A fruit picking structure and robot

Abstract

The utility model discloses a fruit picking structure and robot relates to fruit picking technical field, including clamping mechanism, rotating mechanism and drive assembly, and clamping mechanism includes base, four clamping claws of annular array setting, screw rod and thread cover, and the base is constituted by bottom plate, top plate and the support pole of connecting both, and the hinged seat movable connection of clamping claw root and the outer wall of top plate is through first connecting rod, and the screw rod is rotatably installed in the top plate center, and the thread cover is with screw rod thread cooperation, and the outer wall of thread cover is through second connecting rod and first connecting rod hinged. The utility model discloses to the independent drive setting of the rotating mechanism and clamping mechanism of picking tool in prior art, when operating, the operation timing sequence of easy existence clamping and rotation is improved. The utility model has the advantages that the operation timing sequence of " clamping first and then rotating " is restrained through mechanical linkage, and the compact structure realizes reliable fruit picking and the like.

Description

Technical Field

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

[0002] Fruit harvesting is a crucial step in agricultural production, with its core objective being the efficient separation of fruit stems while preserving the fruit's integrity. Traditional manual harvesting relies on twisting and pulling actions to simulate the natural breakage of fruit stems. To improve efficiency, existing mechanized harvesting tools primarily employ clamping end effectors, which use rigid or flexible grippers to grasp the fruit and then combine this with cutting or pulling actions to complete the separation.

[0003] In existing technologies, rotational twisting technology has been introduced into harvesting tools to simulate the natural separation process of artificially twisting fruit stalks. This setup applies rotational torque after the fruit is secured by a clamping mechanism, utilizing the torsional shearing characteristics of the stalk fibers to achieve low-damage separation. It is particularly suitable for fruits with tough stalks, such as citrus and apples. However, in most cases, the rotation mechanism and the clamping mechanism are driven independently, leading to a misalignment between the clamping and rotation actions. For example, when driven independently, if the operator does not strictly follow the "clamp first → rotate later" procedure (such as accidentally triggering rotation before clamping), the fruit may be twisted before being secured, causing it to fall off or be damaged.

[0004] To address the above technical problems, this utility model discloses a fruit picking structure and robot. This utility model has the advantages of achieving reliable fruit picking with a compact structure by using mechanical linkage to constrain the action sequence of "clamping first and then rotating". Utility Model Content

[0005] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a fruit picking structure and robot to solve the technical problems in the prior art, such as the independent drive settings of the rotation mechanism and the clamping mechanism of the picking tool, which easily lead to misalignment of the clamping and rotation action sequence during operation, affecting the fruit picking work. This utility model has the advantages of achieving reliable fruit picking with a compact structure by mechanically linking and constraining the action sequence of "clamping first and then rotating".

[0006] This utility model is achieved through the following technical solution: This utility model discloses a fruit picking structure and robot, including a clamping mechanism, a rotating mechanism and a drive component. The clamping mechanism includes a base, four grippers arranged in a ring array, a screw and a threaded sleeve.

[0007] The base consists of a bottom plate, a top plate, and a support rod connecting the two. The root of the gripper is movably connected to the hinge seat on the outer wall of the top plate via a first connecting rod.

[0008] The screw is rotatably mounted at the center of the top plate via a bearing, and the threaded sleeve is threadedly engaged with the screw. The outer wall of the threaded sleeve is hinged to the first connecting rod via the second connecting rod.

[0009] The rotating mechanism includes a base cylinder and a conversion component. The base cylinder is rotatably connected to the connecting plate of the drive assembly via a bearing.

[0010] The conversion component includes a limiting shaft, a longitudinal moving cylinder, a pin, and a fixed shaft. The limiting shaft is circumferentially limited by a spline and a connecting plate. The longitudinal moving cylinder is fixed to the bottom end of the limiting shaft and sleeved on the outside of the fixed shaft.

[0011] The fixed shaft is fixed to the bottom wall of the bottom cylinder, and a spiral guide groove is opened on its outer circumference. The pin passes through the longitudinal moving cylinder and is inserted into the guide groove.

[0012] The drive assembly includes an electric push rod, a longitudinal moving plate, and a gear transmission group. The electric push rod drives the longitudinal moving plate to move, and the gear transmission group converts the displacement of the longitudinal moving plate into the rotational motion of the screw.

[0013] Furthermore, after the grippers hold the fruit, the longitudinal moving plate continues to move downwards to push the limiting shaft. Through the cooperation of the pin and the spiral guide groove, the axial displacement is converted into rotational torque, thereby achieving the torsional separation of the fruit stalk.

[0014] Furthermore, the radial end face of the gripper forms the clamping working surface, the screw rotation drives the threaded sleeve to move axially, and the gripper tightens and expands through the linkage of the second link and the first link.

[0015] Furthermore, the gear transmission assembly includes a splined shaft, a rack, a bevel gear pair, and a transmission gear. The splined shaft is coaxially sleeved inside the rotating cylinder at the bottom of the screw and is rotatably connected to the longitudinal moving plate.

[0016] The transmission gear is connected to the bevel gear pair via a rotating shaft, the bevel gear pair meshes with the spline shaft, and the transmission gear meshes with the fixed rack.

[0017] Furthermore, the spline shaft adopts a two-section telescopic structure, with the two sections sliding relative to each other axially via a slide bar and the circumferential degree of freedom constrained by a guide key; the two sections are locked in the telescopic position by radial fastening screws.

[0018] Furthermore, a limiting disc is provided at the top of the limiting shaft, and a spring is provided between the limiting disc and the connecting plate in a coaxial sleeve.

[0019] Furthermore, the longitudinal moving plate and the limiting plate are preset with a longitudinal distance. When the spline shaft is completely disengaged from the rotating cylinder, the longitudinal moving plate contacts the limiting plate and pushes the limiting shaft downward.

[0020] A robot comprising a fruit-picking structure as claimed in any one of claims.

[0021] This utility model has the following advantages:

[0022] (1) This utility model eliminates the inherent timing misalignment risk of traditional independent drive mechanisms by integrating a single drive source with a linkage structure. The spline shaft disengagement action of the clamping mechanism and the triggering of the rotation mechanism form a mechanical self-constraint; when the spline shaft transmits the rotational force of the screw, it forces the jaws to tighten and lock the fruit. Only after the clamping force reaches the threshold does the longitudinal moving plate contact the limiting plate and push the longitudinal moving cylinder to move; at this time, the spiral guide groove automatically converts the axial displacement into rotational torque, ensuring that the timing of the clamping and rotation action does not require human intervention or complex control logic. This allows the fruit stem breaking action to be completed in one go under stable clamping conditions, improving the reliability of harvesting.

[0023] (2) The two-section spline shaft of this utility model adjusts the effective length through the telescopic locking mechanism, thereby controlling the number of screw rotations and the stroke of the gripper. It can adapt to the clamping pressure threshold of different fruit diameters without the need for an external control system; and maintains a constant clamping force through the self-locking thread characteristics of the screw; and ensures harvesting reliability under the premise of simplifying the power configuration (single electric push rod drive). Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0025] Figure 2 This is a schematic diagram of the clamping mechanism of this utility model;

[0026] Figure 3 This is a schematic diagram of the drive component structure of this utility model;

[0027] Figure 4 This is a schematic diagram of the clamping mechanism and drive assembly structure of this utility model;

[0028] Figure 5 This utility model Figure 4 A magnified schematic diagram of the structure at point B;

[0029] Figure 6 This utility model Figure 3 A magnified schematic diagram of the structure at point A;

[0030] Figure 7 This is a schematic cross-sectional view of the bottom cylinder structure of this utility model;

[0031] Figure 8 This is a schematic diagram of the spline shaft structure of this utility model.

[0032] In the diagram: 1. Clamping mechanism; 2. Rotating mechanism; 3. Hinge seat; 4. First connecting rod; 5. Second connecting rod; 6. Drive assembly; 7. Limiting plate; 8. Spring; 9. Slide rod; 10. Fastening screw; 101. Base; 102. Gripper; 103. Screw; 104. Threaded sleeve; 111. Base plate; 112. Top plate; 113. Support rod; 601. Base frame; 602. Electric push rod; 603. Longitudinal... 604. Moving plate; 611. Gear transmission assembly; 612. Connecting plate; 641. Fixed rod; 642. Rotating cylinder; 643. Splined shaft; 644. Rack; 645. Gear assembly; 446. Bevel gear; 447. Transmission gear; 448. Rotating shaft; 201. Bottom cylinder; 202. Converter; 221. Limiting shaft; 222. Longitudinal cylinder; 223. Fixed shaft; 224. Pin; 225. Guide groove. Detailed Implementation

[0033] The embodiments of this utility model are described in detail below. These embodiments are implemented based on the technical solution of this utility model, and detailed implementation methods and specific operation processes are given. However, the protection scope of this utility model is not limited to the following embodiments. In the description of this utility model, words such as "front", "rear", "left", and "right" that indicate orientation or positional relationship 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. Example 1

[0034] The embodiment discloses a fruit picking structure, such as Figures 1-8 As shown, it includes a clamping mechanism 1 configured as a four-claw gripper and a rotating mechanism 2. During harvesting, the clamping mechanism 1 first clamps and secures the fruit, and then the rotating mechanism 2 drives the clamping mechanism 1 to rotate, thereby twisting off the fruit branch connecting the fruit and finally completing the harvesting of the fruit.

[0035] like Figure 1 and Figure 2 As shown, the clamping mechanism 1 specifically includes a base 101, a gripper 102, a screw 103, and a threaded sleeve 104; wherein, the base 101 serves as the base of the gripper 102, and its structure consists of a bottom plate 111, a support rod 113, and a top plate 112. The top plate 112 is arranged parallel above the bottom plate 111, and the two are fixedly connected by four support rods 113 arranged in a ring array, thereby forming a preset space between the top plate 112 and the bottom plate 111.

[0036] On the outer wall of the top plate 112, four hinge seats 3 are arranged in a circular array. The centripetal end faces of the four grippers 102 form a clamping working surface. The root of the gripper 102 is movably connected to the corresponding four hinge seats 3 through the first connecting rod 4. In addition, at the center of the top plate 112, a screw 103 is rotatably installed through a bearing. The outside of the screw 103 forms a threaded engagement with the threaded sleeve 104. The outer wall of the threaded sleeve 104 is hinged to four second connecting rods 5, and the other ends of the four second connecting rods 5 are respectively hinged to the corresponding first connecting rods 4.

[0037] With this setup, when fruit needs to be clamped, the screw 103 can be rotated to drive the threaded sleeve 104 to reciprocate linearly along the axial direction of the screw 103 using the principle of thread transmission. During this process, with the help of the linkage between the first connecting rod 4 and the second connecting rod 5, the reciprocating motion of the threaded sleeve 104 can simultaneously drive the four grippers 102 to produce a centripetal tightening action to clamp the fruit, or to produce a back-to-back motion to achieve the unfolding state of the grippers 102.

[0038] In this embodiment, to improve the convenience and automation of the harvesting operation, such as Figure 1 , Figure 3 , Figure 4 and Figure 5 As shown, the rotation of the screw 103 is achieved by an electrically driven drive assembly 6.

[0039] The drive assembly 6 specifically includes a base frame 601, an electric push rod 602, a longitudinal moving plate 603, and a gear transmission group 604. The base frame 601 is fixed below the base plate 111 and consists of four fixed rods 612 arranged in a ring and a connecting plate 611 fixed to the bottom of the fixed rods 612. A longitudinally movable plate 603 is provided between the connecting plate 611 and the base plate 111, and its movement is driven by the electric push rod 602. The electric push rod 602 is fixedly installed below the base plate 111, and its telescopic axis extends downward and is fixedly connected to the longitudinal moving plate 603.

[0040] like Figure 5As shown, the gear transmission assembly 604 is used to convert the linear motion of the longitudinal moving plate 603 into the rotational motion of the screw 103. Its structure includes a rotating cylinder 641, a splined shaft 642, a rack 643, and a gear set 644. The rotating cylinder 641, coaxial with the screw 103, is rotatably mounted at the center of the base plate 111. The bottom end of the screw 103 extends below the top plate 112 and is coaxially fixed to the top end of the rotating cylinder 641. The bottom end of the rotating cylinder 641 extends below the base plate 111, and a splined groove penetrating the bottom wall is opened inside the cylinder. The splined shaft 642 is movably inserted into the splined groove, and its bottom end is rotatably connected to the longitudinal moving plate 603 and axially limited. At the same time, the rack 643 is fixedly arranged between the connecting plate 611 and the base plate 111, and the splined shaft 642 is driven by meshing with the rack 643 through the gear set 644. Therefore, when the electric push rod 602 drives the longitudinal moving plate 603 to move longitudinally, the gear set 644 converts the longitudinal displacement into the rotation of the spline shaft 642, which in turn drives the rotating cylinder 641 to rotate synchronously with the screw 103, thus realizing the opening and closing control of the clamping mechanism 1.

[0041] The gear set 644 includes a pair of meshing bevel gears 441, a transmission gear 442 meshing with a rack 643, and a rotating shaft 443. The rotating shaft 443 is rotatably mounted above the longitudinal moving plate 603 via a bearing housing, and its axis is perpendicular to the spline shaft 642. A bevel gear 441 is coaxially sleeved on the outside of the spline shaft 642, and another bevel gear 441 is coaxially sleeved on the outside of the rotating shaft 443. The two form a pair of bevel gears 441 and realize the conversion of the transmission direction.

[0042] The other end of the rotating shaft 443 is fixedly connected to a transmission gear 442, which meshes with a fixedly mounted rack 643. When the electric push rod 602 is activated and drives the longitudinal moving plate 603 to move vertically, the longitudinal moving plate 603 drives the splined shaft 642 to slide longitudinally within the inner cavity of the rotating cylinder 641. At the same time, due to the continuous meshing of the transmission gear 442 and the rack 643, the displacement of the longitudinal moving plate 603 forces the transmission gear 442 to rotate, thereby driving the rotating shaft 443 to rotate. The power of the rotating shaft 443 is transmitted to the splined shaft 642 through the bevel gear 441 pair, causing the splined shaft 642 to rotate while moving longitudinally, ultimately driving the rotating cylinder 641 and the screw 103 to rotate synchronously, thereby tightening or loosening the gripper 102.

[0043] In particular, by designing the length of the spline shaft 642, the number of rotations of the screw 103 can be precisely controlled, thereby adjusting the tightness of the gripper 102; and the thread structure of the screw 103 utilizes its self-locking characteristics to maintain the clamping force without decay even after the spline shaft 642 is disengaged, ensuring that the gripper 102 continues to clamp stably.

[0044] Specifically, such as Figure 1 , Figure 3, Figure 6 , Figure 7 As shown, the rotating mechanism 2 consists of a bottom cylinder 201 and a conversion component 202; wherein, the connecting plate 611 is rotatably connected to the top wall of the bottom cylinder 201 through a bearing and is axially limited; the conversion component 202 includes a limiting shaft 221, a longitudinal moving cylinder 222, a fixed shaft 223, a pin 224 and a guide groove 225.

[0045] Specifically, a limiting groove is formed through the center of the connecting plate 611, and the limiting shaft 221 is movably inserted into the groove. The two are connected by a spline to form a circumferential limiting structure (allowing the limiting shaft 221 to move longitudinally but prohibiting circumferential rotation).

[0046] The bottom end of the limiting shaft 221 extends into the interior of the bottom cylinder 201 and is rigidly connected to the longitudinal moving cylinder 222, which is coaxially fixed inside the cylinder. The bottom wall of the bottom cylinder 201 is vertically fixed to the fixed shaft 223, which is coaxially arranged with the longitudinal moving cylinder 222. The longitudinal moving cylinder 222 is movably sleeved on the outside of the fixed shaft 223. A guide groove 225 with a spiral trajectory is opened on the outer circumferential surface of the fixed shaft 223 (extending from the top downward along the axial direction and spirally extending along the circumferential direction at the same time). The pin 224 passes through the side wall of the longitudinal moving cylinder 222 and is movably inserted into the guide groove 225.

[0047] When the longitudinal moving plate 603 drives the limiting shaft 221 to move the longitudinal moving cylinder 222 axially along the fixed shaft 223, the pin 224 is constrained by the spiral guide groove 225, which forces the longitudinal moving cylinder 222 to rotate circumferentially while displacing axially. Since the longitudinal moving cylinder 222 is fixedly connected to the limiting shaft 221, and the limiting shaft 221 is circumferentially limited by the connecting plate 611 through the spline structure, the rotational motion of the longitudinal moving cylinder 222 eventually drives the connecting plate 611 to rotate synchronously, thereby driving the gripper 102 to perform the fruit branch breaking operation.

[0048] In addition, a limiting disk 7 is rigidly fixed at the top of the limiting shaft 221. A spring 8 is provided between the limiting disk 7 and the connecting plate 611. The spring 8 is coaxially sleeved on the outside of the limiting shaft 221, thereby providing elastic support for the limiting shaft 221.

[0049] Specifically, a preset longitudinal distance is provided between the longitudinal moving plate 603 and the limiting plate 7, so that when the electric push rod 602 drives the longitudinal moving plate 603 to move downward, the longitudinal moving plate 603 will only contact and push the limiting shaft 221 downward after the spline shaft 642 has completely disengaged from the spline groove inside the rotating cylinder 641. This timing design ensures that the gripper 102 completes the clamping and fixing of the fruit first, and then triggers the subsequent twisting action.

[0050] In addition, to adapt to the different clamping strength requirements of various fruits, such as Figure 8As shown, the spline shaft 642 adopts a two-section structure; the two sections of the spline shaft 642 are longitudinally telescopically connected by a slide rod 9. The slide rod 9 and the inner cavity of the spline shaft 642 adopt a circumferential limiting structure with spline or guide key cooperation, so that the spacing can only be adjusted axially and cannot be rotated relative to each other; the outer wall of the spline shaft 642 is radially screwed with a fastening screw 10, the end of the screw abuts against the outer wall of the slide rod 9. By tightening the screw, the relative position of the two sections of the spline shaft 642 can be locked, thereby precisely controlling the effective working length of the spline shaft 642. Example 2

[0051] This embodiment discloses a robot whose core actuator adopts the fruit picking structure described in Embodiment 1 (including a four-claw gripping mechanism 1 and a rotating twisting mechanism).

[0052] The principle of this invention is as follows: During use, the device is positioned directly below the target fruit, with the grippers 102 in the extended state (initial position). The electric push rod 602 is activated, pushing the longitudinal moving plate 603 downwards. Through the gear transmission group 604 (rack 643, transmission gear 442, and bevel gear 441 pair), the linear motion is converted into the rotational motion of the spline shaft 642, driving the rotating cylinder 641 and the screw 103 to rotate synchronously. The rotation of the screw 103 forces the threaded sleeve 104 to move axially, pushing the first connecting rod 4 via the second connecting rod 5, causing the four grippers 102 to tighten concentrically until the clamping surface is in contact with the fruit surface. At this time, the spline shaft 642, due to its length adjustment function (telescopic slide rod 9 locked with fastening screw 10), can adapt to different fruit diameters, ensuring moderate clamping force. Pressure sensor feedback control can be used. After the clamping action is completed, the longitudinal moving plate 603 continues to move downwards, contacting the limiting plate 7 and pushing the limiting shaft 221 downwards. The limiting shaft 221 drives the longitudinal moving cylinder 222 to slide axially along the fixed shaft 223. At this time, the pin 224 is constrained by the spiral guide groove 225, forcing the longitudinal moving cylinder 222 to rotate circumferentially while moving axially. Because the limiting shaft 221 is circumferentially limited by the connecting plate 611 through the spline structure, the rotational torque of the longitudinal moving cylinder 222 is transmitted to the connecting plate 611, driving the entire clamping mechanism 1 to rotate, and the fruit branch is twisted off. In the reset stage, the electric push rod 602 retracts, and the longitudinal moving plate 603 moves upward. The spline shaft 642 re-engages with the rotating cylinder 641, and the screw 103 reverses to open the gripper 102 to release the fruit; the limiting shaft 221 resets under the action of the spring 8, and the longitudinal moving cylinder 222 moves back to its original position along the guide groove 225, ready for the next harvest.

[0053] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A fruit picking structure, comprising a clamping mechanism (1), a rotating mechanism (2), and a driving assembly (6), characterized in that, The clamping mechanism (1) includes a base (101), four clamping claws (102) arranged in a ring array, a screw (103) and a threaded sleeve (104). The base (101) is composed of a bottom plate (111), a top plate (112) and a support rod (113) connecting the two. The root of the gripper (102) is movably connected to the hinge seat (3) on the outer wall of the top plate (112) through the first connecting rod (4). The screw (103) is rotatably mounted on the center of the top plate (112) via a bearing. The threaded sleeve (104) is threadedly engaged with the screw (103), and the outer wall of the threaded sleeve (104) is hinged to the first connecting rod (4) via the second connecting rod (5). The rotating mechanism (2) includes a bottom cylinder (201) and a conversion component (202). The bottom cylinder (201) is rotatably connected to the connecting plate (611) of the drive assembly (6) via a bearing. The conversion component (202) includes a limiting shaft (221), a longitudinal moving cylinder (222), a pin (224), and a fixed shaft (223). The limiting shaft (221) is circumferentially limited by a spline to the connecting plate (611). The longitudinal moving cylinder (222) is fixed to the bottom end of the limiting shaft (221) and sleeved on the outside of the fixed shaft (223). The fixed shaft (223) is fixed to the bottom wall of the bottom cylinder (201), and a spiral guide groove (225) is opened on its outer circumferential surface. The pin (224) passes through the longitudinal moving cylinder (222) and is inserted into the guide groove (225). The drive assembly (6) includes an electric push rod (602), a longitudinal moving plate (603), and a gear transmission group (604). The electric push rod (602) drives the longitudinal moving plate (603) to move, and the gear transmission group (604) converts the displacement of the longitudinal moving plate (603) into the rotational motion of the screw (103).

2. The fruit harvesting structure as described in claim 1, characterized in that, After the gripper (102) clamps the fruit, the longitudinal moving plate (603) continues to move downward to push the limiting shaft (221). Through the cooperation of the pin (224) and the spiral guide groove (225), the axial displacement is converted into rotational torque, thereby realizing the torsional separation of the fruit stalk.

3. The fruit harvesting structure as described in claim 1, characterized in that, The radial end face of the gripper (102) forms a clamping working surface. The screw (103) rotates to drive the threaded sleeve (104) to move axially. The gripper (102) is tightened and unfolded by the linkage of the second link (5) and the first link (4).

4. The fruit harvesting structure as described in claim 1, characterized in that, The gear transmission assembly (604) includes a splined shaft (642), a rack (643), a bevel gear (441) pair and a transmission gear (442). The splined shaft (642) is coaxially sleeved in the rotating cylinder (641) at the bottom end of the screw (103) and is rotatably connected to the longitudinal moving plate (603). The transmission gear (442) is connected to the bevel gear (441) pair via the rotating shaft (443), the bevel gear (441) pair meshes with the spline shaft (642), and the transmission gear (442) meshes with the fixed rack (643).

5. The fruit harvesting structure as described in claim 4, characterized in that, The spline shaft (642) adopts a two-section telescopic structure, and the two sections achieve axial relative sliding through the slide rod (9) and rely on the guide key to constrain the circumferential degree of freedom; the two sections are locked in the telescopic position by the radial fastening screw (10).

6. The fruit harvesting structure as described in claim 1, characterized in that, The top of the limiting shaft (221) is provided with a limiting plate (7), and a spring (8) is provided between the limiting plate (7) and the connecting plate (611) in a coaxial sleeve.

7. The fruit harvesting structure as described in claim 4, characterized in that, The longitudinal moving plate (603) and the limiting plate (7) are preset longitudinally spaced. When the spline shaft (642) is completely disengaged from the rotating cylinder (641), the longitudinal moving plate (603) contacts the limiting plate (7) and pushes the limiting shaft (221) downward.

8. A robot, characterized in that, Includes the fruit picking structure as described in any one of claims 1-7.

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