CN107186746A - A kind of mechanical arm - Google Patents
A kind of mechanical arm Download PDFInfo
- Publication number
- CN107186746A CN107186746A CN201710519785.7A CN201710519785A CN107186746A CN 107186746 A CN107186746 A CN 107186746A CN 201710519785 A CN201710519785 A CN 201710519785A CN 107186746 A CN107186746 A CN 107186746A
- Authority
- CN
- China
- Prior art keywords
- arm body
- arm
- mechanical arm
- support frame
- support
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 230000001360 synchronised effect Effects 0.000 claims abstract description 5
- 238000009826 distribution Methods 0.000 claims abstract description 4
- 230000033228 biological regulation Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 4
- 238000004080 punching Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000014616 translation Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the arm body of a kind of mechanical arm, including lengthwise, it is parallel to each other and perpendicular to the grippers of the arm body provided with multiple along its length on the arm body；Multiple lifts, length direction distribution of each lift along the arm body, arm body described in each elevator support simultaneously synchronously drives the arm body to vertically move；Drive mechanism, the drive mechanism is used to drive the arm body phase to move horizontally each lift and be synchronized with each lift while driving the arm body to vertically move.During the mechanical arm work of the present invention, motion flow that can be as needed, realizes and declines crawl, carries workpiece and rise and then move to and the operation such as part is put on corresponding processing stations, artificial operation is substituted completely, people's cost is greatly reduced, hand labor intensity is alleviated.
Description
Technical field
Inside and outside automobile door frame inner and outer plates processing technique field, more particularly to a kind of automatic crawl automobile door frame
The mechanical arm that plate is manually carried with replacement.
Background technology
The car door post plate of car is included in front door A posts outside plate and front door A posts inner panel, front door B posts outside plate and front door B posts
Plate, back door B posts outside plate and back door B posts inner panel, back door C posts outside plate and back door C post inner panels, it is typically curved with gusset, current one
As formed by metal belting through continuous rolling, arc is also formed in rolling；And cut into work to be punched before rolling is offline
Part, then turn into the part for the front and rear sides doorframe for caning be assembled into car after multi-step forming processes.4 kinds of car door post plates of the above
Outside plate constituted with inner panel together with as the part for caning be assembled into car doorframe.Further, since some hardened structures of car door post
The need for self structure, some positions need arc-shaped concave to carry out punching press upward, and some positions need arc-shaped concave court in addition
Lower carry out punching press.
At present, the outside plate of 4 kinds of car door post plates of the above is both needed to complete punch process through multiple working procedure respectively with inner panel, needs exploitation
Diel it is large number of, be equipped with large number of forcing press and punching operation personnel, operation automation degree, production effect
Rate, stamping quality are difficult to effective breakthrough always；And punching operation is using traditional by being accomplished manually workpiece in a press
The mode of operation for taking work is sent, operator's personal safety is just difficult to control to, often Frequent Accidents.
In view of above-mentioned defect, the design people is actively subject to research and innovation, to found a kind of automatic crawl car door
Inframe outside plate makes it with more the value in industry to replace the mechanical arm manually carried.
The content of the invention
It is an object of the invention to propose a kind of mechanical arm, automobile door frame inner and outer plates can be captured automatically to replace manually removing
Fortune.
For up to this purpose, the present invention uses following technical scheme：
A kind of mechanical arm, including：
It is parallel to each other and grabbing perpendicular to the arm body provided with multiple along its length on the arm body of lengthwise, the arm body
Pickup；
Multiple lifts, length direction distribution of multiple lifts along the arm body, each elevator support institute
State arm body and synchronously drive the arm body to vertically move；And
Drive mechanism, the drive mechanism is used to drive the arm body phase to move horizontally each lift and synchronous
The arm body is driven to vertically move simultaneously in each lift.
Further, the grippers include being provided with multiple phases with the arm body transverse arm connected vertically, the transverse arm
On sucker post, multiple skewed slots respectively for each sucker post movement mutually parallel and perpendicular to the transverse arm, the sucker post
Provided with vacuum cup.
Further, also at least provided with an adjusting means on the arm body, the adjusting means is used to adjust and connected with it
Lateral attitude of the grippers connect on the arm body, the adjusting means includes：
Slide rail, the slide rail connects the arm body and the grippers；
First cylinder, described first cylinder one end is connected with the slide rail, the other end is connected by connecting rod and the grippers
Connect.
Further, the lift includes body, is disposed longitudinally on the second cylinder on the body, second cylinder
Telescopic arm on be connected with least be removably connected with the support for supporting the arm body, the support two it is relative, be used for
Clamp the pulley of the arm body.
Further, be removably connected with the support two relative to and can be opposite along the support or dorsad move
Supporting plate, two relative pulleys are separately mounted in two supporting plates.
Further, in addition to by the drive mechanism and each lift the connecting tube concatenated.
Further, the drive mechanism includes frame, and the frame is provided with bearing, and the bearing is provided with vertical along it
First group moved horizontally to support frame that is mobile and being slidably connected with the arm body, the driving arm body phase to support frame as described above
Part, driving support frame as described above drive the second component that the arm body is vertically moved, wherein,
- the first assembly includes rotating longitudinal rotating shaft be connected with support frame as described above, drives the of the axis of rotation
Gear is arranged with one motor, the rotating shaft, the gear is connected with the rack engagement that two ends are both connected on the arm body；
- second component includes lifter rack axle and the lifter rack axle transmission company being connected with support frame as described above
The second motor that timing belt, the belt wheel of the driving timing belt connect is rotated.
Further, also it is rotatably connected to respectively in the gear both sides on support frame as described above and is tensioned leading for the rack
Roller.
Further, it is vertical provided with the guide pillar being slidably connected with support frame as described above on the bearing.
Further, the tank chain for cabling is additionally provided with the frame.
Beneficial effects of the present invention are：During the mechanical arm work of the present invention, motion flow that can be as needed is realized and declined
Crawl, carrying workpiece, which rise and then moved to, puts the operation such as part on corresponding processing stations, artificial operation is substituted completely, significantly
People's cost is reduced, hand labor intensity is alleviated.
Brief description of the drawings
Fig. 1 is the structural representation for the mechanical arm that the preferred embodiment for the present invention is provided；
Fig. 2 is the structural representation of grippers in the present invention；
Fig. 3 is the attachment structure schematic diagram of adjusting means and grippers in the present invention；
Fig. 4 is the structural representation of lift in the present invention；
Fig. 5 is the structural representation of drive mechanism in the present invention；
Fig. 6 is another angled arrangement schematic diagram of drive mechanism in the present invention.
In figure：501- arm bodies, 510- grippers, 511- transverse arms, 512- sucker posts, 513- skewed slots, 514- vacuum cups,
520- adjusting meanss, 521- slide rails, the cylinders of 522- first, 523- connecting rods, 530- lifts, 531- bodies, the cylinders of 532- second,
533- supports, 534- pulleys, 535- supporting plates, 540- connecting tubes, 550- drive mechanisms, 551- frames, 552- bearings, 553- branch
Support, 554- rotating shafts, the motors of 555- first, 556- gears, 557- racks, 558- lifting tooth wheel shafts, 559- timing belts, 560- bands
Wheel, the motors of 561- second, 562- deflector rolls, 567- guide pillars, 570- tank chains.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
The mechanical arm that the present invention is provided is used to capture automobile door frame inner and outer plates automatically to replace artificial carrying, its concrete structure
As shown in Figures 1 to 6, arm body 501, multiple lifts 530 and the drive mechanism 550 of lengthwise, drive mechanism 550 and each lifting are included
Machine 530 is concatenated by connecting tube 540.Wherein, it is parallel to each other and perpendicular to arm body provided with multiple along its length on arm body 501
501 grippers 510；Length direction distribution of each lift 530 along arm body 501, for support arm body 501 and synchronous actuating arm
Body 501 is vertically moved；Drive mechanism 550 moves horizontally for the relatively each lift 530 of actuating arm body 501 and is synchronized with each liter
Actuating arm body 501 is vertically moved drop machine 530 simultaneously.
Specifically, as shown in Fig. 2 grippers 510 include with the transverse arm connected vertically of arm body 501 511, set on transverse arm 511
Have it is multiple be parallel to each other and the sucker post 512 perpendicular to transverse arm 511, it is multiple respectively for each sucker post 512 move skewed slot 513,
Sucker post 513 has vacuum cup 514.Automobile door frame inner and outer plates are drawn using vacuum cup 514 realize grasping movement.
By setting skewed slot 513 on transverse arm 511,512 position on transverse arm 511 of sucker post is can adjust, so as to capture different length
The automobile door frame inner and outer plates of degree.
Certainly, in order to be further able to capture different length automobile door frame inner and outer plates, the present invention on arm body 501 also extremely
Less provided with an adjusting means 520, as shown in figure 3, adjusting means 520 is used to adjust connected institute's grippers 510 in arm
Position on body 501.Specifically, adjusting means includes the cylinder 522 of slide rail 521 and first, the linking arm body 501 of slide rail 521 is with grabbing
The transverse arm 511 of pickup 510；The one end of first cylinder 522 is connected with slide rail 521, the other end passes through connecting rod 523 and grippers 510
Transverse arm 511 is connected.When the first cylinder 522 stretches, you can drive transverse arm 511 to be slided along slide rail 521, so as to adjust grippers
510 position on arm body 501.
As shown in figure 4, lift 530 includes body 531, is disposed longitudinally on the second cylinder 532 on body 531, the second gas
It is connected with the telescopic arm of cylinder 532 on the support 533 of support arm body 501, support 533 and is at least removably connected with two relatively
, pulley 534 for clamping limb body 501.Arm body 501 is clamped between two relative pulleys 534, support arm body 501
While, arm body 501 can be made swimmingly to move horizontally.
In order that two relative pulleys 534 can clamp the arm body 501 of different in width, the present invention can on support 533
Dismounting is connected with two supporting plates 535 that are relative and can in opposite directions or dorsad being moved along support 533, by two relative pulleys
534 are separately mounted in two supporting plates 535.The distance between two supporting plates 535 of regulation, you can two relative cunnings of regulation
Wheel the distance between 534, to adapt to the arm body 501 of different in width, while being also convenient for fabricated sheave 534 and arm body 501.
As shown in Figure 5 and Figure 6, drive mechanism 550 of the invention includes frame 551, and frame 551 is provided with bearing 552, branch
Seat 552 is provided with support frame 553, the relative support frame of actuating arm body 501 for vertically moving and being slidably connected with arm body 501 along it
The second component that 553 first assemblies moved horizontally, driving support frame 553 are vertically moved with swing arm body 501.
Specific first assembly is rotated including rotating the longitudinal rotating shaft 554 being connected, drive shaft 554 with support frame 553
Gear 556 is arranged with first motor 555, rotating shaft 554, the rack 557 that gear 556 is both connected on arm body 501 with two ends is nibbled
Close connection；Second component include be connected with support frame 553 lifter rack axle 558, with lifter rack axle 558 drive connection it is same
Walk band 559, the second motor 561 for driving the belt wheel 560 of timing belt 559 to rotate.It can be seen that, when the first motor 555 is rotated, rotating shaft
554 are rotated in vertical direction, so as to be rotated with moving gear 556, gear 556 is translated with carry-over bar 557, the band of rack 557 of translation
Swing arm body 501 is moved horizontally；When second motor 561 is rotated, timing belt 559 drives the belt wheel 560 being connected with lifter rack axle 558
Rotate, belt wheel 560 drives the worm gear wheel of lifter rack axle 558, so that lifter rack axle 558 is lifted, the lifting tooth of lifting
Bar axle 558 drives support frame 553 to vertically move, so that support frame 553 is vertically moved with swing arm body 501.
To ensure that rack 557 effectively band swing arm body 501 can be moved horizontally, the present invention is on support frame 553 in gear 556
Both sides are also rotatably connected to the deflector roll 562 of tensioning rack 557 respectively.Rack 557 is tensioned, with avoid rack 557 relax without
Accurately band swing arm body 501 it can translate.
So-called support frame 553 is slidably connected with arm body 501 in the present invention, refers to that same setting is more on support frame 553
Two relative pulleys 534 of group, arm body 501 are clamped between two pulleys 534, so as to make the relative support frame of arm body 501
553 translations.
In order to ensure smoothly being lifted on the longitudinal direction of support frame 553, the present invention is vertically provided with and support frame on bearing 552
553 guide pillars 567 being slidably connected, guide pillar 567 play the guiding role.
As the preferred embodiment of the present invention, for the ease of being connected up to mechanical arm, the present invention is additionally provided with frame 551
For the tank chain 570 of cabling, by be connected it is electric with the equal beam of line in tank chain 570 so that overall cleaner and tidier
It is attractive in appearance.
When the mechanical arm of the present invention works, motion flow as needed is achievable to decline crawl, carry workpiece rising so
After move to put on corresponding processing stations part etc. operation, artificial operation is substituted completely.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel, which would not require any inventive effort, can associate other embodiments of the present invention, and these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of mechanical arm, it is characterised in that including：
It is parallel to each other and perpendicular to the crawl of the arm body provided with multiple along its length on the arm body of lengthwise, the arm body
Part；
Multiple lifts, length direction distribution of multiple lifts along the arm body, arm described in each elevator support
Body simultaneously synchronously drives the arm body to vertically move；And
Drive mechanism, the drive mechanism is used to drive the arm body phase to move horizontally each lift and be synchronized with each
The lift drives the arm body to vertically move simultaneously.
2. mechanical arm according to claim 1, it is characterised in that the grippers include connected vertically with the arm body
Transverse arm, the transverse arm provided with it is multiple be parallel to each other and the sucker post perpendicular to the transverse arm, it is multiple respectively supply each sucker
The skewed slot of post movement, the sucker post is provided with vacuum cup.
3. mechanical arm according to claim 1 or 2, it is characterised in that also filled on the arm body at least provided with a regulation
Put, the adjusting means is used to adjust lateral attitude of the connected grippers on the arm body, the regulation dress
Put including：
Slide rail, the slide rail connects the arm body and the grippers；
First cylinder, described first cylinder one end is connected with the slide rail, the other end is connected by connecting rod with the grippers.
4. mechanical arm according to claim 1, it is characterised in that the lift include body, be disposed longitudinally on it is described
It is connected with second cylinder on body, the telescopic arm of second cylinder on the support for supporting the arm body, the support at least
It is removably connected with two pulleys relative, for clamping the arm body.
5. mechanical arm according to claim 4, it is characterised in that two relative and energy are removably connected with the support
Enough supporting plates moved in opposite directions or dorsad along the support, two relative pulleys are separately mounted to two supporting plates
On.
6. the mechanical arm according to any one of claim 1,4,5, it is characterised in that also including by the drive mechanism and respectively
The connecting tube of the lift concatenation.
7. mechanical arm according to claim 1, it is characterised in that the drive mechanism includes setting in frame, the frame
There is bearing, the bearing is provided with the support frame for vertically moving and being slidably connected with the arm body along it, drives the arm body phase
The first assembly moved horizontally to support frame as described above, the second component for driving support frame as described above to drive the arm body to vertically move,
Wherein,
- the first assembly includes longitudinal rotating shaft, the first electricity of the driving axis of rotation being connected with support frame as described above rotation
Gear is arranged with machine, the rotating shaft, the gear is connected with the rack engagement that two ends are both connected on the arm body；
Lifter rack axle that-second component includes be connected with support frame as described above, with lifter rack axle drive connection
The second motor that timing belt, the belt wheel of the driving timing belt are rotated.
8. mechanical arm according to claim 7, it is characterised in that also turn respectively in the gear both sides on support frame as described above
It is dynamic to be connected with the deflector roll for being tensioned the rack.
9. mechanical arm according to claim 7, it is characterised in that vertical be provided with is slided with support frame as described above on the bearing
The guide pillar of connection.
10. mechanical arm according to claim 7, it is characterised in that the tank chain for cabling is additionally provided with the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710519785.7A CN107186746B (en) | 2017-06-30 | 2017-06-30 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710519785.7A CN107186746B (en) | 2017-06-30 | 2017-06-30 | Mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107186746A true CN107186746A (en) | 2017-09-22 |
| CN107186746B CN107186746B (en) | 2024-01-09 |
Family
ID=59881611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710519785.7A Active CN107186746B (en) | 2017-06-30 | 2017-06-30 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107186746B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007039399A1 (en) * | 2007-08-21 | 2009-02-26 | Fereshteh Saadat | Gripping mechanism with three-piece gear shaft |
| CN202088506U (en) * | 2011-04-18 | 2011-12-28 | 苏州青林自动化设备有限公司 | Multiple press machines connection-type mechanical hand |
| CN102717003A (en) * | 2012-03-23 | 2012-10-10 | 顺德职业技术学院 | Automatic material taking and feeding mechanical hand for multi-station transmission die stamping |
| CN104259295A (en) * | 2014-08-21 | 2015-01-07 | 宁波敏实汽车零部件技术研发有限公司 | Punching line of automobile door pillar and panel workpieces and mechanical arms for punching line |
| CN104476562A (en) * | 2014-11-13 | 2015-04-01 | 苏州经贸职业技术学院 | Multi-sectional adjustable grabbing manipulator arm device |
| CN205289523U (en) * | 2015-11-24 | 2016-06-08 | 东莞川石自动化科技有限公司 | Multistation manipulator in mould |
| CN207120245U (en) * | 2017-06-30 | 2018-03-20 | 昆山钜亚汽车零部件技研有限公司 | A kind of mechanical arm |
-
2017
- 2017-06-30 CN CN201710519785.7A patent/CN107186746B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007039399A1 (en) * | 2007-08-21 | 2009-02-26 | Fereshteh Saadat | Gripping mechanism with three-piece gear shaft |
| CN202088506U (en) * | 2011-04-18 | 2011-12-28 | 苏州青林自动化设备有限公司 | Multiple press machines connection-type mechanical hand |
| CN102717003A (en) * | 2012-03-23 | 2012-10-10 | 顺德职业技术学院 | Automatic material taking and feeding mechanical hand for multi-station transmission die stamping |
| CN104259295A (en) * | 2014-08-21 | 2015-01-07 | 宁波敏实汽车零部件技术研发有限公司 | Punching line of automobile door pillar and panel workpieces and mechanical arms for punching line |
| CN104476562A (en) * | 2014-11-13 | 2015-04-01 | 苏州经贸职业技术学院 | Multi-sectional adjustable grabbing manipulator arm device |
| CN205289523U (en) * | 2015-11-24 | 2016-06-08 | 东莞川石自动化科技有限公司 | Multistation manipulator in mould |
| CN207120245U (en) * | 2017-06-30 | 2018-03-20 | 昆山钜亚汽车零部件技研有限公司 | A kind of mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107186746B (en) | 2024-01-09 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20231129 Address after: No. 22 Luhe Qianjingtang Road, Huangjing Town, Taicang City, Suzhou City, Jiangsu Province, 215400 Applicant after: Jiangsu Jupu Automotive Parts Co.,Ltd. Address before: Room 7, No. 318 Jingtan Road, Bacheng Town, Kunshan City, Suzhou City, Jiangsu Province, 215321 Applicant before: KUNSHAN JUYA AUTOMOBILE PARTS CO.,LTD. |
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