Matrix type drilling robot

Abstract

The utility model discloses a matrix type drilling robot which comprises a chassis mechanism used for enabling the device to walk to a target position of drilling operation; the lifting mechanism comprises a winch and a three-stage frame connected with the winch through a steel wire rope group; the three-stage frame comprises a first-stage frame driven by a winch to move up and down, a second-stage frame moving up and down relative to the first-stage frame, a third-stage frame moving up and down relative to the second-stage frame, and a lifting platform moving up and down relative to the third-stage frame; the feeding mechanism is installed on the lifting platform and comprises a lead screw motor, a hand drill motor driven by the lead screw motor to do linear motion, a self-locking chuck connected with an output shaft of the hand drill motor and a drill bit driven by the self-locking chuck to rotate and achieving the drilling function. According to the matrix type drilling robot, the drilling limit height of the device can be greatly increased, the drilling depth can be controlled, and the drilling stability is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of building construction, especially to a matrix type drilling robot. BACKGROUND

[0002] In building construction, the demand for drilling is large, especially in high drilling operation tasks, which need to be manually elevated to the operation position by means of scaffolding, etc., consuming time and effort. And in repeated drilling operations, it is easy to make the arms tired, reducing work efficiency and quality. And in special working scenarios, such as tile drilling, the drill bit needs to be kept as perpendicular to the wall as possible, and manual operation undoubtedly has the possibility of failure. It is necessary to develop a corresponding robot for high-altitude drilling operation tasks. SUMMARY

[0003] In order to overcome the shortcomings of the prior art, the technical problem to be solved by the utility model is to provide a matrix type drilling robot, which can greatly improve the limit height of the device drilling, and can control the drilling depth and ensure the stability of the drilling.

[0004] To achieve the above purpose, the utility model provides a matrix type drilling robot, which comprises: a chassis mechanism for walking the device to the target position of the drilling operation; a lifting mechanism installed on the chassis mechanism, which comprises a winch, a three-stage frame connected with the winch through a steel wire rope group, the three-stage frame comprising a first-stage frame driven by the winch to move up and down, a second-stage frame moving up and down relative to the first-stage frame, a third-stage frame moving up and down relative to the second-stage frame, and a lifting platform moving up and down relative to the third-stage frame; a feeding mechanism installed on the lifting platform, which comprises a lead screw motor, a hand drill motor driven by the lead screw motor to move linearly, a self-locking chuck coupled with the output shaft of the hand drill motor, and a drill bit rotating at high speed driven by the self-locking chuck to realize the drilling function.

[0005] Preferably, the output shaft of the winch is connected with a winding drum, the winding drum is wound with a steel wire rope, and the part of the steel wire rope extending out is a first-stage steel wire rope; the first-stage frame is composed of two first vertical square tubes and a first upper horizontal square tube, the first vertical square tubes are welded with the bottom plane of the frame, the first upper horizontal square tube is connected with the two first vertical square tubes through angle codes respectively, and the first upper horizontal square tube is connected with the top side surfaces of the two first vertical square tubes; a first-stage fixed pulley is installed in the middle position of the first upper horizontal square tube through screws, and first-stage upper lifting rings are symmetrically welded on both sides of the first upper horizontal square tube.

[0006] Furthermore, the second-stage frame is composed of two second vertical square tubes, a first lower horizontal square tube and a second upper horizontal square tube, the first lower horizontal square tube and the two second vertical square tubes are respectively connected with iron sheets, the second upper horizontal square tube and the two second vertical square tubes are respectively connected with angle codes, and the second upper horizontal square tube is connected to the top sides of the two second vertical square tubes; the outer sides of the two second vertical square tubes of the second-stage frame are slidably connected with the inner sides of the two first vertical square tubes of the first-stage frame, the second-stage lifting ring is welded to the middle position of the first lower horizontal square tube, the second-stage fixed pulley is symmetrically installed on both sides of the bottom surface of the second upper horizontal square tube by screws, and the second-stage upper rings are symmetrically welded to both sides of the side surfaces of the second upper horizontal square tube; the first-stage steel wire rope passes through the frame fixed pulley and the first-stage fixed pulley fastened to the bottom plane of the frame with screws in turn, and its end is bolted to the second-stage lifting ring for lifting the second-stage frame.

[0007] Furthermore, the third-level frame is composed of two third vertical square tubes, a second lower horizontal square tube and a third upper horizontal square tube. The second lower horizontal square tube is connected to the two third vertical square tubes with iron sheets respectively, and the third upper horizontal square tube is connected to the two third vertical square tubes respectively through angle codes. The third upper horizontal square tube is connected to the top side surfaces of the two third vertical square tubes; the outer side surfaces of the two third vertical square tubes of the third-level frame are slidingly connected to the inner side surfaces of the two second vertical square tubes of the second-level frame, and the third-level fixed pulley is symmetrically installed on both sides of the third upper horizontal square tube with screws; the two second-level steel ropes are symmetrically arranged on the left and right, one end of the second-level steel rope is bolted to the first-level upper lifting ring, passes through the second-level fixed pulley, and the other end is bolted to the hole of the second lower horizontal square tube of the third-level frame for lifting the third-level frame.

[0008] Preferably, the lifting platform is welded with square tubes, and angle codes are provided on both sides thereof. The lifting platform is slidingly connected to the outer side surfaces of the two third vertical square tubes; two lifting platform lifting rings are symmetrically welded on the upper part of the lifting platform; two third-level steel ropes are symmetrically arranged on the left and right, one end of the third-level steel wire rope is bolted to the second-level upper lifting ring, passes through the third-level fixed pulley, and the other end is bolted to the lifting platform lifting ring for lifting the lifting platform.

[0009] Preferably, a slide is installed on the lifting platform by screws, the screw motor is arranged at one end of the slide, and a flange is provided at the other end of the slide; the output shaft of the screw motor is connected to a screw, the other end of the screw passes through the screw bearing in the flange, the side and bottom surfaces of the slider are in sliding contact with the inner surface of the slide, and a through hole is opened in the middle of the slider at the position where the screw passes through, the screw nut is fixed in the through hole, and cooperates with the screw thread; the hand drill motor is installed on the upper part of the slider, and its output shaft faces outward.

[0010] Furthermore, a positioning camera is fastened to the lower part of the slide, and a laser rangefinder is installed at the front part of the slider.

[0011] Preferably, the chassis structure is mainly composed of a frame, a battery, a rear-wheel drive motor, a rear wheel, a front wheel support, a front wheel bearing, and a front wheel; wherein, the battery is fixed to a platform at the bottom of the frame for powering the entire device; the rear-wheel drive motor is fixed under the platform at the bottom of the frame for driving the rear wheel; the front wheel support is welded under the platform at the bottom of the frame and symmetrically arranged on the left and right sides, each with a built-in front wheel bearing, and the front wheel shaft passes through the front wheel bearing, so that the front wheel can rotate with the rear wheel during normal driving.

[0012] From the above, compared with the prior art, the matrix drilling robot of the present invention has at least the following beneficial effects:

[0013] 1. The detachable design facilitates the long-distance transportation and installation of the device.

[0014] 2. The lifting mechanism controlled by the wire rope greatly increases the maximum drilling height of the device.

[0015] 3. The feed mechanism controlled by the slider can control the drilling depth and ensure the stability of drilling. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a schematic structural diagram of the matrix drilling robot of the present utility model;

[0018] Figure 2 It is a structural diagram of the chassis mechanism of the utility model;

[0019] Figure 3 This is a schematic structural diagram of the lifting mechanism of the utility model from a front perspective;

[0020] Figure 4 This is a schematic structural diagram of the lifting mechanism of the utility model from the back perspective;

[0021] Figure 5 This is a schematic structural diagram of the feeding mechanism of the present invention from a front perspective;

[0022] Figure 6 It is a structural schematic diagram of the feeding mechanism of the present utility model from a back perspective.

[0023] In the picture:

[0024] 100-chassis mechanism;

[0025] 101-frame, 102-battery, 103-rear wheel drive motor, 104-rear wheel, 105-front wheel support, 106-front wheel bearing, 107-front wheel;

[0026] 200-lifting mechanism;

[0027] 201- winch, 202- drum, 203- first-stage frame, 204- frame fixed pulley, 205- first-stage fixed pulley, 206- second-stage lifting ring, 207- first-stage wire rope, 208- second-stage frame, 209- first-stage upper lifting ring, 210- second-stage fixed pulley, 211- second-stage wire rope, 212- third-stage frame, 213- second-stage upper lifting ring, 214- third-stage fixed pulley, 215- third-stage wire rope, 216- lifting platform, 217- lifting platform lifting ring;

[0028] 300-feeding mechanism;

[0029] 301-slide, 302-screw motor, 303-screw, 304-slider, 305-screw nut, 306-screw bearing, 307-flange, 308-hand drill motor, 309-self-locking chuck, 310-drill bit, 311-positioning camera, 312-laser rangefinder. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] See below Figures 1-6 The matrix drilling robot of the present utility model is described in detail.

[0032] The matrix drilling robot of the present invention includes a chassis mechanism 100, a lifting mechanism 200, and a feeding mechanism 300, wherein the chassis mechanism 100 provides a movement function for the device, the lifting mechanism 200 provides a lifting function for the device, and the feeding mechanism 300 provides a drilling function for the device.

[0033] like Figure 2As shown, the chassis structure 100 mainly consists of a frame 101, a battery 102, a rear-wheel drive motor 103, a rear wheel 104, a front wheel support 105, a front wheel bearing 106, and a front wheel 107. The frame 101 is entirely welded from square tubes; the battery 102 is fixed to a platform at the bottom of the frame 101 to power the entire device; the rear-wheel drive motor 103 is fixed below the platform at the bottom of the frame 101 to drive the rear wheel 104; the front wheel support 105 is welded below the platform at the bottom of the frame 101 and is symmetrically arranged on both sides, each with a built-in front wheel bearing 106. The shaft of the front wheel 107 passes through the front wheel bearing 106, allowing the front wheel 107 to rotate with the rear wheel 104 during normal driving.

[0034] like Figure 3 and Figure 4 As shown, the lifting mechanism 200 is mainly composed of a winch 201, a drum 202, a first-level frame 203, a frame fixed pulley 204, a first-level fixed pulley 205, a second-level lifting ring 206, a first-level steel wire rope 207, a second-level frame 208, a first-level upper lifting ring 209, a second-level fixed pulley 210, a second-level steel wire rope 211, a third-level frame 212, a second-level upper lifting ring 213, a third-level fixed pulley 214, a third-level steel wire rope 215, a lifting platform 216, and a lifting platform lifting ring 217. The winch 201 is mounted on the bottom plane of the vehicle frame 101. Its output shaft is connected to the drum 202, which is wound with a wire rope. The protruding portion of the wire rope is the first-stage wire rope 207. The first-stage frame 203 consists of two first vertical square tubes and a first upper transverse square tube. The first vertical square tubes are welded to the bottom plane of the vehicle frame 101. The first upper transverse square tube is connected to the two first vertical square tubes via angle brackets, and the first upper transverse square tube is connected to the top side of the two first vertical square tubes. The first-stage fixed pulley 205 is screwed to the middle position of the first upper transverse square tube, and the first-stage upper lifting rings 209 are symmetrically welded to both sides of the first upper transverse square tube.

[0035] The second-level frame 208 is composed of two second vertical square tubes, a first lower horizontal square tube and a second upper horizontal square tube. The first lower horizontal square tube is connected to the two second vertical square tubes with iron sheets respectively, and the second upper horizontal square tube is connected to the two second vertical square tubes respectively through angle codes. The second upper horizontal square tube is connected to the top side surfaces of the two second vertical square tubes to ensure that the outer side surfaces of the two second vertical square tubes of the second-level frame 208 are slidingly connected to the inner side surfaces of the two first vertical square tubes of the first-level frame 203. The second-level lifting ring 206 is welded to the middle position of the first lower horizontal square tube, and the second-level fixed pulley 210 is symmetrically installed on both sides of the bottom surface of the second upper horizontal square tube by screws. The second-level upper rings 213 are symmetrically welded to both sides of the side surfaces of the second upper horizontal square tube.

[0036] The third-stage frame 212 is composed of two third vertical square tubes, a second lower horizontal square tube and a third upper horizontal square tube. The second lower horizontal square tube is connected to the two third vertical square tubes with iron sheets, and the third upper horizontal square tube is connected to the two third vertical square tubes with angle codes. The third upper horizontal square tube is connected to the top side surfaces of the two third vertical square tubes to ensure that the outer side surfaces of the two third vertical square tubes of the third-stage frame 212 are slidably connected to the inner side surfaces of the two second vertical square tubes of the second-stage frame 208. The third-stage fixed pulley 214 is symmetrically installed on both sides of the third upper horizontal square tube with screws; the lifting platform 216 is completed by welding square tubes, and angle codes are respectively provided on both sides thereof. The lifting platform 216 is slidably connected to the outer side surfaces of the two third vertical square tubes, and two lifting platform lifting rings 217 are symmetrically welded to the upper part of the lifting platform 216; the first The first-level steel wire rope 207 extends from the drum 202, passes through the frame fixed pulley 204 and the first-level fixed pulley 205 fastened to the bottom plane of the frame 101 with screws in sequence, and its end is bolted to the second-level lifting ring 206, which is responsible for the lifting of the second-level frame 208; the two second-level steel wire ropes 211 are arranged symmetrically on the left and right, one end of the second-level steel wire rope 211 is bolted to the first-level upper ring 209, passes through the second-level fixed pulley 210, and the other end is bolted to the hole of the second lower horizontal square tube of the third-level frame 212, which is responsible for the lifting of the third-level frame 212; the two third-level steel wire ropes 215 are arranged symmetrically on the left and right, one end of the third-level steel wire rope 215 is bolted to the second-level upper ring 213, passes through the third-level fixed pulley 214, and the other end is bolted to the lifting platform ring 217, which is responsible for the lifting of the lifting platform 216.

[0037] The above-mentioned first-level frame 203, second-level frame 208, third-level frame 212 and lifting platform 216 constitute a three-level frame, the first-level wire rope 207, second-level wire rope 211 and third-level wire rope 215 constitute a wire rope group, and the winch 201 is connected to the three-level frame through the wire rope group to realize the extension and retraction of the three-level frame.

[0038] When the winch 201 is started, the first-stage steel wire rope 207 is retracted, and the second-stage frame 208 is lifted by pulling the second-stage lifting ring 206; while the second-stage frame 208 is lifted, the second-stage fixed pulley 210 is raised. Since the length of the second-stage steel wire rope 211 remains unchanged and one end of the second-stage steel wire rope is connected to the first-stage upper lifting ring 209, the second-stage steel wire rope 211 is pulled by the second lower horizontal square tube of the third-stage frame 212 under the action of the second-stage fixed pulley 210 to lift the third-stage frame 212 relative to the second-stage frame 208; As winch 201 is lifted, the third-stage fixed pulley 214 rises. Since the third-stage wire rope 215 remains the same length and one end is connected to the second-stage upper ring 213, the third-stage wire rope 215, under the action of the third-stage fixed pulley 214, pulls the lifting platform ring 217, thereby lifting the lifting platform 216 relative to the third-stage frame 212. Ultimately, the lifting platform 216 has a stroke amplified three times that of the hoist 201. When the hoist 201 is reversed, the first-stage wire rope 207 slackens, and under the action of gravity, the actuation states of the above components are reversed. This embodiment only illustrates the actuation principle of this three-stage lifting system; in practice, more levels can be configured.

[0039] like Figure 5 and Figure 6 As shown, the feeding mechanism 300 consists of a slide 301, a screw motor 302, a screw 303, a slider 304, a screw nut 305, a screw bearing 306, a flange 307, a hand drill motor 308, a self-locking chuck 309, a drill bit 310, a positioning camera 311, and a laser rangefinder 312. The slide 301 is mounted on the lifting platform 216 by screws, with the screw motor 302 provided at one end and the flange 307 provided at the other end. The output shaft of the screw motor 302 is connected to the screw 303, and the other end of the screw 303 passes through the screw bearing 306 in the flange 307. The side and bottom surfaces of the slider 304 are in sliding contact with the inner surface of the slide 301. A through hole is opened in the middle of the slider 304 at the position where the screw 303 passes through. The screw nut 305 is fixed in the through hole and is fixed with the screw nut 305. Screw 303 is threaded; when screw motor 302 is activated, screw 303 drives screw nut 305 and slider 304 in linear motion, thereby achieving the feed function of the hand drill. Hand drill motor 308 is mounted above slider 304, with its output shaft facing outward. A self-locking chuck 309 is connected to the output shaft of hand drill motor 308 and can clamp drill bit 310. When hand drill motor 308 is activated, self-locking chuck 309 drives drill bit 310 to rotate at high speed, thereby achieving the drilling function. A positioning camera 311 is fastened to the bottom of slide 301, and a laser rangefinder 312 is mounted on the front of slider 304.

[0040] Below, refer to Figures 1-6Combined with the description of the above structural features, the working principle of the matrix drilling robot of the present invention is described in detail:

[0041] 1. Start the rear wheel drive motor 103 to move the device to the target position for the drilling operation.

[0042] 2. Start the winch 201 to retract the wire rope and lift the lifting mechanism 200 upward.

[0043] 3. When the target height set by the control program is reached, or the positioning camera 311 detects that the drill head 310 has reached the target point, the winch 201 stops.

[0044] 4. Start the hand drill motor 308 to rotate the drill bit 310 at high speed. Then start the screw motor 302 to move the slider 304 forward. Under the monitoring of the laser rangefinder 312, the feed depth of the slider 304 is controlled. After reaching the specified depth, the screw motor 302 rotates in the opposite direction to move the slider 304 in the opposite direction. The drill bit 310 withdraws and the drilling operation is completed.

[0045] 5. The winch 201 can be started to adjust the height of the lifting platform 216 to prepare for the next drilling operation.

[0046] The above is only a specific implementation method of the present invention, but the scope of protection of the present invention is not limited to this. Any changes or replacements that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A matrix drilling robot, characterized in that: include: A chassis mechanism (100) is used to enable the device to move to a target position for a drilling operation; A lifting mechanism (200) is installed on the chassis mechanism (100), comprising a hoist (201), a three-stage frame connected to the hoist (201) via a steel wire rope group, the three-stage frame comprising a first-stage frame (203) driven by the hoist (201) to move up and down, a second-stage frame (208) moving up and down relative to the first-stage frame (203), a third-stage frame (212) moving up and down relative to the second-stage frame (208), and a lifting platform (216) moving up and down relative to the third-stage frame (212); The feeding mechanism (300) is installed on the lifting platform (216), and includes a screw motor (302), a hand drill motor (308) driven by the screw motor (302) to perform linear motion, a self-locking chuck (309) connected to the output shaft of the hand drill motor (308), and a drill bit (310) driven by the self-locking chuck (309) to rotate at high speed and realize a drilling function.

2. The matrix drilling robot according to claim 1, characterized in that: The output shaft of the hoist (201) is connected to a drum (202), a steel wire rope is wound around the drum (202), and the protruding portion of the steel wire rope is a first-stage steel wire rope (207); The first-stage frame (203) is composed of two first vertical square tubes and a first upper transverse square tube, the first vertical square tubes are welded to the bottom plane of the vehicle frame (101), the first upper transverse square tube is connected to the two first vertical square tubes respectively through angle brackets, and the first upper transverse square tube is connected to the top side surfaces of the two first vertical square tubes; the first-stage fixed pulley (205) is installed at the middle position of the first upper transverse square tube by screws, and the first-stage upper hanging rings (209) are symmetrically welded to both sides of the first upper transverse square tube.

3. The matrix drilling robot according to claim 2, characterized in that: The second-stage frame (208) is composed of two second vertical square tubes, a first lower horizontal square tube and a second upper horizontal square tube, the first lower horizontal square tube and the two second vertical square tubes are connected with iron sheets, the second upper horizontal square tube and the two second vertical square tubes are connected with angle brackets, and the second upper horizontal square tube is connected to the top side surfaces of the two second vertical square tubes; The outer side surfaces of the two second vertical square tubes of the second-stage frame (208) are slidably connected to the inner side surfaces of the two first vertical square tubes of the first-stage frame (203); the second-stage lifting ring (206) is welded to the middle position of the first lower horizontal square tube; the second-stage fixed pulley (210) is symmetrically installed on both sides of the bottom surface of the second upper horizontal square tube by screws; the second-stage upper lifting ring (213) is symmetrically welded to both sides of the side of the second upper horizontal square tube; the first-stage steel wire rope (207) passes through the frame fixed pulley (204) and the first-stage fixed pulley (205) fastened to the bottom plane of the frame (101) by screws in sequence, and its end is bolted to the second-stage lifting ring (206) for lifting the second-stage frame (208).

4. The matrix drilling robot according to claim 3, characterized in that: The third-level frame (212) is composed of two third vertical square tubes, a second lower horizontal square tube and a third upper horizontal square tube, wherein the second lower horizontal square tube is connected to the two third vertical square tubes by iron sheets, the third upper horizontal square tube is connected to the two third vertical square tubes by angle brackets, and the third upper horizontal square tube is connected to the top side surfaces of the two third vertical square tubes. The outer side surfaces of the two third vertical square tubes of the third-level frame (212) are slidably connected to the inner side surfaces of the two second vertical square tubes of the second-level frame (208); the third-level fixed pulley (214) is symmetrically installed on both sides of the third upper horizontal square tube with screws; the two second-level steel wire ropes (211) are symmetrically arranged on the left and right sides, one end of the second-level steel wire rope (211) is bolted to the first-level upper lifting ring (209), passes through the second-level fixed pulley (210), and the other end is bolted to the hole of the second lower horizontal square tube of the third-level frame (212) for lifting the third-level frame (212).

5. The matrix drilling robot according to claim 4, characterized in that: The lifting platform (216) is welded with a square tube, and angle brackets are provided on both sides of the lifting platform (216). The lifting platform (216) is slidably connected to the outer side surfaces of the two third vertical square tubes; two lifting platform rings (217) are symmetrically welded on the upper part of the lifting platform (216); two third-level steel wire ropes (215) are symmetrically arranged on the left and right, one end of the third-level steel wire rope (215) is tied to the second-level upper ring (213), passes through the third-level fixed pulley (214), and the other end is tied to the lifting platform ring (217) for lifting the lifting platform (216).

6. The matrix drilling robot according to claim 1, characterized in that: A slide (301) is mounted on the lifting platform (216) by screws, the screw motor (302) is arranged at one end of the slide (301), and a flange (307) is provided at the other end of the slide (301); The output shaft of the screw motor (302) is connected to a screw (303), the other end of the screw (303) passes through a screw bearing (306) in the flange (307), the side and bottom surfaces of the slider (304) are in sliding contact with the inner surface of the slide (301), and a through hole is opened in the middle of the slider (304) at the position where the screw (303) passes through, and a screw nut (305) is fixed in the through hole and is threadedly engaged with the screw (303); The hand drill motor (308) is installed on the upper part of the slider (304), with its output shaft facing outward.

7. The matrix drilling robot according to claim 6, characterized in that: A positioning camera (311) is fastened to the lower portion of the slide (301), and a laser rangefinder (312) is installed at the front portion of the slider (304).

8. The matrix drilling robot according to claim 1, characterized in that: The chassis mechanism (100) is mainly composed of a vehicle frame (101), a battery (102), a rear wheel drive motor (103), a rear wheel (104), a front wheel support (105), a front wheel bearing (106), and a front wheel (107); wherein the battery (102) is fixed on a platform at the bottom of the vehicle frame (101) for supplying power to the entire device; the rear wheel drive motor (103) is fixed under the platform at the bottom of the vehicle frame (101) for driving the rear wheel (104); the front wheel support (105) is welded under the platform at the bottom of the vehicle frame (101) and symmetrically arranged on the left and right sides, and has a front wheel bearing (106) built in each. The shaft of the front wheel (107) passes through the front wheel bearing (106), so that the front wheel (107) can rotate along with the rear wheel (104) during normal driving.

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