Sample marking and stacking system

Abstract

The utility model belongs to the technical field of labeling equipment, and particularly discloses a sample marking and stacking system which comprises a feeding mechanism, a labeling mechanism, a detecting mechanism, a carrying mechanism and a stacking bin. The feeding mechanism comprises an upper conveying module and a lower conveying module. The upper transportation module comprises an upper rail, an upper moving frame and an upper driving mechanism; the lower transportation module comprises a lower rail, a lower moving frame and a lower driving mechanism; the upper moving frame is provided with an upper bearing disc; the lower moving frame is provided with a lower bearing disc and a lifting device; the upper conveying module and the lower conveying module sequentially and alternately convey samples to the labeling station, after the samples on the upper bearing disc are labeled, the samples on the lower bearing disc can be conveyed to the labeling station in time to be labeled, the downtime of the labeling mechanism is shortened, and the labeling efficiency is improved; moreover, if labeling errors occur, the labeling errors can be fed back to the labeling mechanism for re-pasting, so that the labels correspond correctly, the test errors are reduced, and the test result is more accurate.

Description

Technical Field

[0001] This utility model relates to the field of labeling equipment technology, and in particular to a sample marking and palletizing system. Background Technology

[0002] Currently, in the testing field, multiple batches of small-volume (and relatively few in number) test pieces require unique identification. Manual coding and labeling is inefficient. Most automated labeling solutions in the industry are designed for large-volume products. When applied to testing, due to the small batches of test pieces, frequent changes in test pieces are necessary, requiring batch switching of product fixtures, which is also inefficient. Since the samples are for testing, a 100% labeling success rate is required, meaning accurate label placement and correct code matching are essential. Existing labeling machines cannot verify the proper labeling of test specimens after labeling, causing some unlabeled specimens to flow to the next process, affecting test results. Moreover, even if the next process detects a labeling error, it is necessary to identify which batch and which sample number it belongs to, requiring additional personnel to relabel it, which is time-consuming, inefficient, and prone to errors, affecting test results. Furthermore, when the labeling mechanism is labeling samples, the labeling time is long, the sample labeling tray is occupied, and it is impossible to prepare for the feeding of the next batch of samples. The labeling mechanism must wait for the next batch of samples to be stacked and fed before it can continue labeling, resulting in long downtime of the labeling mechanism, poor process continuity, long time consumption, and low efficiency. Utility Model Content

[0003] The purpose of this invention is to provide a sample marking and stacking system to solve the technical problems of easy error in sample labeling and low efficiency in the labeling process in the prior art.

[0004] To achieve the above objectives, this utility model provides a sample marking and stacking system, which includes: a feeding mechanism, a labeling mechanism, a testing mechanism, a handling mechanism, and a stacking bin;

[0005] The loading mechanism includes an upper transport module and a lower transport module; the lower transport module is located below the upper transport module; the upper transport module includes an upper rail, an upper movable frame, and an upper drive mechanism, the upper movable frame being slidably connected to the upper rail, and the upper drive mechanism being used to drive the upper movable frame to move along the upper rail to the labeling station; the lower transport module includes a lower rail, a lower movable frame, and a lower drive mechanism, the lower movable frame being slidably connected to the lower rail, and the lower drive mechanism being used to drive the lower movable frame to move along the lower rail; the upper movable frame is provided with an upper support tray for carrying samples; the lower movable frame is provided with a lower support tray and a lifting device, the lifting device being connected to the lower support tray, and the lifting device being used to drive the lower support tray to rise to the labeling station;

[0006] The labeling mechanism includes a labeling suction cup and a labeling driving device. The labeling driving device is connected to the labeling suction cup and is used to drive the labeling suction cup to affix the label to the sample on the upper or lower support plate.

[0007] The testing mechanism includes a testing camera, which is directed towards the labeling station.

[0008] The transport mechanism is located on one side of the labeling station, and the stacking bin is located on the side of the transport mechanism away from the labeling station. The transport mechanism is used to stack the labeled samples on the stacking bin.

[0009] Preferably, both the upper and lower support plates are provided with a variety of sample storage slots, and the shape of each sample storage slot is different.

[0010] Preferably, the stacking bin has multiple stacking slots, and the shapes of the multiple sample storage slots correspond one-to-one with the shapes of the multiple stacking slots.

[0011] Preferably, the palletizing compartment has a lifting pallet, and the stacking compartment is equipped with a linear stacking device for driving the lifting pallet to move up and down.

[0012] Preferably, the upper movable frame has an upper support platform, which is detachably connected to the upper support plate.

[0013] Preferably, the lower movable frame has a lower support platform, which is connected to the lifting device. The lifting device is used to drive the lower support platform to move up and down, and the lower bearing plate is detachably connected to the lower support platform.

[0014] Preferably, it further includes: a marking platform; the marking platform is used to store labels; the marking platform is located on one side of the labeling station, the labeling driving device includes a horizontal driving module and a lifting driving module, the lifting driving module is disposed on the horizontal driving module, the labeling suction cup is disposed on the lifting driving module, the horizontal driving module is located above the marking platform and the labeling station, and the labeling suction cup is used to pick up the labels from the marking platform.

[0015] Preferably, it further includes: a marking machine; the marking machine is located on one side of the marking platform, and the detection mechanism is signal-connected to the marking machine.

[0016] Preferably, it further includes: a barcode scanner; the barcode scanner is signal-connected to the marking machine.

[0017] Preferably, there are two upper tracks and two lower tracks; the projections of the two lower tracks in the vertical direction are located between the projections of the two upper tracks.

[0018] The sample marking and stacking system provided by this utility model has the following advantages: The system utilizes an upper transport module and a lower transport module to transport samples to the labeling station in an orderly and alternating manner. When labeling samples on the upper carrier tray, the next batch of samples to be labeled can be stacked on the lower carrier tray. After the samples on the upper carrier tray are labeled, the samples on the lower carrier tray will be promptly transported to the labeling station for labeling. This allows the labeling mechanism to continuously perform the labeling process, reducing downtime and making the labeling process smoother, thus reducing the total labeling time and improving labeling efficiency. Furthermore, the detection camera of the detection mechanism detects the position of the labeled samples. If a labeling error occurs, it can be fed back to the labeling mechanism for re-labeling, ensuring that the label is aligned with the sample, resulting in accurate labeling position and correct code correspondence. This reduces subsequent correction steps, reduces test time, improves work efficiency, reduces test errors, and makes test results more accurate.

[0019] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the sample marking and palletizing system according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the sample marking and palletizing system from another perspective of this utility model embodiment;

[0022] Figure 3 This is a schematic diagram of the feeding mechanism according to an embodiment of the present utility model;

[0023] Figure 4 This is a schematic diagram of the stacking compartment according to an embodiment of the present invention.

[0024] In the diagram, 10 is the labeling station; 20 is the material loading port.

[0025] 100. Feeding mechanism; 110. Upper transport module; 111. Upper rail; 112. Upper moving frame; 113. Upper drive mechanism; 114. Upper bearing plate; 115. Upper receiving platform; 120. Lower transport module; 121. Lower rail; 122. Lower moving frame; 123. Lower drive mechanism; 124. Lower bearing plate; 125. Lifting device; 126. Lower receiving platform; 130. Sample storage slot; 200. Labeling mechanism; 210. Labeling suction cup; 220. Labeling drive device; 221. Horizontal drive module; 222. Lifting drive module; 300. Detection mechanism; 310. Detection camera; 400. Handling mechanism; 500. Stacking bin; 510. Palletizing bin; 520. Lifting pallet; 530. Linear stacking device; 600. Marking platform; 610. Barcode scanner. Detailed Implementation

[0026] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0027] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0028] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0029] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0030] Please refer to the following: Figures 1 to 4 The sample marking and palletizing system provided in the embodiments of this utility model will now be described.

[0031] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a sample marking and stacking system, which includes: a feeding mechanism 100, a labeling mechanism 200, a detection mechanism 300, a transport mechanism 400, and a stacking bin 500; the feeding mechanism 100 is used to transport samples to the labeling station 10, the labeling mechanism 200 is used to affix labels to the samples at the labeling station 10; the detection mechanism 300 is used to identify the sample pattern at the labeling station 10 and to detect whether the position of the labeled samples at the labeling station 10 is correct; the transport mechanism 400 is used to transport the labeled samples to the stacking bin 500.

[0032] Reference Figure 3 The loading mechanism 100 includes an upper transport module 110 and a lower transport module 120; the lower transport module 120 is located below the upper transport module 110; the upper transport module 110 includes an upper rail 111, an upper movable frame 112, and an upper drive mechanism 113, the upper movable frame 112 is slidably connected to the upper rail 111, and the upper drive mechanism 113 is used to drive the upper movable frame 112 to move along the upper rail 111 to the labeling station 10; the lower transport module 120 includes a lower rail 121, a lower movable frame 122, and a lower drive mechanism 123, the lower movable frame 122 and the lower rail 121 are connected... The sliding connection is provided. The lower drive mechanism 123 is used to drive the lower moving frame 122 to move along the lower track 121. The upper moving frame 112 is provided with an upper support plate 114 for carrying samples. The lower moving frame 122 is provided with a lower support plate 124 and a lifting device 125. The lifting device 125 is connected to the lower support plate 124 and is used to drive the lower support plate 124 to rise to the labeling station 10. The labeling station 10 can only hold one of the lower support plate 124 or the upper support plate 114. The upper track 111 and the lower track 121 extend in parallel directions, and one end is a feeding port 20.

[0033] Labeling station 10 involves moving the upper support tray 114 to a position away from the loading port 20. In use, a sample is first placed on the upper support tray 114, and then the upper drive mechanism 113 moves the upper support tray 114 with the sample to labeling station 10, where the labeling mechanism 200 will label the sample. The labeled sample is then transported by the transport mechanism 400 to the stacking bin 500 for stacking. After all the samples on the upper support tray 114 have been transported, the upper support tray 114 moves back to the loading port 20 under the drive of the upper drive mechanism 113, awaiting sample loading. At this time, the lower drive mechanism 123 drives the lower support tray 124 loaded with samples to move to the end away from the loading port 20, that is, below the labeling station 10. Then, the lifting device 125 drives the lower support tray 124 to rise to the same height as the upper support tray 114, so that the lower support tray 124 can move to the labeling station 10, allowing the labeling mechanism 200 to label the samples on the lower support tray 124, and the conveying mechanism 400 can also convey the labeled samples to the stacking bin 500. After the samples on the lower support tray 124 have been conveyed, the lower support tray 124 descends under the drive of the lifting device 125, and then returns to the loading port 20 under the drive of the lower drive mechanism 123, waiting for sample loading. At this time, the samples on the upper support tray 114 can be transported to the labeling station 10 to form a loading cycle, so that multiple samples can be labeled and stacked in an orderly manner.

[0034] The labeling mechanism 200 includes a labeling suction cup 210 and a labeling drive device 220. The labeling drive device 220 is connected to the labeling suction cup 210 and is used to drive the labeling suction cup 210 to affix labels to samples on the upper carrier tray 114 or the lower carrier tray 124. The detection mechanism 300 includes a detection camera 310 facing the labeling station 10. The detection mechanism 300 is positioned above the upper transport module 110 so that the detection camera 310 can better detect the samples on the labeling station 10. Alternatively, as long as the detection camera 310 can detect the samples on the labeling station 10, it can be positioned on one side of the labeling station 10 or in other suitable locations, depending on the actual situation.

[0035] The transport mechanism 400 is located on one side of the labeling station 10, and the stacking bin 500 is located on the side of the transport mechanism 400 away from the labeling station 10. The transport mechanism 400 is used to stack the labeled samples on the stacking bin 500. The detection camera 310 is used to detect whether the label is aligned and positioned on the sample. If the detection camera 310 detects that the label is accurately aligned and pasted on the sample, the pasting is successful, and the transport mechanism 400 can then transport the successfully labeled samples to the stacking bin 500 for stacking. If the detection camera 310 detects that the label is not accurately aligned and pasted on the sample, the detection mechanism 300 sends a pasting error message to the labeling mechanism 200, and the labeling suction cup 210 of the labeling mechanism 200 re-grabs the correct label and attaches it to the sample until the label is accurately pasted.

[0036] The sample marking and palletizing system in this embodiment utilizes the upper transport module 110 and the lower transport module 120 to transport samples to the labeling station 10 in an orderly and alternating manner. When labeling samples on the upper carrier tray 114, the next batch of samples to be labeled can be stacked on the lower carrier tray 124. After the samples on the upper carrier tray 114 are labeled, the samples on the lower carrier tray 124 will be transported to the labeling station 10 for labeling in a timely manner, allowing the labeling mechanism 200 to continuously perform the labeling process, reducing the downtime of the labeling mechanism 200, making the labeling process smoother, reducing the total labeling time, and improving labeling efficiency. Furthermore, the detection camera 310 of the detection mechanism 300 is used to detect the position of the labeled samples. If a labeling error occurs, it can also be fed back to the labeling mechanism 200 for re-labeling, ensuring that the label is aligned with the sample, making the labeling position accurate and the label code correct, thereby reducing subsequent correction processes, reducing test time, improving work efficiency, reducing test errors, and making test results more accurate.

[0037] It should be noted that the lower drive mechanism 123, the upper drive mechanism 113, and the lifting device 125 can all be manufactured using linear drive devices such as screw drives, cylinders, and hydraulic cylinders. The conveying mechanism 400 can use a multi-axis robotic arm to grasp the samples. The multi-axis robotic arm can be equipped with suction cups to grasp the samples, facilitating sample handling and stacking. The upper transport module 110, the lower transport module 120, the labeling mechanism 200, the detection mechanism 300, and the conveying mechanism 400 can all be controlled by the same industrial control computer to ensure the entire machine operates according to the process flow.

[0038] In some embodiments of this utility model, reference is made to Figures 1 to 4Both the upper support plate 114 and the lower support plate 124 are provided with a variety of sample storage slots 130, each of which has a different shape. This allows the upper support plate 114 and the lower support plate 124 to hold a variety of samples of different shapes. Therefore, small-batch tests of a variety of different samples can be carried out without replacing the upper support plate 114 and the lower support plate 124, which is convenient to use.

[0039] In some embodiments of this utility model, reference is made to Figures 1 to 4 The stacking compartment 500 has a variety of palletizing slots 510, and the shapes of the various sample storage slots 130 correspond one-to-one with the shapes of the various palletizing slots 510 to ensure that the labeled samples can be stacked in the corresponding palletizing slots 510, ensuring accurate sample stacking for subsequent sample testing.

[0040] In some embodiments of this utility model, reference is made to Figures 1 to 4 The palletizing trough 510 has a lifting pallet 520, and the stacking trough 500 is equipped with a linear stacking device 530 for driving the lifting pallet 520 to rise and fall. The linear stacking device 530 can be a linearly driven device such as a screw drive, hydraulic cylinder, or pneumatic cylinder. The linear stacking device 530 is used to drive the lifting pallet 520 to rise and fall. When there is no sample in the palletizing trough 510, the lifting pallet 520 is at its highest point, and at this time, there is space between the palletizing trough 510 and the lifting pallet 520 for loading one sample. When the conveying mechanism 400 moves a sample to the palletizing trough 510, the lifting pallet 520 descends by the thickness of one sample to better wait for the next sample to fall into the palletizing trough 510. It can be understood that, due to the setting of this lifting pallet 520, when it is necessary to retrieve a sample for testing, the lifting pallet 520 can be used to raise the sample for grabbing and testing.

[0041] In some embodiments of this utility model, reference is made to Figures 1 to 4 The upper movable frame 112 has an upper support platform 115, which is detachably connected to the upper support tray 114. That is, the upper support tray 114 can be removed from the upper support platform 115 to facilitate the loading of samples by the testing personnel, allowing for sample stacking. It is understood that the upper support tray 114 may be equipped with a handle to allow the testing personnel to remove the upper support tray 114 from the upper support platform 115 for easy handling.

[0042] In some embodiments of this utility model, reference is made to Figures 1 to 4The lower movable frame 122 has a lower support platform 126, which is connected to the lifting device 125. The lifting device 125 is used to drive the lower support platform 126 to rise and fall. The lower support tray 124 is detachably connected to the lower support platform 126. That is, the lower support tray 124 can be removed from the lower support platform 126 to facilitate the loading of samples by the test personnel, so that the samples can be stacked. It is understood that the lower support tray 124 may be equipped with a handle so that the test personnel can remove the lower support tray 124 from the lower support platform 126 for easy handling.

[0043] It should be noted that the detachable connection between the upper bearing plate 114 and the upper support platform 115, and the detachable connection between the lower bearing plate 124 and the lower support platform 126, can be achieved by snap-fit ​​connection, bolt connection, positioning post snap-fit, etc.

[0044] In some embodiments of this utility model, it further includes: a marking platform 600; the marking platform 600 is used to store labels; the marking platform 600 is located on one side of the labeling station 10, the labeling driving device 220 includes a horizontal driving module 221 and a lifting driving module 222, the lifting driving module 222 is disposed on the horizontal driving module 221, the labeling suction cup 210 is disposed on the lifting driving module 222, the horizontal driving module 221 is located above the marking platform 600 and the labeling station 10, and the labeling suction cup 210 is used to pick up the labels from the marking platform 600. The horizontal driving module 221 and the lifting driving module 222 can be made using linearly driven devices such as screw drives, hydraulic cylinders, and pneumatic cylinders to drive the labeling suction cup 210 to move back and forth between the marking platform 600 and the labeling station 10 to achieve the labeling action.

[0045] In some embodiments of this utility model, it further includes: a marking machine (not shown in the figure); the marking machine is located on one side of the marking platform 600, and the detection mechanism 300 is signal-connected to the marking machine. The marking machine can convert the test number of the sample into a QR code and print it on a label on the marking platform 600. Furthermore, when the detection mechanism 300 detects a labeling error, it will send a feedback signal to the marking machine, which will then print the QR code of the incorrectly labeled sample on the label, so that the labeling mechanism 200 can re-align and label the incorrectly labeled sample until the labeling position is accurate and the code corresponds correctly.

[0046] In some embodiments of this utility model, reference is made to Figures 1 to 4It also includes a barcode scanner; the barcode scanner is signal-connected to the marking machine. The barcode scanner is used to scan and identify the outer packaging of the sample, so that the industrial control computer converts it into corresponding QR code information and sends it to the marking machine, which then marks the label according to the QR code information. It should be noted that the above signal connection can be an electrical connection, a WiFi signal connection, a Bluetooth signal connection, etc.

[0047] In some embodiments of this utility model, reference is made to Figures 1 to 4 There are two upper rails 111 and two lower rails 121. The vertical projections of the two lower rails 121 are located between the projections of the two upper rails 111. That is, the lower rails 121 of the lower transport module 120 are located below the position between the two upper rails 111, so that the upper transport module 110 and the lower transport module 120 do not interfere with each other, ensuring accurate loading.

[0048] In summary, the sample marking and palletizing system of this embodiment utilizes the upper transport module 110 and the lower transport module 120 to transport samples to the labeling station 10 in an orderly and alternating manner. When labeling samples on the upper carrier tray 114, the next batch of samples to be labeled can be stacked on the lower carrier tray 124. After the samples on the upper carrier tray 114 are labeled, the samples on the lower carrier tray 124 will be transported to the labeling station 10 for labeling in a timely manner, allowing the labeling mechanism 200 to continuously perform the labeling process, reducing the downtime of the labeling mechanism 200, making the labeling process smoother, reducing the total labeling time, and improving labeling efficiency. Furthermore, the detection camera 310 of the detection mechanism 300 performs position detection on the labeled samples. If a labeling error occurs, it can also be fed back to the labeling mechanism 200 for re-labeling, ensuring that the label is aligned with the sample, making the labeling position accurate and the label code correct, thereby reducing subsequent correction processes, reducing test time, improving work efficiency, reducing test errors, and making test results more accurate.

[0049] The above are merely preferred embodiments of this utility model. It should be noted that, for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of this utility model, and these improvements and substitutions should also be considered within the protection scope of this utility model.

Claims

1. A sample marking and stacking system, characterized in that, include: Feeding mechanism, labeling mechanism, testing mechanism, handling mechanism, stacking warehouse; The feeding mechanism includes an upper transport module and a lower transport module; The lower transport module is located below the upper transport module; the upper transport module includes an upper rail, an upper movable frame, and an upper drive mechanism, the upper movable frame being slidably connected to the upper rail, and the upper drive mechanism being used to drive the upper movable frame to move along the upper rail to the labeling station; the lower transport module includes a lower rail, a lower movable frame, and a lower drive mechanism, the lower movable frame being slidably connected to the lower rail, and the lower drive mechanism being used to drive the lower movable frame to move along the lower rail; the upper movable frame is provided with an upper support tray for carrying samples; the lower movable frame is provided with a lower support tray and a lifting device, the lifting device being connected to the lower support tray, and the lifting device being used to drive the lower support tray to rise to the labeling station; The labeling mechanism includes a labeling suction cup and a labeling driving device. The labeling driving device is connected to the labeling suction cup and is used to drive the labeling suction cup to affix the label to the sample on the upper or lower support plate. The testing mechanism includes a testing camera, which is directed towards the labeling station. The transport mechanism is located on one side of the labeling station, and the stacking bin is located on the side of the transport mechanism away from the labeling station. The transport mechanism is used to stack the labeled samples on the stacking bin.

2. The sample marking and palletizing system according to claim 1, characterized in that, Both the upper and lower support plates are provided with a variety of sample storage slots, and the shape of each sample storage slot is different.

3. The sample marking and palletizing system according to claim 2, characterized in that, The stacking bin has a variety of stacking slots, and the shapes of the various sample storage slots correspond one-to-one with the shapes of the various stacking slots.

4. The sample marking and palletizing system according to claim 3, characterized in that, The palletizing compartment has a lifting pallet, and the stacking compartment is equipped with a linear stacking device for driving the lifting pallet to move up and down.

5. The sample marking and palletizing system according to claim 1, characterized in that, The upper movable frame has an upper support platform, which is detachably connected to the upper support plate.

6. The sample marking and palletizing system according to claim 5, characterized in that, The lower movable frame has a lower support platform, which is connected to the lifting device. The lifting device is used to drive the lower support platform to rise and fall. The lower bearing plate is detachably connected to the lower support platform.

7. The sample marking and palletizing system according to claim 1, characterized in that, Also includes: A marking platform; the marking platform is used to store labels; the marking platform is located on one side of the labeling station; the labeling driving device includes a horizontal driving module and a lifting driving module; the lifting driving module is disposed on the horizontal driving module; the labeling suction cup is disposed on the lifting driving module; the horizontal driving module is located above the marking platform and the labeling station; the labeling suction cup is used to pick up the labels from the marking platform.

8. The sample marking and palletizing system according to claim 7, characterized in that, Also includes: A marking machine; the marking machine is located on one side of the marking platform, and the detection mechanism is signal-connected to the marking machine.

9. The sample marking and palletizing system according to claim 8, characterized in that, Also includes: A barcode scanner; the barcode scanner is signal-connected to the marking machine.

10. The sample marking and palletizing system according to claim 1, characterized in that, There are two upper tracks and two lower tracks; the vertical projections of the two lower tracks are located between the projections of the two upper tracks.

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