CN106676979B - A kind of structure and method improving tunnel crusing robot bend adaptability - Google Patents
A kind of structure and method improving tunnel crusing robot bend adaptability Download PDFInfo
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- CN106676979B CN106676979B CN201611138061.XA CN201611138061A CN106676979B CN 106676979 B CN106676979 B CN 106676979B CN 201611138061 A CN201611138061 A CN 201611138061A CN 106676979 B CN106676979 B CN 106676979B
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- turntable
- supporting beam
- adaptability
- crusing robot
- central shaft
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B25/00—Tracks for special kinds of railways
- E01B25/22—Tracks for railways with the vehicle suspended from rigid supporting rails
Abstract
The invention discloses a kind of structures and method improving tunnel crusing robot bend adaptability, the structure includes that can hang on at least two groups wheel group of track both sides, the distance setting of setting is spaced between adjacent wheels group, wheel group is attached by main hanger, every group of wheel group includes the both sides wheel being oppositely arranged and supporting beam, the wheel of supporting beam and side is attached by wallboard, the first turntable and the second turntable is respectively set in supporting beam upper and lower part, the central shaft across two turntables is equipped in the middle part of supporting beam, it is connected with draw bar between two turntables, draw bar is connect by bearing with main hanger, tractive force is passed through draw bar, first turntable, second turntable and central shaft are transferred to supporting beam；Implementation through the invention overcomes electric tunnel inspection robot limited problem of turning radius in tunnel, this is a prodigious leap for extensive adaptability of the electric tunnel inspection robot in tunnel.
Description
Technical field
The present invention relates to electric tunnel inspection robots in tunnel passable adaptability more particularly to a kind of raising tunnel
The structure and method of road crusing robot bend adaptability.
Background technology
For the equipment of rail traffic, particularly with the inspection device in tunnel or piping lane.Narrow space and circuitous in tunnel
Complications are returned, inspection device can inevitably encounter the horizontal direction of bend problem, general tunnel or piping lane in the process of moving
Turning radius change greatly, some only between several meters, or even has quarter bend, and such case is dependent on the width in tunnel,
If tunnel is 2 meters of width, then the corresponding turning radius of its center line just only has 1 meter, then general for the track of inspection device
It is mounted in tunnel position of center line, then the limit radius of track curves can only be just 1 meter, this equipment for running on it
For be that a prodigious challenge all has front-wheel and trailing wheel because of the body construction of every inspection device, will necessarily deposit
In wheel base, when by bend, wheel base will form a string on arc bend, the center of string with its corresponding to
It is intersegmental away from this spacing K is exactly lateral shift of the car body center on bend, this lateral shift that center of arc just will produce one
When excessive, then body construction is just likely to interfere with track, because of the body construction part phase travelled on straight track
There are certain distances for respective carter, when row is to bend, due to the presence of lateral shift distance, when this is apart from excessive
When, it when being more than the spacing of body construction part and guide rail, will interfere between the two, cause car body cannot be again on this bend
Pass through, certainly, we can change design, keep body construction part and guide rail spacing sufficiently large, and be unlikely to the two and form interference,
But guide rail width is fixed a, part of the wheel as body construction part, must be in the movement of the loading end of guide rail, when leading
When rail turning radius is too small or wheel base is excessive, due to the influence of spacing above-mentioned, wheel can be very likely to deviate carrying
Face causes car body to derail, and results even in major accident.Also it is exactly radius of the passive increasing guide rail in corner, though in this way
Can so lateral shift be made to reduce, but cause the spacing of the side between the walls in track and tunnel to reduce, or even can be touched with wall,
Directly result in car body can not by space.Same usually to have drop because of tunnel, especially in tunnel, joining place has work
Make the appearance of well so that work as slope by also inevitably occurring the ramp of track when the big tunnel of active well or drop in tunnel
When road is excessively precipitous, not only test car body driving force, also challenged car body by performance because being equally installed on car body
Structural member can be interfered with guide rail loading end, when especially for car body by inflection point at the end of ramp, if car body
When connection position rigid structure connects between wheeled construction, inflection point is not yet passed through due to center of gravity, then the effect of trailing wheel and center of gravity, past
It is past front-wheel to be made to tilt, and do not contacted on the loading end of guide rail, if at this moment front-wheel is not driving wheel, influence is not too
Greatly, the driving force of trailing wheel can make body gravity pass through inflection point, and front-wheel can due to gravity be fallen on guide supporting face, if at this moment
Front-wheel is driving wheel, then the driving of front-wheel will perform practically no function, causes to be short of power or even front-wheel is unique if it is car body
Driving wheel, then car body when this inflection point by will not only advance, car body can also be because of stuck without power, or falls
It moves back.
So in the case where turning radius is inevitably small, how to improve car body becomes pass on bend by performance
Key problem to be solved.
Invention content
For overcome the deficiencies in the prior art, the first purpose is to provide a kind of raising tunnel crusing robot bend to the present invention
The structure of adaptability, the structure, can be when crusing robot be turned by the setting of two turntables, will by turntable and central shaft
Tractive force is transferred to supporting beam, and car body does corresponding constructive variations, improves the turning radius of crusing robot.
Second purpose of the invention is to provide a kind of method improving road crusing robot bend adaptability, and this method passes through upper
The use for stating structure effectively improves the bend adaptability of crusing robot, improves passability of the robot on bend.
In order to achieve the above objectives, technical solution provided by the invention：
A kind of structure improving tunnel crusing robot bend adaptability, crusing robot every group of wheel group in tunnel includes phase
To the both sides wheel and supporting beam of setting, the wheel of supporting beam and side is attached by wallboard, and wheel group can hang on track
Both sides adjacent wheels group between be spaced the distance setting of setting, wheel group is attached by main hanger, which is included in
The first turntable and the second turntable that supporting beam upper and lower part is respectively set, supporting beam middle part are equipped with across the center of two turntables
Axis is connected with draw bar between two turntables, and draw bar is connect by bearing with main hanger, and the first turntable and the second turntable are in
Mandrel is axis, provides the degree of freedom of horizontal direction, is provided by the setting of draw bar, the first turntable, the second turntable and central shaft
Degree of freedom on vertical direction provides possibility for crusing robot by the offer of the two degree of freedom by bend,
In, wheel group is drive wheel group, which passes to draw bar by main hanger by tractive force, tractive force by draw bar,
First turntable, the second turntable and central shaft are transferred to the center of supporting beam, especially supporting beam, the vehicle body of entire robot by
Power has obtained rational configuration, and robot car body makes constructive variations, improves bend adaptability.
Wherein, two groups of wheel groups one of them be drive wheel group, it is preferable that front-wheel wheel group is drive wheel group.
Thrust bearing is set in the upper semisection of supporting beam between the central shaft and supporting beam and the first turntable coordinates, in this way
First turntable can be freely rotated by axle center of central shaft in the horizontal direction by the thrust bearing under the first turntable, propped up
The lower semisection setting of support beam connect the horizontal radial bearing of cooperation with the second turntable；Such first turntable and the second turntable
Using central shaft as axis, horizontal direction is freely rotated, and can be positioned by central shaft effective level, passes through the effective axis of fastener
To positioning.
Positioning is attached by connecting rod in longitudinal direction between first turntable and second turntable；
Further, the flexible connecting rod sheath of connecting rod outer cover not only ensures that the first turntable and the second turntable turn
Synchronization when dynamic, also limits the rotation of two turntables, when upper lower rotary table turns to a certain range, sheath can touch branch
Beam is supportted, to realize angle limit, this has Protection significance to mechanism.
Further, connecting rod is provided with multiple, multiple connecting rods be set to supporting beam both sides, and using supporting beam as boundary before
Each two afterwards.
The both side ends of the supporting beam are fixed each by bearing and wallboard, realize the resistance of traveling being transmitted to wall
Plate.
The limit for limiting supporting beam relative to wallboard rotation angle is fixed on the inside of the wallboard in the supporting beam
Position block, limited block are placed in supporting beam, the arc-shaped setting in limited block lower part, and the width of lower part is wider than the width on limited block top
Degree.
The draw bar is arranged perpendicular to the first turntable, and draw bar is connected by joint ball bearing and the main hanger
It connects, joint ball bearing is placed on the setting of draw bar periphery, and front wheels draw draw bar by joint ball bearing.
The thrust bearing around central shaft it is setting up and down there are two, the first turntable is set between two thrust bearings, first
Turntable is positioned by the upper cover of lower thrust bearing, and the upper surface of first turntable storehouse and the lower cover cooperation of top thrust bearing are fixed
Position.
By the setting of lower thrust bearing, the gap of setting is equipped between the first turntable and the upper plane of supporting beam.
The flange of the central shaft is fixed on the thrust bearing of top axial to be carried out above supporting beam to the first turntable
Locking.
The central shaft is connect by horizontal radial bearing with the second turntable, the outer ring of horizontal radial bearing and the second turntable
Cooperation, horizontal radial bearing inner race are fixed by screw thread and central shaft, and horizontal radial bearing outer ring and the first turntable coordinate, center
The lower semisection of axis is threaded, and horizontal radial bearing is fixed by nut or other fasteners.
Alternative plan provided by the invention is：
A kind of tunnel crusing robot, using a kind of structure of road crusing robot bend adaptability.
Third program provided by the invention is：
A method of road crusing robot bend adaptability is improved, it is suitable using a kind of road crusing robot bend
The structure of answering property.
The present invention operation principle be：In order to enable electric tunnel inspection robot in tunnel nimbly and freely by each
Kind bend needs to meet two conditions.
When by horizontal bend, car body cannot interfere with guide rail；When passing through ramp, particularly with the slope by arc dome
When road, cannot occur wheel due to the position of body gravity and tilt and stuck situation.
This require one kind can in the horizontal direction there are one rotational freedom, also can be in the vertical direction also have
The mechanism of one rotational freedom, that is, a kind of haulage gear of two degrees of freedom is realized.
The structure of the present invention, that is, above-mentioned haulage gear, when car body is traveling on straight guide rail, in addition to wheel with lead
Outside rail bearing section is in contact in the vertical direction, there is no interference between vehicle body other parts and guide rail.At this moment, wheel is advanced
The direction that direction extends with guide rail is consistent, when the point of contact that car body row connects to horizontal bending track with straight rail, since guide rail prolongs
It stretches direction to change, for front wheels, wheel direction of travel is on the direction of travel still when originally in straight rail, if preceding
The fixed relationship of wheel group and car body is rigid, then wheel can still move ahead along the direction of travel of original straight rail, wheel side
Necessarily lead to interference between face and bending track, this may result in front wheels cannot be by this section of bending track.Similarly, the traveling of rear wheels
It is that as a same reason, mechanism is exactly to be designed to solve the problems, such as this, and when vehicle body row to bending track, front wheels can be in driving force
The lower opposite car body of effect occurs angle and turns to, and to adapt to the direction of this section of bending track, goes to the direction consistent with guide rail tangent line at this
On, such wheel direction of advance will be consistent with tangential direction of the bending track at this, and the steering angle of corresponding rear wheels also can be therewith
Changing, but no matter how to change, tangential direction of the front and back wheel group all with bending track at this is consistent, and the traveling of adjoint vehicle body,
This trend is also always maintained at constant, and wheel face can thus can never interfere with guide rail, and entire vehicle body is again simultaneously
It is suspended under this set hitch structure, it can be ensured that entire car body can pass through this bend.
When car body is by ramp, due to the presence of vehicle body center of gravity, for the wheel rigidly fixed, when center of gravity and trailing wheel still
Without track inflection point when, front wheels are easy to tilt, if front wheels be driving wheel, the friction of the wheel group can be caused
Power is lost, and causes to be short of power, as shown in Fig. 2, when car body passes through dome, front and back wheel group can according to the variation in ramp,
It is freely rotated in perpendicular, is just avoided that the phenomenon that tilting in the traveling of some wheel group occur, to ensure power and enough
Frictional force.
The application position of tractive force should be located at upper turn in the most strong place of draft gear structural rigidity, the main hanger of the mechanism
It is fixed on disk, make entire draft gear to main hanger in state is lifted, this is very favorable, weight for the bearing strength of vehicle body
Power is applied on left and right sidesing wall plate by supporting beam, but unsatisfactory for the application state of tractive force, because tractive force is applied
It is horizontal direction force to be added on the first turntable, and the rotation center of supporting beam is caused not to be to work as tractive force at the axle center of beam
When being applied on the first turntable, this power can form torque to supporting beam, so that supporting beam is had rotating tendency, so as to cause supporting beam
A kind of pressure of bending is generated in traveling to main hanger, the structural rigidity of main hanger will be adversely affected in this way.Institute
It should be applied to the center of supporting beam with this tractive force, the resistance of traveling can be directly transferred on left and right sidesing wall plate, at this
In, between mechanism is connected to upper lower rotary table by a draw bar, secure joint ball bearing above, then with main hanger phase
Even, such tractive force can be directly by the center of supporting beam, this has carried out rational configuration for the stress of entire vehicle body.Cause
Orthogonality relation is presented for the traction force direction of at this moment joint ball bearing and the axle center of supporting beam, it will not be again to supporting beam shape
At torque, so the harmful effect more than not will produce, therefore the configuration of stress is just enough reasonable.
Beneficial effects of the present invention：
1) implementation through the invention, overcomes that electric tunnel inspection robot turning radius in tunnel is limited to ask
Topic, this is a prodigious leap for extensive adaptability of the electric tunnel inspection robot in tunnel, and is encountered in advancing
The problem of ramp driving wheel cannot come into full contact with guide rail loading end can also do particularly with wheel at the top of arch with loading end
To close contact, this is for ensureing that tunnel crusing robot carries out important in inhibiting in stablizing for track.
2) structure of the invention is compact, flexible movements, by the setting of two turntables and central shaft, it can be achieved that car body no matter
When by horizontal bend or ramp, bend can be voluntarily adapted to, car body does corresponding constructive variations, can pass through small turn
Radius or various ramps.
Description of the drawings
Fig. 1, car body basic structure schematic diagram on guide rail
Fig. 2, car body are traveling in schematic diagram in horizontal bending track
Fig. 3, car body are traveling in schematic diagram on arch ramp
Fig. 4, two degrees of freedom haulage gear split structural schematic diagram
Fig. 5, two degrees of freedom haulage gear front structure schematic diagram
Wherein 1, straight rail, 2, left wallboard, 3, right wallboard, 4, wheel, 5, main hanger, 6, vehicle body, 7, front wheels, 8, trailing wheel
Group, 9, supporting beam, 10, top rotary table, 11, lower rotary table, 12, central shaft, 13, connecting rod, 14, connecting rod sheath, 15, draw bar,
16, vertical journal bearing, 17, horizontal radial bearing, 18, thrust bearing, 19, joint ball bearing, 20, angle limit block, 21, water
Flat bending track, 22, arc bending rail.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description.
A kind of structure improving tunnel crusing robot bend adaptability, including two wheel groups, front wheels 7 and trailing wheel
Across a certain distance, centre is connected 8 phases of group by main hanger 5, and the both ends of main hanger 5 are separately fixed at the top rotary table 10 in front and back wheel group
On, 5 lower section of main hanger suspends vehicle body 6 in midair.For front and back wheel group by both sides wheel 4 across on straight rail 1, this is the basic of entire car body
Structure, as shown in Figure 1.
Wheel group where top rotary table 10 can drive carries out a certain range of rotation both horizontally and vertically upper, is below
Mechanism at this is discussed in detail：
As shown in figure 4, left wallboard 2 and right wallboard 3 each self installation, two wheels 4, connected by supporting beam 9 between left and right sidesing wall plate
It connecing, supporting beam 9 is connected by a pair of vertical journal bearing 16 with wallboard, and two bearings are separately fixed at 9 both ends of supporting beam, and with
Left and right sidesing wall plate is connected, and is locked by fastener, can be relatively rotated between such supporting beam 9 and wallboard, and angle limit block 20
It then limits this rotation only in a certain range to occur, is the safeguard measure to a whole set of structure.
9 center of supporting beam has axis hole, central shaft 12 to pass through wherein, and thrust bearing 18 is placed in the upper plane of supporting beam 9,
And positioned by central shaft 12, top rotary table 10 is placed in the top of thrust bearing 18, top rotary table 10 by the upper cover of thrust bearing 18 into
Row positioning, and have certain interval, such top rotary table 10 that can pass through the thrust axis under it with the guarantee of the upper plane of supporting beam 9
It holds and is freely rotated in the horizontal direction for axle center with central shaft 12, another thrust bearing is placed in the upper surface of top rotary table 10 storehouse
18, lower cover and the 10 top cooperation of top rotary table of this thrust bearing 18 position, and the flange positive pressure of central shaft 12 is in top thrust
On the upper lid of bearing 18, axial locking of the top rotary table 10 above supporting beam 9 thus may be implemented, in the lower section of supporting beam 9,
Central shaft 12 passes through a horizontal radial bearing 17,17 outer ring of horizontal radial bearing to coordinate with lower rotary table 11,12 lower section of central shaft
Screw thread fastening fastenings, be compacted with the inner ring of horizontal radial bearing 17.Lower rotary table upper so just can be with central shaft 12
For axis, horizontal direction is freely rotated, and can be positioned by 12 effective level of central shaft, effectively axially fixed by fastener
Position.
Top rotary table 10 is arranged in parallel with lower rotary table 11, and has 4 connecting rods 13 to be connected therebetween, keeps the two relatively fixed
Position.And with supporting beam 9 it is not only to ensure synchronization when upper lower rotary table rotation, the also rotation to upper lower rotary table each two before and after boundary
It is limited, is cased with the connecting rod sheath 14 for having elasticity thereon, when upper lower rotary table turns to a certain range, sheath can touch
Supporting beam 9, to realize angle limit, this has Protection significance to mechanism.
As shown in figure 5, top rotary table 10 is identical as 11 structure of lower rotary table, respectively it is arranged relative to 12 axisymmetrical of central shaft,
And central shaft 12 passes through top rotary table 10 and lower rotary table 11 and the center of supporting beam.
Draw bar 15 is connected between lower rotary table, and position connects joint ball bearing 19 therebetween, and end is connected in master and hangs
On frame 5, such tractive force is applied on draw bar 15, is just directly delivered in supporting beam 9, and by the center of supporting beam 9, no
Supporting beam 9 can be made to generate torque, the structure is advantageous for balance traction power.
When wheel group traveling is in track section, no matter this section of track is straight rail or bending track, as shown in Figures 2 and 3,
The turning radius of certain bending track needs certain limit, it is impossible to and it is too small, but be horizontal bending track 21 or arc
The limit angle of bending rail 22, described above set mechanism can work normally within the scope of ± 20 degree, can within the scope of this
Can be that pass through in 1 meter of bending track in turning radius to meet, as described in preceding background technology, this for general electric power tunnel
Through enough, even quarter bend, which also disclosure satisfy that, passes through requirement.
This wheel group can correspondingly rotate draft gear according to the camber of track, to adapt to rail in this case
Road without forming interference of the wheel to guide rail, and can effectively draw vehicle body.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of structure improving tunnel crusing robot bend adaptability, crusing robot every group of wheel group in tunnel includes opposite
The wheel of the both sides wheel and supporting beam of setting, supporting beam and side is attached by wallboard, which is characterized in that is included in branch
The first turntable and the second turntable that support beam upper and lower part is respectively set, supporting beam middle part are equipped with across the center of two turntables
Axis is connected with draw bar between two turntables, and draw bar is connect by bearing with main hanger, and the first turntable and the second turntable are in
Mandrel is axis, provides the degree of freedom of horizontal direction, is provided by the setting of draw bar, the first turntable, the second turntable and central shaft
Degree of freedom on vertical direction；Thrust bearing and first turn are set in the upper semisection of supporting beam between the central shaft and supporting beam
Disk coordinates, and the first turntable is positioned by the upper cover of thrust bearing, and has setting gap with the guarantee of the upper plane of supporting beam,
Such first turntable can be freely rotated by axle center of central shaft in the horizontal direction by the thrust bearing under it；
The horizontal radial bearing that cooperation is connect with the second turntable is set in the lower semisection of supporting beam；Central shaft passes through horizontal radial axis
It holds, horizontal radial bearing outer ring and the second turntable coordinate, the screw thread fastening fastenings below central shaft, with horizontal radial bearing
Inner ring compacting, such first turntable and the second turntable just can be using central shafts as axis, and horizontal direction is freely rotated；
Supporting beam is connected by a pair of vertical journal bearing with wallboard, and two bearings are separately fixed at supporting beam both ends, and with a left side
Right wallboard is connected, and wallboard includes left wallboard and right wallboard, left wallboard and right wallboard two wheels of each self installation, between left and right sidesing wall plate
It is connected by supporting beam, can be relatively rotated between such supporting beam and wallboard.
2. a kind of structure improving tunnel crusing robot bend adaptability as described in claim 1, which is characterized in that described
Positioning is attached by connecting rod in longitudinal direction between first turntable and second turntable；
Further, the flexible connecting rod sheath of connecting rod outer cover；
Further, connecting rod is provided with multiple, and multiple connecting rods are set to the both sides of supporting beam.
3. a kind of structure improving tunnel crusing robot bend adaptability as described in claim 1, which is characterized in that described
The both side ends of supporting beam are fixed each by bearing and wallboard.
4. a kind of structure improving tunnel crusing robot bend adaptability as described in claim 1, which is characterized in that described
Draw bar is arranged perpendicular to the first turntable, and draw bar is connect by joint ball bearing with the main hanger.
5. a kind of structure improving tunnel crusing robot bend adaptability as claimed in claim 2, which is characterized in that described
Thrust bearing around central shaft it is setting up and down there are two, the first turntable is set between two thrust bearings, and the first turntable passes through lower part
The upper cover of thrust bearing is positioned, and the upper surface of first turntable storehouse and the lower cover cooperation of top thrust bearing position.
6. a kind of structure improving tunnel crusing robot bend adaptability as claimed in claim 5, which is characterized in that described
The flange of central shaft is fixed on the thrust bearing of top to carry out axial locking above supporting beam to the first turntable.
7. a kind of structure improving tunnel crusing robot bend adaptability as described in claim 1, which is characterized in that described
Central shaft is connect by horizontal radial bearing with the second turntable, and the outer ring of horizontal radial bearing coordinates with the second turntable, horizontal diameter
It is fixed to bearing inner race by screw thread and central shaft.
8. a kind of tunnel crusing robot, which is characterized in that using a kind of tunnel as described in any one of claim 1-7
The structure of crusing robot bend adaptability.
9. a kind of method improving tunnel crusing robot bend adaptability, which is characterized in that using as appointed in claim 1-7
A kind of structure of raising tunnel crusing robot bend adaptability described in one.
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| CN107804327A (en) * | 2017-12-04 | 2018-03-16 | 江苏瑞雪海洋科技股份有限公司 | Freezer logistics rail locomotive |
| CN109142948A (en) * | 2018-07-20 | 2019-01-04 | 盐城工学院 | A kind of detachable sliding rail detection of electrical leakage robot device |
| CN111173564B (en) * | 2020-01-04 | 2021-01-12 | 中国矿业大学徐海学院 | Inspection robot for mine safety production and use method thereof |
| CN114883056B (en) * | 2022-06-13 | 2023-05-12 | 国网安徽省电力有限公司南陵县供电公司 | Bare conductor insulating and wrapping device |
| CN117842115A (en) * | 2022-09-30 | 2024-04-09 | 安徽容知日新科技股份有限公司 | Cable traction assembly for inspection robot system |
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| US4984523A (en) * | 1988-12-07 | 1991-01-15 | Jervis B. Webb Company | Self-propelled trolley and supporting track structure |
| CN102039590A (en) * | 2009-10-13 | 2011-05-04 | 中国科学院沈阳自动化研究所 | Double-arm four-wheel polling robot mechanism |
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| CN106676979A (en) | 2017-05-17 |
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Address after: 250101 A203, block F, entrepreneurship square, Qilu Software Park, No.1 Shunhua Road, high tech Development Zone, Jinan City, Shandong Province Patentee after: Conway Communication Technology Co., Ltd Address before: 250101 Qilu Software Park, No. 1 Shunhua Road, Jinan High-tech Development Zone, Shandong Province, A 203 Patentee before: SHANDONG KANGWEI COMMUNICATION TECHNOLOGY Co.,Ltd. |