Conveying robot

Abstract

The utility model relates to a conveying robot, and belongs to the technical field of conveying robots. The utility model discloses a conveying robot which comprises a rack provided with a first mounting layer and a second mounting layer. The driving wheel assembly is arranged on the rack, part of the driving wheel assembly is located on the first mounting layer, and part of the driving wheel assembly is used for making contact with the ground; the goods shelf assembly is arranged on the rack and located on the second mounting layer; the control assembly is arranged on the machine frame; and the battery assembly is arranged on the rack and located on the second mounting layer, and the driving wheel assembly and the control assembly are both electrically connected with the battery assembly. The key components are integrated on the first mounting layer and the second mounting layer of the rack, so that optimization and high integration of the structure are realized, the connection complexity between the components is reduced, and the manufacturing and assembling cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of conveying robot technology, and in particular to a conveying robot. Background Technology

[0002] With the rapid development of industrial automation, conveyor robots are increasingly widely used in logistics, manufacturing, warehousing, and other fields. Traditional conveyor robots are mainly used for material handling and transportation to reduce manual labor intensity and improve production efficiency and safety. However, existing conveyor robots generally suffer from complex structures, which not only increases manufacturing costs but also brings difficulties to maintenance and operation. Utility Model Content

[0003] Therefore, it is necessary to provide a new type of conveying robot to address the problem of the complex structure of traditional conveying robots.

[0004] A conveying robot includes: a frame having a first mounting layer and a second mounting layer; a drive wheel assembly disposed on the frame, a portion of which is located on the first mounting layer and is used to contact the ground; a shelf assembly disposed on the frame and located on the second mounting layer, the length direction of which intersects the plane of the second mounting layer; a control assembly disposed on the frame; and a battery assembly disposed on the frame and located on the second mounting layer, wherein the drive wheel assembly and the control assembly are both electrically connected to the battery assembly.

[0005] This application discloses a conveying robot that achieves structural optimization and high integration by integrating key components onto a two-layer frame structure, namely a first mounting layer and a second mounting layer. This design reduces the complexity of connections between components, lowers manufacturing and assembly costs, and improves overall stability and reliability. The two mounting layers on the frame effectively utilize vertical space, allowing the drive wheel assembly, battery assembly, and other key components to be arranged layer by layer, thereby improving space utilization, reducing the overall size of the robot, and making it more flexible and adaptable to different working environments. Due to the integrated and layered design of the components, the isolation between each component is clearer, facilitating quick identification and access by maintenance personnel for parts requiring maintenance or replacement, thus reducing maintenance difficulty and repair time. The rack assembly and battery assembly are both located on the second mounting layer, facilitating weight balance on the frame and enabling the conveying robot to move smoothly during transport. The electrical connection design between the control assembly and the battery assembly effectively monitors and manages the power system, preventing safety hazards such as overcharging, over-discharging, and short circuits, thus improving the robot's safety.

[0006] In one embodiment, the frame includes a first base plate, a support member, and a second base plate. One end of the support member is disposed on the first base plate, and the end of the support member away from the first base plate is connected to the second base plate. The projection of the second base plate partially overlaps with that of the first base plate. The first base plate has a first mounting layer, and the second base plate has a second mounting layer. The frame design, consisting of the first base plate, the support member, and the second base plate, forms a robust support structure, significantly improving the stability and load-bearing capacity of the entire conveyor robot. The first and second base plates, respectively, have a first mounting layer and a second mounting layer, allowing key components such as the drive wheel assembly and battery assembly to be installed in layers, optimizing the spatial layout and improving the flexibility and efficiency of component installation. The presence of the support member creates a space between the first and second base plates, providing physical protection for the components and helping to isolate potential interference between different components, such as heat and vibration, thereby improving the robot's reliability. By optimizing the frame's structural design, material usage is reduced, while manufacturing and assembly efficiency is improved, thereby reducing production costs and increasing economic benefits.

[0007] In one embodiment, the shelving assembly includes a support frame and a carrying plate. The support frame is mounted on the frame and located on the second mounting layer, with its length intersecting the plane of the second mounting layer. The carrying plate is mounted on the support frame and can form an angle with respect to the support frame. This design, where the length of the support frame intersects the plane of the second mounting layer, helps distribute the weight of the materials and improves the stability of the entire shelving assembly, especially when the conveyor robot is moving or turning. The angled design of the carrying plate relative to the support frame allows it to fold up and fit snugly against the support frame when not carrying goods, further reducing the size and flexibility of the conveyor robot. The modular design of the shelving assembly simplifies maintenance and replacement; the support frame and carrying plate can be quickly disassembled for easy inspection and repair, reducing maintenance time and costs.

[0008] In one embodiment, multiple pallets are arranged at intervals on the support frame, each pallet forming an angle with the support frame. This multiple pallet design allows the robot to carry more items simultaneously, increasing the load capacity per trip and thus improving overall transport efficiency. The multiple pallet design also makes more efficient use of the space on the support frame, improving space utilization and helping to distribute the weight of the items, enhancing the stability of the entire shelving assembly. The spaced-out arrangement of the multiple pallets, and their ability to fold and fit snugly against the support frame, allows for adjustments based on the size and shape of different items, enabling the robot to adapt to a wider range of application scenarios and improving its flexibility and adaptability.

[0009] In one embodiment, the drive wheel assembly includes a drive component and a transmission component. The drive component is mounted on the frame and located on the first mounting layer. The transmission component is mounted on the drive component and is used to contact the placement surface. The drive component is capable of driving the transmission component to move. The drive component enables the transmission component to move, allowing the robot to move flexibly on the ground. Since the transmission component is in direct contact with the ground, it can be designed to carry heavier loads, thereby improving the robot's load-bearing capacity. The transmission component can be designed with different tire types to suit different ground conditions, such as hard rubber wheels for smooth surfaces or soft tires for rough surfaces, improving the robot's versatility. The modular design of the drive and transmission components makes them easy to maintain and replace, reducing maintenance time and costs.

[0010] In one embodiment, the transmission assembly includes a first movable wheel and a second movable wheel. The first movable wheel is disposed at one end of the drive assembly, and the second movable wheel is disposed on the drive assembly at the end away from the first movable wheel. Both the first and second movable wheels are in contact with the placement surface, and the drive assembly can drive the first and second movable wheels to rotate. By incorporating the first and second movable wheels as part of the transmission assembly, the conveying robot achieves dual-wheel drive, increasing its stability and traction, especially on uneven or smooth surfaces. Furthermore, the design of the two movable wheels allows the robot to steer and move more flexibly and also helps to distribute the robot's weight more evenly. The first and second movable wheels can be designed according to different application scenarios and terrain conditions, such as different tire treads or materials, to adapt to different ground conditions.

[0011] In one embodiment, a sensor assembly is also included, mounted on the frame and located on the first mounting layer. The sensor assembly is electrically connected to both the control assembly and the battery assembly, and is used to detect obstacles and distance. The ability to detect obstacles and distance via the sensor assembly is crucial for the safe operation of the conveyor robot in complex environments. By promptly identifying obstacles, the conveyor robot can avoid collisions, protecting itself and its surroundings from damage. The sensor assembly provides the conveyor robot with environmental awareness, enabling autonomous navigation and path planning. This allows the conveyor robot to flexibly avoid obstacles in dynamically changing environments, such as factory workshops or warehouses, improving operational efficiency. Through real-time monitoring by the sensor assembly, the robot can complete complex handling tasks without human intervention, reducing labor costs and operational risks. The sensor assembly can be integrated into the frame in the form of a camera or infrared sensor.

[0012] In one embodiment, the control component includes a microprocessor and a sensor interface. The microprocessor executes control algorithms and processes sensor data, while the sensor interface connects to and coordinates the operation of the sensor components. Integrating the microprocessor enables the control component to rapidly execute complex control algorithms, improving the robot's task processing speed and efficiency. The microprocessor can process large amounts of data from the sensor components in real time, allowing the robot to respond quickly to environmental changes and improving operational flexibility and adaptability. The sensor interface coordinates the operation of the sensor components, optimizing sensor performance, ensuring data accuracy and consistency, and enhancing the robot's environmental perception capabilities. Precise control and optimization of sensor data processing reduce unnecessary energy consumption and improve the robot's energy efficiency.

[0013] In one embodiment, a shock absorber is also included, which is disposed on the drive wheel assembly. By incorporating the shock absorber, impacts caused by uneven road surfaces can be absorbed, reducing the direct transmission of these impacts to the conveyor robot body, thereby protecting the integrated mechanical structures and electronic components on the conveyor robot. The shock absorber reduces the upward movement of the wheels due to bumps, maintaining a more stable contact between the wheels and the ground, thus improving the stability and maneuverability of the conveyor robot. Furthermore, the shock absorber limits excessive swaying and tilting of the conveyor robot during turning, braking, or acceleration, maintaining the balance of the conveyor robot during movement, which is crucial for maintaining the stability and safety of the conveyor robot.

[0014] In one embodiment, an emergency stop button is also included, which is disposed on and connected to the control component. By providing an emergency stop button, a means of quickly stopping the movement of the conveyor robot is provided, allowing for immediate power cut-off and cessation of all operations in an emergency, ensuring the safety of personnel and equipment. As a physical safety measure, the emergency stop button enables operators or maintenance personnel to take swift action upon discovering potential hazards, enhancing the safety of the entire operation process. Furthermore, the presence of the emergency stop button reduces the risk of accidents caused by operational delays or untimely system responses, providing additional safety assurance. Attached Figure Description

[0015] Figure 1 This is a first 3D view of the delivery robot;

[0016] Figure 2 This is a second 3D view of the transport robot;

[0017] Figure 3 A 3D view of the rack and battery assembly;

[0018] Figure 4 Here are structural diagrams of the first and second base plates;

[0019] Figure 5 A 3D view of the shelving components;

[0020] Figure 6 This is a 3D view of the drive wheel assembly.

[0021] The correspondence between the reference numerals and the component names is as follows:

[0022] 1. Frame, 11. First base plate, 12. Support component, 13. Second base plate, 101. First mounting layer, 102. Second mounting layer;

[0023] 2 drive wheel assembly, 21 drive assembly, 22 transmission assembly, 221 first movable wheel, 222 first movable wheel;

[0024] 3. Shelf components, 31. Support frames, 32. Storage trays;

[0025] 4. Battery components;

[0026] 5. Sensor components. Detailed Implementation

[0027] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0028] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0029] The following describes some embodiments of the conveying robot according to the present invention with reference to the accompanying drawings.

[0030] like Figures 1 to 6 As shown, this embodiment discloses a conveying robot, including: a frame 1, the frame 1 having a first mounting layer 101 and a second mounting layer 102; a drive wheel assembly 2, the drive wheel assembly 2 being disposed on the frame 1, a portion of the drive wheel assembly 2 being located on the first mounting layer 101, and a portion of the drive wheel assembly 2 being used to contact the ground; a shelf assembly 3, the shelf assembly 3 being disposed on the frame 1 and located on the second mounting layer 102, the length direction of the shelf assembly 3 intersecting the plane of the second mounting layer 102; a control assembly, the control assembly being disposed on the frame 1; and a battery assembly 4, the battery assembly 4 being disposed on the frame 1 and located on the second mounting layer 102, the drive wheel assembly 2 and the control assembly being electrically connected to the battery assembly 4.

[0031] This application discloses a conveying robot that achieves structural optimization and high integration by integrating key components onto a double-layer structure of a frame 1, namely a first mounting layer 101 and a second mounting layer 102. This design reduces the complexity of connections between components, lowers manufacturing and assembly costs, and improves overall stability and reliability. The two mounting layers on the frame 1 effectively utilize vertical space, allowing the drive wheel assembly 2, battery assembly 4, and other key components to be arranged layer by layer, thereby improving space utilization, reducing the overall size of the robot, and making it more flexible and adaptable to different working environments. Due to the integrated and layered design of the components, the isolation between each component is clearer, facilitating quick identification and access by maintenance personnel for parts requiring maintenance or replacement, thus reducing maintenance difficulty and repair time. Both the rack assembly 3 and the battery assembly 4 are located on the second mounting layer 102, facilitating weight balance on the frame 1 and enabling the conveying robot to move smoothly during transport. The electrical connection between the control component and the battery assembly 4 effectively monitors and manages the power system, preventing safety hazards such as overcharging, over-discharging, and short circuits, thus improving the robot's safety.

[0032] like Figure 1 , Figure 3 and Figure 4As shown, in addition to the features of the above embodiments, this embodiment further defines: the frame 1 includes a first base plate 11, a support member 12, and a second base plate 13. One end of the support member 12 is disposed on the first base plate 11, and the end of the support member 12 away from the first base plate 11 is connected to the second base plate 13. The projection of the second base plate 13 partially overlaps with the first base plate 11. The first base plate 11 is provided with a first mounting layer 101, and the second base plate 13 is provided with a second mounting layer 102. Through the design of the frame 1 composed of the first base plate 11, the support member 12, and the second base plate 13, the frame 1 as a whole forms a robust support structure. This structural design significantly improves the stability and load-bearing capacity of the entire conveying robot. The first base plate 11 and the second base plate 13 are respectively provided with a first mounting layer 101 and a second mounting layer 102, allowing key components such as the drive wheel assembly 2 and the battery assembly 4 to be installed in layers, optimizing the spatial layout and improving the flexibility and efficiency of component installation. The presence of the support member 12 creates a space between the first base plate 11 and the second base plate 13. This not only provides physical protection for the components but also helps isolate potential interference between different components, such as heat and vibration, thereby improving the robot's reliability. By optimizing the structural design of the frame 1, material usage is reduced while manufacturing and assembly efficiency is improved, thus lowering production costs and increasing economic benefits.

[0033] like Figure 1 and Figure 5 As shown, in addition to the features of the above embodiments, this embodiment further defines: the shelf assembly 3 includes a support frame 31 and a carrying plate 32. The support frame 31 is mounted on the frame 1 and located on the second mounting layer 102. The length direction of the support frame 31 intersects the plane of the second mounting layer 102. The carrying plate 32 is mounted on the support frame 31 and can form an angle with respect to the support frame 31. The intersection of the length direction of the support frame 31 with the plane of the second mounting layer 102 helps to distribute the weight of the materials and improve the stability of the entire shelf assembly 3, especially when the conveying robot moves or turns. The angled design of the carrying plate 32 relative to the support frame 31 allows the carrying plate 32 to fold up and fit snugly against the support frame 31 when not carrying goods, further reducing the size and flexibility of the conveying robot. The modular design of the shelf assembly 3 makes maintenance and replacement easier. The support frame 31 and the carrying plate 32 can be quickly disassembled for easy inspection and repair, reducing maintenance time and costs.

[0034] In addition to the features of the above embodiments, this embodiment further specifies that: the number of carrying trays 32 is multiple, and the multiple carrying trays 32 are spaced apart on the support frame 31, with each of the multiple carrying trays 32 forming an angle with the support frame 31. The design of multiple carrying trays 32 allows the robot to carry more items simultaneously, increasing the load capacity of a single transport and thus improving overall transport efficiency. The design of multiple carrying trays 32 can more effectively utilize the space on the support frame 31, improving space utilization, while also helping to distribute the weight of the items and enhancing the stability of the entire shelf assembly 3. The spaced arrangement of multiple carrying trays 32, and the fact that each of the multiple carrying trays 32 can be folded and fitted against the support frame, allows for adjustments based on the size and shape of different items, enabling the robot to adapt to a wider range of application scenarios and improving its flexibility and adaptability.

[0035] like Figure 1 and Figure 4 As shown, in addition to the features of the above embodiments, this embodiment further defines: the drive wheel assembly 2 includes a drive assembly 21 and a transmission assembly 22. The drive assembly 21 is disposed on the frame 1 and located on the first mounting layer 101, and the transmission assembly 22 is disposed on the drive assembly 21. The transmission assembly 22 is used to contact the placement surface, and the drive assembly 21 can drive the transmission assembly 22 to move. The drive assembly 21 can drive the transmission assembly 22 to move, enabling the robot to move flexibly on the ground. The transmission assembly 22 is in direct contact with the ground and can be designed as a wheel suitable for bearing heavier loads, thereby improving the robot's load-bearing capacity. The transmission assembly 22 can be designed with different tire types according to different ground conditions, such as hard rubber wheels suitable for smooth ground or soft tires suitable for rough ground, improving the robot's applicability. The modular design of the drive assembly 21 and the transmission assembly 22 makes them easy to maintain and replace, reducing maintenance time and costs.

[0036] like Figure 4 and Figure 6As shown, in addition to the features of the above embodiments, this embodiment further defines: the transmission assembly 22 includes a first movable wheel 221 and a second movable wheel 222. The first movable wheel 221 is disposed at one end of the drive assembly 21, and the second movable wheel 222 is disposed on the drive assembly 21, located at the end away from the first movable wheel 221. Both the first movable wheel 221 and the second movable wheel 222 are in contact with the placement surface, and the drive assembly 21 can drive the first movable wheel 221 and the second movable wheel 222 to rotate. By setting the first movable wheel 221 and the second movable wheel 222 as part of the transmission assembly 22, the conveying robot achieves dual-wheel drive, increasing the stability and traction of the conveying robot, especially on uneven or smooth surfaces. In addition, the design of the two movable wheels allows the robot to turn and move more flexibly, and also helps to distribute the robot's weight more evenly. The first movable wheel 221 and the second movable wheel 222 can be designed according to different application scenarios and terrain conditions, such as different tire treads or materials, to adapt to different ground conditions.

[0037] like Figure 1 and Figure 2 As shown, in addition to the features of the above embodiments, this embodiment further includes a sensor component 5, which is mounted on the frame 1 and located on the first mounting layer 101. The sensor component 5 is electrically connected to the control component and the battery component 4, respectively, and is used to detect obstacles and distance. The ability of the sensor component 5 to detect obstacles and distance is crucial for the safe operation of the conveying robot in complex environments. By timely identifying obstacles, the conveying robot can avoid collisions and protect itself and its surrounding environment from damage. The sensor component 5 provides the conveying robot with environmental perception capabilities, enabling it to achieve autonomous navigation and path planning. This allows the conveying robot to flexibly avoid obstacles and improve operational efficiency in dynamically changing environments, such as factory workshops or warehouses. Through real-time monitoring by the sensor component 5, the robot can complete complex handling tasks without human intervention, reducing labor costs and operational risks. The sensor component 5 can be integrated into the frame 1 in the form of a camera or infrared sensor.

[0038] In addition to the features of the above embodiments, this embodiment further specifies that: the control component includes a microprocessor and a sensor interface. The microprocessor is used to execute control algorithms and process sensor data, and the sensor interface is used to connect to and coordinate the operation of the sensor component 5. Integrating the microprocessor enables the control component to quickly execute complex control algorithms, improving the speed and efficiency of the robot's task processing. The microprocessor can process large amounts of data from the sensor component 5 in real time, enabling the robot to quickly respond to environmental changes and improving operational flexibility and adaptability. The sensor interface coordinates the operation of the sensor component 5, optimizing sensor performance, ensuring data accuracy and consistency, and improving the robot's environmental perception capabilities. Precise control and optimization of sensor data processing can reduce unnecessary energy consumption and improve the robot's energy efficiency.

[0039] In addition to the features of the above embodiments, this embodiment further includes a shock absorber disposed on the drive wheel assembly 2. By incorporating the shock absorber, impacts caused by uneven road surfaces can be absorbed, reducing the direct transmission of these impacts to the conveyor robot body, thereby protecting the integrated mechanical structures and electronic components on the conveyor robot. The shock absorber reduces the upward movement of the wheels due to bumps, maintaining more stable contact between the wheels and the ground, thus improving the stability and maneuverability of the conveyor robot. Furthermore, the shock absorber limits excessive swaying and tilting of the conveyor robot during turning, braking, or acceleration, maintaining the balance of the conveyor robot during travel, which is crucial for maintaining the stability and safety of the conveyor robot.

[0040] In addition to the features of the above embodiments, this embodiment further includes an emergency stop button, which is disposed on the control component and connected to the control component. By providing an emergency stop button, a means of quickly stopping the movement of the conveyor robot is provided, allowing for immediate power cut-off and cessation of all operations in emergency situations, ensuring the safety of personnel and equipment. As a physical safety measure, the emergency stop button enables operators or maintenance personnel to take swift action upon discovering potential hazards, enhancing the safety of the entire operation process. Furthermore, the presence of the emergency stop button reduces the risk of accidents caused by operational delays or untimely system responses, providing additional safety assurance.

[0041] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0042] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A conveying robot, characterized in that, include: The rack (1) is provided with a first mounting layer (101) and a second mounting layer (102); A drive wheel assembly (2) is disposed on the frame (1), a portion of the drive wheel assembly (2) is located on the first mounting layer (101), and a portion of the drive wheel assembly (2) is used to contact the ground; A shelf assembly (3) is disposed on the frame (1) and located on the second mounting layer (102), and the length direction of the shelf assembly (3) intersects the plane of the second mounting layer (102); A control component is mounted on the frame (1); The battery assembly (4) is disposed on the frame (1) and located on the second mounting layer (102), and the drive wheel assembly (2) and the control assembly are both electrically connected to the battery assembly (4).

2. The conveying robot according to claim 1, characterized in that, The frame (1) includes a first base plate (11), a support member (12), and a second base plate (13). One end of the support member (12) is disposed on the first base plate (11), and the end of the support member (12) away from the first base plate (11) is connected to the second base plate (13). The projection of the second base plate (13) partially overlaps with the first base plate (11). The first base plate (11) is provided with the first mounting layer (101), and the second base plate (13) is provided with the second mounting layer (102).

3. The conveying robot according to claim 1, characterized in that, The shelf assembly (3) includes a support frame (31) and a carrying plate (32). The support frame (31) is disposed on the frame (1) and located on the second mounting layer (102). The length direction of the support frame (31) intersects the plane where the second mounting layer (102) is located. The carrying plate (32) is disposed on the support frame (31) and the carrying plate (32) can form an angle with respect to the support frame (31).

4. The conveying robot according to claim 3, characterized in that, The number of the carrying plates (32) is multiple, and the multiple carrying plates (32) are spaced apart on the support frame (31). The multiple carrying plates (32) can form an angle with the support frame (31).

5. The conveying robot according to claim 1, characterized in that, The drive wheel assembly (2) includes a drive assembly (21) and a transmission assembly (22). The drive assembly (21) is disposed on the frame (1) and located on the first mounting layer (101). The transmission assembly (22) is disposed on the drive assembly (21). The transmission assembly (22) is used to contact the placement surface. The drive assembly (21) is capable of driving the transmission assembly (22) to move.

6. The conveying robot according to claim 5, characterized in that, The transmission assembly (22) includes a first movable wheel (221) and a second movable wheel (222). The first movable wheel (221) is disposed at one end of the drive assembly (21), and the second movable wheel (222) is disposed on the drive assembly (21). The second movable wheel (222) is located at the end away from the first movable wheel (221). Both the first movable wheel (221) and the second movable wheel (222) are in contact with the placement surface. The drive assembly (21) is capable of driving the first movable wheel (221) and the second movable wheel (222) to rotate.

7. The conveying robot according to claim 1, characterized in that, It also includes a sensor assembly (5) disposed on the frame (1) and located on the first mounting layer (101), the sensor assembly (5) being electrically connected to the control assembly and the battery assembly (4) respectively, and the sensor assembly (5) being used to detect obstacles and distance.

8. The conveying robot according to claim 7, characterized in that, The control component includes a microprocessor and a sensor interface. The microprocessor is used to execute control algorithms and process sensor data, and the sensor interface is used to connect to and coordinate the operation of the sensor component (5).

9. The conveying robot according to claim 1, characterized in that, It also includes a shock absorber, which is disposed on the drive wheel assembly (2).

10. The conveying robot according to claim 1, characterized in that, It also includes an emergency stop button, which is disposed on the control component and connected to the control component.

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