A measuring robot for rail transit

Abstract

The utility model discloses a kind of measurement robots for rail transit, it is related to rail transit technical field, including bottom plate, the top surface of bottom plate is fixedly installed with shell, the bottom surface of bottom plate is fixedly connected with vehicle frame, the both sides of vehicle frame are all installed with drive component;The both sides of the outer wall of shell are all fixedly installed with mounting seat, the side of each mounting seat away from shell is all fixedly connected with mechanical arm, the side of two mechanical arms close to each other is all fixedly installed with scanning camera, the bottom surface of bottom plate is fixedly installed with connecting frame, connecting frame is fixedly installed with paint spraying component in its inside;The side of bottom plate away from paint spraying component is fixedly installed with cleaning component, dust, chippings and other granular pollutants on track surface are effectively removed by cleaning roller rotation, directional jet high pressure airflow is assisted by air blowing nozzle, blow off sundries in gap and groove that cleaning roller is difficult to touch, provide clear detection surface for scanning camera, eliminate sundries interference to measurement accuracy.

Description

Technical Field

[0001] This utility model relates to the field of rail transit technology, specifically a measuring robot for rail transit. Background Technology

[0002] The measuring robot for rail transit is a high-precision intelligent monitoring device that is widely used in construction monitoring, operation and maintenance, and disaster early warning. It is a core piece of equipment to ensure the stable operation of rail transit.

[0003] When a train is running, the friction between the wheels and the rails, and between the brake shoes and the wheels, will produce metal debris. In addition, the open-air lines are affected by the natural environment. Dust from windy and sandy weather, leaves and branches carried by wind and rain, and rust from the rails caused by humid air will all become track pollutants. These dust and impurities accumulate over a long period of time and adhere to the track surface and the gaps between fasteners. However, debris such as gravel, rust, and fallen leaves attached to the track can easily obscure key components such as fasteners and sleepers. During inspection, the measuring equipment may be unable to clearly capture details such as loose fastener bolts or cracks on the sleeper surface due to the obstruction of debris, resulting in missed detections or misjudgments and affecting the accuracy of track condition assessment.

[0004] Therefore, this utility model provides a measurement robot for rail transit to solve the problems mentioned above. Utility Model Content

[0005] The purpose of this invention is to provide a measurement robot for rail transit to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A measuring robot for rail transit includes a base plate, a shell is fixedly installed on the top surface of the base plate, a frame is fixedly connected to the bottom surface of the base plate, and two sets of drive components are installed on both sides of the frame. Mounting seats are fixedly installed on both sides of the outer wall of the housing. Each mounting seat is fixedly connected to a robotic arm for flexibly adjusting the measurement angle on the side away from the housing. A scanning camera for measuring track geometric parameters is fixedly installed on the side of the two robotic arms that are close to each other. A connecting frame is fixedly installed on the bottom surface of the base plate. A paint spraying assembly for accurately marking track damage is fixedly installed inside the connecting frame. A cleaning component is fixedly installed on the side of the base plate away from the painting component. The cleaning component is used to clean the track surface to prevent dust adhering to the outer wall of the track from interfering with the measurement accuracy of geometric parameters.

[0007] As a further embodiment of this utility model, the cleaning component includes a fixed tube, which is fixedly installed on the bottom surface of the base plate via a flange. An electric push rod for providing driving power is fixedly installed in the inner cavity of the fixed tube. A push block is fixedly connected to the output end of the electric push rod, and a cleaning roller for efficiently removing debris from the track surface is installed below the push block.

[0008] As a further embodiment of this utility model, a movable tube is slidably connected inside the fixed tube, and both ends of the movable tube are slidably connected to an expansion arm via pins. An air nozzle is fixedly connected to the side of the two sets of expansion arms that are close to each other, for directional spraying of high-pressure airflow to blow away debris from gaps and grooves that are difficult for the cleaning roller to reach.

[0009] As a further embodiment of this utility model, a rack is fixedly connected to the bottom end of the push block, a rotating shaft is rotatably connected to the inner wall of the moving tube through a bearing, a gear is fixedly sleeved on the outer surface of the rotating shaft, and the gear meshes with the rack. A connecting plate is fixedly connected to the outer wall of the gear through a bushing, and the connecting plate is hinged to the expansion arm through a pin.

[0010] As a further embodiment of this utility model, the drive assembly includes two rotating shafts, both located on both sides of the frame. Each rotating shaft has a steel wheel fixedly fitted on its outer wall at both ends. A dual-axis motor is installed on one side of the frame, and one of the rotating shafts is fixedly connected to the output shaft of the dual-axis motor. A shock-absorbing assembly is fixedly connected between the two rotating shafts. The shock-absorbing assembly is used to reduce the impact of vibration on the scanning camera and ensure the accuracy of the measurement data.

[0011] As a further embodiment of this utility model, the shock absorption assembly includes a shock absorption spring, which is fixedly installed on the bottom surface of the vehicle frame, and a fixing plate is fixedly connected to the bottom end of the shock absorption spring. Positioning frames are fixedly connected to both sides of the fixing plate, and the positioning frames are movably sleeved on the top surface of the vehicle frame to form a guide structure that can slide up and down.

[0012] Compared with the prior art, the beneficial effects of this utility model are: 1. When in use, this utility model provides a clean measurement environment for track inspection through the cleaning component, ensuring the accuracy of scanning data. The cleaning roller is driven to rise and fall vertically and fit closely to the track surface by an electric actuator. The rotation of the cleaning roller can effectively remove particulate contaminants such as dust and debris from the track surface. At the same time, the expansion arm is driven to open and close by a gear and rack transmission mechanism, so that the air nozzle sprays high-pressure airflow in a direction to blow away debris in the gaps and grooves that the cleaning roller cannot reach. Furthermore, the elastic buffer structure formed by the thrust spring allows the cleaning roller to adapt to the local protrusions or depressions of the track, avoiding collision damage and ensuring continuous and effective cleaning contact, thereby providing a clear detection surface for the scanning camera and eliminating the interference of debris on the measurement accuracy.

[0013] 2. When this utility model is used, the vibration energy is absorbed by the elastic deformation of the shock-absorbing spring in the shock-absorbing component. The connecting brackets on both sides of the fixed plate and the frame form a guide structure that can slide up and down, ensuring that the shock-absorbing spring is under stable force, effectively reducing the interference of vibration generated during movement on the scanning camera, ensuring the accuracy of measurement data, and extending the service life of the equipment. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a measurement robot for rail transit.

[0015] Figure 2 This is a schematic diagram of the drive component in a measurement robot for rail transit.

[0016] Figure 3 This is a schematic diagram of the cleaning component in a measuring robot for rail transit.

[0017] Figure 4 This is a structural cross-sectional view of a cleaning component in a measuring robot for rail transit.

[0018] Figure 5 This is a structural exploded view of the drive component in a measurement robot for rail transit.

[0019] In the diagram: 1. Base plate; 2. Outer shell; 3. Frame; 4. Drive assembly; 401. Shaft; 402. Steel wheel; 403. Dual-shaft motor; 404. Shock-absorbing spring; 405. Fixing plate; 406. Positioning bracket; 407. Fixing bracket; 5. Mounting base; 6. Robotic arm; 7. Scanning camera; 8. Connecting bracket; 9. Painting assembly; 10. Cleaning components; 101. Fixed tube; 102. Electric actuator; 103. Push block; 104. Cleaning roller; 105. Moving tube; 106. Expansion arm; 107. Air nozzle; 108. Rack; 109. Rotating shaft; 110. Gear; 111. Connecting plate; 112. Moving plate; 113. Thrust spring; 114. Clamping plate; 115. Connecting disc; 116. Air pump; 117. Air blowing tube; 11. Display screen; 12. Lighting; 13. Hinging panel. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1 , Figure 2 In this embodiment of the utility model, a measuring robot for rail transit includes a base plate 1, a shell 2 fixedly installed on the top surface of the base plate 1, a frame 3 fixedly connected to the bottom surface of the base plate 1, and two sets of drive components 4 for driving the device to move on the track are installed on both sides of the frame 3. Mounting bases 5 are fixedly installed on both sides of the outer wall of the outer shell 2. Each mounting base 5 is fixedly connected to a robotic arm 6 for flexibly adjusting the measurement angle on the side away from the outer shell 2. A scanning camera 7 for measuring track geometric parameters is fixedly installed on the side of the two robotic arms 6 that are close to each other. A connecting frame 8 is fixedly installed on the bottom surface of the base plate 1. A paint spraying assembly 9 for accurately marking track damage is fixedly installed inside the connecting frame 8. A cleaning component 10 is fixedly installed on the side of the base plate 1 away from the painting component 9. The cleaning component 10 is used to clean the track surface to prevent dust adhering to the outer wall of the track from interfering with the measurement accuracy of geometric parameters. It should be noted that a display screen 11 for displaying on-site data is fixedly installed on the outer surface of the outer shell 2, and multiple lights 12 are fixedly installed on one side of the outer shell 2 to assist in the inspection operation. A control system is fixedly installed in the inner cavity of the outer shell 2. The program of the control system controls the robotic arm 6 to adjust the movement angle of each joint to ensure that the robotic arm 6 accurately completes the action (the robotic arm 6 is an existing structure, and the specific structure will not be described in detail here). At the same time, the control system controls two sets of scanning cameras 7 to perform a comprehensive scan of the track, collect data such as track surface contour, geometric dimensions, and damage in real time, and transmit them back to the monitoring center. If damage is detected, the control system triggers the painting component 9 to spray a mark on the problem area for subsequent maintenance. It should also be noted that the painting assembly 9 consists of a high-pressure spray gun and a nozzle. The paint tank for paint storage and transportation is fixedly installed inside the outer shell 2, and the paint pipe is connected to the high-pressure spray gun through a pipeline, which can pressurize the paint and spray it out through the nozzle (the painting assembly 9 is an existing structure, and the specific structure will not be described in detail here). The upper surface of the outer shell 2 is movably installed with a hinged plate 13 by bolts, which is convenient for disassembly. When the paint in the paint tank is insufficient, the staff can open the hinged plate 13 to directly replenish the paint tank, ensuring the continuous and stable operation of the painting assembly 9 and ensuring that the track damage marking work is uninterrupted.

[0022] Please see Figure 1 , Figure 3 , Figure 4 , Figure 5The cleaning assembly 10 includes a fixed tube 101, which is fixedly installed on the bottom surface of the base plate 1 via a flange. An electric push rod 102 for providing driving power is fixedly installed in the inner cavity of the fixed tube 101. A push block 103 is fixedly connected to the output end of the electric push rod 102. A cleaning roller 104 for efficiently removing debris from the track surface is installed below the push block 103. It should be noted that when the equipment is started, the electric push rod 102 drives the push block 103 to rise and fall vertically, which drives the cleaning roller 104 below to closely fit the track surface. The rotation of the cleaning roller 104 effectively cleans dust, debris and other particulate pollutants, avoids debris from interfering with the subsequent track inspection work, provides a clear detection surface for the scanning camera 7, and ensures the accuracy of the measurement data. The fixed tube 101 is slidably connected to the moving tube 105. Both ends of the moving tube 105 are slidably connected to the expansion arm 106 via pins. The two sets of expansion arms 106 are fixedly connected to the side of each other, and are used to spray high-pressure airflow in a directional manner to blow away debris from the gaps and grooves that the cleaning roller 104 cannot reach. It should be noted that by working together with the cleaning roller 104 and the air nozzle 107, the track surface is ensured to be clean and free of residue, while dust adhesion is prevented from interfering with the measurement accuracy of the scanning camera 7, thus providing a reliable environmental guarantee for subsequent track inspection. A rack 108 is fixedly connected to the bottom end of the push block 103. A rotating shaft 109 is rotatably connected to the inner wall of the moving tube 105 through a bearing. A gear 110 is fixedly sleeved on the outer surface of the rotating shaft 109, and the gear 110 meshes with the rack 108. A connecting plate 111 is fixedly connected to the outer wall of the gear 110 through a bushing, and the connecting plate 111 is hinged to the expansion arm 106 through a pin. It should be noted that the gear 110 and the rack 108 form a transmission mechanism. When the electric push rod 102 drives the push block 103 to rise and fall vertically, the rack 108 moves synchronously, causing the gear 110 to rotate around the rotating shaft 109. The connecting plate 111, which is fixed to the outside of the gear 110 by the bushing, rotates accordingly. It is hinged to the expansion arm 106 by the pin, thereby converting the rotational motion into the lateral opening and closing action of the expansion arm 106. This ensures that the cleaning component 10 efficiently completes the dual cleaning of the track surface and the gap, eliminating interference for subsequent measurement operations. It should also be noted that rotating grooves are provided on both sides of the outer wall of the moving tube 105 to allow the expansion arm 106 to flip, and the expansion arm 106 is located in the rotating groove to ensure that it is not obstructed during the opening and closing process, so as to achieve precise positioning and retraction of the air nozzle 107. A movable plate 112 is fixedly connected to the bottom end of the rack 108, and a thrust spring 113 is fixedly connected to the bottom surface of the movable plate 112 to form an elastic buffer structure. A clamping plate 114 is fixedly connected to the bottom end of the thrust spring 113, and the cleaning roller 104 is rotatably installed in the clamping plate 114 through a pin. The thrust spring 113 increases the self-adaptive ability of the cleaning roller 104, which can not only closely adhere to the track surface to clean debris under the drive of the electric push rod 102, but also buffer the pressure through the elastic deformation of the spring when encountering local protrusions or depressions in the track, so as to avoid collision damage to the cleaning roller 104, while ensuring continuous and effective cleaning contact. It should be noted that the outer wall of the moving plate 112 is fixedly connected with a protrusion, and the inner wall of the moving tube 105 is provided with a sliding groove for providing the protrusion to slide, forming a directional sliding track. The protrusion is embedded in the sliding groove to ensure that the moving plate 112 smoothly drives the cleaning roller 104 to vertically approach or move away from the track, preventing it from lateral displacement during the cleaning process. It should also be noted that the outer wall of the electric push rod 102 is slidably fitted with a connecting plate 115. The connecting plate 115 is located above the push block 103 and is fixedly connected to the inner wall of the moving tube 105. A limit ring is fixedly installed on the outer wall of the top end of the moving tube 105. The inner wall of the fixed tube 101 is provided with a limit groove for providing the limit ring to slide. The limit ring slides in the limit groove to ensure that the moving tube 105 can only slide smoothly along the axial direction. When the electric push rod 102 starts to move downward, the connecting plate 115 first drives the moving tube 105 to descend, so that the air nozzle 107 on the expansion arm 106 first approaches the track. The high-pressure airflow is used to pre-blow away the floating dust and debris in the gaps. The electric push rod 102 continues to descend, and the limit ring moves to the bottom of the limit groove, thereby restricting the movement of the moving tube 105. This causes the push block 103 to separate from the connecting plate 115, driving the cleaning roller 104 to continue to descend until it is tightly attached to the track. The deep cleaning is completed by the rotation of the cleaning roller 104. An air pump 116 is fixedly installed inside the outer casing 2. The air supply end of the air pump 116 is connected to the air nozzle 107 through the air blowing pipe 117, forming a complete high-pressure air circuit system. When the air pump 116 is running, it continuously outputs high-pressure airflow, which is directionally delivered to the air nozzle 107 through the air blowing pipe 117.

[0023] Please see Figure 2 , Figure 5 The drive assembly 4 includes two shafts 401, both located on both sides of the frame 3. Steel wheels 402 are fixedly fitted on the outer walls of both ends of each shaft 401. A dual-axis motor 403 is installed on one side of the frame 3, and one of the shafts 401 is fixedly connected to the output shaft of the dual-axis motor 403. A shock-absorbing assembly is fixedly connected between the two shafts 401. The shock-absorbing assembly is used to reduce the impact of vibration on the scanning camera 7 and ensure the accuracy of the measurement data. It should be noted that pulleys are fixedly fitted at both ends of each rotating shaft 401. The two sets of pulleys are connected by a belt. By utilizing the elasticity and friction of the belt, the rotational power of one rotating shaft 401 is efficiently transmitted to the other rotating shaft 401, so that the two rotating shafts 401 can rotate synchronously, ensuring the stability and reliability of the equipment operation. The shock absorption assembly includes a shock absorption spring 404, which is fixedly installed on the bottom surface of the frame 3. A fixing plate 405 is fixedly connected to the bottom end of the shock absorption spring 404. Positioning brackets 406 are fixedly connected to both sides of the fixing plate 405. The positioning brackets 406 are movably sleeved on the top surface of the frame 3 to form a guide structure that can slide up and down. It should be noted that the shock-absorbing spring 404 can absorb vibration energy through elastic deformation, preventing the impact force from being directly transmitted to the frame 3 and the scanning camera 7. At the same time, the positioning bracket 406 and the frame 3 cooperate to ensure that the shock-absorbing spring 404 is under stable force, effectively reducing the interference of vibration on measurement accuracy, ensuring the accuracy of scanning data, and extending the service life of the equipment. It should also be noted that the two ends of the positioning frame 406 are rotatably connected to the rotating shaft 401, the top of the positioning frame 406 is fixedly connected to the fixing frame 407, and the dual-axis motor 403 is fixedly installed on the bottom surface of the fixing frame 407 by bolts.

[0024] The working principle of this utility model is as follows: When using this utility model, the dual-axis motor 403 is first started, which drives one of the rotating shafts 401 to rotate. Through the transmission action of the pulleys and belts at both ends of the rotating shaft 401, the power is transmitted to the other rotating shaft 401, so that the steel wheels 402 on both sides of the frame 3 rotate synchronously, thereby driving the entire equipment to move stably along the track. Furthermore, the vibration generated during the movement is absorbed by the shock-absorbing spring 404 through elastic deformation, preventing the impact force from being directly transmitted to the frame 3 and the scanning camera 7 above. Then, the electric actuator 102 is activated, driving the pusher block 103 to move downwards. Through the connecting plate 115, the moving tube 105 first descends axially along the fixed tube 101, causing the expansion arms 106 and air nozzles 107 at both ends of the moving tube 105 to first approach the track. Subsequently, the electric actuator 102 continues to descend. When the limiting ring of the moving tube 105 slides to the bottom of the limiting groove, the moving tube 105 is restricted from moving. The pusher block 103 separates from the connecting plate 115 and continues to move downwards, pushing the rack 108 to move downwards synchronously, driving the gear... When gear 110 rotates, the connecting plate 111 on the outside of gear 110 rotates with it, causing the expansion arm 106 to open, ensuring that the air nozzle 107 covers the gaps on both sides of the track. At the same time, rack 108 pushes moving plate 112 to move cleaning roller 104 down until cleaning roller 104 is in close contact with the track surface. With the help of thrust spring 113, cushioning is formed by elastic deformation. If there are local protrusions or depressions in the track, the spring can adaptively extend and retract, which not only avoids collision damage to cleaning roller 104, but also ensures continuous contact with the track surface. At the same time, the air pump 116 inside the outer casing 2 operates, delivering high-pressure airflow to the air nozzle 107 through the air blowing pipe 117. The air nozzle 107 sprays airflow in a direction to blow away floating dust and debris from areas that the cleaning roller 104 cannot reach, such as track gaps and grooves. Furthermore, the movement of the entire device drives the cleaning roller 104 to rotate and clean the track surface, removing residual particulate contaminants and providing a detection surface free from debris interference for subsequent measurements. After the cleaning operation is completed, the control system coordinates the work of the robotic arm 6 and the scanning camera 7. The program of the control system controls the robotic arm 6 to adjust the movement angle of each joint and move according to the preset trajectory, which drives the scanning camera 7 at its end to move to the appropriate detection position. The two sets of scanning cameras 7 simultaneously perform a comprehensive scan of the track, collect data such as track surface contour, geometric dimensions, and damage in real time, and transmit the data back to the monitoring center in real time. At the same time, the on-site data is displayed on the display screen 11 on the outer surface of the housing 2, which is convenient for the staff to view intuitively. If the detection environment is dark, multiple lights 12 on one side of the housing 2 will be automatically turned on to provide sufficient light for the scanning camera 7 and ensure the detection clarity in the dark environment. Finally, when the monitoring center determines that there is damage to the track through the returned data, the control system triggers the paint spraying component 9 to work. Paint is delivered to the high-pressure spray gun through the paint tank inside the outer shell 2 via a pipeline. The high-pressure spray gun pressurizes the paint and sprays it out through the nozzle to accurately mark the damaged area of ​​the track, so that subsequent maintenance personnel can quickly locate the problem area. If the paint in the paint tank is insufficient, the staff can directly replenish the paint by removing the opening and closing plate 13 on the upper surface of the outer shell 2 to ensure the continuous and stable operation of the paint spraying component 9 and ensure that the damage marking work is uninterrupted.

[0025] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A measuring robot for rail transit, comprising a base plate (1), characterized in that, The top surface of the base plate (1) is fixedly installed with a shell (2), and the bottom surface of the base plate (1) is fixedly connected with a frame (3). Two sets of drive components (4) are installed on both sides of the frame (3). Mounting seats (5) are fixedly installed on both sides of the outer wall of the outer shell (2). Each mounting seat (5) is fixedly connected to a robotic arm (6) for flexibly adjusting the measurement angle on the side away from the outer shell (2). A scanning camera (7) for measuring track geometry parameters is fixedly installed on the side of the two robotic arms (6) that are close to each other. A connecting frame (8) is fixedly installed on the bottom surface of the base plate (1). A paint spraying assembly (9) for accurately marking track damage is fixedly installed inside the connecting frame (8). A cleaning component (10) is fixedly installed on the side of the base plate (1) away from the painting component (9), and the cleaning component (10) is used to clean the track surface to avoid the dust attached to the outer wall of the track from interfering with the measurement accuracy of geometric parameters.

2. The measuring robot for rail transit according to claim 1, characterized in that, The cleaning assembly (10) includes a fixed tube (101), which is fixedly installed on the bottom surface of the base plate (1) by a flange. An electric push rod (102) for providing driving power is fixedly installed in the inner cavity of the fixed tube (101). A push block (103) is fixedly connected to the output end of the electric push rod (102). A cleaning roller (104) for efficiently removing debris from the track surface is installed below the push block (103).

3. A measuring robot for rail transit according to claim 2, characterized in that, The fixed tube (101) is slidably connected to the inside of the movable tube (105). Both ends of the movable tube (105) are slidably connected to the expansion arms (106) via pins. The two sets of expansion arms (106) are fixedly connected to the side of each other, and are used to spray high-pressure airflow in a directional manner to blow away debris from the gaps and grooves that are difficult for the cleaning roller (104) to reach.

4. A measuring robot for rail transit according to claim 3, characterized in that, The bottom end of the push block (103) is fixedly connected to a rack (108), and the inner wall of the moving tube (105) is rotatably connected to a rotating shaft (109) through a bearing. A gear (110) is fixedly sleeved on the outer surface of the rotating shaft (109), and the gear (110) meshes with the rack (108). The outer wall of the gear (110) is fixedly connected to a connecting plate (111) through a bushing, and the connecting plate (111) is hinged to the expansion arm (106) through a pin.

5. A measuring robot for rail transit according to claim 1, characterized in that, The drive assembly (4) includes a rotating shaft (401), there are two rotating shafts (401), both located on both sides of the frame (3). Steel wheels (402) are fixedly fitted on the outer walls of both ends of each rotating shaft (401). A dual-axis motor (403) is installed on one side of the frame (3), and one of the rotating shafts (401) is fixedly connected to the output shaft of the dual-axis motor (403). A shock-absorbing assembly is fixedly connected between the two rotating shafts (401), and the shock-absorbing assembly is used to reduce the impact of vibration on the scanning camera (7) and ensure the accuracy of the measurement data.

6. A measuring robot for rail transit according to claim 5, characterized in that, The shock absorption assembly includes a shock absorption spring (404), which is fixedly installed on the bottom surface of the frame (3). A fixing plate (405) is fixedly connected to the bottom end of the shock absorption spring (404). Positioning brackets (406) are fixedly connected to both sides of the fixing plate (405), and the positioning brackets (406) are movably sleeved on the top surface of the frame (3) to form a guide structure that can slide up and down.

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