portion 151 extends in a vertical plane, while the connecting portion 152 extends in the opposite direction along a horizontal plane. The elastic element 13 is vertically arranged. One end of the elastic element 13 abuts the connecting portion 152, while the other end abuts the base 1. Under the elastic force of the elastic element 13, the connecting portion 152 presses upward against the follower element 9 and rises and falls synchronously with the blocking portion 151 as the follower element 9 rotates with the rotating shaft 5. The blocking portion 151 and the connecting portion 152 are perpendicular to each other and are integrally formed. The connection between the blocking portion 151 and the connecting portion 152 is a circular arc transition, which reduces stress concentration points on the blocking plate 15, prevents material fatigue, and improves the structural strength and durability of the blocking plate 15. When material needs to be blocked, the blocking portion 151 rises above the conveyor line 201. When the materials need to be butted and conveyed, the blocking portion 151 of the butt-end blocking mechanism 100 descends and is lower than the conveying line 201 .

[0046] Furthermore, the blocking mechanism 100 further includes a motor fixing plate 3 fixed to the back of the bearing seat 2. The motor 4 is fixed on the motor fixing plate 3.

[0047] In this embodiment, the connection portion 152 of the blocking plate 15 is lower than the follower element 9, which presses down on the connection portion 152. If the connection portion 152 of the blocking plate 15 is higher than the bottom structure of the base 1, the elastic element 13 primarily bears the compressive force. In this case, the elastic element 13 can be a compression spring. In some possible embodiments, the connection portion 152 of the blocking plate 15 can be lower than the bottom structure of the base 1, in which case the elastic element 13 primarily bears the tensile force. In this case, the elastic element 13 can be a tension spring. Both of these scenarios fall within the structural types protected by this embodiment.

[0048] In this embodiment, Figure 8 As shown, the blocking mechanism 100 also includes a guide rod 12 fixed to the base 1. The elastic element 13 is sleeved on the guide rod 12. The connecting portion 152 of the blocking plate 15 is slidably connected to the guide rod 12 and can be raised and lowered along the guide rod 12. Specifically, there are two guide rods 12, and both ends of the two guide rods 12 are fixed to the base 1. When the blocking plate 15 needs to reciprocate on a vertical path, the two guide rods 12 can provide stable support and guidance, reducing the bending or deviation caused by single-point support. Specifically, a mounting plate 18 is provided on the base 1, and the mounting plate 18 is provided with a plurality of fastening elements 19, such as fastening bolts, fixed to the top of the base 1. One of the fastening bolts passes through the base 1 and is connected to the top of the guide rod 12. The bottom of the base 1 is also provided with a countersunk screw to connect to the bottom of the guide rod 12. The advantage of this arrangement is that it can effectively fix the guide rod 12 and facilitate the disassembly and assembly of the guide rod 12.

[0049] In this embodiment, Figure 3 As shown, the blocking mechanism 100 also includes a bushing seat 10 fixed on the blocking plate 15 and a shouldered oil-free bushing 11 embedded in the bushing seat 10. The shouldered oil-free bushing 11 is arranged between the bushing seat 10 and the blocking plate 15. The shaft of the shouldered oil-free bushing 11 is embedded and installed in the bushing seat 10 from bottom to top. The guide rod 12 passes through the shouldered oil-free bushing 11 and slides with it. It should be noted that when installing the guide rod 12, the elastic element 13 is installed first, and then the blocking plate 15 with the bushing seat 10 is installed. In addition, during installation, the shoulder of the shouldered oil-free bushing 11 should be placed between the bushing seat 10 and the blocking plate 15 to prevent the shouldered oil-free bushing 11 from moving in the axial direction.

[0050] In this embodiment, combined with Figure 3 、 Figure 4 and Figure 7 The blocking mechanism 100 also includes a first slot-type photoelectric 16 and a second slot-type photoelectric 17 respectively arranged on both sides of the rotating shaft 5, and a photoelectric baffle 14 arranged at one end of the rotating shaft 5. The photoelectric baffle 14 is arranged at the end of the rotating shaft 5 away from the motor 4. In addition, the first slot-type photoelectric 16 and the second slot-type photoelectric 17 of the photoelectric baffle 14 are adapted. The first slot-type photoelectric 16 and the second slot-type photoelectric 17 can sense the rotation angle of the photoelectric baffle 14, and determine the position of the follower element 9 corresponding to the two rotation angles of the photoelectric baffle 14 based on preset rules. Specifically, the photoelectric baffle 14 is arranged along the radial direction of the rotating shaft 5, and the direction of the line connecting the photoelectric baffle 14 and the center of the rotating shaft 5 is perpendicular to the direction of the line connecting the follower element 9 and the center of the rotating shaft 5. Thus, the first slot-type photoelectric 16 and the second slot-type photoelectric 17 respectively determine a low point position and a high point position of the follower element 9. The high point position corresponds to the highest position of the follower element 9. The low point position corresponds to a position where the follower element 9 does not exceed the lowest position when rotating around the rotation axis 5 and is relatively close to the lowest position. The angle between the low point position and the lowest position about the line connecting the rotation axis 5 is generally set at about 3-5 degrees.

[0051] It should be noted that the first slot-type photoelectric switch 16 and the second slot-type photoelectric switch 17 must be installed before installing the blocking plate 15. The first slot-type photoelectric switch 16 and the second slot-type photoelectric switch 17 are respectively fixed in the base 1. The photoelectric baffle 14 is placed in the sensing area of ​​the first slot-type photoelectric switch 16 and the second slot-type photoelectric switch 17 so that when the photoelectric baffle 14 passes, it blocks light, thereby triggering a signal change in the first slot-type photoelectric switch 16 or the second slot-type photoelectric switch 17. The working principle of the slot-type photoelectric switch is based on the photoelectric effect. When the photoelectric baffle 14 passes and blocks the light emitted by the transmitter, the receiver detects the interruption of light and generates a corresponding electrical signal based on this change, thereby realizing object detection. Specifically, the first slot-type photoelectric switch 16 and the second slot-type photoelectric switch 17 are composed of a U-shaped shell, and the transmitter and receiver are installed in the U-shaped shell. When an object passes through the U-shaped slot and blocks the light between the transmitter and receiver, the switch action is triggered.

[0052] In this embodiment, the blocking mechanism 100 further includes a one-way bearing 6, a first circlip 7, and a second circlip 8. The one-way bearing 6 is located within the bearing housing 2, and a flat key is used to restrict the outer ring of the one-way bearing 6 from rotating within the bearing housing 2. The second circlip 8 is used to restrict the axial movement of the one-way bearing 6. The smaller end of the rotating shaft 5 passes through the inner ring of the one-way bearing 6 and is restricted from rotating relative to the inner ring of the one-way bearing 6 by a flat key. After the rotating shaft 5 passes through the inner ring of the one-way bearing 6, the first circlip 7 is installed. The first circlip 7 elastically deforms to fit tightly against the outer diameter of the rotating shaft 5, thereby securing the rotating shaft 5 in a specific position and preventing it from axial displacement or falling off.

[0053] Combine Figure 6 and Figure 9 , the working principle of this embodiment is as follows:

[0054] Motor 4 drives the rotation of shaft 5. When the follower element 9 attached to shaft 5 reaches its highest position, the barrier plate 15 rises under the action of the elastic element 13 on the guide rod 12. The photoelectric barrier 14 triggers the first slot-shaped photoelectric element 16, and the motor 4 is de-energized. At this point, barrier plate 15 acts as a material barrier. When the follower element 9 on shaft 5 rotates to near its lowest point (the lowest position), the photoelectric barrier 14 triggers the second slot-shaped photoelectric element 17, and the motor 4 is de-energized. The follower element 9 overcomes the elastic force of the elastic element 13, causing the barrier plate 15 to remain at its lowest point (near the lowest point). Due to the properties of the one-way bearing 6, which only rotates in one direction, the follower element 9 cannot return to its original position. Therefore, the elastic force of the elastic element 13 cannot overcome the resistance of the follower element 9 to drive the barrier plate 15 upward. Of course, even if the mobile robot is vibrating during operation, it is not enough to overcome the resistance of the elastic element 13 to allow the follower element 9 to pass through its lowest position, thus maintaining smooth access during the mobile robot's docking and material transfer. Once the follower element 9 reaches its lowest position, the blocking plate 15 rises under the elastic force of the elastic element 13, thereby blocking the material from being transported. However, in this embodiment, since the blocking plate 15 is raised by elastic force, it has a certain amount of vertical flexibility. Therefore, if the weight of the material is not very low, even if the blocking plate 15 rises in the event of a control failure, it will not be enough to lift the material or seriously damage it, thus providing a high level of safety. This also applies when the motor 4 is forced to operate due to a control failure.

[0055] In a further embodiment, the diameter of the end of the rotating shaft 5 away from the motor 4 is larger than the diameter of the end of the rotating shaft 5 connected to the motor 4. This provides the necessary space for eccentric installation of the follower element 9. Furthermore, it increases the radial distance between the follower element 9 and the central axis of the rotating shaft 5, thereby increasing the lifting stroke of the blocking plate 15.

[0056] Compared to the prior art, the blocking mechanism 100 provided in this embodiment converts the rotation of the rotating shaft 5, driven by the power input of the motor 4, into the lifting and lowering movement of the blocking plate 15. Specifically, during each rotation of the rotating shaft 5 driven by the motor 4, the blocking plate 15 undergoes a single lifting and lowering movement. This significantly improves the lifting efficiency of the blocking plate 15, facilitates rapid blocking of conveyed materials, and prevents them from slipping. Furthermore, because the driving force for the blocking plate 15 to rise and block is primarily dependent on the elastic element 13, the blocking plate 15 has a certain amount of elastic space in the vertical direction. Therefore, even if the control fails during the docking and conveying process, the blocking plate 15 will not lift the conveyed material, significantly improving the safety of the material docking and conveying process.

[0057] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A blocking mechanism, characterized in that: include: Base (1); A driving assembly comprises a rotating shaft (5) horizontally rotatably connected to the base (1) and a follower element (9) eccentrically arranged at one end of the rotating shaft (5); the other end of the rotating shaft (5) has a power input; The blocking plate (15) is elastically connected to the base (1) via an elastic element (13); the blocking plate (15) comprises a blocking portion (151) and a connecting portion (152) which are bent; the elastic element (13) is vertically arranged; one end of the elastic element (13) abuts against the connecting portion (152), and the other end of the elastic element (13) abuts against the base (1); the connecting portion (152) abuts upward against the follower element (9) under the elastic force of the elastic element (13), and rises and falls synchronously with the blocking portion (151) when the follower element (9) rotates along with the rotating shaft (5).

2. The blocking mechanism according to claim 1, characterized in that: It also includes a guide rod (12) fixed to the base (1); the elastic element (13) is sleeved on the guide rod (12); the connecting portion (152) is slidably connected to the guide rod (12) and can be raised and lowered along the guide rod (12).

3. The blocking mechanism according to claim 2, characterized in that: It also includes a bushing seat (10) fixed on the blocking plate (15) and a shouldered oil-free bushing (11) embedded in the bushing seat (10); the shouldered oil-free bushing (11) is arranged between the bushing seat (10) and the blocking plate (15); and the guide rod (12) passes through the shouldered oil-free bushing (11) and is slidably engaged with the bushing.

4. The blocking mechanism according to claim 1, characterized in that: The driving assembly further comprises a bearing seat (2) fixed to the base (1), a one-way bearing (6) arranged in the bearing seat (2), and a motor (4) fixed to the bearing seat (2); the rotating shaft (5) and the end away from the follower element (9) horizontally pass through the inner ring of the one-way bearing (6) and are connected to the output end of the motor (4); the rotating shaft (5) is key-connected to the one-way bearing (6).

5. The blocking mechanism according to claim 4, characterized in that: The invention also includes a first slot-shaped photoelectric device (16) and a second slot-shaped photoelectric device (17) respectively arranged on both sides of the rotating shaft (5), and a photoelectric baffle (14) arranged at one end of the rotating shaft (5); the photoelectric baffle (14) is arranged at the end of the rotating shaft (5) away from the motor (4) and is adapted to the first slot-shaped photoelectric device (16) and the second slot-shaped photoelectric device (17).

6. The blocking mechanism according to claim 5, characterized in that: The photoelectric baffle (14) is arranged along the radial direction of the rotating shaft (5), and the direction of the line connecting the center of the photoelectric baffle (14) and the rotating shaft (5) is perpendicular to the direction of the line connecting the center of the follower element (9) and the rotating shaft (5).

7. A mobile robot, characterized in that: include: Mobile body (300); A conveying line (201) is provided on the mobile body (300); The blocking mechanism (100) according to any one of claims 1 to 6 is provided at at least one end of the conveying line (201) along the conveying direction.

8. The mobile robot according to claim 7, characterized in that: It also includes a sealing plate (202) installed on the outside of the conveying line (201).

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