A lithium battery module stacking assembly machine

Abstract

The utility model relates to the technical field of battery module stacking, and specifically discloses a lithium battery module stacking assembly machine, which comprises a battery cell transfer robot, a stacking clamp, a transfer mechanism, the transfer mechanism is across one side of module conveying line, the stacking clamp is installed at the bottom side of transfer mechanism, the battery cell transfer robot is installed at the top side of stacking clamp, the working end of battery cell transfer robot is installed with stacking clamping jaw mechanism, the stacking clamping jaw mechanism comprises clamping device and sucking disc device, the sucking disc device is installed at both sides of clamping device, the clamping device clamps two stacked battery cells at one time, and the battery cell at the top is adsorbed by the sucking disc device, the battery cell transfer robot places the two clamped battery cells in the stacking clamp. In the scheme, the clamping jaw of clamping device and the sucking disc of sucking disc device cooperate with each other, ensure that the double battery cells do not displace during the battery cell carrying process after pre-stacking, improve the stacking efficiency and stacking precision, and thus reduce the production cost.

Description

Technical Field

[0001] This utility model relates to the field of battery module stacking technology, and in particular to a lithium battery module stacking assembly machine. Background Technology

[0002] Lithium-ion battery module stacking is a core process in lithium-ion battery pack production. It involves stacking multiple individual lithium-ion batteries in a specific arrangement to form a complete battery module. After stacking, these modules are transferred to a module conveyor line for extrusion and pressure holding. Subsequently, these extruded and pressure-held battery modules are assembled with side panels to form a complete battery module.

[0003] However, the current method of stacking lithium battery modules has some problems. First, the process structure is relatively complex, resulting in higher production costs. Second, because it requires operation at multiple workstations, labor costs are also relatively high. These problems not only affect production efficiency but also increase production costs, negatively impacting the company's economic benefits.

[0004] To address these issues, it is necessary to improve and optimize the lithium battery module stacking process. Adopting a simpler and more efficient process structure can reduce production costs. Simultaneously, introducing automated equipment and technologies can reduce manual operations, thereby lowering labor costs. These improvements and optimizations can enhance the efficiency and quality of lithium battery pack production, thereby improving the competitiveness of enterprises.

[0005] Therefore, improving the precision and efficiency of lithium battery module stacking and reducing production costs have become urgent problems to be solved. Utility Model Content

[0006] The purpose of this invention is to provide a lithium battery module stacking and assembly machine to solve the problems encountered in the background art.

[0007] To achieve the above objectives, the technical solution of this utility model is as follows:

[0008] A lithium battery module stacking assembly machine includes a cell transfer robot, a stacking fixture, and a transfer mechanism. The transfer mechanism spans one side of the module conveyor line. The stacking fixture is installed on the bottom side of the transfer mechanism, and the cell transfer robot is installed on the top side of the stacking fixture. The working end of the cell transfer robot is equipped with a stacking gripper mechanism. The stacking gripper mechanism includes a clamping device and a suction cup device. The suction cup device is installed on both sides of the clamping device. The clamping device clamps two stacked cells at a time, and the cell at the top is attracted by the suction cup device. The cell transfer robot places the two clamped cells into the stacking fixture.

[0009] As a preferred embodiment, the battery cell transfer robot includes a multi-axis robotic arm, the working end of which is rotatably connected to a stacking gripper mechanism via a bearing sleeve.

[0010] In the above scheme, the clamping device includes a cylinder mounting plate and a clamping cylinder. The cylinder mounting plate is fixed to the working end of the battery cell transfer robot. The clamping cylinder is installed at the bottom of the cylinder mounting plate. The two side arms of the clamping cylinder clamp the battery cell through clamping blocks. The suction cup device is installed on both sides of the cylinder mounting plate and is arranged in a cross shape with the two side arms of the clamping cylinder.

[0011] In the above scheme, the transfer mechanism includes a transfer body and a transfer conveyor line. The transfer body is a three-axis moving device. The working end of the transfer body is equipped with a mechanical gripper. The transfer conveyor line is installed at the bottom of the transfer body, and the stacking fixture is installed on the transfer conveyor line.

[0012] As a preferred embodiment, the stacking fixture includes a base plate, a rotating shaft, a stacking frame, a lifting device, and a pushing device. The base plate is mounted on the transfer conveyor line. The stacking frame has an L-shaped structure and is rotatably connected to the base plate via the rotating shaft. An mounting plate is mounted on the inner side of the stacking frame via a vertical linear guide rail. The lifting device is mounted on the base plate, and its drive end is fixedly connected to the mounting plate. A pressure plate is mounted on the mounting plate via a horizontal linear slide rail. The pushing device is mounted on the mounting plate, and its drive end is fixedly connected to one side of the pressure plate.

[0013] Compared with existing technologies, the beneficial effects of this invention are as follows: In this solution, the grippers of the clamping device and the suction cups of the suction cup device cooperate to ensure that neither battery cell shifts during the handling of the pre-stacked cells, thus improving stacking accuracy. This solution further improves stacking efficiency while ensuring stacking accuracy. The stacking robot can simultaneously grip two stacked battery cells, stacking them on a stacking fixture. After stacking, the cells are directly assembled on the fixture under pressure and hold, and then automatically transferred after assembly, improving stacking efficiency and accuracy, thereby reducing production costs. Attached Figure Description

[0014] The disclosure of this utility model is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. In the drawings, the same reference numerals are used to refer to the same parts. Wherein:

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the installation structure of the multi-axis robotic arm and the stacking gripper mechanism in this utility model;

[0017] Figure 3 This is a schematic diagram of the stacking gripper mechanism in this utility model;

[0018] Figure 4 for Figure 3 A structural diagram from another perspective;

[0019] Figure 5 This is a schematic diagram of the installation structure of the transfer conveyor line and stacking fixture in this utility model;

[0020] Figure 6 This is a schematic diagram of the stacking fixture in this utility model;

[0021] Figure 7 for Figure 6 A structural diagram from another perspective;

[0022] Figure 8 This is a schematic diagram of the structure of the transfer body in this utility model.

[0023] Numbering in the diagram: 1-Cell transfer robot; 11-Multi-axis robotic arm; 12-Cylinder mounting plate; 13-Clamping cylinder; 14-Fixing block; 15-Clamping block; 16-Suction rod; 17-Suction cup; 18-Support plate; 19-Clamping limit rod; 2-Stacking fixture; 201-Base plate; 202-Rotation axis; 203-Stacking plate; 204-Vertical plate; 205-Handrail; 206-Buffer block; 207-Side... 208-Side limit block; 209-Material sensor; 210-Linear guide rail; 211-Mounting plate; 212-Linear slide rail; 213-Forward extension cylinder; 214-Pressing cylinder; 215-Module end plate limit block; 216-Pressure plate; 3-Transfer mechanism; 31-Mechanical gripper; 32-Transfer conveyor line; 33-Y-axis motion mechanism; 34-X-axis motion mechanism; 35-Z-axis motion mechanism; 4-Module conveyor line. Detailed Implementation

[0024] To make the technical means, creative features, achieved objectives and effects of this utility model easier to understand, the utility model will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of this utility model, and therefore only show the relevant components of this utility model.

[0025] Based on the technical solution of this utility model, without changing the essential spirit of this utility model, those skilled in the art can propose various interchangeable structural methods and implementation methods. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative descriptions of the technical solution of this utility model, and should not be regarded as the entirety of this utility model or as a limitation or restriction of the technical solution of this utility model.

[0026] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0027] Example 1, such as Figure 1 and Figure 2 As shown, a lithium battery module stacking assembly machine includes a cell transfer robot 1, a stacking fixture 2, and a transfer mechanism 3. The module conveyor line 4 is a conventional production and transportation line for lithium battery modules. The transfer mechanism 3 spans one side of the module conveyor line 4 and is located at the top. During the transfer and transportation of battery packs, the stacked battery packs are placed on the module conveyor line 4, and the cells transported on the module conveyor line 4 can also be removed by the cell transfer robot 1 and stacked.

[0028] The stacking fixture 2 is installed on the bottom side of the transfer mechanism 3, and the battery cell transfer robot 1 is installed on the top side of the stacking fixture 2. The working end of the battery cell transfer robot 1 is equipped with a stacking gripper mechanism so as to place the gripped battery cell on the stacking fixture 2.

[0029] The stacking gripper mechanism includes a clamping device and a suction cup device. The suction cup device is installed on both sides of the clamping device. The clamping device clamps two stacked cells at once through the grippers to limit the cells and prevent displacement. The cell at the top is attracted by the suction cup device through the suction cup 17, which further limits the displacement of the stacked cells. The cell transfer robot 1 places the two clamped cells into the stacking fixture 2.

[0030] As a preferred embodiment, the battery cell transfer robot 1 includes a multi-axis robotic arm 11. The multi-axis robotic arm 11 can be a commercially available four-axis, five-axis, or six-axis robotic arm. The working end of the multi-axis robotic arm 11 is rotatably connected to the stacking gripper mechanism through a bearing sleeve. The bearing sleeve drives the stacking gripper mechanism to rotate during operation through an internal rotating shaft, so that it can conform to the battery cell installation position of the stacking fixture 2 after rotation, so that it can be smoothly transported to the manual assembly position for assembly after being placed in the stacking fixture 2.

[0031] In this design, the grippers of the clamping device and the suction cups 17 of the suction cup device work together to ensure that neither cell shifts during the handling of the pre-stacked cells, thus improving stacking accuracy. This design further improves stacking efficiency while maintaining stacking accuracy. The stacking robot 1 can simultaneously grip two stacked cells, stacking them on the stacking fixture 2. After stacking, the cells are directly assembled on the fixture under pressure and hold pressure. After assembly, the cells are automatically transferred, improving both stacking efficiency and accuracy, thereby reducing production costs.

[0032] Example 2, based on Example 1, specifically, please refer to... Figure 3 and Figure 4 The clamping device includes a cylinder mounting plate 12 and a clamping cylinder 13. The cylinder mounting plate 12 is fixed to the working end of the battery cell transfer robot 1 and can be fixed to the working end of the multi-axis robotic arm 11 for easy rotation.

[0033] A clamping cylinder 13 is installed at the bottom of the cylinder mounting plate 12. The two side arms of the clamping cylinder 13 grip the battery cell via clamping blocks 15. The cooperation between the side arms and the clamping blocks 15 forms a gripper, thereby clamping and limiting the battery cell. Suction cup devices are installed on both sides of the cylinder mounting plate 12, arranged in a cross shape with the side arms of the clamping cylinder 13. When the clamping device positions the left and right sides of the battery cell, the suction cup device positions the front and rear sides of the battery cell. The grippers of the clamping cylinder 13 can re-align battery cells that are not fully aligned after pre-stacking during the clamping process, improving stacking accuracy.

[0034] The suction cup device includes suction rods 16 and suction cups 17. The suction rods 16 are mounted on both sides of the cylinder mounting plate 12, thus the suction cup device has two suction rods 16, corresponding to the front and rear sides or left and right sides of the battery cell. The working ends of the suction rods 16 are connected to the suction cups 17, and the top suction end of the suction rods 16 is connected to an external air pump to provide negative pressure adsorption for the suction cup device. As a preferred solution, two suction rods 16 are arranged to prevent the upper battery cell from shifting during transportation. If there are too many suction rods 16, the clamping claws of the clamping cylinder 13 may not be able to align the battery cell when clamping.

[0035] Example 3, based on the scheme of Example 2, has other design points that can optimize the clamping of the battery cell, such as the specific structure described below.

[0036] Fixing blocks 14 are installed between the two side arms of the clamping cylinder 13 and the clamping blocks 15. The thickness of the fixing blocks 14 is the same as the thickness of the lower layer of battery cells after stacking. The reason for making the thickness of the fixing blocks 14 the same as that of the lower layer of battery cells is to ensure that the lower layer of battery cells is clamped under force. Furthermore, the thickness of the clamping blocks 15 is the same as the thickness of the upper and lower layers of battery cells, and the thickness of the fixing blocks 14 is half the thickness of the clamping blocks 15. The reason for making the height of the clamping blocks 15 the same as the thickness of the two layers of battery cells, and the reason for the stepped design of the thickness of the fixing blocks 14, is that the contact surface thickness with the lower layer of battery cells is slightly larger, ensuring that the lower layer of battery cells is clamped when the jaws of the clamping cylinder 13 clamp and align for the second time. The stepped design of the clamping blocks 15 that hold the battery cells ensures that the lower layer of battery cells is clamped.

[0037] A clamping limiting rod 19 is mounted on the top of one side of the two support arms of the clamping cylinder 13 via a support plate 18. The clamping limiting rod 19 is used to limit the distance between the clamping jaws of the clamping cylinder 13 and the battery cell, so as to ensure that the battery cell will not deform during clamping. Structurally, the two sides of the clamping limiting rod 19 are fixed to the support plate 18 with nuts. The nuts on both sides limit the clamping limiting rod 19, and the position of the clamping limiting rod 19 is flush with the plane of the cylinder mounting plate 12. During the clamping process of the jaws clamping the battery cell, after reaching the desired position, the inner end of the clamping limiting rod 19 will press against the outer side of the cylinder mounting plate 12, thereby preventing the jaws from clamping further. Therefore, by setting the clamping limiting rod 19 on the jaws, the battery cell will not be deformed during the handling of the soft-pack battery cell.

[0038] Example 4, based on the solution of Example 1, please participate. Figure 1 , Figure 5 , Figure 8 The transfer mechanism 3 includes a transfer body and a transfer conveyor line 32. The transfer body is a three-axis moving device. The working end of the transfer body is equipped with a mechanical gripper 31, which is used to clamp the stacked and assembled battery packs.

[0039] The transfer body is a conventional device for transferring materials. After the lithium battery modules are stacked, they need to be transferred to the module conveyor line 4, which is where the transfer body comes in. The transfer body includes a Y-axis motion mechanism 33, an X-axis motion mechanism 34, and a Z-axis motion mechanism 35. The Y-axis motion mechanism 33 can drive the X-axis motion mechanism 34 to move linearly along the Y-axis, the X-axis motion mechanism 34 can drive the Z-axis motion mechanism 35 to move linearly along the X-axis, and the Z-axis motion mechanism 35 can drive the mechanical gripper 31 to move along the Z-axis.

[0040] A transfer conveyor line 32 is installed at the bottom of the transfer body, and a stacking fixture 2 is installed on the transfer conveyor line 32. The transfer conveyor line 32 transports the stacking fixture 2 back and forth via a conveyor belt. After stacking, the stacking fixture 2 can press the battery cells and, under pressure, manually assemble the side plates, insulating sheets, and heating films. In practice, two stacking fixtures 2 can be arranged on the transfer conveyor line 32, one for stacking at position C and one for manual assembly at position A, alternating work to improve efficiency. Position B is used to cooperate with the mechanical grippers 31 of the transfer body to pick up the assembled battery pack.

[0041] Example 5, based on the solution of Example 4, please refer to... Figure 6 and Figure 7 The stacking fixture 2 includes a base plate 201, a rotating shaft 202, a stacking frame, a lifting device, and a pushing device. The base plate 201 is mounted on the transfer conveyor line 32. A plate fixed to the conveyor belt is located at the bottom of the base plate 201. The forward and reverse rotation of the conveyor belt drives the base plate 201 to move left and right. The stacking frame has an L-shaped structure and is rotatably connected to the base plate 201 via the rotating shaft 202. Both ends of the rotating shaft 202 are fixed to the base plate 201 via bearing seats, and the rotating shaft 202 is rotatably connected to the bearing seats via bearings. An mounting plate 210 is mounted on the inner side of the stacking frame via vertical linear guide rails 209.

[0042] The lifting device is mounted on the base plate 201, and its drive end is fixedly connected to the mounting plate 210. A pressure plate 215 is mounted on the mounting plate 210 via a horizontal linear slide rail 211. A pushing device is mounted on the mounting plate 210, and its drive end is fixedly connected to the top side of the pressure plate 215. The lifting device can be a downward-pressing cylinder 213, which drives the mounting plate 210 to move up and down. The pushing device can be a forward-extending cylinder 212, which drives the pressure plate 215 to move left and right.

[0043] During operation, the cell transfer robot 1, in conjunction with the multi-axis robotic arm 11, drives a stacking gripper mechanism to pick up two stacked cells, placing them one by one onto the stacking rack to form a cell module. A pushing device drives a pressure plate 215 to cover the top of the cell module, and then a lifting device pulls down the mounting plate 210, causing the pressure plate 215 to press the cell module firmly and maintain pressure. Therefore, the stacking fixture 2 can clamp the cell module and facilitate manual assembly while maintaining pressure, thereby realizing the assembly of the entire battery module.

[0044] Example 6: Based on the scheme of Example 5, the following structure also needs to be considered during the manufacturing process.

[0045] Specifically, the stacking rack includes a stacking plate 203, a vertical plate 204, and a side limiting block 207. One end of the stacking plate 203 is installed on the outside of the rotating shaft 202 through a sleeve. A module end plate limiting block 214 is installed in the middle of the stacking plate 203. The module end plate limiting block 214 is used to position the battery cell. The vertical plate 204 is installed on the top side of the sleeve of the stacking plate 203. The stacking plate 203 and the vertical plate 204 are combined to form an L-shaped structure.

[0046] Side limiting blocks 207 are installed on the other side of the top of the sleeve of the stacking plate 203 to balance the pressure on the side of the vertical plate 204. Material sensors 208 are installed on both sides of the bottom plate 201. The material sensors 208 can be any one of ultrasonic sensors, infrared sensors, laser sensors, and pressure sensors. When material (battery cells) is detected to be placed on the stacking plate 203, the corresponding control process is activated to realize that each device or mechanism operates in sequence according to the set order.

[0047] As a preferred embodiment, buffer blocks 206 are respectively installed on the outer side of the stacking plate 203, the outer side of the vertical plate 204, and the outer side of the side limiting block 207. The buffer blocks 206 are made of rubber and can be fixed by adhesive. A pull handle 205 is also installed on the outer side of the vertical plate 204, which can be manually pulled to flip the stacking rack over. The battery cells stacked on the stacking fixture 2 can be rotated 90° by manually pulling the handle 205 under pressure, facilitating manual assembly of side plates, insulating sheets, and heating films.

[0048] When working, see Figure 5First, a manual operator places a module end plate limiting block 214 on the stacking fixture 2 at position A to position the stacked battery cells for later positioning. After the stacking fixture 2 moves to the stacking position at position C, the battery cell transfer robot 1 automatically stacks the battery cells. After stacking, the pressure plate 215 extends forward under the drive of the forward extension cylinder 212 to press the battery cell module. Under pressure, the battery cell module moves to the manual assembly position at position A. By manually pulling the handle 205, side plates, insulating sheets, heating films, etc., can be installed on various sides of the battery cell module to realize the installation of the battery module. After manual assembly, it moves to the unloading position at position B, and the transfer mechanism 3 moves the assembled battery module to the module conveyor line 4. After the transportation is completed, the stacking fixture 2 returns to the manual assembly position at position A, and the operator places the module end plate limiting block 214 on the stacking rack to complete one action cycle.

[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. These undisclosed elements are all prior art known to those skilled in the art.

[0050] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above description is only a specific embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A lithium battery module stacking assembly machine, characterized in that: The system includes a cell transfer robot (1), a stacking fixture (2), and a transfer mechanism (3). The transfer mechanism (3) spans one side of the module conveyor line (4). The stacking fixture (2) is installed on the bottom side of the transfer mechanism (3). The cell transfer robot (1) is installed on the top side of the stacking fixture (2). The working end of the cell transfer robot (1) is equipped with a stacking gripper mechanism. The stacking gripper mechanism includes a clamping device and a suction cup device. The suction cup device is installed on both sides of the clamping device. The clamping device clamps two stacked cells at a time, and the cell at the top is attracted by the suction cup device. The cell transfer robot (1) places the two clamped cells in the stacking fixture (2).

2. The lithium battery module stacking assembly machine according to claim 1, characterized in that: The battery cell transfer robot (1) includes a multi-axis robotic arm (11), the working end of which is rotatably connected to a stacking gripper mechanism via a bearing sleeve.

3. The lithium battery module stacking assembly machine according to claim 1, characterized in that: The clamping device includes a cylinder mounting plate (12) and a clamping cylinder (13). The cylinder mounting plate (12) is fixed to the working end of the battery cell transfer robot (1). The clamping cylinder (13) is installed at the bottom of the cylinder mounting plate (12). The two side arms of the clamping cylinder (13) clamp the battery cell through clamping blocks (15). The suction cup device is installed on both sides of the cylinder mounting plate (12) and is arranged in a cross shape with the two side arms of the clamping cylinder (13).

4. A lithium battery module stacking assembly machine according to claim 3, characterized in that: The suction cup device includes a suction rod (16) and a suction cup (17). The suction rod (16) is installed on both sides of the cylinder mounting plate (12). The working end of the suction rod (16) is connected to the suction cup (17). The top suction end of the suction rod (16) is connected to an external air pump.

5. A lithium battery module stacking assembly machine according to claim 3, characterized in that: A fixing block (14) is installed between the two side arms of the clamping cylinder (13) and the clamping block (15). The thickness of the fixing block (14) is the same as the thickness of the lower battery cell. The thickness of the clamping block (15) is the same as the thickness of the upper and lower battery cells. The thickness of the fixing block (14) is half the thickness of the clamping block (15).

6. A lithium battery module stacking assembly machine according to claim 3, characterized in that: The clamping cylinder (13) has a clamping limit rod (19) installed on one side of the top of the two side arms via a support plate (18). The two sides of the clamping limit rod (19) are fixed to the support plate (18) by nuts. The position of the clamping limit rod (19) is flush with the plane of the cylinder mounting plate (12).

7. A lithium battery module stacking assembly machine according to claim 1, characterized in that: The transfer mechanism (3) includes a transfer body and a transfer conveyor line (32). The transfer body is a three-axis moving device. The working end of the transfer body is equipped with a mechanical gripper (31). The transfer conveyor line (32) is installed at the bottom of the transfer body. The stacking fixture (2) is installed on the transfer conveyor line (32).

8. A lithium battery module stacking assembly machine according to claim 7, characterized in that: The stacking fixture (2) includes a base plate (201), a rotating shaft (202), a stacking frame, a lifting device, and a pushing device. The base plate (201) is installed on the transfer conveyor line (32). The stacking frame is an L-shaped structure. The stacking frame is rotatably connected to the base plate (201) via the rotating shaft (202). The inner side of the stacking frame is equipped with an mounting plate (210) via a vertical linear guide rail (209). The lifting device is installed on the base plate (201), and the driving end of the lifting device is fixedly connected to the mounting plate (210). A pressure plate (215) is installed on the mounting plate (210) via a horizontal linear slide rail (211). The pushing device is installed on the mounting plate (210), and the driving end of the pushing device is fixedly connected to the top side of the pressure plate (215).

9. A lithium battery module stacking assembly machine according to claim 8, characterized in that: The stacking rack includes a stacking plate (203), a vertical plate (204), and a side limiting block (207). One end of the stacking plate (203) is installed on the outside of the rotating shaft (202) through a sleeve. A module end plate limiting block (214) is installed in the middle of the stacking plate (203). The vertical plate (204) is installed on one side of the top of the sleeve of the stacking plate (203). The side limiting block (207) is installed on the other side of the top of the sleeve of the stacking plate (203). Material sensors (208) are installed on both sides of the bottom plate (201).

10. A lithium battery module stacking assembly machine according to claim 9, characterized in that: A buffer block (206) is installed on the outer side of the stacking plate (203), the outer side of the vertical plate (204), and the outer side of the side limiting block (207). A hand-operated handrail (205) is also installed on the outer side of the vertical plate (204).

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