Calf mechanism, lower leg mechanism, and robot

Abstract

The utility model discloses a kind of shank mechanism, lower limb structure and robot, comprising: foot bottom subassembly;First power component, the output end of the first power component is connected with the foot bottom subassembly;Skeleton subassembly, the skeleton subassembly is rotatably connected with the first power component;Second power component, the second power component is located in the skeleton subassembly;Connecting rod subassembly, one end of the connecting rod subassembly is rotatably connected with the foot bottom subassembly, the other end of the connecting rod subassembly is connected with the output end of the second power component;The axis of the output end of the first power component is first axis, the axis of the output end of the second power component is with second axis, the first axis is perpendicular with the second axis not coplanar.This application provides technical scheme, can reduce the cost of shank mechanism.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a lower leg mechanism, a lower limb structure, and a robot. Background Technology

[0002] In the prior art, the joint movement between the foot assembly and the skeleton assembly in the lower leg mechanism of humanoid robots usually adopts a double-link structure to drive the left-right and up-down swing of the foot assembly. However, in order to provide fatigue life and reduce weight, the link structure usually uses expensive titanium alloy materials, which leads to a high cost of the lower leg mechanism.

[0003] How to reduce the cost of calf muscles is an urgent problem that needs to be solved. Utility Model Content

[0004] The purpose of this application is to provide a lower leg mechanism, a lower limb structure, and a robot.

[0005] According to a first aspect of the embodiments of this application, a lower leg mechanism is provided, comprising: Foot component; A first power assembly, the output end of which is connected to the foot assembly; A frame assembly, which is rotatably connected to the first power assembly; A second power assembly is disposed on the frame assembly; A linkage assembly, one end of which is rotatably connected to the foot assembly, and the other end of which is connected to the output end of the second power assembly; The axis of the output end of the first power component is the first axis, and the axis of the output end of the second power component is the second axis. The first axis and the second axis are perpendicular and not coplanar.

[0006] Optionally, the foot assembly includes a body and a first mounting base, the first mounting base being disposed on the body, and the output end of the first power assembly being connected to the first mounting base.

[0007] Optionally, the foot assembly further includes a second mounting base disposed on the body, the second mounting base being spaced apart from the first mounting base, the first power assembly being located between the first mounting base and the second mounting base, and the first power assembly being rotatably connected to the second mounting base.

[0008] Optionally, the linkage assembly is rotatably connected to the second mounting base.

[0009] Optionally, the first power assembly includes a power element and a housing. The housing has an internal cavity and a first through hole that communicates with the cavity. The power element is located in the cavity, and its output end is connected to the foot assembly at the first through hole.

[0010] Optionally, the first power assembly further includes a first bracket and a first bearing, wherein the outer ring of the first bearing mates with the inner wall of the first through hole, the inner ring of the first bearing mates with the outer wall of the first bracket, and the first bracket is respectively connected to the output end of the power element and the foot assembly.

[0011] Optionally, the first power assembly includes a second bracket and a second bearing. A second through hole is provided on the housing, which communicates with the receiving cavity. The outer ring of the second bearing engages with the inner wall of the second through hole. The outer wall of the second bracket engages with the inner ring of the second bearing. The second bracket is connected to the foot assembly.

[0012] Optionally, the first power assembly is provided with a first connecting portion and a second connecting portion, wherein the first connecting portion and the second connecting portion are disposed opposite to each other; The skeleton assembly includes a third connecting part and a fourth connecting part spaced apart, the first power assembly is located between the third connecting part and the fourth connecting part, the first connecting part is rotatably connected to the third connecting part, and the second connecting part is rotatably connected to the fourth connecting part.

[0013] Optionally, the linkage assembly includes: The swing arm includes a first connecting end and a second connecting end, wherein the first connecting end is connected to the output end of the second power component; A connecting rod, comprising a third connecting end and a fourth connecting end, wherein the second connecting end is rotatably connected to the third connecting end, and the fourth connecting end is rotatably connected to the foot assembly.

[0014] According to a second aspect of the embodiments of this application, a lower limb structure is provided, including the aforementioned lower leg mechanism.

[0015] According to a third aspect of the embodiments of this application, a robot is provided, comprising: The aforementioned lower leg mechanism; or The aforementioned lower limb structure.

[0016] One technical advantage of this application embodiment is that by directly connecting the first power component to the foot component to drive the foot component to swing left and right, and setting the second power component on the frame component to drive the foot component to swing up and down through the linkage component, the number of linkage components used can be reduced, thereby reducing the weight and cost of the lower leg mechanism; and by directly connecting the first power component to the frame component, the adapter component can be omitted, which can further reduce weight and cost, and simplify the structure of the lower leg mechanism.

[0017] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0019] Figure 1 This is an exploded view of the lower leg mechanism in an embodiment of this application; Figure 2 This is an exploded view of the first power component in an embodiment of this application; Figure 3 This is a schematic diagram of the lower leg mechanism in an embodiment of this application; Figure 4 This is a schematic diagram of the upward swinging structure of the foot assembly in an embodiment of this application; Figure 5 This is a schematic diagram of the downward swinging structure of the foot assembly in an embodiment of this application; Figure 6 This is a schematic diagram of the foot assembly swinging to the left in an embodiment of this application; Figure 7 This is a schematic diagram of the foot component swinging to the right in an embodiment of this application.

[0020] Reference numerals in the attached diagram: Lower leg mechanism 100; Foot assembly 1; Body 11; First mounting base 12; Second mounting base 13; First mounting part 131; Second mounting part 132; First power assembly 2; power element 21; housing 22; first part 221; opening 2211; second part 222; second through hole 2221; receiving cavity 223; first bracket 23; first bearing 24; second bracket 25; second bearing 26; first connecting part 27; third bracket 28; Frame assembly 3; third connecting part 31; third through hole 311; fourth connecting part 32; fourth through hole 321; Second power component 4; Linkage assembly 5; swing arm 51; connecting rod 52; Bearing assembly 6; third bearing 61; first end cap 62; second end cap 63; First axis A; Second axis B; Fourth bearing C; First joint bearing D. Detailed Implementation

[0021] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0022] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0023] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0024] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0026] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0027] In the description of this invention, it should be understood that if the terms "axial", "radial", etc., are used to 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 invention 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, and therefore should not be construed as a limitation of this invention.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] First, please note that the X, Y, and Z directions mentioned in the embodiments of this application are referred to in the accompanying drawings. Figures 3-7 The marked directions; where the X, Y, and Z directions intersect each other. Specifically, the X direction is the robot's forward / backward direction, the Y direction is the robot's left / right direction, and the Z direction is the robot's up / down direction.

[0030] like Figures 1-7 As shown, according to a first aspect of the embodiments of this application, a lower leg mechanism 100 is provided, including a foot assembly 1, a first power assembly 2, a frame assembly 3, a second power assembly 4, and a connecting rod assembly 5; the output end of the first power assembly 2 is connected to the foot assembly 1; the frame assembly 3 is rotatably connected to the first power assembly 2; the second power assembly 4 is disposed on the frame assembly 3; one end of the connecting rod assembly 5 is rotatably connected to the foot assembly 1, and the other end of the connecting rod assembly 5 is connected to the output end of the second power assembly 4; the axis of the output end of the first power assembly 2 is a first axis A, and the axis of the output end of the second power assembly 4 is a second axis B, wherein the first axis A and the second axis B are perpendicular and not coplanar.

[0031] like Figures 1-7 As shown, the lower leg mechanism 100 includes a foot assembly 1, a first power assembly 2, a skeleton assembly 3, a second power assembly 4, and a connecting rod assembly 5.

[0032] like Figure 6 and Figure 7 As shown, the output end of the first power component 2 is connected to the foot component 1. The first power component 2 can drive the foot component 1 to rotate around the first axis A. The first axis A is parallel to the axis in the X direction. In other words, the first power component 2 can drive the foot component 1 to swing left and right.

[0033] like Figure 4 and Figure 5As shown, the frame assembly 3 is rotatably connected to the first power assembly 2, and the frame assembly 3 and the first power assembly 2 can rotate relative to each other around the axis in the Y direction. The second power assembly 4 is disposed on the frame assembly 3. One end of the connecting rod assembly 5 is connected to the output end of the second power assembly 4, and the other end of the connecting rod assembly 5 is rotatably connected to the foot assembly 1. The second power assembly 4 can drive the connecting rod assembly 5 to rotate around the second axis B, and the second axis B is parallel to the axis in the Y direction. The second power assembly 4 drives the connecting rod assembly 5 to rotate around the second axis B, thereby driving the foot assembly 1 to swing up and down. When swinging up and down, the first power assembly 2 can rotate relative to the frame assembly 3.

[0034] The lower leg mechanism 100 of this application directly connects the first power component 2 to the foot component 1 to drive the foot component 1 to swing left and right. The second power component 4 is set on the skeleton component 3 and drives the foot component 1 to swing up and down through the linkage component 5. This reduces the number of linkage components 5 used, thereby reducing the weight and cost of the lower leg mechanism 100. Furthermore, by directly connecting the first power component 2 to the skeleton component 3, the adapter component can be omitted, which can further reduce weight and cost and simplify the structure of the lower leg mechanism 100.

[0035] like Figure 1 As shown, in an optional embodiment, the foot assembly 1 includes a body 11 and a first mounting base 12. The first mounting base 12 is disposed on the body 11, and the output end of the first power assembly 2 is connected to the first mounting base 12. Specifically, the first mounting base 12 is disposed on the body 11, and the output end of the first power assembly 2 is connected to the first mounting base 12, thereby enabling the foot assembly 1 to rotate around the first axis A through the first power assembly 2, so as to realize the left and right swing of the foot assembly 1.

[0036] like Figure 1 As shown, in an optional embodiment, the foot assembly 1 further includes a second mounting base 13 disposed on the body 11. The second mounting base 13 is spaced apart from the first mounting base 12. The first power assembly 2 is located between the first mounting base 12 and the second mounting base 13, and the first power assembly 2 is rotatably connected to the second mounting base 13. Specifically, the first mounting base 12 and the second mounting base 13 are spaced apart along the X direction. The first power assembly 2 is located between the first mounting base 12 and the second mounting base 13. The output end of the first power assembly 2 faces the first mounting base 12 and is rotatably connected to the first mounting base 12. The first power assembly 2 is rotatably connected to the second mounting base 13, and the rotation axis of the first power assembly 2 relative to the second mounting base 13 coincides with the first axis A. In this embodiment, by rotatably connecting the first power assembly 2 to the second mounting base 13, the first power assembly 2 forms two support points to improve the stability of the first power assembly 2.

[0037] like Figure 1 As shown, in an optional embodiment, the linkage assembly 5 is rotatably connected to the second mounting base 13; specifically, both the linkage assembly 5 and the first power assembly 2 are rotatably connected to the second mounting base 13, that is, they share a single component, thereby simplifying the structure of the lower leg mechanism 100 and making it more compact and lightweight; and the output end of the first power assembly 2 is located at the end of the first power assembly 2 away from the linkage assembly 5, thereby avoiding mutual interference between the output end of the first power assembly 2 and the linkage assembly 5.

[0038] like Figure 1 As shown, the second mounting base 13 includes a first mounting part 131 and a second mounting part 132. The first mounting part 131 and the second mounting part 132 are an integral structure and are arranged adjacent to each other. The first power assembly 2 is rotatably connected to the first mounting part 131, and the connecting rod assembly 5 is rotatably connected to the second mounting part 132.

[0039] like Figure 1 and Figure 2 As shown, in an optional embodiment, the first power assembly 2 includes a power element 21 and a housing 22. The housing 22 has an internal cavity 223. The housing 22 has a first through hole (not shown) communicating with the cavity 223. The power element 21 is disposed in the cavity 223, and its output end is connected to the foot assembly 1 at the first through hole. The housing 22 includes a first part 221 and a second part 222. The first part 221 has an opening 2211 and an internal cavity 223. The power element 21 is installed into the cavity 223 at the opening 2211. The second part 222 is installed into the cavity 223 at the opening 2211. The first part 221 is connected at point 11 to close the opening 2211. Specifically, a first through hole is provided on the housing 22, the first through hole is located in the first part 221, the axis of the first through hole coincides with or is parallel to the first axis A, and the output end of the power element 21 is connected to the first mounting base 12 of the foot assembly 1. The output end of the power element 21 is connected to the first mounting base 12 at the first through hole. It can be understood that a part of the first mounting base 12 extends through the first through hole into the receiving cavity 223 and is connected to the output end of the power element 21, or the output end of the power element 21 extends through the first through hole out of the receiving cavity 223 and is connected to the first mounting base 12, or the output end of the power element 21 is indirectly connected to the first mounting base 12.

[0040] like Figure 1 and Figure 2As shown, in an optional embodiment, the first power assembly 2 further includes a first bracket 23 and a first bearing 24. The outer ring of the first bearing 24 mates with the inner wall of the first through hole, and the inner ring of the first bearing 24 mates with the outer wall of the first bracket 23. The first bracket 23 is connected to the output end of the power element 21 and the foot assembly 1, respectively. Specifically, the outer ring of the first bearing 24 mates with the inner wall of the first through hole, and the inner ring of the first bearing 24 mates with the outer wall of the first bracket 23. One end of the first bracket 23 is connected to the output end of the power element 21, and the other end of the first bracket 23 passes through the first through hole and is located outside the receiving cavity 223 and connected to the first mounting base 12. In this way, the first power assembly 2 can be modularized and can be used as a whole. Only the other end of the first bracket 23 needs to be connected to the first mounting base 12, which simplifies the installation steps of the lower leg mechanism 100 and facilitates the inspection and replacement of the first power assembly 2.

[0041] like Figure 1 and Figure 2 As shown, in an optional embodiment, the first power assembly 2 further includes a second bracket 25 and a second bearing 26. A second through hole 2221 is provided on the housing 22, communicating with the receiving cavity 223. The outer ring of the second bearing 26 mates with the inner wall of the second through hole 2221, and the outer wall of the second bracket 25 mates with the inner ring of the second bearing 26. The second bracket 25 is connected to the foot assembly 1. Specifically, the housing 22 has a second through hole 2221 located in the second portion 222. The axis of the second through hole 2221 coincides with or is parallel to the first axis A. The second through hole 2221 is arranged opposite to the first through hole; the outer ring of the second bearing 26 is fitted with the inner wall of the second through hole 2221, and the inner ring of the second bearing 26 is fitted with the outer wall of the second bracket 25. One end of the second bracket 25 is located in the receiving cavity 223, and the other end of the second bracket 25 passes through the second through hole 2221 and is connected to the second mounting seat 13 of the foot assembly 1. In this way, the first power assembly 2 can be modularized and can be used as a whole. Only the other end of the second bracket 25 needs to be connected to the second mounting seat 13, which simplifies the installation steps of the lower leg mechanism 100 and facilitates the inspection and replacement of the first power assembly 2.

[0042] like Figure 1 and Figure 2 As shown, in a preferred embodiment, the first power assembly 2 further includes a third bracket 28, which is disposed on the inner wall of the second part 222 and corresponds to the second bearing 26 to axially limit the second bearing 26.

[0043] like Figure 1 and Figure 2 As shown, in an optional embodiment, the first power assembly 2 is provided with a first connecting portion 27 and a second connecting portion (not shown in the figure), and the first connecting portion 27 and the second connecting portion are disposed opposite to each other; specifically, the first connecting portion 27 and the second connecting portion are symmetrically arranged with respect to the first axis A on the first power assembly 2; the first connecting portion 27 and the second connecting portion are both provided on the housing 22.

[0044] Further explanation: The skeleton assembly 3 includes a third connecting portion 31 and a fourth connecting portion 32 spaced apart. The first power assembly 2 is located between the third connecting portion 31 and the fourth connecting portion 32. The first connecting portion 27 is rotatably connected to the third connecting portion 31, and the second connecting portion is rotatably connected to the fourth connecting portion 32. Specifically, the third connecting portion 31 and the fourth connecting portion 32 are spaced apart along the Y direction. The first power assembly 2 is located between the third connecting portion 31 and the fourth connecting portion 32. The first connecting portion 27 faces the third connecting portion 31 and is rotatably connected to it. The second connecting portion faces the fourth connecting portion 32 and is rotatably connected to it. In this embodiment, the skeleton assembly 3 can be rotatably connected to the first power assembly 2, and the rotational stability between the skeleton assembly 3, the first power assembly 2, and the foot assembly 1 can be guaranteed.

[0045] In one specific embodiment, the first connecting part 27 is a first boss, the second connecting part is a second boss, the third connecting part 31 has a third through hole 311, and the fourth connecting part 32 has a fourth through hole 321. The axis of the third through hole 311 coincides with the axis of the fourth through hole 321. The first boss and the third through hole 311 are rotatably connected by the bearing assembly 6, and the second boss and the fourth through hole 321 are also rotatably connected by the bearing assembly 6.

[0046] The following is an example of a first boss and a third through hole 311 being rotatably connected via a bearing assembly 6. The bearing assembly 6 includes a third bearing 61, a first end cap 62, and a second end cap 63. The outer ring of the third bearing 61 is fitted with the inner wall of the third through hole 311, and the inner ring of the third bearing 61 is fitted with the outer wall of the first end cap 62. The first end cap 62 is fixedly connected to the first boss, and the second end cap 63 is located at the end of the third connecting part 31 away from the second power assembly 4 and is connected to the third connecting part 31 to axially limit the third bearing 61.

[0047] like Figure 1As shown, in an optional embodiment, the linkage assembly 5 includes a swing arm 51 and a connecting rod 52; the swing arm 51 includes a first connecting end and a second connecting end, the first connecting end being connected to the output end of the second power assembly 4; the connecting rod 52 includes a third connecting end and a fourth connecting end, the second connecting end being rotatably connected to the third connecting end, and the fourth connecting end being rotatably connected to the foot assembly 1; specifically, the swing arm 51 includes a first connecting end and a second connecting end, the first connecting end and the second connecting end being located at opposite ends of the swing arm 51, the first connecting end being connected to the output end of the second power assembly 4, the output end of the second power assembly 4 being able to rotate around its own axis, the axial direction of the output end of the second power assembly 4 being the same as the Y direction, therefore, the second power assembly... Component 4 can drive the second connecting end to rotate around the Y-axis, which can be understood as the second connecting end being able to move up and down in the Z-axis; the connecting rod 52 includes a third connecting end and a fourth connecting end, which are located at the two ends of the connecting rod 52 respectively. The third connecting end is rotatably connected to the second connecting end through the fourth bearing C, and the fourth connecting end is connected to the foot assembly 1 through the first joint bearing D. The fourth connecting end and the foot assembly 1 can swing in multiple directions; the second power component 4 drives the second connecting end to rotate around the Y-axis, and the third connecting end connected to the second connecting end will move up and down in the Z-axis accordingly. At the same time, the skeleton assembly 3 will rotate relative to the second power component 4 around the Y-axis, thereby enabling the skeleton assembly 3 and the foot assembly 1 to swing up and down.

[0048] In one specific implementation, the fourth bearing C is a deep groove ball bearing.

[0049] In another specific embodiment, the fourth bearing C is a second joint bearing, and the second connecting end and the third connecting end can rotate in multiple directions, thereby improving the smoothness of the swing between the skeleton assembly 3 and the foot assembly 1.

[0050] According to a second aspect of the embodiments of this application, a lower limb structure is provided, including the aforementioned lower leg mechanism 100.

[0051] According to a third aspect of the embodiments of this application, a robot is provided, including the lower leg mechanism 100 described above; or the lower limb structure described above.

[0052] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A lower leg mechanism, characterized in that, include: Foot component; A first power assembly, the output end of which is connected to the foot assembly; A frame assembly, which is rotatably connected to the first power assembly; A second power assembly is disposed on the frame assembly; A linkage assembly, one end of which is rotatably connected to the foot assembly, and the other end of which is connected to the output end of the second power assembly; The axis of the output end of the first power component is the first axis, and the axis of the output end of the second power component is the second axis. The first axis and the second axis are perpendicular and not coplanar.

2. The lower leg mechanism according to claim 1, characterized in that, The foot assembly includes a body and a first mounting base, the first mounting base being disposed on the body, and the output end of the first power assembly being connected to the first mounting base.

3. The lower leg mechanism according to claim 2, characterized in that, The foot assembly further includes a second mounting base disposed on the body, the second mounting base being spaced apart from the first mounting base, the first power assembly being located between the first mounting base and the second mounting base, and the first power assembly being rotatably connected to the second mounting base.

4. The lower leg mechanism according to claim 3, characterized in that, The connecting rod assembly is rotatably connected to the second mounting base.

5. The lower leg mechanism according to claim 1, characterized in that, The first power assembly includes a power element and a housing. The housing has an internal cavity and a first through hole that communicates with the cavity. The power element is located in the cavity, and its output end is connected to the foot assembly at the first through hole.

6. The lower leg mechanism according to claim 5, characterized in that, The first power assembly further includes a first bracket and a first bearing. The outer ring of the first bearing mates with the inner wall of the first through hole, and the inner ring of the first bearing mates with the outer wall of the first bracket. The first bracket is connected to the output end of the power element and the foot assembly, respectively.

7. The lower leg mechanism according to claim 5, characterized in that, The first power assembly includes a second bracket and a second bearing. A second through hole is provided on the housing, which communicates with the receiving cavity. The outer ring of the second bearing is engaged with the inner wall of the second through hole. The outer wall of the second bracket is engaged with the inner ring of the second bearing. The second bracket is connected to the foot assembly.

8. The lower leg mechanism according to claim 1, characterized in that, The first power assembly is provided with a first connecting part and a second connecting part, and the first connecting part and the second connecting part are disposed opposite to each other; The skeleton assembly includes a third connecting part and a fourth connecting part spaced apart, the first power assembly is located between the third connecting part and the fourth connecting part, the first connecting part is rotatably connected to the third connecting part, and the second connecting part is rotatably connected to the fourth connecting part.

9. The lower leg mechanism according to claim 1, characterized in that, The linkage assembly includes: The swing arm includes a first connecting end and a second connecting end, wherein the first connecting end is connected to the output end of the second power component; A connecting rod, comprising a third connecting end and a fourth connecting end, wherein the second connecting end is rotatably connected to the third connecting end, and the fourth connecting end is rotatably connected to the foot assembly.

10. A lower limb structure, characterized in that, Includes the lower leg mechanism as described in any one of claims 1-9.

11. A robot, characterized in that, include: The lower leg mechanism as described in any one of claims 1-9; or The lower limb structure as described in claim 10.

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