CN107979132A - A kind of mobile robot charging unit - Google Patents
A kind of mobile robot charging unit Download PDFInfo
- Publication number
- CN107979132A CN107979132A CN201711286470.9A CN201711286470A CN107979132A CN 107979132 A CN107979132 A CN 107979132A CN 201711286470 A CN201711286470 A CN 201711286470A CN 107979132 A CN107979132 A CN 107979132A
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- CN
- China
- Prior art keywords
- electrode
- plug
- socket
- charging
- mobile robot
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- 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.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/02—Contact members
- H01R13/15—Pins, blades or sockets having separate spring member for producing or increasing contact pressure
- H01R13/187—Pins, blades or sockets having separate spring member for producing or increasing contact pressure with spring member in the socket
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
- H01R13/6315—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only allowing relative movement between coupling parts, e.g. floating connection
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention proposes a kind of mobile robot charging unit,Including the charging plug device of installation on the ground and the charging socket device on robot body,The charging plug device includes plug electrode,One end is used for the plug electrode installed part for installing plug electrode,Enable to the horizontal director element moved back and forth of plug electrode installed part realization and vertically arranged base support plate,Director element is installed in base support plate,Through hole is offered in base support plate,Director element passes across through hole and level can swing in through-holes,The charging socket device includes electrode mounting box and horn mouth,Plug can enter socket by the collective effect of horn mouth and plug rotary freedom,Realize that electrode docks,So as to increase the tolerance of electrode docking,Reduce requirement of the robot to navigation and positioning accuracy,The charging unit has simple in structure,Docking it is reliable and to navigation and positioning accuracy tolerance it is big the advantages that.
Description
Technical field
The invention belongs to robot field, and in particular to a kind of mobile robot charging unit.
Background technology
With the attention of National Macroscopic strategy, the research of China's mobile robot comes into the period of unprecedented hot topic.Greatly
Multiple mobile robot's power supply is all by battery powered and is manual powered.Therefore, movement is realized by way of automatic charging
The charging of robot is an important directions of research in recent years.In the prior art, it is more for mobile robot automatic charging mode
Kind is various, has substantially met automatic charging function, but still come with some shortcomings.
Such as Intelligent Mobile Robot disclosed in the utility model patent that number of patent application is CN202495798U is automatic
Charging mechanism, program charging are to drive electrode slice to be inserted into cradle realization charging by being fixed on robot body telescopic rod.
But this scheme requires the navigation and positioning accuracy of robot body very high, robot slightly wanders off the electrode of telescopic rod drive
Piece cannot succeed to be docked with cradle.And telescopic rod needs electric energy to provide for motor drive, adds the load of battery.
A kind of such as recharging of mobile robot disclosed in the patent of invention that number of patent application is CN106374257A
Device, program charging unit include cradle and charging contact.The swing of the first elastic component spring in one side cradle
Amplitude is smaller, more demanding to navigation and positioning accuracy so that the tolerance that electrode docks when reducing charging docking.On the other hand,
When robot wanders off, charging contacts cannot contact in face well with charging contact.
The content of the invention
In view of prior art and device there are the defects of, the invention aims to provide a kind of robot charging unit,
The charging unit has the advantages that simple in structure, docking is reliable and big to navigation and positioning accuracy tolerance.
To achieve the above object, the technical solution adopted by the present invention is：A kind of mobile robot charging unit, including installation
Charging plug device on the ground and the charging socket device on robot body, the electricity of the charging plug device
Pole and the contact electrode of the charging socket device can charge, and the charging plug device includes plug electrode, one
End is used to install the plug electrode installed part of plug electrode, enables to leading for the horizontal back-and-forth motion of plug electrode installed part realization
To element and vertically arranged base support plate, the director element is installed in the base support plate, the base support
Through hole is offered on plate, the director element passes across the through hole and level can swing in the through hole, described logical
Hole is used to limit its swing angle.
Preferably, the director element includes upper guide groove, lower guide channel, flange shaft, the first elastic component, pinboard and block,
The upper guide groove and lower guide channel are connected, and the other end positioned at the plug electrode installed part of the upper guide groove head end is consolidated with pinboard
Even, the pinboard is connected with one end of the flange shaft, and the flange shaft other end is with being installed in the upper guide groove tail end
Block connects, and first elastic component is sheathed in the flange shaft and is arranged between the pinboard and the block, described
Plug electrode installed part can make horizontal move back and forth along the upper guide groove and lower guide channel.
Preferably, locating piece is installed with the director element, it is spacing for the mobile carry out to plug electrode.
Preferably, the director element is respectively equipped with the second elastic component close to the both sides of base support plate（13）, it is preferable that
Second elastic component is connected between director element and the base support plate.
Preferably, the upper and lower ends of the director element are separately installed with vertical axis pin, and each axis pin is with consolidating
Corresponding L-type fixed plate in base support plate is located to be connected.
Preferably, the charging socket device includes electrode mounting box and horn mouth, is provided with the electrode mounting box
The socket electrode contacted with the plug electrode face, it is close to be arranged on the electrode mounting box for small outer big and inner end in the horn mouth
On described charging plug device one end.
Preferably, some groups of socket electrode units, every group of socket electrode unit bag are provided with the charging socket device
Two socket electrodes being oppositely arranged are included, gap is equipped between two socket electrodes being oppositely arranged and is used to be inserted into the plug electricity
Pole, side of each socket electrode away from the gap are connected with corresponding cushion block, and the cushion block is away from corresponding socket electricity
The side of pole is equipped with the 3rd elastic component.
Preferably, each cushion block is equipped with corresponding securing supports close to the side of corresponding socket electrode, described solid
Determine supporting item to be packed on the electrode mounting box, leaving gap between each cushion block and corresponding securing supports causes cushion block
Move up and down the 3rd elastic component of extruding.
Preferably, the 3rd elastic component is shrapnel or leaf spring.
Preferably, each plug electrode thickness is more than the gap between corresponding two socket electrodes.
Compared with prior art, the present invention its advantage is：
（1）The kinetic energy of present apparatus charging is moved backward by robot to be provided, it is not necessary to which external kinetic energy, saves energy.
（2）The present apparatus uses two-freedom plug device, is separated installed in ground with robot.Wherein rotary freedom can
With realize rotary motion with improve electrode docking tolerance, the flexible free degree can realize plug electrode move forward and backward with absorb
The shock that produces and realize that plug electrode enters socket in robot charging motion process.
（3）Socket device includes horn mouth, and when there is less offset in robot, plug can pass through horn mouth and plug
The collective effect of rotary freedom enters socket, realizes that electrode docks, so as to increase the tolerance of electrode docking, so as to reduce machine
Requirement of the device people to navigation and positioning accuracy.
（4）Socket device is installed on robot body, there is four socket electrodes.Each electrode has four to have pretightning force respectively
Shrapnel support, wherein each two electrode slice respective socket a electrode slice, plug electrode thickness is more than between socket electrode
Gap.During docking, the shrapnel of socket electrode on piece carries out compression plug electrode.So as to fulfill charging process plug and socket electricity
Reliable docking between pole.
Brief description of the drawings
Fig. 1 is a kind of mobile robot charging unit entirety graphics of the present invention.
Fig. 2 is a kind of two-freedom charging plug structure drawing of device of mobile robot of the present invention.
Fig. 3 is a kind of charging socket device structure chart of mobile robot of the present invention.
Fig. 4 is a kind of charging socket device B-B sectional views of mobile robot of the present invention.
Embodiment
With reference to Figure of description, the present invention is further illustrated.
As shown in Figs. 1-2, a kind of mobile robot charging unit, including charging plug device on the ground and peace are installed
Charging socket device on robot body, the charging plug device is in contact with the charging socket device can be into
Row charging, the charging plug device include plug electrode 1, one end be used for install plug electrode 1 plug electrode installed part 2,
Enable to the horizontal director element moved back and forth of 2 realization of plug electrode installed part and vertically arranged base support plate 14, institute
Director element is stated in the base support plate 14, through hole, the director element are offered in the base support plate 14
Pass across the through hole and level can swing in the through hole, the through hole is used to limit its swing angle.
Wherein charging plug device is two-freedom charging plug device.Plug electrode in two-freedom charging plug device
2 width of installed part is 2.5cm.
The director element includes upper guide groove 3 and the lower guide channel 4 being connected with upper guide groove 3, positioned at 3 head end of upper guide groove
The other end of plug electrode installed part 2 is connected with pinboard 5, and pinboard 5 is connected with one end of flange shaft 6, the flange shaft other end
It is connected with the block 11 for being installed in 3 tail end of upper guide groove, first elastic component is sheathed in the flange shaft 6 and is arranged on institute
State between pinboard 5 and the block 11.Locating piece 10 is installed with the director element, for the movement to plug electrode 1
Carry out spacing.Preferably, locating piece 10 is installed with lower guide channel 4, the block 11 is preferably U-shaped block.
The director element is respectively equipped with the second elastic component 13 close to the both sides of base support plate 14, and the second elastic component 13 is set
Between the director element and base support plate 14.Preferably, the second elastic component is spring hook.
The upper and lower ends of the director element are separately installed with vertical axis pin 8, and each axis pin 8 is with being installed in bottom
Corresponding L-type fixed plate 9 is connected on seat supports plate 14.The preferably flanged axis pin of axis pin 8.
The wherein described plug electrode 1 is the positive and negative anodes that upper and lower 2 are charging, on plug electrode installed part 2.Insert
Hole is left at 1 rear of tip electrode, for installing charging wire, is compressed after charging wire installation with handle.Plug electrode installed part 2
Fixed with pinboard 5,2 material of above-mentioned pinboard 5 and plug electrode installed part is conductive not with plug electrode 1 for engineering plastics.Method
Blue axis 6 is connected with pinboard, and the afterbody of flange shaft 6 is placed in the hole of link stopper 11, and the diameter of axle is gap-matched with hole.First elasticity
7 front end of part is placed in the flange deep gouge of flange shaft 6, and 7 rear end of the first elastic component is placed in the deep gouge of link stopper 11, the elasticity of limitation first
Part 7 can only be moved back and forth.Upper guide groove 3 is connected with lower guide channel 4, detachably, to facilitate the part in guide groove to install, separately up and down
There is baffle arrangement plug electrode installed part 2 is moved rearwards in front of outer upper guide groove.
One degree of freedom is elastic moving of the plug electrode 1 along 6 axis of flange shaft.The acquisition process of the free degree
For：Tip electrode 1 is pushed and plugged backward, since plug electrode 1, plug electrode installed part 2, pinboard 5, flange shaft 6 are fixed together, institute
It can be moved right together with above-mentioned part.The first elastic component 7 is extruded in moving process makes it obtain the elastic force of bigger.Due to
The presence of locating piece 10, makes to be unlikely to exceed locating piece 10 in above-mentioned part moving process, carries out mechanical position limitation.Acted on when removing
In plug electrode 1 to back pressure, since the elastic force of the first elastic component 7 storage can return plug electrode 1 and its connected part
To initial position.Further, since there is plug device the flexible free degree can realize the moving forward and backward to absorb machine of plug electrode 1
The shock produced in people's charging motion process.
Wherein described flanged axis pin 8 is connected with L-shaped fixed plate 9 and forms revolute pair with upper guide groove, can be along flanged pin
The axis of axis 8 rotates and for upper and lower two group, so that plug device rotation is reliable.L-shaped connecting plate 12 and link stopper 11 are fixed on and lead
On groove 3.Linked between 2 L-shaped fixed plates with the second elastic component 13, and be two groups of left and right.
Second free degree is that all parts between upper and lower flanged axis pin 8 are transported around the rotation for rotating secondary axis direction
Dynamic, rotational angle is limited by opening rectangular opening in base support plate 14.The acquisition process of the free degree is：Assuming that in plug
Apply angled power at electrode 1, all parts between flanged axis pin 8 are around the rotation for rotating secondary axis direction up and down
Move, the scope of rotary motion can be limited by holding rectangular opening in base support plate 14.Due to depositing for the second elastic component 13 of both sides 2
When removing the power for acting on the application of plug electrode 1, above-mentioned all parts up and down between flanged axis pin 8 will be automatic
Playback.
Wherein described base support plate 14 is connected with base 15, and reserving installation hole on base 15, can use foundation bolt
Or swell fixture is fixed on cement flooring, or screw is used to be fixed on steel construction to ensure the steady of whole charging plug device
It is fixed.
As shown in Figure 3-4, the charging socket device includes electrode mounting box 17 and horn mouth 16, the electrode mounting box
The socket electrode 22 contacted with 1 face of plug electrode is provided with 17, the inner small outer big and inner end of horn mouth 16 is arranged on institute
Electrode mounting box 17 is stated on described charging plug device one end, the big mouth in the front of horn mouth 16 is width 14cm, rear osculum
Width 5cm.
Some groups of socket electrode units are provided with the charging socket device, every group of socket electrode unit includes opposite set
Two socket electrodes 22 put, gap is equipped between two socket electrodes 22 being oppositely arranged and is used to be inserted into the plug electrode 1,
Each side of the socket electrode 22 away from the gap is connected with corresponding cushion block 19, and the cushion block 19 is away from corresponding socket
The side of electrode 22 is equipped with the 3rd elastic component 18.
Each cushion block 19 is equipped with corresponding securing supports 20, the fixation close to the side of corresponding socket electrode 22
Supporting item 20 is packed on the electrode mounting box 17, and leaving gap between each cushion block 19 and corresponding securing supports 20 makes
Obtain up and down motion the 3rd elastic component 18 of extruding of cushion block 19.3rd elastic component is preferably shrapnel or leaf spring.
Preferably, wherein the 3rd elastic component 18, cushion block 19, securing supports 20, holding screw 21, socket electrode
About 22 totally 4 groups.Electrode mounting box 17 is attached with upper and lower 2 securing supports 20, and is connected with middle fixing plate 23.In
Between fixed plate is each about 23 fixes 2 securing supports 20.Cushion block 19 is fixed with socket electrode 22.The top of cushion block 19 is placed with pretension
3rd elastic component 18 of power, can move up and down extrusion elastic since cushion block 19 and securing supports 20 leave gap, produce bullet
Power.The wherein described holding screw 21 is used to tighten charging wire.Wherein described electrode mounting box 17, cushion block 19, fixed support
Part 20, middle fixing plate 23,16 material of horn mouth are that engineering plastics are non-conductive.
The wherein described horn mouth 16 is stuck in electrode mounting box 17, and shape is the big shape in the small outside in the inside, main to use
The tolerance docked between increase socket electrode 22 and plug electrode 1.
Wherein described 23 upper section of middle fixing plate, has 2 socket electrodes 22 to correspond to two-freedom charging plug
Just, 2 socket electrodes of 23 section below of middle fixing plate correspond to two-freedom charging plug to an electrode above device
An electrode below device is born.Also, the thickness of electrode of each plug is more than the gap between socket electrode so that plug
Electrode can be fitted close with the electrode of socket when contacting.
The difference of charging process combination robot positioning accuracy makees analysis below：（1）When robot setback displacement misses
When difference is less than 5cm, the osculum inside horn mouth limits two-freedom charging plug device rotary motion at this time, plug electricity
Pole 1 overcomes the frictional force formed by 18 elastic force of the 3rd elastic component on socket electrode, and positive and negative electrode is respectively by 2 sockets
Electrode 22 is extruded to realize reliable face contact.（2）When robot setback position error is more than 5cm and is less than 14cm
When, there is one degree of freedom due to cradle and connect with second free degree, upper and lower plug electrode 1 with 16 medial surface of horn mouth
When touching, upper and lower plug electrode 1 can be contacted with 16 medial surface of horn mouth always, until upper and lower plug electrode moves to electrode mounting box
In 17, plug electrode 1 extrudes 2 socket electrodes up and down up and down at this time, overcomes the elastic force due to the 3rd elastic component 18 in socket electricity
Frictional force is formed on extremely, positive and negative electrode is extruded by 2 socket electrodes 22 to realize reliable face contact respectively.
Apparatus of the present invention the position error of patient robot be not less than ± 5cm, charging interface contact is reliable,
It is fully able to meet engine request.
Basic principle, the main features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the original of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of mobile robot charging unit, including installation charging plug device on the ground and installed in robot body
On charging socket device, the electrode of the charging plug device can carry out with the contact electrode of the charging socket device
Charging, it is characterised in that the charging plug device includes plug electrode（1）, one end be used for plug electrode is installed（1）Plug
Electrode mount（2）, enable to plug electrode installed part（2）Realize the horizontal director element moved back and forth and vertically arranged
Base support plate（14）, the director element is installed on the base support plate（14）On, the base support plate（14）On open
Equipped with through hole, the director element passes across the through hole and level can swing in the through hole, and the through hole is used for
Limit its swing angle.
2. mobile robot charging unit according to claim 1, it is characterised in that the director element includes upper guide groove
（3）, lower guide channel（4）, flange shaft（6）, the first elastic component（7）, pinboard（5）And block（11）, the upper guide groove（3）Led with
Groove（4）It is connected, positioned at the upper guide groove（3）The plug electrode installed part of head end（2）The other end and pinboard（5）It is connected, institute
State pinboard（5）With the flange shaft（6）One end connection, the flange shaft other end and be installed in the upper guide groove（3）Tail
The block at end（11）Connection, first elastic component（7）It is sheathed on the flange shaft（6）Go up and be arranged on the pinboard（5）With
The block（11）Between, the plug electrode installed part（2）Can be along the upper guide groove（3）And lower guide channel（4）Make horizontal
Move back and forth.
3. mobile robot charging unit according to claim 1, it is characterised in that it is fixed to be installed with the director element
Position block（10）, for plug electrode（1）Mobile carry out it is spacing.
4. mobile robot charging unit according to claim 1, it is characterised in that the director element is close to base branch
Fagging（14）Both sides be respectively equipped with the second elastic component（13）, the second elastic component（13）It is connected to director element and the base branch
Fagging（14）Between.
5. mobile robot charging unit according to claim 1, it is characterised in that the upper and lower ends of the director element
It is separately installed with vertical axis pin（8）, each axis pin（8）With being installed in base support plate（14）Upper corresponding L-type is consolidated
Fixed board（9）It is connected.
6. mobile robot charging unit according to claim 1, it is characterised in that the charging socket device includes electricity
Pole mounting box（17）And horn mouth（16）, the electrode mounting box（17）Inside it is provided with and the plug electrode（1）Face contact
Socket electrode（22）, the horn mouth（16）In small outer big and inner end be arranged on the electrode mounting box（17）Inserted close to the charging
On head device one end.
7. mobile robot charging unit according to claim 6, it is characterised in that set in the charging socket device
There are some groups of socket electrode units, every group of socket electrode unit includes two socket electrodes being oppositely arranged（22）, it is oppositely arranged
Two socket electrodes（22）Between be equipped with gap be used for be inserted into the plug electrode（1）, each socket electrode（22）Away from institute
State the side in gap with corresponding cushion block（19）It is connected, the cushion block（19）Away from corresponding socket electrode（22）Side set
There is the 3rd elastic component（18）.
8. mobile robot charging unit according to claim 7, it is characterised in that each cushion block（19）Close to corresponding
Socket electrode（22）Side be equipped with corresponding securing supports（20）, the securing supports（20）It is packed in the electrode
Mounting box（17）On, each cushion block（19）With corresponding securing supports（20）Between leave gap and cause cushion block（19）Fortune up and down
The 3rd elastic component of dynamic extruding（18）.
9. mobile robot charging unit according to claim 7, it is characterised in that the 3rd elastic component for shrapnel or
Leaf spring.
10. mobile robot charging unit according to claim 7, it is characterised in that each plug electrode（1）
Thickness is more than corresponding two socket electrodes（22）Between gap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711286470.9A CN107979132A (en) | 2017-12-07 | 2017-12-07 | A kind of mobile robot charging unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711286470.9A CN107979132A (en) | 2017-12-07 | 2017-12-07 | A kind of mobile robot charging unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107979132A true CN107979132A (en) | 2018-05-01 |
Family
ID=62009591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711286470.9A Pending CN107979132A (en) | 2017-12-07 | 2017-12-07 | A kind of mobile robot charging unit |
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| Country | Link |
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| CN (1) | CN107979132A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109217414A (en) * | 2018-09-04 | 2019-01-15 | 南京理工大学 | A kind of automatic charge device and charging method for Intelligent Mobile Robot |
| CN109245219A (en) * | 2018-10-10 | 2019-01-18 | 杭州迦智科技有限公司 | A kind of self-adapting type cradle and its charging system |
| CN114362332A (en) * | 2022-03-18 | 2022-04-15 | 北京蒙帕信创科技有限公司 | Electrode plate telescopic machine room inspection robot charging pile and charging method |
| CN117650391A (en) * | 2024-01-26 | 2024-03-05 | 天津德沃尔人工智能有限公司 | Robot charging seat with liftable machine charging contact |
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| CN102904307A (en) * | 2012-10-18 | 2013-01-30 | 武汉大学 | Charging butt joint and separation device for inspection robot and solar charging base station |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109217414A (en) * | 2018-09-04 | 2019-01-15 | 南京理工大学 | A kind of automatic charge device and charging method for Intelligent Mobile Robot |
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| CN117650391A (en) * | 2024-01-26 | 2024-03-05 | 天津德沃尔人工智能有限公司 | Robot charging seat with liftable machine charging contact |
| CN117650391B (en) * | 2024-01-26 | 2024-04-19 | 天津德沃尔人工智能有限公司 | Robot charging seat with liftable machine charging contact |
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