CN104743119A - Agricultural aircraft - Google Patents
Agricultural aircraft Download PDFInfo
- Publication number
- CN104743119A CN104743119A CN201510095796.8A CN201510095796A CN104743119A CN 104743119 A CN104743119 A CN 104743119A CN 201510095796 A CN201510095796 A CN 201510095796A CN 104743119 A CN104743119 A CN 104743119A
- Authority
- CN
- China
- Prior art keywords
- aviation device
- led
- agricultural
- rotor arm
- agricultural aviation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract 1
- 239000007921 spray Substances 0.000 abstract 1
- 239000007788 liquid Substances 0.000 description 6
- 230000004308 accommodation Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 206010008428 Chemical poisoning Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000010152 pollination Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000000576 supplementary effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
Abstract
The invention discloses an agricultural aircraft which is simple in structure, convenient to detach and store, capable of achieving the photoelectric display capacity, the ground flight imitation capacity and obstacle avoiding capacity and more suitable for farmland spray operation. Two rotor wing arms are adopted in the agricultural aircraft and rotationally arranged criss-cross and symmetrically designed in a cross-shaped mode, and in the transportation or storage process, the two rotor wing arms can be folded. Microwave radar and an ultrasonic or laser distance measurement device are arranged at the front end and the rear end of the agricultural aircraft so that imitation flight conducted along the ground can be well achieved, obstacles can be avoided, and the aircraft can be conveniently used on a plot with the obstacles. The agricultural aircraft is applied to the technical field of agricultural aircrafts.
Description
Technical field
The present invention relates to a kind of aircraft, particularly a kind of agricultural aviation device.
Background technology
Domestic cultivating is received level of mechanization and is improved year by year at present, but agricultural plant protection is still based on manually, and both dangerous, efficiency is low again.And the agricultural unmanned aerocraft of the one grown up gradually in recent years, apply at pesticide spraying, liquid fertilizer, fully demonstrate advantage in crops supple-mentary pollination etc., peasant is freed from heavy plant protection operation, the difficult problem causing pesticide poisoning because manual operation is improper can be solved.
Publication number is the Chinese patent application of 103496446A, and it discloses the agricultural aircraft of a kind of four axle, equipment compartment is positioned at midway location, and this equipment compartment is the cydariform of the uncovered lower end closed in upper end, and every root support tube of alighting gear is connected with equipment compartment by two fasteners; Be provided with four circumferentially well-distributed cantilevers in the periphery of equipment compartment, the inner and the equipment compartment of this cantilever are connected as a single entity, and are provided with motor bin in the outer end of each cantilever; In motor bin, motor is housed, and is provided with screw propeller above this motor bin.Because the size of agricultural aircraft is comparatively large, and the inner of the cantilever of this patent application is connected as a single entity with equipment compartment, inconvenience transport, use, preservation.And current agricultural aircraft does not have the ability of flying and keeping away barrier imitatively, the operations such as farmland sprinkling can not be met well.
Summary of the invention
Technical matters to be solved by this invention overcomes the deficiencies in the prior art, provides that a kind of structure is simple, for convenience detach, convenient for collecting, has photoelectric display, imitative the agricultural aviation device being more suitable for farmland spraying operation flying and keep away barrier ability.
The technical solution adopted in the present invention is: the present invention includes body and lower body, described upper body comprises several rotor arms, rotor arm described in several is provided with rotor driver, and the quantity of described rotor arm is 2, two described rotor arms intersection rotation settings and is cruciform symmetry.
Described lower body is provided with the movable fastener suitable with described rotor arm, and described rotor arm is fixed on described lower body by described movable fastener.
At least three under-chassis that described lower body comprises main support, is arranged on the sprinkler below described main support and is fixedly connected with described main support.
Described sprinkler comprises and is arranged on medicine-chest below described main support, is arranged on the pump housing below described medicine-chest and arranges on described rotor arm and to be positioned at the shower nozzle of the below of described rotor driver, and described shower nozzle is connected with the described pump housing by delivery pipe.
Described lower body also comprises several power supplys around being arranged on described medicine-chest sidepiece, described upper body comprises the controller be arranged on described rotor arm, vertically be provided with LED post above described controller, the described pump housing, described power supply and described LED post are all electrically connected with described controller.
The bottom of described under-chassis is set to deflection and below between adjacent two described rotor arms.
Described rotor arm is provided with LED I, and described LED I is electrically connected with described controller.
The described under-chassis being positioned at described main support rear is provided with LED II, and described LED II is electrically connected integral with described LED I.
Described rotor arm is pipe fitting, the screw propeller that described rotor driver comprises the motor cabinet be arranged on described pipe fitting, is arranged on the motor on described motor cabinet and is connected with described motor-driven, described motor cabinet is provided with the breather port suitable with described motor afterbody, and described breather port is connected with the inside of described pipe fitting.
Described agricultural aviation device also comprises the microwave radar and super sonic or laser ranging system that are separately positioned on front and back end.
The invention has the beneficial effects as follows: owing to present invention employs detouchable design, the present invention includes body and lower body, described upper body comprises several rotor arms, rotor arm described in several is provided with rotor driver, quantity due to described rotor arm is 2, two described rotor arms intersection rotation settings and is cruciform symmetry, so two described rotor arms can be folded in transport or when receiving, the further safety ensureing transport, also saves accommodation space further.
Meanwhile, described lower body is provided with the movable fastener suitable with described rotor arm, so described rotor arm is fixed on described lower body by described movable fastener, structure is simple, for convenience detach and storage, ensure transport safety, also greatly save accommodation space.
And, be arranged on medicine-chest below described main support because described sprinkler comprises, be arranged on the pump housing below described medicine-chest and arrange on described rotor arm and to be positioned at the shower nozzle of the below of described rotor driver, described shower nozzle is connected with the described pump housing by delivery pipe, so, the present invention can make full use of the lower gas washing body of described rotor driver, adds the penetrance of liquid.
In addition, because described agricultural aviation device also comprises the microwave radar and super sonic or laser ranging system being separately positioned on front and back end, so the present invention can realize with ground profiling flight well and avoid obstacle, can be easy to use in the plot of multi-obstacle avoidance.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is lateral plan of the present invention;
Fig. 3 is birds-eye view of the present invention;
Fig. 4 is the structural representation of described rotor arm 3.
Detailed description of the invention
embodiment one:
As depicted in figs. 1 and 2, in the present embodiment, the present invention includes body 1 and lower body 2, if described upper body 1 comprises two rotor arms 3, two described rotor arms 3 are provided with rotor driver 4, described lower body 2 is provided with the movable fastener 5 suitable with described rotor arm 3, and described rotor arm 3 is fixed on described lower body 2 by described movable fastener 5.In the present embodiment, described movable fastener 5 is clamping piece, and the bottom of described clamping piece is fixed on described lower body 2, and described clamping piece is holding described rotor arm 3 tightly, can be for convenience detach in the process of transport.
In the present embodiment, the rotation of two described rotor arm 3 intersections arranges and is cruciform symmetry, thus two described rotor arms 3 can fold, and save accommodation space.
In the present embodiment, described lower body 2 four under-chassis 8 comprising main support 6, be arranged on the sprinkler 7 below described main support 6 and be fixedly connected with described main support 6.
In the present embodiment, described sprinkler 7 comprises and is arranged on medicine-chest 9 below described main support 6, is arranged on the pump housing 10 below described medicine-chest 9 and arranges on described rotor arm 3 and to be positioned at the shower nozzle 11 of the below of described rotor driver 4, described shower nozzle 11 is connected with the described pump housing 10 by delivery pipe, such design can make full use of the lower gas washing body of described rotor driver 3, adds the penetrance of liquid.
In the present embodiment, described lower body 2 also comprises several power supplys 12 around being arranged on described medicine-chest 9 sidepiece, and described upper body 1 comprises the controller 13 be arranged on described rotor arm 3, and the described pump housing 10, described power supply 12 are all electrically connected with described controller 13.
In the present embodiment, the bottom of described under-chassis 8 is set to deflection and below between adjacent two described rotor arms 3, as shown in Figure 3, in a top view, described rotor arm 3 becomes α angle with the bottom of described under-chassis 8, α=30 ° in the present embodiment, effectively can prevent the pollution of liquid like this.
embodiment two:
The difference of the present embodiment and embodiment one is: in the present embodiment, is vertically provided with LED post 19 above described controller 13, and described LED post 19 is electrically connected with described controller 13; Described rotor arm 3 is provided with LED I, described LED I is electrically connected with described controller 13, described LED I is all-colour LED light bar, by described LED post 19 and the flicker change of described LED I or the conversion of color, the ambient temperature etc. that the surplus of the surplus of liquid, power supply 12 and electricity can be pointed out to adjust, also identifies flight attitude, flying quality and sprinkling data by described LED post 19 and described LED I simultaneously.
In the present embodiment, the described under-chassis 8 being positioned at described main support 6 rear is provided with LED II, and described LED II is electrically connected integral with described LED I, and such design is easy to identify flight attitude.
embodiment three:
The difference of the present embodiment and embodiment one and embodiment two is: as shown in Figure 4, described rotor arm 3 is pipe fitting, described pipe fitting is carbon fiber pipe or high strength composite pipe fitting, described rotor driver 4 comprises the motor cabinet 14 be arranged on described pipe fitting, the screw propeller 16 being arranged on the motor 15 on described motor cabinet 14 and being in transmission connection with described motor 15, described motor cabinet 14 is provided with the breather port 17 suitable with described motor 15 afterbody, described breather port 17 is connected with the inside of described pipe fitting, thus the centrifugal wind of generation can be rotated to the heat radiation of the electricity be placed in described pipe fitting tune by described motor 15.And described electricity arranges also can save space in described pipe fitting, can directly rinse clean after fulfiling assignment with water.
In the present embodiment, as shown in Figure 3, described motor 15 is distributed on described rotor arm 3 in two circles, thus ensure that the present invention has enough power, and then can carry more liquid.
In the present embodiment, described a kind of agricultural aviation device also comprise be separately positioned on front and back end and the microwave radar 18 be connected with controller 13 signal or super sonic or laser ranging system, thus profiling flight can be realized and avoid obstacle.
The present invention is applied to the technical field of agricultural aviation device.
Claims (10)
1. an agricultural aviation device, comprise body (1) and lower body (2), described upper body (1) comprises several rotor arms (3), rotor arm (3) described in several is provided with rotor driver (4), it is characterized in that: the quantity of described rotor arm (3) is 2, two described rotor arms (3) intersection rotation settings and is cruciform symmetry.
2. a kind of agricultural aviation device according to claim 1, it is characterized in that: described lower body (2) is provided with the movable fastener (5) suitable with described rotor arm (3), described rotor arm (3) is fixed on described lower body (2) by described movable fastener (5).
3. a kind of agricultural aviation device according to claim 1, is characterized in that: described lower body (2) comprises main support (6), the sprinkler (7) that is arranged on described main support (6) below and at least three under-chassis (8) be fixedly connected with described main support (6).
4. a kind of agricultural aviation device according to claim 3, it is characterized in that: described sprinkler (7) comprises the medicine-chest (9) being arranged on described main support (6) below, the pump housing (10) being arranged on described medicine-chest (9) below and is arranged on described rotor arm (3) to be gone up and the shower nozzle (11) being positioned at the below of described rotor driver (4), and described shower nozzle (11) is connected with the described pump housing (10) by delivery pipe.
5. a kind of agricultural aviation device according to claim 4, it is characterized in that: described lower body (2) also comprises several power supplys (12) around being arranged on described medicine-chest (9) sidepiece, described upper body (1) comprises the controller (13) be arranged on described rotor arm (3), described controller (13) top is vertically provided with LED post (19), and the described pump housing (10), described power supply (12) and described LED post (19) are all electrically connected with described controller (13).
6. a kind of agricultural aviation device according to claim 3, is characterized in that: the bottom of described under-chassis (8) is set to deflection and is positioned at the below between two adjacent described rotor arms (3).
7. a kind of agricultural aviation device according to claim 5, is characterized in that: described rotor arm (3) is provided with LED I, and described LED I is electrically connected with described controller (13).
8. a kind of agricultural aviation device according to claim 7, is characterized in that: the described under-chassis (8) being positioned at described main support (6) rear is provided with LED II, and described LED II is electrically connected integral with described LED I.
9. a kind of agricultural aviation device according to any one of claim 4 to 7, it is characterized in that: described rotor arm (3) is pipe fitting, the screw propeller (16) that described rotor driver (4) comprises the motor cabinet (14) be arranged on described pipe fitting, is arranged on the motor (15) on described motor cabinet (14) and is in transmission connection with described motor (15), described motor cabinet (14) is provided with the breather port (17) suitable with described motor (15), and described breather port (17) is connected with the inside of described pipe fitting.
10. a kind of agricultural aviation device according to any one of claim 4 to 7, is characterized in that: described a kind of agricultural aviation device also comprises the microwave radar (18) or super sonic or laser ranging system that are separately positioned on front and back end.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510095796.8A CN104743119B (en) | 2015-03-04 | 2015-03-04 | A kind of agricultural aviation device |
| PCT/CN2015/000233 WO2016138604A1 (en) | 2015-03-04 | 2015-04-04 | Agricultural aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510095796.8A CN104743119B (en) | 2015-03-04 | 2015-03-04 | A kind of agricultural aviation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104743119A true CN104743119A (en) | 2015-07-01 |
| CN104743119B CN104743119B (en) | 2017-10-31 |
Family
ID=53583535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510095796.8A Expired - Fee Related CN104743119B (en) | 2015-03-04 | 2015-03-04 | A kind of agricultural aviation device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104743119B (en) |
| WO (1) | WO2016138604A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105127133A (en) * | 2015-09-23 | 2015-12-09 | 云南电网有限责任公司电力科学研究院 | Electrified cleaning insulator device based on unmanned aerial vehicle |
| CN106155073A (en) * | 2016-07-22 | 2016-11-23 | 珠海卡特瑞科农林航空装备研究所有限公司 | A kind of unmanned plane with flying height lock function |
| CN106716285A (en) * | 2016-06-30 | 2017-05-24 | 深圳市大疆创新科技有限公司 | An agricultural unmanned aerial vehicle working method and system and an agricultural unmanned aerial vehicle |
| CN107256029A (en) * | 2017-08-16 | 2017-10-17 | 南京大学 | A kind of combined method and control method for combining collaboration load-carrying aircraft |
| CN107258490A (en) * | 2017-07-05 | 2017-10-20 | 周金林 | A kind of collectable is used for the circular motion flight sprinkler of trees |
| CN107897148A (en) * | 2017-11-21 | 2018-04-13 | 深圳八方纵横生态技术有限公司 | Using the method for red fire ant granule |
| CN110622087A (en) * | 2017-05-01 | 2019-12-27 | 苏州极目机器人科技有限公司 | Autonomous detection and following of terrain altitude along flight path |
| JP7123459B1 (en) * | 2022-03-30 | 2022-08-23 | 株式会社石川エナジーリサーチ | flight device |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428566B (en) * | 2016-09-23 | 2018-10-16 | 无锡汉和航空技术有限公司 | Plant protection drone sprays frame with single tube rotating material |
| EP3651574A1 (en) | 2017-07-10 | 2020-05-20 | AgroFly SA | Apparatus for selective spreading |
| AU2019414453A1 (en) * | 2018-12-28 | 2021-08-12 | Harrison Francis HERTZBERG | Unmanned aerial vehicle (UAV) pest abatement device |
| CN109901614A (en) * | 2019-01-30 | 2019-06-18 | 沈阳无距科技有限公司 | Track line planing method, device, storage medium and electronic equipment |
| CN113331167B (en) * | 2021-08-02 | 2021-11-19 | 南京卡飞软件技术有限公司 | Control system for spraying pesticide in agricultural greenhouse and spraying method thereof |
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| CN202657244U (en) * | 2012-07-05 | 2013-01-09 | 李小岛 | Agricultural aircraft |
| CN203461134U (en) * | 2013-09-25 | 2014-03-05 | 重庆金泰航空工业有限公司 | Four-shaft agricultural aircraft |
| CN203889068U (en) * | 2014-04-14 | 2014-10-22 | 苏桂滨 | Wingtip sprinkling system for airplane of rotor wing type |
| CN203996888U (en) * | 2014-06-07 | 2014-12-10 | 珠海羽人飞行器有限公司 | Agricultural aviation device |
| CN203996882U (en) * | 2014-06-07 | 2014-12-10 | 珠海羽人飞行器有限公司 | The agricultural aircraft of four rotors |
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| US3053480A (en) * | 1959-10-06 | 1962-09-11 | Piasecki Aircraft Corp | Omni-directional, vertical-lift, helicopter drone |
| US6783327B1 (en) * | 2002-12-12 | 2004-08-31 | Davis Aircraft Products Co., Inc. | Helicopter blade folding with blade droop |
| US8052081B2 (en) * | 2008-08-22 | 2011-11-08 | Draganfly Innovations Inc. | Dual rotor helicopter with tilted rotational axes |
| CN101992854B (en) * | 2010-11-03 | 2012-11-07 | 中国科学院长春光学精密机械与物理研究所 | Foldable six-axis multi-rotor aircraft |
| CN202717030U (en) * | 2012-07-25 | 2013-02-06 | 上海工程技术大学 | Eight-axis rotor craft |
| CN103496446B (en) * | 2013-09-25 | 2015-09-30 | 重庆金泰航空工业有限公司 | The agricultural aircraft of a kind of four axle |
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2015
- 2015-03-04 CN CN201510095796.8A patent/CN104743119B/en not_active Expired - Fee Related
- 2015-04-04 WO PCT/CN2015/000233 patent/WO2016138604A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202657244U (en) * | 2012-07-05 | 2013-01-09 | 李小岛 | Agricultural aircraft |
| CN203461134U (en) * | 2013-09-25 | 2014-03-05 | 重庆金泰航空工业有限公司 | Four-shaft agricultural aircraft |
| CN203889068U (en) * | 2014-04-14 | 2014-10-22 | 苏桂滨 | Wingtip sprinkling system for airplane of rotor wing type |
| CN203996888U (en) * | 2014-06-07 | 2014-12-10 | 珠海羽人飞行器有限公司 | Agricultural aviation device |
| CN203996882U (en) * | 2014-06-07 | 2014-12-10 | 珠海羽人飞行器有限公司 | The agricultural aircraft of four rotors |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105127133A (en) * | 2015-09-23 | 2015-12-09 | 云南电网有限责任公司电力科学研究院 | Electrified cleaning insulator device based on unmanned aerial vehicle |
| CN106716285A (en) * | 2016-06-30 | 2017-05-24 | 深圳市大疆创新科技有限公司 | An agricultural unmanned aerial vehicle working method and system and an agricultural unmanned aerial vehicle |
| WO2018000399A1 (en) * | 2016-06-30 | 2018-01-04 | 深圳市大疆创新科技有限公司 | Agricultural drone operation method, system, and agricultural drone |
| US11067990B2 (en) | 2016-06-30 | 2021-07-20 | SZ DJI Technology Co., Ltd. | Operation method of an agriculture UAV |
| CN106155073A (en) * | 2016-07-22 | 2016-11-23 | 珠海卡特瑞科农林航空装备研究所有限公司 | A kind of unmanned plane with flying height lock function |
| CN110622087A (en) * | 2017-05-01 | 2019-12-27 | 苏州极目机器人科技有限公司 | Autonomous detection and following of terrain altitude along flight path |
| CN107258490A (en) * | 2017-07-05 | 2017-10-20 | 周金林 | A kind of collectable is used for the circular motion flight sprinkler of trees |
| CN107256029A (en) * | 2017-08-16 | 2017-10-17 | 南京大学 | A kind of combined method and control method for combining collaboration load-carrying aircraft |
| CN107897148A (en) * | 2017-11-21 | 2018-04-13 | 深圳八方纵横生态技术有限公司 | Using the method for red fire ant granule |
| JP7123459B1 (en) * | 2022-03-30 | 2022-08-23 | 株式会社石川エナジーリサーチ | flight device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016138604A1 (en) | 2016-09-09 |
| CN104743119B (en) | 2017-10-31 |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 519090 Guangdong province Zhuhai city Zhuhai town of Red Bay area, Shuanghu Road West Road on the north side of No. 6 workshop two Patentee after: ZHUHAI YUREN AGRICULTURAL AVIATION Co.,Ltd. Address before: Green Bay Industrial Park Jinhu road 519041 Guangdong city of Zhuhai province Jinwan District No. 3 Patentee before: ZHUHAI YUREN AIRCRAFT Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171031 |
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| CF01 | Termination of patent right due to non-payment of annual fee |