Automatic processing device for flywheel housing of engineering machinery of delta machine tool

Abstract

The utility model provides a kind of engineering machinery flywheel housing automatic processing device of character-shaped machine tool, comprising: base surface, three flywheel housing processing machine tools are equipped on base surface upper surface, and it is character-shaped layout, three machine tools are OP10 machine tool, OP20 machine tool, OP30 machine tool respectively, grid plate is equipped between three machine tools, robot assembly is equipped in the center of grid plate surface, and one end of robot assembly is equipped with feeding assembly, and feeding assembly includes baffle bar, and baffle bar both sides are located respectively in the corresponding side of OP10 machine tool and OP30 machine tool. Operator places blank into feeding frame, driving motor drives screw rod to adjust feeding frame position, robot picks blank and sends to character-shaped machine tool processing, shortens moving time, sends burr to remove machine to remove burr again, reduces the risk that personnel contacts sharp burr, finally sends temporary storage platform to rely on gravity to unload, avoids machine tool shutdown.

Description

Technical Field

[0001] This utility model relates to the field of automated processing technology for engineering machinery parts, specifically to an automated processing device for the flywheel housing of an engineering machinery using a triangular machine tool. Background Technology

[0002] With the acceleration of global infrastructure construction and urbanization, the demand for construction machinery (such as excavators, loaders, cranes, etc.) continues to grow. Traditional manual production methods are difficult to meet the needs of efficient, high-precision, and large-scale production. Enterprises have begun to promote the development of production models towards automation. The development of artificial intelligence and robotics technology has provided technical support for automated production. The application of high-precision sensors, CNC machine tools, and collaborative robots has made the automated production of complex parts possible. The flywheel housing is a key connecting component between the engine and the gearbox, mainly used to encapsulate the flywheel assembly and support peripheral components such as the crankcase and starter.

[0003] For example, the national authorized patent announcement number CN202726470U discloses a multi-functional machining tool for flywheel housings, including: a bed with linear guide rails; a slide; a milling end face device located at the first working position of the slide; a drilling device located at the second working position of the slide; a chamfering device located at the third working position of the slide; a tapping device located at the fourth working position of the slide; and an oil window machining device located at the fifth working position of the slide, including a machining spindle; all machining can be completed in one clamping, which can effectively improve production efficiency and reduce the labor intensity of workers.

[0004] However, the aforementioned multi-functional machine tool for flywheel housing relies heavily on manual loading and unloading, which requires workers to frequently handle heavy workpieces, significantly increasing labor intensity. This not only easily leads to fatigue and operational errors but may also cause bumps and damage during handling. Furthermore, the process flow path is long, efficiency is limited, and the lack of multi-layer feeding and automatic replenishment makes it impossible to connect production and reduces the overall utilization rate of the production line. Utility Model Content

[0005] The present invention aims to solve the problems mentioned in the background art by providing an automated processing device for the flywheel housing of a triangular machine tool.

[0006] The specific technical solution is as follows: An automated processing device for flywheel housings of engineering machinery using a triangular machine tool includes: a base surface, on the upper surface of which are provided three flywheel housing processing machine tools arranged in a triangular pattern, namely OP10 machine tool, OP20 machine tool, and OP30 machine tool; a grid plate is provided between the three machine tools; a robot component is provided at the center of the surface of the grid plate; a feeding component is provided at one end of the robot component; the feeding component includes a baffle rail, with the two sides of the baffle rail located on the corresponding sides of the OP10 machine tool and the OP30 machine tool, respectively; a first hole is provided at one end of the surface of the grid plate, and a burr removal machine is fixedly installed in the first hole.

[0007] As a preferred embodiment of this utility model, a temporary storage platform is provided at the other end of the surface of the grating plate, and a material discharge channel is provided at one end of the temporary storage platform. Protective plates are installed in the gaps between the OP20 machine tool, the OP10 machine tool, and the OP30 machine tool.

[0008] As a preferred embodiment of this utility model, a base is provided at the other end of the upper surface of the base surface. The base is located inside the baffle rail. Two linear slide rails are respectively installed at both ends of the upper surface of the base. A sliding groove is provided at the center of the upper surface of the base. A movable slider is slidably installed in the sliding groove. A threaded hole is provided on one side of the movable slider. A first lead screw is threadedly connected in the threaded hole. A groove is provided at one end of the sliding groove. A drive motor is provided in the groove. The output shaft of the drive motor is connected to one end of the first lead screw.

[0009] As a preferred embodiment of this utility model, a linkage plate is fixedly connected to the upper surface of the movable slider, and feeding frames are fixedly connected to both sides of the linkage plate. A through hole is provided on one side of the linkage plate, and a first guide rod passes through the through hole. The other end of the first guide rod is connected to one end of the inner wall of the baffle. The lower surfaces of the two feeding frames are slidably connected to one end of the surface of the linear slide rail.

[0010] In a preferred embodiment of this utility model, two second holes are respectively provided on one side surface of the two feeding frames. A second guide rod is installed on the inner wall of each pair of second holes of the feeding frame. A guide rod slider is slidably connected to the outer surface of the second guide rod. A third hole is provided between the two second holes. A reduction motor is provided on the upper surface of the two feeding frames. The output shaft of the reduction motor is connected to a second lead screw. The second lead screw is located in the third hole. A lifting slider is threadedly connected to the outer surface of the second lead screw. Two material receiving frames are fixedly connected to one side of the lifting slider. The other end of the guide rod slider is also connected to one side of the material receiving frame. Photoelectric sensors are respectively installed on one side of the inner wall of the two feeding frames. A controller is provided between the two feeding frames.

[0011] In a preferred embodiment of this utility model, multiple slots are provided on both sides of the inner wall of the material receiving frame, and a rotating shaft is rotatably installed in each slot. A material support plate is fixedly connected to one end of the rotating shaft. A blank shell is placed on the upper surface of the corresponding material support plate on both sides of the inner wall of the material receiving frame. Torsion springs are provided at both ends of the outer surface of the rotating shaft. One end of the torsion spring is connected to the rotating shaft, and the other end of the torsion spring is connected to the side wall of the slot. The torsion spring can deform with the rotation of the rotating shaft to provide a force for the material support plate to reset.

[0012] In a preferred embodiment of this utility model, the irradiation end of the photoelectric sensor corresponds to the central area of ​​the blank shell to be grasped by the robot component in the first layer of the material frame. The controller is electrically connected to the drive motor, the reduction motor, the photoelectric sensor and the robot component through wires to realize signal transmission and control command output.

[0013] This utility model has the following beneficial effects: This utility model provides an automated processing device for the flywheel housing of a triangular machine tool. The operator places the blank into a loading frame, the drive motor adjusts the position of the loading frame using a lead screw, and a robot picks up the blank and sends it to the triangular machine tool for processing, shortening the travel time. The blank is then sent to a deburring machine to remove burrs, reducing the risk of personnel coming into contact with sharp burrs. Finally, it is sent to a temporary storage table for gravity unloading, avoiding machine downtime. A photoelectric sensor in the loading frame positions the blank to prevent mis-grabbing. After the robot picks up the blank, a torsion spring supports the material plate, and a reduction motor drives a slider to lift the supporting frame, achieving multi-layer continuous feeding, reducing manual operation. The compact layout also reduces the space occupied by the production line, lowering personnel requirements and costs. Attached Figure Description

[0014] Figure 1 A top view of the overall structure of the automated processing device for the flywheel housing of the triangular machine tool provided in this embodiment of the utility model; Figure 2 Another perspective view of the overall structure of the automated processing device for the flywheel housing of the triangular machine tool provided in this embodiment of the utility model; Figure 3 A schematic diagram of the feeding assembly structure of the automated processing device for the flywheel housing of the triangular machine tool provided in this embodiment of the utility model; Figure 4 A schematic diagram of the linear guide rail structure of the automated machining device for the flywheel housing of the triangular machine tool provided in this embodiment of the utility model; Figure 5 A schematic diagram of the controller structure of the automated processing device for the flywheel housing of the triangular machine tool provided in this embodiment of the utility model; Figure 6A schematic diagram of the geared motor structure of the automated machining device for the flywheel housing of the triangular machine tool provided in this embodiment of the utility model; Figure 7 A schematic diagram of the connecting block structure of the automated processing device for the flywheel housing of the triangular machine tool provided in this embodiment of the utility model; Figure 8 A schematic diagram of the torsion spring structure of the automated processing device for the flywheel housing of the triangular machine tool provided in this embodiment of the utility model.

[0015] In the attached image: 1. Base surface; 101. Grating plate; 2. Feeding assembly; 201. Baffle; 202. Base; 203. Linear slide rail; 204. Feeding frame; 205. First guide rod; 206. Drive motor; 207. Blank shell; 208. First lead screw; 209. Photoelectric sensor; 210. Moving slider; 211. Linkage plate; 212. Controller; 213. Second guide rod; 214. Guide rod slider; 215. Gear motor; 216. Second lead screw; 217. Lifting slider; 218. Material support frame; 219. Rotating shaft; 220. Material support plate; 221. Torsion spring; 3. Temporary storage platform; 4. Feed chute; 5. Deburring machine; 6. OP10 machine tool; 7. OP20 machine tool; 8. OP30 machine tool; 9. Robot components. Detailed Implementation

[0016] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0017] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this patent. To better illustrate the embodiments of this utility model, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0018] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0019] In the description of this utility model, unless otherwise explicitly specified and limited, the term "connection" or similar designation indicating the connection relationship between components should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] Example 1 The automated machining device for the flywheel housing of the triangular machine tool provided in this embodiment, such as... Figures 1-8 As shown, the system includes: a base surface 1, on which three flywheel housing processing machine tools are arranged in a triangular pattern. The three machine tools are OP10 machine tool 6, OP20 machine tool 7, and OP30 machine tool 8. A grid plate 101 is provided between the three machine tools. A robot component 9 is located at the center of the surface of the grid plate 101. A loading component 2 is provided at one end of the robot component 9. The loading component 2 includes a baffle 201, with the baffle 201 located on the corresponding sides of the OP10 machine tool 6 and the OP30 machine tool 8, respectively. A first hole is provided at one end of the surface of the grid plate 101, and a burr removal machine 5 is fixedly installed in the first hole. A temporary storage platform 3 is provided at the other end of the surface of the grid plate 101. A discharge channel 4 is provided at one end of the temporary storage platform 3. Protective plates are installed in the gaps between the OP20 machine tool 7 and the OP10 machine tool 6 and OP30 machine tool 8. A base 202 is provided at the other end of the upper surface of the base surface 1. The base 202 is located inside the baffle 201. Two linear slide rails 203 are respectively installed at both ends of the upper surface of the base 202. A sliding groove is provided at the center of the upper surface of the base 202. A movable slider 210 is slidably installed in the sliding groove. A threaded hole is provided on one side of the movable slider 210. A first lead screw 208 is threadedly connected in the threaded hole. A groove is provided at one end of the sliding groove. A drive motor 206 is provided in the groove. The output shaft of the drive motor 206 is connected to one end of the first lead screw 208. A linkage plate 211 is fixedly connected to the upper surface of the movable slider 210. A feeding frame 204 is fixedly connected to both sides of the linkage plate 211. A through hole is provided on one side of the linkage plate 211. A first guide rod 205 passes through the through hole. The other end of the first guide rod 205 is connected to one end of the inner wall of the baffle 201. The lower surfaces of the two feeding frames 204 are slidably connected to one end of the surface of the linear slide rail 203.

[0021] Through the design of the deburring machine 5, temporary storage table 3, feeding assembly 2, and robot assembly 9, the operator places the blank workpiece in the feeding frame 204. When it is necessary to adjust the position of the feeding frame 204 to adapt to the gripping of the robot assembly 9, the drive motor 206 is started, and its output shaft drives the first lead screw 208 to rotate. The movable slider 210, which is threadedly connected to the first lead screw 208, slides along the central slide groove on the upper surface of the base 202, synchronously driving the linkage plate 211 on the upper surface of the movable slider 210 and the feeding frames 204 on both sides to move. The lower surface of the feeding frame 204 slides along the two linear slide rails 203 at both ends of the upper surface of the base 202. The first guide rod 205, which passes through the through hole on one side of the linkage plate 211, restricts the offset of the linkage plate 211 to prevent the blank workpiece from being damaged by shaking. The robot assembly 9 at the center of the surface of the grid plate 101 moves from the adjusted feeding position. The frame 204 picks up the blank and sequentially feeds it to the OP10 machine tool 6, OP20 machine tool 7, and OP30 machine tool 8 arranged in a triangular pattern to complete three processing steps. The triangular layout shortens the robot's movement distance between the machine tools and reduces turnaround time. After processing, the robot component 9 clamps the workpiece to the deburring machine 5 in the first hole at one end of the grid plate 101 to complete the deburring. No manual handling is required, reducing the safety risk of operators coming into contact with sharp burrs. The workpiece is then sent to the temporary storage table 3 at the other end of the grid plate 101 for temporary storage, avoiding machine tool downtime due to untimely material feeding. Finally, the workpiece is conveyed out of the production line by its own gravity along the feeding channel 4 at one end of the temporary storage table 3. No additional power is required, simplifying the structure and saving energy, thereby reducing the number of operators required and reducing costs. At the same time, the compact layout reduces the space occupied by the production line.

[0022] Example 2 The automated machining device for the flywheel housing of the triangular machine tool provided in this embodiment, such as... Figures 5-8As shown, the system includes: two second holes on one side surface of each of the two feeding frames 204; a second guide rod 213 installed on the inner wall of each pair of second holes of the feeding frame 204; a guide rod slider 214 slidably connected to the outer surface of the second guide rod 213; a third hole in the middle of the two second holes; a reduction motor 215 installed on the upper surface of each of the two feeding frames 204; a second lead screw 216 connected to the output shaft of the reduction motor 215; the second lead screw 216 located in the third hole; a lifting slider 217 threadedly connected to the outer surface of the second lead screw 216; two material receiving frames 218 fixedly connected to one side of the lifting slider 217; the other end of the guide rod slider 214 also connected to one side of the material receiving frame 218; photoelectric sensors 209 installed on one side of the inner wall of each of the two feeding frames 204; and a controller 212 between the two feeding frames 204. Multiple slots are provided on both sides of the inner wall of the material receiving frame 218. Rotating shafts 219 are rotatably installed in each slot. One end of each rotating shaft 219 is fixedly connected to a support plate 220. A blank shell 207 is placed on the upper surface of the support plate 220 on both sides of the inner wall of the material receiving frame 218. Torsion springs 221 are provided at both ends of the outer surface of the rotating shaft 219. One end of each torsion spring 221 is connected to the rotating shaft 219, and the other end is connected to the side wall of the slot. The torsion springs 221 can deform with the rotation of the rotating shaft 219, providing force for the support plate 220 to reset. The illumination end of the photoelectric sensor 209 corresponds to the central area of ​​the first layer of blank shell 207 to be grasped by the robot component 9 in the material receiving frame 218. The controller 212 is electrically connected to the drive motor 206, the reduction motor 215, the photoelectric sensor 209, and the robot component 9 via wires to realize signal transmission and control command output.

[0023] Through the design of the feeding frame 204, the second lead screw 216, the controller 212, and the torsion spring 221, the operator pulls out the support plate 220 stored in the empty slot and places the blank shells 207 layer by layer into the support plate 220 in the receiving frame 218. The torsion spring 221 at the outer end of the rotating shaft 219 is in a micro-deformation storage state. The photoelectric sensors 209 on the inner wall of the two feeding frames 204 are aligned with the center area of ​​the first layer of blank shells 207 to be grasped, accurately detecting the position of the blanks to be grasped, avoiding empty grasping or misaligned grasping by the robot, and transmitting the detection signal to the controller 212. After the controller 212 coordinates the drive motor 206 to fine-tune the position of the feeding frame 204, it sends a grasping command to the robot component 9 to realize the automatic calibration of the feeding position, reducing manual adjustment time. When the robot component 9 grasps the first layer of blank shells 207, the blanks are released from the pressure on the support plate 220, and the torsion spring... Spring 221 releases its elastic force to drive the rotating shaft 219 to rotate, causing the first layer of material support plate 220 to be stored in the corresponding slot, preventing the material support plate 220 from protruding from the inner wall of the material receiving frame 218 and interfering with subsequent gripping actions. Subsequently, the controller 212 detects that the gripping of the first layer of blank is completed and sends a command to the reduction motor 215. Its output shaft drives the second lead screw 216 in the third hole to rotate, causing the lifting slider 217, which is threaded to it, to slide upward along the second guide rod 213. The guide rod slider 214 moves synchronously with the lifting slider 217 to limit the offset of the material receiving frame 218. The lifting slider 217 drives the material receiving frame 218 to rise as a whole until the second layer of blank shell 207 and the second layer of material support plate 220 move to the original gripping position of the first layer. After the photoelectric sensor 209 detects the new blank to be gripped, it sends a signal back to the controller 212, realizing continuous automatic feeding of multi-layer blanks and reducing the amount of manual loading operations.

[0024] It is worth noting that the photoelectric sensor 209 is model E3Z-T62 and the controller 212 is model S7-1512C PLC. In summary, the automated processing device for the flywheel housing of the engineering machinery with a triangular machine tool provided in this embodiment has the following advantages: the robot component 9 and the feeding component 2 can reduce the high labor intensity, workpiece collision damage and operation errors caused by manual feeding; the triangular machine tool layout can solve the problems of low production efficiency and insufficient precision in traditional production; and the multi-layer feeding channel and the unpowered unloading channel 4 can solve the problems of low production efficiency and high cost.

[0025] In use, the operator transports the blank workpiece to the automated production line and manually stacks the blank shells 207 into the loading frames 204 of the loading assembly 2. Each loading frame 204 stores material in layers via a material support plate 220. The combined material capacity of the two loading frames 204 is sufficient to meet the continuous processing of the corresponding parts at the specified cycle time. The loading frames 204 are adjusted in position by the drive motor 206 driving the first lead screw 208, and in conjunction with the lifting slider 217 driven by the second lead screw 216, the height is adjusted to ensure consistent part loading positions. The photoelectric sensor 209 detects the position of the blank to be grasped and feeds it back to the controller 212 for automatic calibration. The robot assembly 9 grasps the blank from the adjusted loading frame 204 and sequentially delivers the blanks to the finished product line. The OP10 machine tool 6, OP20 machine tool 7, and OP30 machine tool 8, arranged in a triangular layout, complete the loading, flipping, and unloading actions of three processing steps. The triangular layout shortens the movement distance and reduces the turnaround time. The temporary storage table 3 assists the robot component 9 in flipping the workpiece and provides a waiting storage function for the workpiece before loading, avoiding machine tool downtime due to unloading delay. After processing, the robot component 9 clamps the workpiece to the deburring machine 5. The robot component 9 and the deburring machine 5 work together to complete the deburring process, reducing the safety risk of personnel coming into contact with sharp burrs. After deburring, the robot component 9 places the finished workpiece on the temporary storage table 3. Finally, the workpiece is conveyed out of the production line by its own gravity along the unpowered unloading channel 4 at one end of the temporary storage table 3, and the processing is completed.

[0026] The above are merely preferred embodiments of the present utility model and are not intended to limit the implementation methods and protection scope of the present utility model. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automated machining device for the flywheel housing of a triangular machine tool, characterized in that, include: The base surface (1) has three flywheel housing processing machine tools arranged in a triangular pattern on its upper surface. The three machine tools are OP10 machine tool (6), OP20 machine tool (7), and OP30 machine tool (8). A grid plate (101) is provided between the three machine tools. A robot component (9) is provided at the center of the surface of the grid plate (101). A feeding component (2) is provided at one end of the robot component (9). The feeding component (2) includes a baffle (201). The baffle (201) is located on the corresponding sides of the OP10 machine tool (6) and the OP30 machine tool (8). A first hole is provided at one end of the surface of the grid plate (101). A burr removal machine (5) is fixedly installed in the first hole.

2. The automated machining device for the flywheel housing of the triangular machine tool according to claim 1, characterized in that, The other end of the surface of the grating plate (101) is provided with a temporary storage platform (3), and one end of the temporary storage platform (3) is provided with a discharge channel (4). Protective plates are installed in the gaps between the OP20 machine tool (7), the OP10 machine tool (6), and the OP30 machine tool (8).

3. The automated machining device for the flywheel housing of the triangular machine tool according to claim 1, characterized in that, The base (1) has a base (202) at the other end of its upper surface. The base (202) is located inside the baffle (201). Two linear slide rails (203) are installed at both ends of the upper surface of the base (202). A sliding groove is provided at the center of the upper surface of the base (202). A movable slider (210) is slidably installed in the sliding groove. A threaded hole is provided on one side of the movable slider (210). A first lead screw (208) is threadedly connected in the threaded hole. A groove is provided at one end of the sliding groove. A drive motor (206) is provided in the groove. The output shaft of the drive motor (206) is connected to one end of the first lead screw (208).

4. The automated machining device for the flywheel housing of the triangular machine tool according to claim 3, characterized in that, The upper surface of the movable slider (210) is fixedly connected to a linkage plate (211), and the two sides of the linkage plate (211) are respectively fixedly connected to a feeding frame (204). One side of the linkage plate (211) is provided with a through hole, and a first guide rod (205) passes through the through hole. The other end of the first guide rod (205) is connected to one end of the inner wall of the baffle (201). The lower surfaces of the two feeding frames (204) are respectively slidably connected to one end of the surface of the linear slide rail (203).

5. The automated machining device for the flywheel housing of a triangular machine tool according to claim 4, characterized in that, Two second holes are provided on one side surface of each of the two feeding frames (204). A second guide rod (213) is installed on the inner wall of each pair of second holes of the feeding frame (204). A guide rod slider (214) is slidably connected to the outer surface of the second guide rod (213). A third hole is provided between the two second holes. A reduction motor (215) is provided on the upper surface of each of the two feeding frames (204). A second lead screw (216) is connected to the output shaft of the reduction motor (215). The second lead screw (216) is located in the third hole. A lifting slider (217) is threadedly connected to the outer surface of the second lead screw (216). Two material support frames (218) are fixedly connected to one side of the lifting slider (217). The other end of the guide rod slider (214) is also connected to one side of the material support frame (218). A photoelectric sensor (209) is installed on one side of the inner wall of each of the two feeding frames (204). A controller (212) is provided between the two feeding frames (204).

6. The automated machining device for the flywheel housing of a triangular machine tool according to claim 5, characterized in that, The inner wall of the material receiving frame (218) is provided with multiple slots on both sides, and a rotating shaft (219) is rotatably installed in each slot. One end of the rotating shaft (219) is fixedly connected to a support plate (220). A blank shell (207) is placed on the upper surface of the support plate (220) on both sides of the inner wall of the material receiving frame (218). Torsion springs (221) are provided at both ends of the outer surface of the rotating shaft (219). One end of the torsion spring (221) is connected to the rotating shaft (219), and the other end of the torsion spring (221) is connected to the side wall of the slot. The torsion spring (221) can rotate and deform with the rotating shaft (219) to provide force for the support plate (220) to reset.

7. The automated machining device for the flywheel housing of a triangular machine tool according to claim 6, characterized in that, The irradiation end of the photoelectric sensor (209) corresponds to the central area of ​​the blank shell (207) to be grasped by the robot component (9) in the first layer of the material frame (218). The controller (212) is electrically connected to the drive motor (206), the reduction motor (215), the photoelectric sensor (209) and the robot component (9) through wires to realize signal transmission and control command output.

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