Double-claw linkage mechanism

Abstract

The utility model belongs to the technical field of mechanical equipment, and provides a double-jaw linkage mechanism which comprises a clamping jaw air cylinder, a connecting arm set and a clamping hand set, the clamping jaw air cylinder is provided with the connecting arm set, the clamping hand set is installed in a mode of being matched with the connecting arm set, and the clamping hand set comprises a left clamping hand assembly and a right clamping hand assembly. The left clamping hand assembly is provided with a first clamp and a second clamp, the right clamping hand assembly is provided with a third clamp and a fourth clamp, the left clamping hand assembly and the right clamping hand assembly are installed in a sliding mode, the clamping jaw air cylinder can drive the left clamping hand assembly and the right clamping hand assembly to slide relatively by driving the connecting arm set, and then the first clamp can be matched with the third clamp to conduct clamping or opening action. And meanwhile, the second clamp is matched with the fourth clamp to perform clamping or opening action. The left clamping hand assembly and the right clamping hand assembly are in linkage, multiple products can be clamped through one-time action, the production efficiency of the clamping mechanism is improved, and the production cost of the products is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical equipment, and in particular relates to a double-claw linkage mechanism. Background Art

[0002] In existing industrial production equipment, a clamping mechanism is usually required to clamp the product, and the clamp is driven by an actuator to perform the clamping action, so that the production process can be mechanically automated and production efficiency can be greatly improved.

[0003] However, in the existing technology, the clamping mechanism generally has one actuator and one clamp. One clamp can only clamp one product and cannot clamp multiple products at the same time, resulting in low production efficiency. Setting up multiple sets of clamping mechanisms will lead to increased production costs of the products. Therefore, the production efficiency of this clamping mechanism needs to be improved.

[0004] Therefore, there is an urgent need for a double-claw linkage mechanism to solve the problem that the existing clamping mechanism cannot clamp multiple products and has low production efficiency. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a double-claw linkage mechanism, comprising:

[0006] A gripper cylinder, wherein the gripper cylinder is provided with a left drive rod and a right drive rod, and the gripper cylinder drives the left drive rod and the right drive rod to extend and retract simultaneously;

[0007] a connecting arm assembly, the connecting arm assembly comprising a left connecting arm and a right connecting arm, the left connecting arm being fastened to the left driving rod via a left connecting plate, and the right connecting arm being fastened to the right connecting arm via a right connecting plate;

[0008] A gripper assembly, the gripper assembly comprising a left gripper assembly and a right gripper assembly, the left gripper assembly being fixedly mounted on the left connecting arm, the right gripper assembly being fixedly mounted on the right connecting arm, and the left gripper assembly and the right gripper assembly being slidably mounted;

[0009] The left gripper assembly includes a first bracket plate, a first clamp and a second clamp, and the right gripper assembly includes a second bracket plate, a third clamp and a fourth clamp;

[0010] The first clamp is installed at the left end of the first bracket plate, the second clamp is installed at the right end of the first bracket plate, the third clamp is installed at the left end of the second bracket plate, and the fourth clamp is installed at the right end of the second bracket plate;

[0011] The first bracket plate and the second bracket plate are slidably mounted;

[0012] When the first bracket plate and the second bracket plate slide relative to each other, the first clamp moves away from or closer to the third clamp, and the second clamp moves away from or closer to the fourth clamp.

[0013] In some embodiments, the left connecting plate and the right connecting plate have the same structure and are both provided with a first mounting groove, and the first mounting groove is adapted to fasten and mount the left connecting arm and the right connecting arm.

[0014] Optionally, the left connecting arm is provided with a first boss, the first bracket plate is provided with a first groove, and the first boss is adapted to the first groove for fastening connection;

[0015] The right connecting arm is provided with a second boss, the second bracket plate is provided with a second groove, and the second boss is adapted to the second groove for fastening connection.

[0016] Optionally, the first bracket plate and the second bracket plate have the same structure, and the first boss and the second boss are staggered in height.

[0017] In some embodiments, the right connecting arm is provided with a first slide rail, the first bracket plate is provided with a second slide rail, a first slide groove and a second slide groove, and the second bracket plate is provided with a third slide rail and a third slide groove;

[0018] The first slide rail is installed in conjunction with the first slide groove, the second slide rail is installed in conjunction with the third slide groove, and the third slide rail is installed in conjunction with the second slide groove.

[0019] Optionally, the first bracket plate and the second bracket plate have the same structure, and the first bracket plate and the second bracket plate are installed up and down in opposite directions.

[0020] In some embodiments, the first bracket plate is provided with a second mounting slot and a third mounting slot, the second mounting slot is adapted for installation by the first clamp, and the third mounting slot is adapted for installation by the second clamp.

[0021] Optionally, the second bracket plate is provided with a fourth mounting slot and a fifth mounting slot, the fourth mounting slot is adapted for installation by the third clamp, and the fifth mounting slot is adapted for installation by the fourth clamp.

[0022] In some embodiments, the bottom of the clamping cylinder is provided with a base, the base is provided with a slider and a fourth slide rail which can slide relative to each other, the slider is fastened to the clamping cylinder, and the slider can drive the clamping cylinder to slide on the fourth slide rail.

[0023] Optionally, the clamping cylinder is configured with a pushing cylinder, which is installed on the base through a cylinder seat, and the push rod of the pushing cylinder is connected to the clamping cylinder, and the pushing cylinder pushes the clamping cylinder to slide on the fourth slide rail.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] The double-claw linkage mechanism provided by the utility model includes a clamping claw cylinder, a connecting arm group, a clamping hand group, the clamping claw cylinder is installed with the connecting arm group, the clamping hand group is adapted to be installed with the connecting arm group, the clamping hand group includes left and right clamping hand assemblies, the right clamping hand assembly is provided with a first clamp and a second clamp, the right clamping hand assembly is provided with a third clamp and a fourth clamp, the left clamping hand assembly and the right clamping hand assembly are slidably installed, the clamping claw cylinder can drive the left clamping hand assembly and the right clamping hand assembly to slide relative to each other by driving the connecting arm group, and then the first clamp can cooperate with the third clamp to perform a clamping or opening action, while the second clamp cooperates with the fourth clamp to perform a clamping or opening action. The left clamping hand assembly and the right clamping hand assembly are linked to each other, and can clamp multiple products in one action, thereby improving the production efficiency of the clamping mechanism and reducing the production cost of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional schematic diagram of the double-claw linkage mechanism of the utility model;

[0027] Figure 2 This is an exploded schematic diagram of the double-claw linkage mechanism of the present utility model;

[0028] Figure 3 Another perspective schematic diagram of the double-claw linkage mechanism of the present invention;

[0029] Figure 4 It is a schematic diagram of the assembly of the left gripper assembly and the right gripper assembly;

[0030] Figure 5 Schematic diagram of the assembly of the first bracket plate and the second bracket plate;

[0031] Figure 6 is a three-dimensional schematic diagram of the second bracket plate;

[0032] Figure 7 is a three-dimensional schematic diagram of the right connecting arm;

[0033] Figure 8 It is a three-dimensional schematic diagram of the locking block.

[0034] Illustration:

[0035] 1. Gripper cylinder; 2. First clamp; 3. Second clamp; 4. Third clamp; 5. Fourth clamp;

[0036] 6. Left drive rod; 7. Right drive rod; 8. Left connecting plate; 9. Right connecting plate; 10. Left connecting arm;

[0037] 11. Right connecting arm; 12. First mounting groove; 13. First bracket plate; 14. Second bracket plate; 15. First boss; 16. First groove; 17. Second boss; 18. Second groove; 19. First slide rail; 20. Second slide rail; 21. First slide groove; 22. Second slide groove; 23. Third slide rail; 24. Third slide groove; 25. Avoidance groove; 26. Second mounting groove; 27. Third mounting groove; 28. Fourth mounting groove; 29. ​​Fifth mounting groove; 30. Clamp seat; 31. First clamp; 32. Second clamp; 33. First clamping block; 34. Second clamping block; 35. Base; 36. Slider; 37. Fourth slide rail; 38. Connecting block; 39. Push cylinder; 40. Push rod; 41. Locking block; 42. Slot; 43. Cylinder seat. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0039] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They 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 direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0040] Furthermore, in the description of this utility model, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components; wireless connections or wired connections. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0041] In addition, the technical features involved in the different embodiments of the present invention described later can be combined with each other as long as they do not conflict with each other.

[0042] like Figure 1-8, an embodiment of the utility model provides a double-claw linkage mechanism, including a gripper cylinder 1, a connecting arm group and a gripper group, the gripper cylinder 1 is installed with the connecting arm group, the gripper group is adapted to be installed with the connecting arm group, the gripper group includes a left gripper assembly and a right gripper assembly, the right gripper assembly is provided with a first clamp 2 and a second clamp 3, the right gripper assembly is provided with a third clamp 4 and a fourth clamp 5, the left gripper assembly and the right gripper assembly are slidably installed, the gripper cylinder 1 can drive the left gripper assembly and the right gripper assembly to slide relative to each other by driving the connecting arm group, and then the first clamp 2 can be paired with the third clamp 4 to perform a clamping or opening action, while the second clamp 3 is paired with the fourth clamp 5 to perform a clamping or opening action. The left gripper assembly and the right gripper assembly are linked to each other, which can achieve clamping of multiple products in one action, thereby improving the production efficiency of the clamping mechanism and reducing the production cost of the product.

[0043] Furthermore, in the present embodiment, the gripper cylinder 1 is used to drive the linkage between the left gripper assembly and the right gripper assembly, so that the gripping of at least two or more products can be completed with only one actuator. Specifically, the gripper cylinder 1 is provided with a left drive rod 6 and a right drive rod 7, and the gripper cylinder 1 is connected to the air source, and the on and off of the air source is controlled so that the gripper cylinder 1 drives the left drive rod 6 and the right drive rod 7 to extend and retract at the same time. It should be noted that, in the present embodiment, the gripper cylinder 1 can also be replaced by other actuators or transmission mechanisms, such as a two-way push rod 40 motor, which is not limited here as long as it can drive the left and right drive rods 7 to extend and retract at the same time.

[0044] Furthermore, in this embodiment, the clamping cylinder 1 is equipped with a connecting arm assembly. Specifically, the left drive rod 6 is fastened to a left connecting plate 8, and the right drive rod 7 is fastened to a right connecting plate 9. The connecting arm assembly includes a left connecting arm 10 and a right connecting arm 11. The left connecting arm 10 is fastened to the left drive rod 6 via the left connecting plate 8, and the right connecting arm 11 is fastened to the right connecting arm 11 via the right connecting plate 9. Preferably, in this embodiment, the left connecting plate 8 and the right connecting plate 9 have identical structures. Both the left connecting plate 8 and the right connecting plate 9 are provided with a first mounting groove 12. The first mounting groove 12 is adapted to be fastened and mounted on the left connecting arm 10 and the right connecting arm 11. This improves the compatibility of the accessories of the clamping mechanism and reduces the manufacturing cost of the mechanism. When the clamping cylinder 1 drives the left drive rod 6 and the right drive rod 7 to extend and retract simultaneously, the left drive rod 6 drives the left connecting arm 10 to extend and retract simultaneously, and the right drive rod 7 drives the right connecting arm 11 to extend and retract simultaneously. When the left connecting arm 10 and the right connecting arm 11 are extended and retracted at the same time, the distance between the left connecting arm 10 and the right connecting arm 11 is stretched or reduced. In this embodiment, the left connecting plate 8, the right connecting plate 9, the left connecting arm 10 and the right connecting arm 11 are all plate structures made of steel, which can ensure their rigidity and strength and improve the service life of the mechanism. When the distance between the left connecting arm 10 and the right connecting arm 11 is reduced, the first clamp 2 and the third clamp 4 perform a clamping action, and the second clamp 3 and the fourth clamp 5 perform a clamping action; when the distance between the left connecting arm 10 and the right connecting arm 11 is stretched, the first clamp 2 and the third clamp 4 perform an opening action, and the second clamp 3 and the fourth clamp 5 perform an opening action.

[0045] Furthermore, in the present embodiment, the gripper group is fastened to the connecting arm group. Specifically, the gripper group includes a left gripper assembly and a right gripper assembly. The left gripper assembly is fastened to the left connecting arm 10, and the right gripper assembly is fastened to the right connecting arm 11. The left gripper assembly and the right gripper assembly are slidably mounted. The extension and retraction of the left connecting arm 10 and the right connecting arm 11 can drive the left gripper assembly and the right gripper assembly to slide relative to each other, so that the left gripper assembly and the right gripper assembly can perform a clamping or opening action. More specifically, the left gripper assembly includes a first bracket plate 13, a first clamp 2 and a second clamp 3, and the right gripper assembly includes a second bracket plate 14, a third clamp 4 and a fourth clamp 5. The first clamp 2 is mounted on the left end of the first bracket plate 13, the second clamp 3 is mounted on the right end of the first bracket plate 13, the third clamp 4 is mounted on the left end of the second bracket plate 14, and the fourth clamp 5 is mounted on the right end of the second bracket plate 14. The first bracket plate 13 and the second bracket plate 14 are slidably mounted. When the first bracket plate 13 and the second bracket plate 14 slide relative to each other, the first clamp 2 moves away from or approaches the third clamp 4 , and the second clamp 3 moves away from or approaches the fourth clamp 5 .

[0046] Furthermore, a first boss 15 is provided on the front side of the left connecting arm 10, and a first groove 16 is provided on the back side of the first bracket plate 13. The first boss 15 can be snapped into the first groove 16 to provide positioning and limiting. The first boss 15 is adapted to fit into the first groove 16 for a tight connection, thereby enabling the left connecting arm 10 to drive the first bracket plate 13 to move. A second boss 17 is provided on the front side of the right connecting arm 11, and a second groove 18 is provided on the back side of the second bracket plate 14. The second boss 17 can be snapped into the second groove 18 for positioning and limiting. The second boss 17 is adapted to fit into the second groove 18 for a tight connection, thereby enabling the right connecting arm 11 to drive the second bracket plate 14 to move. Preferably, both the first bracket plate 13 and the second bracket plate 14 are plate structures, and the plates are machined to have identical structures to improve the compatibility of the mechanism with other accessories and reduce the manufacturing cost of the clamping mechanism.

[0047] Furthermore, in this embodiment, the first boss 15 and the second boss 17 are arranged in a height-staggered manner, the right connecting arm 11 is provided with a first slide rail 19, the first bracket plate 13 is provided with a second slide rail 20, a first slide groove 21, and a second slide groove 22, and the second bracket plate 14 is provided with a third slide rail 23 and a third slide groove 24. Specifically, the first slide rail 19 is provided below the second boss 17, the second slide rail 20 is provided at the rear end of the first bracket plate 13, the first slide groove 21 is provided at the lower side of the front end of the first bracket plate 13, the second slide groove 22 is provided at the upper side of the front end of the first bracket plate 13, the third slide rail 23 is provided at the lower side of the rear end of the second bracket plate 14, and the third slide groove 24 is provided at the lower side of the front end of the second bracket plate 14. The first slide rail 19 is installed in conjunction with the first slide groove 21, the second slide rail 20 is installed in conjunction with the third slide groove 24, and the third slide rail 23 is installed in conjunction with the second slide groove 22. The first and second bracket plates 13, 14, of identical structure are installed in opposite directions, forming a mutually interlocking structure, which can make the clamping mechanism more compact. Preferably, both the first and second bracket plates 13, 14 are appropriately provided with a clearance groove 25 to enable smooth relative sliding of the first and second bracket plates 13, 14, avoiding motion interference. It should be noted that in other embodiments, the structures of the first and second bracket plates 13, 14 can also be different, as long as the two bracket plates can slide relative to each other.

[0048] Furthermore, in this embodiment, a second mounting slot 26 and a third mounting slot 27 are provided on the front side of the first bracket plate 13. The second mounting slot 26 is adapted for mounting the first clamp 2, and the third mounting slot 27 is adapted for mounting the second clamp 3. A fourth mounting slot 28 and a fifth mounting slot 29 are provided on the front side of the second bracket plate 14. The fourth mounting slot 28 is adapted for mounting the third clamp 4, and the fifth mounting slot 29 is adapted for mounting the fourth clamp 5. Preferably, the structures of the first clamp 2, the second clamp 3, the third clamp 4, and the fourth clamp 5 are identical. When the first clamp 2 and the second clamp 3 are installed, their openings face the same direction, and when the third clamp 4 and the fourth clamp 5 are installed, their openings face the same direction and opposite to the direction of the first clamp 2 or the second clamp 3. Therefore, when the first bracket plate 13 and the second bracket plate 14 slide relative to each other, the first clamp 2 and the third clamp 4 can be paired to perform a clamping or opening action, and the second clamp 3 and the fourth clamp 5 can be paired to perform a clamping or opening action. It should be noted that the structures of the paired first and third clamps 2 and 4, and the second and fourth clamps 3 and 5, may be identical or different, as long as they can achieve the desired gripping and opening of the product. Furthermore, more clamps can be provided on the first support plate 13 as needed, and correspondingly, opposing clamps can be added to the second support plate 14, thereby enabling the gripper cylinder 1 to grip more products in a single motion.

[0049] Furthermore, in this embodiment, the clamp of the same structure includes a clamp seat 30, a first clamp 31, a second clamp 32, a first clamping block 33 and a second clamping block 34. The clamp seat 30 is fastened to the mounting grooves corresponding to the bracket plates. The first clamp 31 and the second clamp 32 are fastened to the clamp seat 30 alternately up and down. The first clamping block 33 is fastened to the first clamp 31, and the second clamping block 34 is fastened to the second clamp 32. The first clamping block 33 and the second clamping block 34 are elastic buffer components. The first clamping block 33 and the second clamping block 34 are used to clamp the product to provide gripping force or buffering effect.

[0050] Furthermore, in this embodiment, a base 35 is configured at the bottom of the clamping cylinder 1. The base 35 can be mounted on the machine platform, thereby allowing the clamping mechanism to be installed on the machine platform. The base 35 is equipped with a slider 36 and a fourth slide rail 37 that can slide relative to each other. The slider 36 is fastened to the clamping cylinder 1 via a connecting block 38. The slider 36 can drive the clamping cylinder 1 to slide back and forth on the fourth slide rail 37, thereby allowing the clamping mechanism to slide back and forth on the machine platform, realizing the forward and backward movement of the clamping mechanism. Preferably, when the clamping mechanism advances, the left and right clamping hand assemblies perform the action of clamping the product; when the clamping mechanism retreats, the left and right clamping hand assemblies perform the action of opening the product.

[0051] Furthermore, in this embodiment, the gripper cylinder 1 is equipped with a push cylinder 39, which is fastened to the base 35 via a cylinder seat 43. The push rod 40 of the push cylinder 39 is equipped with a locking block 41 connected to the gripper cylinder 1, and the push cylinder 39 pushes the gripper cylinder 1 to slide on the fourth slide rail 37. Specifically, the locking block 41 is provided with a slot 42, which is fastened to the mounting plate of the gripper cylinder 1. The mounting plate is fastened to the rear side of the gripper cylinder 1, and the front end of the push rod 40 of the push cylinder 39 is engaged with the slot 42 of the locking block 41. When the push rod 40 of the pushing cylinder 39 is pushed out, the front end of the push rod 40 abuts against the mounting plate and further pushes the clamping cylinder 1 forward, so that the clamping mechanism moves forward on the fourth slide rail 37; when the push rod 40 of the pushing cylinder 39 is retracted, the front end of the push rod 40 is stopped by the slot 42, and the push rod 40 drives the clamping mechanism to move backward on the fourth slide rail 37.

[0052] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. Double-claw linkage mechanism, characterized in that: include: A gripper cylinder, wherein the gripper cylinder is provided with a left drive rod and a right drive rod, and the gripper cylinder drives the left drive rod and the right drive rod to extend and retract simultaneously; a connecting arm assembly, the connecting arm assembly comprising a left connecting arm and a right connecting arm, the left connecting arm being fastened to the left driving rod via a left connecting plate, and the right connecting arm being fastened to the right connecting arm via a right connecting plate; A gripper assembly, the gripper assembly comprising a left gripper assembly and a right gripper assembly, the left gripper assembly being fixedly mounted on the left connecting arm, the right gripper assembly being fixedly mounted on the right connecting arm, and the left gripper assembly and the right gripper assembly being slidably mounted; The left gripper assembly includes a first bracket plate, a first clamp and a second clamp, and the right gripper assembly includes a second bracket plate, a third clamp and a fourth clamp; The first clamp is installed at the left end of the first bracket plate, the second clamp is installed at the right end of the first bracket plate, the third clamp is installed at the left end of the second bracket plate, and the fourth clamp is installed at the right end of the second bracket plate; The first bracket plate and the second bracket plate are slidably mounted; When the first bracket plate and the second bracket plate slide relative to each other, the first clamp moves away from or closer to the third clamp, and the second clamp moves away from or closer to the fourth clamp.

2. The double-claw linkage mechanism according to claim 1, characterized in that: The left connecting plate and the right connecting plate have the same structure and are both provided with a first mounting groove, and the first mounting groove is adapted to fasten and mount the left connecting arm and the right connecting arm.

3. The double-claw linkage mechanism according to claim 2, characterized in that: The left connecting arm is provided with a first boss, the first bracket plate is provided with a first groove, and the first boss is adapted to the first groove for fastening connection; The right connecting arm is provided with a second boss, the second bracket plate is provided with a second groove, and the second boss is adapted to the second groove for fastening connection.

4. The double-claw linkage mechanism according to claim 3, characterized in that: The first bracket plate and the second bracket plate have the same structure, and the first boss and the second boss are arranged in a staggered manner.

5. The double-claw linkage mechanism according to claim 1, characterized in that: The right connecting arm is provided with a first slide rail, the first bracket plate is provided with a second slide rail, a first slide groove and a second slide groove, and the second bracket plate is provided with a third slide rail and a third slide groove; The first slide rail is installed in conjunction with the first slide groove, the second slide rail is installed in conjunction with the third slide groove, and the third slide rail is installed in conjunction with the second slide groove.

6. The double-claw linkage mechanism according to claim 5, characterized in that: The first bracket plate and the second bracket plate have the same structure, and the first bracket plate and the second bracket plate are installed up and down in opposite directions.

7. The double-claw linkage mechanism according to claim 1, characterized in that: The first bracket plate is provided with a second mounting slot and a third mounting slot. The second mounting slot is adapted for installation by the first clamp, and the third mounting slot is adapted for installation by the second clamp.

8. The double-claw linkage mechanism according to claim 7, characterized in that: The second bracket plate is provided with a fourth mounting slot and a fifth mounting slot. The fourth mounting slot is adapted for installation by the third clamp, and the fifth mounting slot is adapted for installation by the fourth clamp.

9. The double-claw linkage mechanism according to claim 1, characterized in that: The bottom of the clamping cylinder is provided with a base, and the base is provided with a slider and a fourth slide rail which can slide relatively. The slider is firmly connected to the clamping cylinder, and the slider can drive the clamping cylinder to slide on the fourth slide rail.

10. The double-claw linkage mechanism according to claim 9, characterized in that: The clamping cylinder is equipped with a pushing cylinder, which is installed on the base through a cylinder seat. The push rod of the pushing cylinder is connected to the clamping cylinder, and the pushing cylinder pushes the clamping cylinder to slide on the fourth slide rail.

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