CN104786036B - A kind of automatic pressing system of automobile instrument - Google Patents
A kind of automatic pressing system of automobile instrument Download PDFInfo
- Publication number
- CN104786036B CN104786036B CN201410847181.1A CN201410847181A CN104786036B CN 104786036 B CN104786036 B CN 104786036B CN 201410847181 A CN201410847181 A CN 201410847181A CN 104786036 B CN104786036 B CN 104786036B
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- pressing
- visual analysis
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/0035—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for motor-vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/02—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for connecting objects by press fit or detaching same
- B25B27/026—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for connecting objects by press fit or detaching same fluid driven
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- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of automatic pressing system of automobile instrument, including master control system, the pressing device that is controlled by master control system and the clamping device for clamping instrument board；Master control system includes main control computer, control module, man-machine interface and visual analysis alignment system；Pressing device includes three axle servo motion platforms, the pressing head and feeding device of setting on the moving platform being arranged on a stand；The press mechanism that picks up in gauge pointer position and status data control pressing device in feeding device of the control module according to acquired in visual analysis alignment system takes pin, and the angle position data for treating to place needed for pressing instrument board motor coordinate positions and the pointer inputted from man-machine interface according to acquired in visual analysis alignment system controls the pressing angle and pressing depth of pressing device.By the visual analysis alignment system correct zero scale individual difference position, every piece of table is kept to point to consistent.Pressing precision and production efficiency are substantially increased by the automatic pressing system.
Description
Technical field
The present invention relates to instrument assembly equipment, more particularly to a kind of automatic assembly equipment of automobile meter pointer.
Background technology
The pointer compacting inside the instrument such as automobile and motorcycle manufacturing enterprise, instrument mostly uses mechanical-pneumatic side at present
Formula or the compacting of mechanical, hand-driven manual type.Artificial compacting labor intensity is big, low production efficiency, and pneumatic compacting is due to the spy of gas
Property, speed is pushed upon actuation, and interlude can not stop, so pointer and step motor position it is asymmetric or
It can also be subdued when pointer is not put well, so cause stepper motor to damage, production such as is done over again at the phenomenon.Pointer hole and motor shaft
Parameter consistency have differences, and each motor for instrument initial angle residing when pointer is suppressed is also not quite identical, adopts
Manually or directly pneumatic compacting be difficult to ensure that the pointer angle and depth of compacting are completely the same.In addition, using artificial or straight
Pneumatic compacting is connect not support, by operator, date section inquiry qualification rate, wrong content etc., to cause intelligent management system data
The blank and later stage can not more be reviewed.
Notification number discloses a kind of automatic pressing system for CN203178837U Chinese utility model patent, including automatic
Pressing machine and control main frame, the main control computer include microprocessor, drive control module, pressure control module, position control mould
Block, memory modules and touch display, it is the microprocessor and the drive control module, the pressure control module, described
Position control module, the memory modules and the touch display are electrically connected with.The utility model can accurate control dynamics
Ensure that pointer is pressed into optimum position with depth, improve the precision of assembling, and can report an error automatically, each item data can be recorded, carried
For voucher of tracing to the source.Although the technical scheme has position control module to carry out position control, but the position of the technical scheme is only capable of
Z-direction, i.e. pressing depth are controlled, its control for lacking in XY direction of principal axis is difficult to ensure that pointer and motor for instrument shaft position pair
It is accurate.In addition, the angle of the technical scheme also uncontrollable pointer makes each pointer have unified initial angle in instrument.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of automatic pressing system of automobile instrument, it passes through a visual analysis
Alignment system is detected to the gauge pointer in feeding device, and qualified pointer is searched for automatically and is picked up and instrument calibration needle shaft
Position individual difference；Pressing state is monitored by the visual analysis alignment system, Fast Calibration needle shaft position；By this
Vision positioning analysis system correct zero scale individual difference position, sets pressing angle to point to every piece of list index consistent.Pass through
The automatic pressing system effectively improves pressing precision and production efficiency.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：A kind of automatic pressing system of automobile instrument,
The pressing device controlled including master control system, by master control system and the clamping device for clamping instrument board；The master control system
Including main control computer, control module, man-machine interface and visual analysis alignment system；The pressing device includes being arranged on a stand
Motion platform, pressing head and feeding device on the moving platform is set；The motion platform is a three-axis servo platform；
Gauge pointer position and status data control in feeding device of the control module according to acquired in visual analysis alignment system
The press mechanism that picks up made in the pressing device takes pin, and pressing instrument board motor shaft is treated according to acquired in visual analysis alignment system
The angle position data placed needed for coordinate position and the pointer inputted from man-machine interface controls the pressing angle of the pressing device
Degree and pressing depth.By the visual analysis alignment system correct zero scale individual difference position, every piece of table is kept to point to consistent.
Pressing precision and production efficiency are substantially increased by the automatic pressing system.
Specifically, the control module includes the servo controller being controlled to the motion platform and to pressing device
The pressing controller being controlled.
As preferred technical scheme, the visual analysis alignment system includes a main shooting being arranged on pressing device
Head, be arranged on the auxiliary camera and visual analysis module treated above pressing instrument board.Pass through two cameras set respectively
The pressing job information on diverse location can be effectively obtained, and comprehensive analysis is carried out by visual analysis module, effectively obtains and supplies
Expect the pointer in device and treat the location status information of needle shaft on pressing instrument board, improve pressing precision.With the industry camera
As the visual analysis alignment system in video analysis source, every pixel resolution is set to be less than 0.05mm, system rate of false alarm is less than 1%.
Specifically, the visual analysis module seeks pin module and rectifier indicator including searching for the vision of qualified pointer automatically
The needle shaft correction module of shaft position individual difference.Vision is supported to search for qualified pointer automatically and be picked up and support vision correction instrument
Indicator shaft position individual difference and pressing.Further, in order to support vision correction zero graduation individual difference position, kept for every piece
Table is pointed to unanimously, and the visual analysis module also includes correct zero scale individual difference position, keeps each instrument to point to consistent
Zero correction module.
It is described to pick up in press mechanism provided with a pair of pressing pressure in order to support the detection of pressing process maximum pressure feedback and differentiate
The pressure sensor fed back.
In order to support the actual pressing depth feedback detection of needle cap and differentiate, a pair of pressings are additionally provided with the pressing device
The ranging mechanism of pressing depth verification is carried out afterwards.
The automatic pressing system of automobile instrument of the present invention picks up pressure for three axle servo motion platforms of a set of collection, the machinery of Pointer pickup
The high-precision pressing system that mechanism, visual analysis alignment system are integrated, possess instrumented data initialization, automatic searching pointer,
Automatic locking needle shaft, pointer angle and depth are arbitrarily demarcated, the measurement of actual pressing high precision, pressing user-defined flow, double end
The advanced functions such as Pointer pickup, double pointer magazines, double tooling platform.
System accurately catches needle shaft and pointer using industrial camera, and control using three axle servo motion platforms as pedestal
Manipulator processed is by pointer by the angle of technological requirement and height press-in needle shaft, and support is entered to any number of pointer on combination instrument
Row pressing, possesses double-head arrow analysis pick-up capability, can once complete the Pointer pickup and pressing of two or more specifications.System is same
The control of Shi Ronghe instrument and initialization module, walk motor and pressing are carried out after same relative angle, it is ensured that through excessive positive vapour
The instrument of car instrument pressing equipment has consistent pointer angle.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is the structural representation of the present invention, removes upper cover to show internal structure in figure.
Fig. 3 is the module map of master control system and visual analysis alignment system in the present invention.
Fig. 4 is the structural representation of pressing device in the present invention.
Fig. 5 is the enlarged drawing at A in Fig. 4.
Fig. 6 is the structural representation of pressing device in the present invention.
Fig. 7 is the enlarged drawing at B in Fig. 6.
Fig. 8 is the structural representation of clamping device in the present invention.
Fig. 9 is the structural representation of clamping device in the present invention.
Figure 10 is the structural representation of grip block mechanism in the present invention.
Figure 11 is the structural representation of feeding device in the present invention.
Wherein：Stand 1, master control system 2, main control computer 21, control module 22, servo controller 221, pressing controller 222,
Human-computer interaction interface 23, display 231, input keyboard 232, motion platform 3, X-axis servo slide table mechanism 31, Y-axis servo slide table
Mechanism 32, Z axis servo slide table mechanism 33, Z-direction altitude calibration mechanism 34, pressing device 4, load board 41, pressing head 42, head
Support 421, head body 422, synchronous pulley group 423, head stepper motor 425, angle-tracking unit 426, pick up press mechanism 427,
Negative pressure sucker axle 4271, negative pressure cylinder 4272, fixed mount 4273, link 4274, pressure sensor 4275, paw mechanism 428,
Paw cylinder 4281, paw push pedal 4282, vertical rails 4283, paw connecting rod 4284, paw sliding block 4285, horizontal slide rail
4286th, paw 4287, paw groove 4288, ranging mechanism 429, head cylinder 43, buffer 44, block 45, feeding device 5, confession
Expect cylinder 51, guide plate 52, feeding platform 53, roller 54, visual analysis alignment system 6, main camera 61, auxiliary camera 62,
Visual analysis module 63, vision seek pin module 631, needle shaft correction module 632, zero correction module 633, clamping device 7, revolution
Platform 71, assembly station 711, clamping station 712, revolution detent mechanism 713, support block mechanism 72, support cylinder 721, voussoir
722nd, support block 723, grip block mechanism 73, clamp bracket 731, gripper cylinder 732, connecting rod 733, gripper jaw 734, revolution driving
Device 74, upper cover 8, treat pressing instrument board 9.
Embodiment
Below by specific embodiment, and with reference to accompanying drawing, technical scheme is further described specifically：
Referring to Fig. 1, Fig. 2 and Fig. 3, a kind of automatic pressing system of automobile instrument, including master control system 2, controlled by master control system 2
The pressing device 4 and motion platform 3 of system, feeding device 5 and the clamping device 7 that pressing instrument board 9 is treated for clamping.The master control system
System 2 includes the main control computer 21 being arranged on a stand 1, the control module 22 being arranged in main control computer 21, and visual analysis positioning
System 6.The main control computer 21, which includes being arranged on, includes the human-computer interaction interface 23 of display 231 and input keyboard 232 on stand 1.
The control module 22 includes the servo controller 221 being controlled to motion platform 3 and the pressing being controlled to pressing device 4
Controller 222.The motion platform 3 is a three-axis servo platform, and it includes X-axis servo slide table mechanism 31, Y-axis servo slide table mechanism
32nd, Z axis servo slide table mechanism 33 and Z-direction altitude calibration mechanism 34.
Referring to Fig. 4~Fig. 7, the pressing device 4 is fixed on the motion platform 3 by a load board 41, passes through servo control
Device 221 processed is controlled the exact position movement for realizing pressing device 4 on XYZ axles to the servomotor of motion platform XYZ axles.
The pressing device 4 includes being slidably connected in load board 41 two pressing heads 42 and is arranged in the middle of two pressing heads 42
Ranging mechanism 429.The pressing head 42 includes head frame 421, the head sheet being arranged in the consistent through axial bore of head rack 421
Body 422, be arranged on the head rack 421 be used for drive the head body 422 rotate angle-adjusting mechanism, be arranged on the machine
Head body 422 lower end is used to be picked up gauge pointer and pressing picks up press mechanism 427 and is positioned at this and picks up press mechanism
The paw mechanism 428 of 427 lower sections.The angle-adjusting mechanism includes the He of head stepper motor 425 being arranged in head frame 421
Synchronous pulley group 423 and be arranged on head rack 421 by synchronizing wheel group be connected to the angle of the upper end of head body 422 with
Comprehensive device 426.The angle is used for the rotational angle information for feeding back head body 422 with comprehensive device 426.This, which picks up press mechanism 427, includes leading to
Cross negative pressure cylinder 4272 that a fixed mount 4273 is fixed on the lower end of head body 422, be arranged on the piston of negative pressure cylinder 4272
The negative pressure sucker axle 4271 of rod end and the tailpiece of the piston rod of negative pressure cylinder 4272 and negative pressure sucker are arranged on by a link 4274
Pressure sensor 4275 between axle 4271.The paw mechanism 428 is arranged on the extension for picking up the fixed mount 4273 of press mechanism 427
On.The paw mechanism 428 include be fixed on the extension of fixed mount 4273 paw cylinder 4281, be fixed on fixed mount 4273
On extension and it is positioned at the vertical rails 4283 of the lower section of paw cylinder 4281, the hand being slidably connected in the vertical rails 4283
Pawl push pedal 4282, two respectively with the bottom both sides of paw push pedal 4282 be in symmetrically be hinged paw connecting rod 4284, be arranged on fixation
Horizontal slide rail 4286 on before the extension bottom of frame 4273, it is respectively hinged on two other ends of paw connecting rod 4284 and slides
The paw sliding block 4285 being connected in horizontal slide rail 4286 and two hands for being separately fixed at two lower ends of paw sliding block 4285
Pawl 4287.The negative pressure sucker axle 4271 is positioned at before the extension of fixed mount 4273, the paw cylinder in the paw mechanism 428
4281st, paw push pedal 4282, paw connecting rod 4284 and vertical rails 4283 are positioned at behind the extension of fixed mount 4273, hand
Two paw sliding blocks 4285 of pawl mechanism 428 are positioned at below the extension of fixed mount 4273, and two paws 4287 extend to negative
Press the lower section of sucker axle 4271.A paw groove 4288 is provided with the inner side of paw 4287, the paw groove 4288 is a right-angle notch.
The upper end of paw push pedal 4282 is connected with the piston rod of paw cylinder 4281 that paw cylinder 4281 is extended downwardly out, passes through the paw
Cylinder 4281 promotes paw push pedal 4282 and then controls two paws 4287 transversely slide rail by two paw connecting rods 4284
4286 make opening and closing movement.Two pressing heads 42 are switched in staggeredly shifting up and down by respective head cylinder 43 respectively
It is dynamic.The head cylinder 43 is arranged in load board 41, and provided with buffer between the load board 41 and head rack 421
44。
Referring to Fig. 8, Fig. 9 and Figure 10, the clamping device 7 include be arranged on stand 1 panoramic table 71, be arranged on panoramic table
Grip block mechanism 73 and the support block mechanism 72 for being arranged on the lower section of panoramic table 71 on 71.The panoramic table 71 is provided with by being arranged on
Single-revolution detent mechanism 713 is positioned on the stand 1 of the lower section of panoramic table 71 assembly station 711 and clamping station 712.The revolution
Detent mechanism 713 includes an alignment pin driven by positioning cylinder.The grip block mechanism 73 being arranged on panoramic table 71 includes
Connecting rod 733 and the other end of connecting rod 733 that clamp bracket 731, gripper cylinder 732, one end and the piston rod of gripper cylinder 732 are hinged
The gripper jaw 734 being hinged.Treat that pressing instrument board 9 is placed on the clamping station 712 of panoramic table and started by gripper cylinder 732
Gripper jaw 734 is compressed.In the present embodiment, the gripper jaw 734 along treat the periphery of pressing instrument board 9 be provided with 5.The support block mechanism
72 are positioned at the lower section of the assembly station 711 of panoramic table 71.The support block mechanism 72 includes a support cylinder 721, one and support gas
The voussoir 722 of the piston rod of cylinder 721 connection and the support block 723 driven by voussoir 722.
Referring to Figure 11, the feeding device 5 is arranged on the stand 1 of the side of clamping device 7.The feeding device 5 includes one
The feed cylinder 51 that guide plate 52, feeding platform 53 and the driving feeding platform 53 being fixed on stand 1 are moved along guide plate 52.The confession
Material platform 53 is made to roll by the roller 54 being positioned on the both sides of guide plate 52 with guide plate 52 to be connected.In the present embodiment, the feed
Device 5 is provided with two.Gauge pointer is arranged in arrays in pointer magazine, and pointer magazine is placed on feeding platform 53 by supplying
Material cylinder 51 is moved to the lower section of pressing device 4.
Referring to Fig. 3, the visual analysis alignment system 6 include be arranged on pressing device 4 main camera 61, be arranged on folder
Hold the auxiliary camera 62 and visual analysis module 63 of the top of 7 panoramic table of device, 71 assembly station 711.The visual analysis module 63
The needle shaft correction module of pin module 631, instrument calibration needle shaft position individual difference is sought including searching for the vision of qualified pointer automatically
632 with the correct zero scale individual difference position zero correction module 633 that to make each instrument sensing consistent.
During operation, gas circuit is first opened, opens and is shown on device Host power supply, display after login window, with operator's account
Number log in pressing system.Selection treats that the model of pressing instrument board clicks on beginning pressing button in pressing main window, and system is first
Back to zero operation can be first carried out automatically by Z-direction altitude calibration mechanism 34 after upper electricity or jerk, subsequently into positive normal pressure needle-like state.Will
Treat that clamping station 712 of the pressing instrument board 9 in clamping device 7 carries out clamping by grip block mechanism 73, in place after signal detection,
Grip block mechanism 73 is held tightly and treats pressing instrument board 9 automatically, and pressing instrument is treated in the ejection confirmation of display 231 of human-computer interaction interface 23
Whether the outward appearance of disk 9 is normal, and the panoramic table 71 that clamping device 7 is performed after confirmation rotates, and makes to treat that pressing instrument board 9 enters assembly station
71.The pressing head 42 of pressing device 7 is moved to the top of feeding device 5 by three axle servo motion platforms 3, and visual analysis is fixed
Main camera 61 in the system 6 of position obtains the pointer position of the gauge pointer in feeding device 5 in array and has pin needleless state
Information, and pin module 631 is sought by the vision in visual analysis module 63 and needle shaft correction module 632 is analyzed and corrected.
In the present embodiment, the pressing head 42 has two, after one A pressing heads pick up pin, and A/B is carried out by head cylinder 43
Pressing head switches, then picks up pin by the progress of B pressings head.Before pin is picked up in the movement progress of pressing head 42, paw cylinder 4281
Paw push pedal 4282 is promoted paw connecting rod 4284 and then drive paw sliding block 4285 to open paw 4287, two pressing heads
42 move up, and the negative pressure sucker axle 4271 of Shi Zhen mechanisms 427 rises, and are moved to taking behind pin position for the top of feeding device 5, A pressings
Head is retracted after switching descending, stretching negative pressure sucker axle 4271, suction spindle by head cylinder 43, and paw 4287 is closed, paw machine
Structure 428 retracts, and withstands pointer workpiece with negative pressure sucker axle 4271 and correction refers to automatically by the paw groove 4288 on paw 4287
Pin position；The completion of A pressings head picks up B pressings head after pin and picks up pin again in the same way.Two pressings after pin are picked up in completion
42, machine moves to presetting position, and assembly center point and dress are caught by the auxiliary camera 62 in visual analysis alignment system 6
With angle, and assembling Z-direction height and position is measured, pressing machine is controlled by master control system 2 after being analyzed by visual analysis module 63
First 42 are moved to destination coordinate position.Switch A pressing heads descending, and control three axle servo motion platform 3Z axle servo slide tables
Mechanism 33 is slowly sent to certain distance, opens paw 4287, and 33 1 relative distances of rollback Z axis servo slide table mechanism are born
Sucker axle 4271 is pressed to move down to spacing, Z axis servo slide table mechanism 33 moves down press-in pointer workpiece to certain depth distance,
Then A pressings head switching retracts, and negative pressure sucker axle 4271 retracts, and ranging mechanism 429 moves to top and measured.A pressing machines
Head is completed after the pressing of one of pointer, and B pressings head completes the pressing of another pointer in the same fashion.Complete main after pressing
Numerical value is compared control system, provides the margin of tolerance of practical set.After assembling terminates, panoramic table 71 screws out assembly station
711, pressing instrument board 9 is treated while entering assembly station 711 in the completion clamping of clamping station 712, repeats pressing work.
Specific embodiment is in order to be more clearly understood that the present invention, to be not intended as one kind limitation to right of the present invention,
On the premise of not departing from present inventive concept, can there is a various changes, it is all these aobvious to the art personnel and
The modification being clear to is included within the scope of present claims.
Claims (6)
1. a kind of automatic pressing system of automobile instrument, including master control system, the pressing device that is controlled by master control system and for pressing from both sides
Hold the clamping device of instrument board；It is characterized in that：The master control system includes main control computer, control module, man-machine interface and vision
Analyzing and positioning system；The pressing device includes motion platform, the pressing of setting on the moving platform being arranged on a stand
Head and feeding device；The motion platform is a three-axis servo platform, and it includes X-axis servo slide table mechanism, Y-axis servo slide table
Mechanism, Z axis servo slide table mechanism and Z-direction altitude calibration mechanism；The control module is according to acquired in visual analysis alignment system
Feeding device in gauge pointer position and status data control the press mechanism that picks up in the pressing device to take pin, according to vision
Treating acquired in analyzing and positioning system is placed needed for pressing instrument board motor coordinate positions and the pointer inputted from man-machine interface
Angle position data control the pressing angle and pressing depth of the pressing device；The visual analysis alignment system includes one
The main camera that is arranged on pressing device, it is arranged on the auxiliary camera and visual analysis module treated above pressing instrument board；
The vision that the visual analysis module includes searching for qualified pointer automatically seeks pin module and instrument calibration needle shaft position individual difference
Needle shaft correction module；The visual analysis module also includes correct zero scale individual difference position, keeps each instrument to point to
Consistent zero correction module.
2. pressing system according to claim 1, it is characterised in that：The control module includes entering the motion platform
The servo controller of row control and the pressing controller being controlled to pressing device.
3. pressing system according to claim 1 or 2, it is characterised in that：It is described to pick up in press mechanism provided with a pair of pressing pressures
The pressure sensor that power is fed back.
4. pressing system according to claim 1 or 2, it is characterised in that：A pair of pressures are additionally provided with the pressing device
The ranging mechanism of pressing depth verification is carried out after pin.
5. pressing system according to claim 1, it is characterised in that：It is described to pick up in press mechanism to enter provided with a pair of pressing pressure
The pressure sensor of row feedback.
6. pressing system according to claim 1, it is characterised in that：After a pair of pressings being additionally provided with the pressing device
Carry out the ranging mechanism of pressing depth verification.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410847181.1A CN104786036B (en) | 2014-12-31 | 2014-12-31 | A kind of automatic pressing system of automobile instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410847181.1A CN104786036B (en) | 2014-12-31 | 2014-12-31 | A kind of automatic pressing system of automobile instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104786036A CN104786036A (en) | 2015-07-22 |
| CN104786036B true CN104786036B (en) | 2017-08-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410847181.1A Active CN104786036B (en) | 2014-12-31 | 2014-12-31 | A kind of automatic pressing system of automobile instrument |
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| Country | Link |
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| CN (1) | CN104786036B (en) |
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| CN110936132A (en) * | 2019-11-27 | 2020-03-31 | 航天科技控股集团股份有限公司 | Instrument pointer suction determination method based on negative pressure feedback |
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