Electric actuator and actuator assembly

Abstract

The embodiment of the utility model discloses an electric actuator. The electric actuator comprises a shell, a driver, a transmission assembly, a sliding assembly and an output shaft. The driver, the transmission assembly, the sliding assembly and the output shaft are all arranged in the shell, a through hole is formed in the shell, the transmission assembly, the sliding assembly and the output shaft are all arranged on the same side of the driver, the driver is in transmission connection with the sliding assembly through the transmission assembly, and the sliding assembly comprises a driving part, a driven part and a sliding part. The driving part is connected with the output end of the transmission assembly, the driving part is in transmission connection with the driven part, the driver drives the driving part to rotate through the transmission assembly, the driven part is driven by the rotating driving part to linearly slide, and the sliding part slides along with the driven part and drives the output shaft to do telescopic motion through the through hole. The embodiment of the utility model further discloses an actuator assembly. The actuator assembly comprises the line concentration box and the electric actuator. The electric actuator and the actuator assembly are large in thrust and high in control precision under the condition that the size is small.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of driving devices, in particular to an electric actuator and an actuator assembly. BACKGROUND

[0002] Electric actuators have different requirements in different application scenarios. In some application scenarios, both the control accuracy of the actuator and the large thrust of the actuator are required, which makes the design of the electric actuator difficult. Moreover, for precision manufacturing, the volume of the electric actuator cannot be too large.

[0003] However, the electric actuators on the market are difficult to meet the requirements of control accuracy, large thrust and small volume.

[0004] Electric actuators have different requirements in different application scenarios. In some application scenarios, in order to improve production efficiency, many actuators are often used at the same time. When many actuators are used together, since the actuators all need to be powered, there will be a problem of messy field wiring.

[0005] Therefore, there is an urgent need for an electric actuator with high control accuracy, large thrust and small volume to overcome the above-mentioned defects. SUMMARY

[0006] The purpose of the present application is to provide an electric actuator with high control accuracy, large thrust and small volume.

[0007] Another purpose of the present application is to provide an actuator assembly with high control accuracy, large thrust and small volume.

[0008] To achieve the above-mentioned purposes, the present application provides an electric actuator, comprising a housing, a driver, a transmission assembly, a sliding assembly and an output shaft; the driver, the transmission assembly, the sliding assembly and the output shaft are all arranged in the housing, a through hole is formed on the housing, the transmission assembly, the sliding assembly and the output shaft are all arranged on the same side of the driver, the driver is in transmission connection with the sliding assembly through the transmission assembly, the sliding assembly comprises a driving piece, a driven piece and a sliding piece, the driving piece is connected with the output end of the transmission assembly, the driving piece is in transmission connection with the driven piece, the driver drives the driving piece to rotate through the transmission assembly, the driven piece linearly slides under the driving of the rotating driving piece, the sliding piece slides with the driven piece and drives the output shaft to make extension and retraction movement through the through hole.

[0009] In some embodiments of the present application, the driven piece is arranged in the sliding piece, one end of the driving piece extends into the sliding piece and is connected with the driven piece.

[0010] In some embodiments of the present application, the driving member has external threads, the driven member has internal threads, the sliding member has a mounting slot, the driven member is fixed in the mounting slot, one end of the driving member extends into the mounting slot, and the driven member is sleeved on the driving member and threadedly connected with the driving member.

[0011] In some embodiments of the present application, the sliding assembly further comprises a fastener in the mounting slot, the fastener is located on a side of the driven member away from the output shaft and abuts against the driven member, and the fastener is fixedly connected with the sliding member to fasten the driven member in the mounting slot.

[0012] In some embodiments of the present application, the sliding assembly further comprises a fixing member, the driven member has a fixing slot matched with the fixing member, and the fixing member is embedded in the sliding member and extends into the mounting slot and is clamped in the fixing slot.

[0013] In some embodiments of the present application, one end of the driving member is sleeved with a bearing, and the bearing is arranged in the mounting slot.

[0014] In some embodiments of the present application, the driving member is provided with a limiting slot, and the bearing is arranged in the limiting slot.

[0015] In some embodiments of the present application, the electric actuator further comprises a circuit board, the circuit board is located on a side of the driver away from the transmission assembly, and the circuit board is arranged to extend along the sliding direction of the sliding member.

[0016] In some embodiments of the present application, the axis center line of the output shaft is not collinear with the rotation center line of the driving member, and the distance between the axis center line of the output shaft and the driver is smaller than the distance between the rotation center line of the first transmission member and the driver in the radial direction of the output shaft.

[0017] In some embodiments of the present application, the electric actuator further comprises a guide rail assembly in the housing, the guide rail assembly is connected with the sliding member or the driven member or the output shaft, and the guide rail assembly is further connected with the housing.

[0018] In some embodiments of the present application, the electric actuator further comprises a linear encoder in the housing, the linear encoder is connected with the guide rail assembly and arranged on the sliding member or the driving member or the output shaft, and the linear encoder is further connected with the housing.

[0019] In some embodiments of the present application, the electric actuator further comprises a rotary encoder in the housing, and the rotary encoder is arranged on the driver.

[0020] In some embodiments of the present application, the transmission assembly is a belt transmission structure.

[0021] In some embodiments of the present application, the driver is a rotary motor.

[0022] To achieve the above object, the embodiments of the present application further provide an actuator assembly, comprising a junction box and the electric actuator as described above, the junction box comprising a box body, an electric terminal board and a plurality of electric connectors, the plurality of electric connectors being arranged on the box body and electrically connected with the electric terminal board, any of the electric connectors being at least partially exposed outside the box body, the electric terminal board being used for electrically connecting with an external power supply; the electric actuators are arranged side by side, any of the electric actuators being provided with an electric connector plug, the electric connector plug being electrically connectable with any of the electric connectors.

[0023] In some embodiments of the present application, the junction box further comprises a PCB board arranged in the box body, the PCB board being electrically connected with the electric terminal board, and any of the electric connectors being electrically connected with the PCB board.

[0024] In some embodiments of the present application, the electric terminal board is at least partially exposed outside the box body.

[0025] In some embodiments of the present application, in any of the electric actuators, the through hole is arranged on one side of the shell, and the electric connector plug is arranged on the other side of the shell.

[0026] Compared with the prior art, the electric actuator of the embodiments of the present application comprises a shell, a driver, a transmission assembly, a sliding assembly and an output shaft; the driver, the transmission assembly, the sliding assembly and the output shaft are arranged in the shell, a through hole is formed on the shell, the transmission assembly, the sliding assembly and the output shaft are arranged on the same side of the driver, the driver is in transmission connection with the transmission assembly and the sliding assembly, the sliding assembly comprises a driving member, a driven member and a sliding member, the driving member is connected with the output end of the transmission assembly, the driving member is in transmission connection with the driven member, the driving member is driven to rotate by the driver through the transmission assembly, the driven member is linearly slid under the driving of the rotating driving member, the sliding member slides along with the driven member and drives the output shaft to make extension and retraction movement through the through hole, so that the electric actuator of the embodiments of the present application has large thrust and high control precision in the case of small volume. In addition, in the actuator assembly of the embodiments of the present application, a plurality of electric connectors are arranged on the box body and electrically connected with the electric terminal board, any of the electric connectors is at least partially exposed outside the box body, the electric terminal board is used for electrically connecting with an external power supply, the electric actuators are arranged side by side, any of the electric actuators is provided with an electric connector plug, the electric connector plug is electrically connectable with any of the electric connectors, so that the wiring of the plurality of electric actuators is neat and orderly. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without making any creative effort.

[0028] Figure 1 It is a perspective structural schematic diagram of the electric actuator of the embodiments of the present application.

[0029] Figure 2 It is a perspective structural schematic diagram of the electric actuator of the embodiments of the present application. Figure 1

[0030] Figure 3 It is a sectional structural schematic diagram of the electric actuator of the embodiments of the present application. Figure 1

[0031] Figure 4 It is a partial enlarged view of the part A shown in the figure. Figure 3

[0032] Figure 5 It is a front view of the actuator assembly of the embodiments of the present application.

[0033] Figure 6 It is a sectional structural schematic diagram of the actuator assembly of the embodiments of the present application. Figure 5 DETAILED DESCRIPTION

[0034] In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making any creative effort are within the scope of protection of the present application.

[0036] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0037] ​​​​First, in the description of the embodiments of the present application, it needs to be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] Secondly, the terms "first", "second", "third" and the like are only used to distinguish the description, and there is no order or importance, and cannot be understood as indicating or implying relative importance, and the features with "first", "second" can explicitly or implicitly include one or more features.

[0039] Furthermore, the terms "horizontal", "vertical" and the like do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined; the term "in a direction" does not mean that it must be absolutely parallel to the direction, but can be slightly offset, i.e. it has a component in the direction.

[0040] In addition, in the description of the present application, it also needs to be explained that unless otherwise explicitly specified and limited, the terms "set", "install", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected, or it can be electromagnetic connected, or it can be communicatively connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] In addition, "and / or" in the present application, such as "feature 1 and / or feature 2", means that it can be "feature 1" alone, "feature 2" alone, or "feature 1" plus "feature 2", the three cases. "And / or" in the present application, such as "feature 1 and / or feature 2", means that it can be "feature 1" alone, "feature 2" alone, or "feature 1" plus "feature 2", the three cases.

[0042] Please refer to Figures 5-6The executor assembly 1000 of the embodiment of the present application comprises a hub box 200 and electric actuators 100. The hub box 200 comprises a box body 210, an electric terminal board 220 and five electric connectors 230. The five electric connectors 230 are arranged on the box body 210 and electrically connected with the electric terminal board 220. Any electric connector 230 is at least partially exposed outside the box body 210. The electric terminal board 220 is used to be electrically connected with an external power supply. The electric actuators 100 are arranged side by side in five. Any electric actuator 100 is provided with an electric connector 100a which can be electrically connected with any electric connector 230. The electric actuator 100 is electrically connected with the electric terminal board 220 through the electric connection between the electric connector 100a and the electric connector 230, and is electrically connected with the external power supply. It can be understood that in other embodiments, the electric actuators can also be provided with one, two, three or other number of electric connectors. Correspondingly, the number of electric connectors is greater than or equal to the number of electric actuators, so as to ensure that the electric connector of each electric actuator can be electrically connected with an electric connector. However, the present application is not limited thereto.

[0043] As shown in Figures 5-6 , the hub box 200 further comprises a PCB 240 arranged in the box body 210. The PCB 240 is electrically connected with the electric terminal board 220. Any electric connector 230 is electrically connected with the PCB 240, so that the electric connector 230 is electrically connected with the electric terminal board 220 through the PCB 240.

[0044] As shown in Figures 5-6 , the electric terminal board 220 is partially exposed outside the box body 210, so as to be electrically connected with the external power supply. Of course, in other embodiments, the electric terminal board can also be completely exposed outside the shell 10, so as to achieve the above-mentioned effect. Therefore, the present application is not limited thereto.

[0045] As shown in Figures 5-6 , in any electric actuator 100, the through hole 10a is arranged on one side of the shell 10, and the electric connector 100a is arranged on the other side of the shell 10, so that the executor assembly 1000 is compact and reasonable in structure.

[0046] As shown in Figures 1-4As shown in the figure, the embodiment of the present application provides an electric actuator 100, which comprises a shell 10, a driver 20, a transmission assembly 30, a sliding assembly 40 and an output shaft 50; the driver 20, the transmission assembly 30, the sliding assembly 40 and the output shaft 50 are all arranged in the shell 10, a through hole 10a is formed on the shell 10, the transmission assembly 30, the sliding assembly 40 and the output shaft 50 are all arranged on the same side of the driver 20, the driver 20 is in transmission connection with the sliding assembly 40 through the transmission assembly 30, the sliding assembly 40 comprises a driving part 41, a driven part 42 and a sliding part 43, the driving part 41 is connected with the output end of the transmission assembly 30, the driving part 41 is in transmission connection with the driven part 42, the driver 20 drives the driving part 41 to rotate through the transmission assembly 30, the driven part 42 linearly slides under the driving of the rotating driving part 41, the sliding part 43 slides along with the driven part 42, and drives the output shaft 50 to make extension and retraction movement through the through hole 10a.

[0047] As shown in the figure, Figures 2-4 The driven part 42 is arranged in the sliding part 43, one end of the driving part 41 extends into the sliding part 43 and is connected with the driven part 42, so as to ensure that the structure is compact and reasonable.

[0048] As shown in the figure, Figures 2-4 The driving part 41 has external threads, the driven part 42 has internal threads, the sliding part 43 is provided with a mounting groove 43a, the driven part 42 is fixed in the mounting groove 43a, one end of the driving part 41 extends into the mounting groove 43a, the driven part 42 is sleeved on the driving part 41 and is in threaded connection with the driving part 41, so as to ensure that the driven part 42 linearly slides under the driving of the rotating driving part 41, and the structure therebetween is compact and reasonable. Specifically, the driving part 41 is a screw rod, and the driven part 42 is a nut, but it is not limited thereto.

[0049] As shown in the figure, Figures 2-4 The sliding assembly 40 further comprises a fastener 44 located in the mounting groove 43a, the fastener 44 is located on the side of the driven part 42 away from the output shaft 50 and abuts against the driven part 42, the fastener 44 is fixedly connected with the sliding part 43, so as to fasten the driven part 42 in the mounting groove 43a, realize stable connection of the driven part 42 and the sliding part 43 and facilitate assembly.

[0050] As shown in the figure, Figures 2-4 The sliding assembly 40 further comprises a fixing part 45, the driven part 42 is provided with a fixing groove 42a matched with the fixing part 45, the fixing part 45 is embedded in the sliding part 43, the fixing part 45 further extends into the mounting groove 43a and is clamped in the fixing groove 42a, so as to further ensure stable connection of the driven part 42 and the sliding part 43.

[0051] As shown in the figure, Figures 2-4As shown, one end of the driving member 41 is sleeved with a bearing 46, which is arranged in the mounting groove 43a to improve the stability of the rotation of the driving member 41.

[0052] As shown in Figures 2-4 The driving member 41 is provided with a limiting groove 41a, and the bearing 46 is arranged in the limiting groove 41a to ensure the stable installation of the bearing 46.

[0053] As shown in Figures 2-4 The electric actuator 100 further comprises a circuit board 60, which is located on the side of the driver 20 away from the transmission assembly 30 and extends along the sliding direction of the sliding member 43 to reduce the size of the electric actuator 100 in the radial direction of the output shaft 50.

[0054] As shown in Figures 2-4 The axis center line of the output shaft 50 is not collinear with the rotation center line of the driving member 41, and the distance between the axis center line of the output shaft 50 and the driver 20 is smaller than the distance between the rotation center line of the first transmission member and the driver 20 in the radial direction of the output shaft 50, so that the sliding of the output shaft 50 is more stable.

[0055] As shown in Figures 2-4 The electric actuator 100 further comprises a guide rail assembly 70 located in the housing 10, which is connected to the sliding member 43 or the driving member 41 or the output shaft 50 and is also connected to the housing 10 to guide the sliding of the sliding member 43.

[0056] As shown in Figures 2-4 The electric actuator 100 further comprises a linear encoder 80 located in the housing 10, which is connected to the sliding member 43 and is also connected to the housing 10 to detect the displacement, speed and acceleration of the sliding member 43, thereby indirectly detecting the displacement, speed and acceleration of the output shaft 50. Of course, in other embodiments, the linear encoder can also be connected to the driven member and connected to the housing to detect the displacement, speed and acceleration of the driven member, thereby indirectly detecting the displacement, speed and acceleration of the output shaft 50, or the linear encoder can also be connected to the output shaft and connected to the housing to directly detect the displacement, speed and acceleration of the output shaft.

[0057] As shown in Figures 2-4 The guide rail assembly 70 is located on the side of the sliding member 43 away from the circuit board 60, and the linear encoder 80 is located on the side of the sliding member 43 close to the circuit board 60, so that the linear encoder 80 is electrically connected to the circuit board 60 and the installation of the guide rail assembly 70 is facilitated, making the structure between them compact and reasonable.

[0058] As shown in Figures 2-4As shown, the guide rail assembly 70 includes a track 71 and two sliders 72, one slider 72 is arranged on one side of the track 71, and the other slider 72 is arranged on the other side of the track 71, both sliders 72 are fixedly connected with the sliding piece 43, and the track 71 is fixedly connected with the shell 10, so that the guide rail assembly 70 is reasonable and compact in structure, and the guide rail assembly 70 can realize stable and reliable guiding of the sliding piece 43.

[0059] As shown in the drawings, Figures 2-4 As shown, the electric actuator 100 further includes a rotary encoder 90 arranged in the shell 10 and arranged on the driver 20 to detect the rotation angle and rotation speed of the output end of the driver 20.

[0060] As shown in the drawings, Figures 2-4 As shown, the transmission assembly 30 is a belt transmission structure, which is reasonable and compact in structure and stable in transmission.

[0061] As shown in the drawings, ​ As shown, the driver 20 is a rotary motor, which is reasonable and compact in structure and stable in output.

[0062] Compared with the prior art, the electric actuator 100 provided by the embodiment of the application includes a shell 10, a driver 20, a transmission assembly 30, a sliding assembly 40 and an output shaft 50, and the driver 20, the transmission assembly 30, the sliding assembly 40 and the output shaft 50 are arranged in the shell 10, a through hole 10a is formed in the shell 10, the transmission assembly 30, the sliding assembly 40 and the output shaft 50 are arranged on the same side of the driver 20, the driver 20 is in transmission connection with the sliding assembly 40 through the transmission assembly 30, the sliding assembly 40 includes a driving piece 41, a driven piece 42 and a sliding piece 43, the driving piece 41 is connected with the output end of the transmission assembly 30, the driving piece 41 and the driven piece 42 are in transmission connection, the driver 20 drives the driving piece 41 to rotate through the transmission assembly 30, and the driven piece 42 linearly slides under the driving of the rotating driving piece 41, the sliding piece 43 slides with the driven piece 42 and drives the output shaft 50 to make extension and retraction movement through the through hole 10a, so that the electric actuator 100 of the embodiment of the application has large thrust and high control precision in the case of small volume. In addition, in the actuator assembly 1000 of the embodiment of the application, a plurality of electric connectors 230 are arranged on the box body 210 and electrically connected with the electric terminal block 220, any electric connector 230 is at least partially exposed outside the box body 210, the electric terminal block 220 is used for electrically connecting with an external power supply, and the electric actuators 100 are arranged side by side, any electric actuator 100 is provided with an electric connector 100a, the electric connector 100a can be electrically connected with any electric connector 230, so as to realize neat and orderly wiring of the plurality of electric actuators 100.

[0063] The above-described are only preferred examples of the present application, which are used to facilitate the understanding and implementation of the present application by those skilled in the art, but cannot be used to limit the scope of the present application. Therefore, equivalent changes made within the scope of the present application are still within the scope of the present application.

Claims

1. An electric actuator, characterized in that The electric actuator comprises a housing, a driver, a transmission assembly, a sliding assembly and an output shaft; the driver, the transmission assembly, the sliding assembly and the output shaft are arranged in the housing; a through hole is formed in the housing; the transmission assembly, the sliding assembly and the output shaft are arranged on the same side of the driver; the driver is in transmission connection with the sliding assembly through the transmission assembly; the sliding assembly comprises a driving piece, a driven piece and a sliding piece; the driving piece is connected with the output end of the transmission assembly; the driving piece is in transmission connection with the driven piece; the driver drives the driving piece to rotate through the transmission assembly; the driven piece linearly slides under the driving of the rotating driving piece; the sliding piece slides along with the driven piece and drives the output shaft to make telescopic movement through the through hole.

2. The electric actuator of claim 1, wherein, The driven piece is arranged in the sliding piece; one end of the driving piece extends into the sliding piece and is connected with the driven piece.

3. The electric actuator of claim 2, wherein, The driving piece has external threads; the driven piece has internal threads; the sliding piece is provided with a mounting groove; the driven piece is fixed in the mounting groove; one end of the driving piece extends into the mounting groove; the driven piece is sleeved on the driving piece and is in threaded connection with the driving piece.

4. The electric actuator as described in claim 3, characterized in that, The sliding assembly further comprises a fastener in the mounting groove; the fastener is located on the side of the driven piece away from the output shaft and abuts against the driven piece; the fastener is in fixed connection with the sliding piece so as to fasten the driven piece in the mounting groove.

5. The electric actuator as described in claim 3, characterized in that, The sliding assembly further comprises a fixing piece; the driven piece is provided with a fixing groove matched with the fixing piece; the fixing piece is embedded in the sliding piece; the fixing piece further extends into the mounting groove and is clamped in the fixing groove.

6. The motorized actuator of claim 3, wherein, One end of the driving piece is sleeved with a bearing; the bearing is arranged in the mounting groove.

7. The motorised actuator of claim 6, wherein the motorised actuator is configured to be mounted to a surface of the device. The driving piece is provided with a limiting groove; the bearing is arranged in the limiting groove.

8. The electric actuator of claim 1, wherein, The electric actuator further comprises a circuit board; the circuit board is located on the side of the driver away from the transmission assembly; the circuit board is arranged in extension along the sliding direction of the sliding piece; and / or, The axis center line of the output shaft is not collinear with the rotation center line of the driving piece; along the radial direction of the output shaft, the distance between the axis center line of the output shaft and the driver is smaller than the distance between the rotation center line of the driving piece and the driver; and / or, The electric actuator further comprises a guide rail assembly in the housing; the guide rail assembly is connected with the sliding piece or the driven piece or the output shaft; the guide rail assembly is further connected with the housing; and / or, The electric actuator further comprises a linear encoder in the housing; the linear encoder is connected with the guide rail assembly and is arranged in the sliding piece or the driving piece or the output shaft; the linear encoder is further connected with the housing; and / or, The electric actuator further comprises a rotary encoder in the housing; the rotary encoder is arranged in the driver; and / or, The transmission assembly is a belt transmission structure; and / or, The driver is a rotary motor.

9. An actuator assembly comprising: The actuator assembly comprises: A hub, comprising a box body, an electric terminal board and a plurality of electric sockets, the plurality of electric sockets are arranged on the box body and electrically connected with the electric terminal board, any of the electric sockets is at least partially exposed outside the box body, the electric terminal board is used for electrically connecting with an external power supply; and The electric actuator as claimed in any one of claims 1-8, a plurality of the electric actuators are arranged side by side, any of the electric actuators is provided with an electric plug, the electric plug is electrically connected with any of the electric sockets.

10. The actuator assembly of claim 9, wherein, The hub further comprises a PCB arranged in the box body, the circuit board is electrically connected with the electric terminal board, any of the electric sockets is electrically connected with the circuit board; and / or, The electric terminal board is at least partially exposed outside the box body; And / or, In any of the electric actuators, the through hole is arranged on one side of the shell, and the electric plug is arranged on the other side of the shell.

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