CN102249152A - Device and method for detecting movable counter weight of crane - Google Patents
Device and method for detecting movable counter weight of crane Download PDFInfo
- Publication number
- CN102249152A CN102249152A CN2011101468617A CN201110146861A CN102249152A CN 102249152 A CN102249152 A CN 102249152A CN 2011101468617 A CN2011101468617 A CN 2011101468617A CN 201110146861 A CN201110146861 A CN 201110146861A CN 102249152 A CN102249152 A CN 102249152A
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- China
- Prior art keywords
- pressure
- counterweight
- oil cylinder
- sensing
- sensing device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/74—Counterweights or supports for balancing lifting couples separate from jib
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
Abstract
The invention provides a device and a method for detecting a movable counter weight of a crane. The device for detecting the movable counter weight of the crane comprises a pressure sensing device for sensing pressure information in a counter weight oil cylinder, and a controller for determining the weight of the movable counter weight corresponding to the counter weight oil cylinder according to the pressure information. The device can automatically determine the weight of the movable counter weight corresponding to the counter weight oil cylinder and is favorable for automatically selecting hoisting working conditions.
Description
Technical field
The present invention relates to engineering machinery field, be specifically related to a kind of detecting device and method of hoisting crane moving counterweight.
Background technology
Hoisting crane is in travels down, be subjected to the constraint of traffic law, the deadweight of vehicle must be less than the weight of rules and regulations, simultaneously, in hoisting crane work, require further to upgrade the stability and the lifting performance of heavy-duty machine again,, this device of moving counterweight occurred for solving this contradiction.Moving counterweight is ability fit in hoisting crane work only, is not assemblied in when travelling on the vehicle, so not only satisfies the deadweight of vehicle in the time of travels down, can improve stability and lifting performance in its work again.But, also because the appearance of moving counterweight has brought some problems.Because the different pairing hoisting crane lifting performances of counterweight is different, for security consideration, hang at hoisting crane and need select when carrying and cooresponding the hanging of counterweight carried an operating mode, therefore need hang the weight that obtains moving counterweight before carrying at hoisting crane, just can be fixed total counterweight weight of the combined counterweight of counterweight and moving counterweight.
At present, when hoisting crane carries out work, need hanging of the corresponding counterweight of operator artificial selection to carry an operating mode, still, this artificial selection is certain to be subjected to certain artificial factor, as tired, operation is unfamiliar with or the influence of situation such as laziness.Therefore, any automatically definite moving counterweight weight, and then the selection of realization automatic operating become a problem demanding prompt solution.
Summary of the invention
In order to overcome the above-mentioned defective and the deficiency of prior art, first purpose of the present invention is to provide the detecting device of the automatic sensing hoisting crane of a kind of energy moving counterweight, comprising: pressure-sensing device is used for the pressure information of sensing counterweight oil cylinder; Controller is used for according to pressure information, determines the cooresponding moving counterweight weight of counterweight oil cylinder.
In order to overcome the above-mentioned defective and the deficiency of prior art, second purpose of the present invention is to provide the method for inspection of the automatic sensing hoisting crane of a kind of energy moving counterweight, comprising: the sensing step of the pressure information of pressure-sensing device sensing counterweight oil cylinder; Controller is determined definite step of the cooresponding moving counterweight weight of counterweight oil cylinder according to pressure information.
Pressure information in the counterweight oil cylinder that various embodiments of the present invention sense in real time by pressure-sensing device, and then determine and the cooresponding moving counterweight weight of this pressure information, realized determining moving counterweight weight automatically, help realizing hanging the automatic selection of year operating mode.
Description of drawings
Fig. 1 is the position view of detecting device embodiment on hoisting crane of hoisting crane moving counterweight of the present invention;
Fig. 2 is the structural representation of the detecting device embodiment of hoisting crane moving counterweight of the present invention;
Fig. 3 is the example structure scheme drawing of the detecting device middle controller of hoisting crane moving counterweight of the present invention;
Figure 4 shows that the embodiment diagram of circuit of the method for inspection of hoisting crane moving counterweight of the present invention.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
As shown in Figures 1 and 2, present embodiment can comprise: two pressure sensors 12 and 14, controller 16 and telltale 18; Wherein, pressure sensor 12 is used for the pressure information of the rodless cavity of sensing counterweight oil cylinder 10, and pressure sensor 14 is used for the pressure information of the rod chamber of sensing counterweight oil cylinder 10; Controller 16 calculates the weight of current active counterweight by two pressure sensors 12 and 14 pressure informations of gathering; Telltale 18 is used for counterweight weight and cooresponding hanging thereof that display control switch 16 sends and carries a work information, and is used to receive operating mode and selects information, and this operating mode selection information is sent to controller 16.
Above-mentioned counterweight oil cylinder 10, pressure sensor 12 and 14, controller 16 and read-out 16 position scheme of installation on hoisting crane is seen Fig. 1.
Wherein, this controller 16 is according to the sensing signal of two pressure sensors 12 and 14, and the process specific explanations of computational activity configuration weight is as follows:
Analyze with a counterweight oil cylinder, when moving counterweight not being installed, according to the signal that two pressure sensors 12,14 record, promptly big chamber sensing (corresponding rodless cavity) signal is P1, loculus (corresponding rod chamber) signal is P2, and obtaining the pulling force that the counterweight oil cylinder bears is that F0 is:
Wherein, D, d are respectively big chamber of counterweight oil cylinder and loculus diameter, and π is a circular constant;
If a moving counterweight is installed, obtaining the pulling force that the counterweight oil cylinder bears according to top computing formula is F1; Can draw the suffered tensile force f 2 of counterweight oil cylinder when two counterweights are installed equally, the tensile force f 3 when 3 counterweights are installed; Be the counterweight oil cylinder according to the gravity of moving counterweight and moving counterweight be installed and difference of pressure between the moving counterweight is not installed, the account form that can obtain disposable weight M is:
M＝(Fi-F0)÷g (2)
The g force coefficient of attaching most importance to wherein.
Further, this controller 16 calculates total counterweight weight according to the fixed weight weight that prestores after obtaining the weight of moving counterweight, and then according to the corresponding relation between total counterweight weight and the operating mode, cooresponding the hanging of selecting automatically carried operating mode; Further, this controller 16 can also be sent to total counterweight weight and cooresponding with it operating mode telltale 18 and show with prompting operating mode is selected, after receiving operating mode selection information, this operating mode selection information is back to controller 16, correspondingly, manual selection operating mode and the automatic priority of selecting operating mode can be set in the controller 16, as: when high as if the priority that manual selection is set, after telltale 18 returns operating mode selection information, operate according to this operating mode selection information, when telltale 18 does not return operating mode selection information, directly operate according to the information of automatic selection operating mode; Certainly, also priority can be set during practical operation, exist when manually selecting and selecting automatically, the operating mode of determining according to any selection mode is operated and is got final product.
During concrete operations, can also by set up with controller 16 bonded assemblys near switch (figure do not show), by can whether sensing being installed by moving counterweight, and the installation number of moving counterweight near switch.
It will be understood by those skilled in the art that the pressure information in utilizing pressure sensor senses counterweight oil cylinder, can also utilize pressure switch equipressure measuring cell to reach goal of the invention; Can change being electrically connected between pressure sensor and the controller 16 into the wireless connections mode; In addition, because the moving counterweight that the crane-car assembling is different, the suffered pulling force in each chamber is also different naturally in the counterweight oil cylinder, utilization from counterweight oil cylinder working-pressure sensor acquisition to pressure information, these pressure informations are put in order, sum up, draw the different counterweight weight and the corresponding relation of pressure information, so can realize the pressure information collection by measuring force value variation rod chamber greatly, corresponding default rod chamber between after moving counterweight is installed and when moving counterweight not being installed change value of pressure and the corresponding relation between the moving counterweight weight, as: when adorning a counterweight, the cooresponding difference of pressure of rod chamber (be adorn No. one after the counterweight force value and the difference between the force value when assembling is heavy) be p1, adorn No. one and the difference of pressure during No. two counterweights is p2, when adorning No. one and during No. three counterweights, difference of pressure is p3; Like this, according to change value of pressure in the rod chamber and above-mentioned corresponding relation, can draw the weight that causes this pressure the active configuration of variation to occur.
The present invention detects pressure information in the counterweight oil cylinder by pressure sensor, and then is determined the weight of moving counterweight to have realized obtaining automatically of moving counterweight information according to this pressure information by controller; Further,, select corresponding hanging to carry operating mode automatically, realize selecting automatically and the cooresponding year operating mode of hanging of counterweight, avoided artificial factor according to the corresponding relation of counterweight weight and operating mode; Preferably, can also controller determine total counterweight weight cooresponding hang carry operating mode after, the cooresponding with it year operating mode of hanging of counterweight weight is sent in the telltale, alert selects correct hanging to carry operating mode, carry operating mode and select the generation of carrying fault of hanging that mal produces because of hanging avoiding, thereby increased the coefficient safe in utilization of hoisting crane; This conceptual design is required with low cost, only need gather pressure sensor data, utilizes existing controller and telltale resource, need not increase extra cost, and the required device of whole device is fewer, is convenient to install, debugging, safeguard.
As shown in Figure 3, controller 16 can comprise:
Transmit-Receive Unit 160 is used for carrying out information interaction with pressure sensor, telltale etc.; As receive a pressure sensor or two pressure informations that pressure sensor transmits, receive the operating mode selection information of telltale transmission etc.;
Judging unit 161, be used to judge that Transmit-Receive Unit 160 and a pressure sensor still are that two pressure sensors carry out information interaction, and when judgement and a pressure sensor carry out information interaction, trigger processing unit 164 and carry out work, and when judgement and two pressure sensors carry out information interaction, trigger calculating unit 162 and carry out work;
Calculating unit 162, it is poor with the pulling force that bears when moving counterweight not being installed when moving counterweight is installed to be used to calculate the counterweight oil cylinder, and the ratio with pulling force difference and acceleration due to gravity is defined as the cooresponding moving counterweight weight of counterweight oil cylinder again; The pulling force that the counterweight oil cylinder bears is that F determines according to formula (1);
Memory cell 163 is used for depositing the change value of pressure of default rod chamber and the corresponding relation of moving counterweight weight;
Processing unit 164, be used for determining cooresponding real-time pressure value according to the pressure information that pressure-sensing device senses in real time, and the pressure difference value between the force value in calculating real-time pressure value and the rod chamber when moving counterweight not being installed, again according to corresponding relation, the cooresponding moving counterweight weight of selection pressure difference;
Operating mode determining unit 165 is used for according to the default moving counterweight weight and the corresponding relation of operating mode, selects cooresponding the hanging of moving counterweight weight to carry operating mode automatically.
Method embodiment
Fig. 4 is the embodiment diagram of circuit of method, and explaining of Fig. 1, Fig. 2, Fig. 3 all adapts with present embodiment, as shown in Figure 4, comprising:
Step 402, the pressure information of pressure-sensing device sensing counterweight oil cylinder;
Preferably, when the number of pressure-sensing device was two, this step 402 can comprise:
First pressure-sensing device in the pressure-sensing device, the pressure information of the rodless cavity of sensing counterweight oil cylinder;
Second pressure-sensing device in the pressure-sensing device, the pressure information of the rod chamber of sensing counterweight oil cylinder;
When the number of pressure-sensing device was one, this step 402 can comprise:
The pressure information of the rod chamber of pressure-sensing device sensing counterweight oil cylinder;
Step 404, controller is determined the cooresponding moving counterweight weight of counterweight oil cylinder according to pressure information;
Preferably, when the number of pressure-sensing device was two, this step 404 can comprise:
It is poor with the pulling force that bears when moving counterweight not being installed when moving counterweight is installed that controller calculates the counterweight oil cylinder, and the ratio with pulling force difference and acceleration due to gravity is defined as the cooresponding moving counterweight weight of counterweight oil cylinder again;
The pulling force that the counterweight oil cylinder bears is F, sees above-mentioned formula (1) for details;
When the number of pressure-sensing device was one, this step 404 can comprise:
The pressure information that controller senses in real time according to pressure-sensing device is determined cooresponding real-time pressure value, and the pressure difference value between the force value in calculating real-time pressure value and the rod chamber when moving counterweight not being installed, again according to the change value of pressure in the default rod chamber and the corresponding relation of moving counterweight weight, the cooresponding moving counterweight weight of selection pressure difference;
Step 406 according to the default moving counterweight weight and the corresponding relation of operating mode, selects cooresponding the hanging of moving counterweight weight to carry operating mode automatically.
Corresponding to the explaining as can be known of Fig. 1-Fig. 3, step 406 is preferred scheme, and it has realized automatic selection operating mode, avoids the error of manual operation; During concrete operations, can also comprise: by the step of telltale demonstration and the step of telltale transmission operating mode selection information etc.; That is to say that the operation of each element and function are all applicable to this method embodiment among Fig. 1-Fig. 3.
Present embodiment obtains the pressure information of counterweight oil cylinder by pressure sensor etc., and then determines moving counterweight weight by controller; Preferably, can select automatically to carry operating mode by controller with corresponding the hanging of counterweight, can also the cooresponding year operating mode of hanging of moving counterweight be shown to the operator for its selection by telltale, thereby avoided because of selecting wrong hanging to carry operating mode generation accident, simultaneously, lay a good foundation for the intellectuality control that realizes hoisting crane.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (15)
1. the detecting device of a hoisting crane moving counterweight is characterized in that, comprising:
Pressure-sensing device is used for the pressure information of sensing counterweight oil cylinder;
Controller is used for according to described pressure information, determines the cooresponding moving counterweight weight of described counterweight oil cylinder.
2. detecting device according to claim 1 is characterized in that, described pressure-sensing device comprises first pressure-sensing device and second pressure-sensing device;
Described first pressure-sensing device is used for the pressure information of the rodless cavity of the described counterweight oil cylinder of sensing;
Described second pressure-sensing device is used for the pressure information of the rod chamber of the described counterweight oil cylinder of sensing.
3. detecting device according to claim 2 is characterized in that, described controller comprises:
Calculating unit, it is poor with the pulling force that bears when moving counterweight not being installed when moving counterweight is installed to be used to calculate described counterweight oil cylinder, and the ratio with described pulling force difference and acceleration due to gravity is defined as the cooresponding moving counterweight weight of described counterweight oil cylinder again.
4. detecting device according to claim 1 is characterized in that the number of described pressure-sensing device is one, is used for the pressure information of the rod chamber of the described counterweight oil cylinder of sensing.
5. detecting device according to claim 4 is characterized in that, described controller also comprises:
Memory cell is used for depositing the change value of pressure of default described rod chamber and the corresponding relation of moving counterweight weight;
Processing unit, be used for determining cooresponding real-time pressure value according to the pressure information that described pressure-sensing device senses in real time, and calculate pressure difference value between the force value in described real-time pressure value and the described rod chamber when moving counterweight not being installed, according to described corresponding relation, select the cooresponding moving counterweight weight of described pressure difference value again.
6. require each described detecting device among the 1-5 according to aforesaid right, it is characterized in that, also comprise: with described controller bonded assembly near switch, be used for the quantity of sensing moving counterweight.
7. require each described detecting device among the 1-5 according to aforesaid right, it is characterized in that described controller also comprises:
The operating mode determining unit according to the default moving counterweight weight and the corresponding relation of operating mode, selects cooresponding the hanging of described moving counterweight weight to carry operating mode automatically.
8. detecting device according to claim 7 is characterized in that, also comprises:
With described controller bonded assembly telltale, be used to show a described moving counterweight weight and the cooresponding year operating mode of hanging, and receive operating mode selection information, and described operating mode selection information is sent to described controller.
9. require each described detecting device among the 1-5 according to aforesaid right, it is characterized in that described pressure-sensing device is pressure sensor or pressure switch.
10. the method for inspection of a hoisting crane moving counterweight is characterized in that, comprising:
The pressure information of pressure-sensing device sensing counterweight oil cylinder;
Controller is determined the cooresponding moving counterweight weight of described counterweight oil cylinder according to described pressure information.
11. method of inspection according to claim 10 is characterized in that, the step of the pressure information of described pressure-sensing device sensing counterweight oil cylinder comprises:
First pressure-sensing device in the described pressure-sensing device, the pressure information of the rodless cavity of the described counterweight oil cylinder of sensing;
Second pressure-sensing device in the described pressure-sensing device, the pressure information of the rod chamber of the described counterweight oil cylinder of sensing.
12. method of inspection according to claim 11 is characterized in that, described controller determines that according to described pressure information the step of the cooresponding moving counterweight weight of described counterweight oil cylinder comprises:
It is poor with the pulling force that bears when moving counterweight not being installed when moving counterweight is installed that described controller calculates described counterweight oil cylinder, and the ratio with described pulling force difference and acceleration due to gravity is defined as the cooresponding moving counterweight weight of described counterweight oil cylinder again.
13. method of inspection according to claim 10 is characterized in that, the step of the pressure information of described pressure-sensing device sensing counterweight oil cylinder comprises:
The pressure information of the rod chamber of the described counterweight oil cylinder of described pressure-sensing device sensing.
14. method of inspection according to claim 13 is characterized in that, described controller determines that according to described pressure information the step of the cooresponding moving counterweight weight of described counterweight oil cylinder comprises:
The pressure information that described controller senses in real time according to described pressure-sensing device is determined cooresponding real-time pressure value, and calculate pressure difference value between the force value in described real-time pressure value and the described rod chamber when moving counterweight not being installed, according to the change value of pressure in the default described rod chamber and the corresponding relation of moving counterweight weight, select the cooresponding moving counterweight weight of described pressure difference value again.
15. require each described method of inspection among the 10-14 according to aforesaid right, it is characterized in that, after described determining step, also comprise:
According to the default moving counterweight weight and the corresponding relation of operating mode, select cooresponding the hanging of described moving counterweight weight to carry operating mode automatically.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110146861.7A CN102249152B (en) | 2011-06-01 | 2011-06-01 | Device and method for detecting movable counter weight of crane |
| PCT/CN2012/074210 WO2012163190A1 (en) | 2011-06-01 | 2012-04-17 | Device and method for detecting movable counterweight of crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110146861.7A CN102249152B (en) | 2011-06-01 | 2011-06-01 | Device and method for detecting movable counter weight of crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102249152A true CN102249152A (en) | 2011-11-23 |
| CN102249152B CN102249152B (en) | 2014-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110146861.7A Expired - Fee Related CN102249152B (en) | 2011-06-01 | 2011-06-01 | Device and method for detecting movable counter weight of crane |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102249152B (en) |
| WO (1) | WO2012163190A1 (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602831A (en) * | 2012-03-26 | 2012-07-25 | 徐州重型机械有限公司 | Safety detecting device for installation of counterweight of large-tonnage crane |
| WO2012163190A1 (en) * | 2011-06-01 | 2012-12-06 | 湖南三一智能控制设备有限公司 | Device and method for detecting movable counterweight of crane |
| CN103573728A (en) * | 2013-11-13 | 2014-02-12 | 中联重科股份有限公司 | Device, method and system for controlling hydraulic oil cylinder and engineering machine |
| CN103935895A (en) * | 2014-05-08 | 2014-07-23 | 天津港第五港埠有限公司 | Measurement tool special for counter weight of portal crane |
| CN104129710A (en) * | 2013-05-03 | 2014-11-05 | 马尼托沃克起重机集团（法国）公司 | Device and method for determination and monitoring an assembled counterweight on a crane |
| CN104487377A (en) * | 2012-05-09 | 2015-04-01 | 马尼托瓦克起重机有限责任公司 | Crane monitoring system |
| CN105217468A (en) * | 2015-10-22 | 2016-01-06 | 中联重科股份有限公司 | The method of inspection of the load of weight-lifting equipment and counterweight loading facilities and counterweight |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2012163190A1 (en) * | 2011-06-01 | 2012-12-06 | 湖南三一智能控制设备有限公司 | Device and method for detecting movable counterweight of crane |
| CN102602831A (en) * | 2012-03-26 | 2012-07-25 | 徐州重型机械有限公司 | Safety detecting device for installation of counterweight of large-tonnage crane |
| CN104487377A (en) * | 2012-05-09 | 2015-04-01 | 马尼托瓦克起重机有限责任公司 | Crane monitoring system |
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| US11542125B2 (en) | 2017-02-15 | 2023-01-03 | Liebherr-Werk Ehingen Gmbh | Device and method for weighing a ballast on a crane and corresponding crane |
| DE102017001533A1 (en) | 2017-02-15 | 2018-08-16 | Liebherr-Werk Ehingen Gmbh | Device and method for ballast weighing on a crane and a corresponding crane |
| CN110291035B (en) * | 2017-02-15 | 2021-08-03 | 利勃海尔爱茵根有限公司 | Device and method for ballast weighing at a crane, and corresponding crane |
| CN107720558A (en) * | 2017-10-13 | 2018-02-23 | 徐州重型机械有限公司 | Crane and its working condition determining method and device |
| CN107720558B (en) * | 2017-10-13 | 2019-08-16 | 徐州重型机械有限公司 | Crane and its working condition determining method and device |
| CN108383018A (en) * | 2018-04-01 | 2018-08-10 | 江苏宏昌天马物流装备有限公司 | A kind of arm-folding crane Weighting system and its control method |
| CN108502734A (en) * | 2018-04-25 | 2018-09-07 | 宁波城市职业技术学院 | Crane with gravity center adjuster and its method of adjustment |
| CN108439219A (en) * | 2018-06-13 | 2018-08-24 | 江苏建筑职业技术学院 | Can automatic identification weight balance weight system and control method |
| CN110950247A (en) * | 2019-12-30 | 2020-04-03 | 徐州重型机械有限公司 | Crane counterweight combination identification method and system and crane |
| CN110950247B (en) * | 2019-12-30 | 2021-08-13 | 徐州重型机械有限公司 | Crane counterweight combination identification method and system and crane |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012163190A1 (en) | 2012-12-06 |
| CN102249152B (en) | 2014-01-15 |
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