CN108584263B - Layered unidirectional interaction storage device and system - Google Patents
Layered unidirectional interaction storage device and system Download PDFInfo
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- CN108584263B CN108584263B CN201810413055.3A CN201810413055A CN108584263B CN 108584263 B CN108584263 B CN 108584263B CN 201810413055 A CN201810413055 A CN 201810413055A CN 108584263 B CN108584263 B CN 108584263B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention relates to the technical field of storage structures, and particularly discloses a layered unidirectional interaction storage device, which comprises: the system comprises a cargo bin, a cargo taking robot, a vertical cargo channel, a horizontal cargo channel, a first-direction horizontal transmission mechanism, a second-direction horizontal transmission mechanism and a picking platform, wherein the cargo bin is divided into a plurality of sub cargo bins; the goods taking robot is positioned on a bracket at the top of the goods warehouse; the vertical cargo channel is arranged in one or more sub-cargo bins; the horizontal cargo channel comprises a first layer of horizontal cargo channel and a second layer of horizontal cargo channel; the first direction horizontal transmission mechanism is arranged in the first layer of horizontal cargo channel; the second-direction horizontal transmission mechanism is arranged in the second-layer horizontal cargo channel; the picking platform is positioned at one end of the first-layer horizontal goods channel and is connected with the first-direction horizontal transmission mechanism. The invention also discloses a layered one-way interactive warehousing system. The layered unidirectional interactive warehousing device provided by the invention can effectively improve the system efficiency.
Description
Technical Field
The invention relates to the technical field of warehousing structures, in particular to a layered unidirectional interactive warehousing device and a layered unidirectional interactive warehousing system comprising the same.
Background
With the development of the logistics industry, higher requirements are put forward on storage structures and storage equipment. For goods with different weights and sizes, a targeted structural design is needed so as to obtain better space utilization rate and work efficiency. Meanwhile, for the transformation of an old warehouse, due to the influence of buildings, the existing common vertical warehouse is difficult to adapt, so that a design with site universality is urgently needed.
The vertical warehousing system which is common at present basically comprises goods shelves, containers, a stacker, a conveyor and other equipment. Goods are taken and placed by the stacker from the side face of the goods shelf, so that a running channel of the stacker needs to be reserved between every two groups of goods shelves, and a large amount of space is wasted.
From the aspect of site adaptability, one vertical warehouse is high in mechanical investment cost, and in order to ensure sufficient cost performance, the vertical warehouse is generally required to be built to be high, so that restriction requirements are imposed on use places. Secondly, the high-rise structure needs the foundation to be firm, so this kind of goods shelves are usually permanent or semi-permanent building, once construction, it is difficult to remove the reconstruction. Thirdly, to the old warehouse that has the support column in the place, traditional stereoscopic warehouse can't bypass the stand. The problems of the traditional vertical warehouse are that the passage causes huge space waste, is difficult to move, has poor site adaptability and the like.
In view of the above problems, a new solution is proposed in the prior art, in which containers are stacked one by one, and the top of the container is taken and placed by several robots (similar to a stacking operation). The scheme well solves the problem of site adaptability and simultaneously obtains extremely high space utilization rate. However, the control requirement of the prior art for the goods-taking robot is too high, and particularly in a large warehouse, the difficulty is exponentially increased along with the number of the robots. Meanwhile, each robot is designed to be the same, and although the advantage of improving the flexibility of the system can be obtained, the problems that each robot is a full-function player, the cost is too high, and the single body efficiency is low are brought.
Therefore, how to improve the work efficiency of division of labor and reduce the control difficulty becomes a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to at least solve one technical problem in the prior art, and provides a layered unidirectional interactive warehousing device and a layered unidirectional interactive warehousing system comprising the same, so as to solve the problems in the prior art.
As a first aspect of the present invention, there is provided a hierarchical unidirectional interactive warehousing device, wherein the hierarchical unidirectional interactive warehousing device includes: a cargo cabin, a cargo taking robot, a vertical cargo channel, a horizontal cargo channel, a first direction horizontal transmission mechanism, a second direction horizontal transmission mechanism and a picking platform, wherein the first direction and the second direction are both parallel to a plane and opposite to each other,
the cargo compartment is divided by brackets along the transverse direction and the longitudinal direction to form a plurality of sub cargo compartments, and a plurality of containers can be stacked in each sub cargo compartment;
the goods taking robot is positioned on a bracket at the top of the goods warehouse and can do plane motion along the first direction and/or the second direction;
the vertical cargo channel is arranged in one or more sub-cargo bins;
the horizontal cargo channel is parallel to the first direction or the second direction and comprises a first layer of horizontal cargo channel and a second layer of horizontal cargo channel, the second layer of horizontal cargo channel is positioned above the first layer of horizontal cargo channel, and the first layer of horizontal cargo channel is communicated with the vertical cargo channel;
the first-direction horizontal conveying mechanism is arranged in the first-layer horizontal cargo channel and can convey the containers in a first direction;
the second-direction horizontal conveying mechanism is arranged in the second-layer horizontal cargo channel and can convey the containers along a second direction;
the picking platform is located at one end of the first-layer horizontal goods channel and connected with the first-direction horizontal transmission mechanism, and the picking platform can pick a plurality of containers to obtain needed goods.
Preferably, the layering one-way interactive storage device comprises a fixed lifting mechanism, one end of the fixed lifting mechanism is connected with the picking platform, the other end of the fixed lifting mechanism is connected with one end of the second-layer horizontal goods channel, and the fixed lifting mechanism can lift the container from the picking platform to the second-layer horizontal goods channel.
Preferably, the first level of horizontal lanes is located at the bottom of the warehouse and the second level of horizontal lanes is located at the top of the warehouse.
Preferably, the pick robot includes a plurality of actuators, each actuator being capable of picking up a container.
Preferably, the first direction horizontal transfer mechanism and the second direction horizontal transfer mechanism each include a conveyor belt.
As a second aspect of the present invention, a layered unidirectional interactive warehousing system is provided, wherein the layered unidirectional interactive warehousing system includes a control device and the layered unidirectional interactive warehousing device described above, the control device is connected to a pick-up robot in the layered unidirectional interactive warehousing device, and the pick-up robot can transmit picked-up container data to the control device and can perform a pick-up action according to feedback of the control device.
Preferably, when the tiered single-phase interaction warehousing device comprises a fixed lifting mechanism, the control device can also be connected with the fixed lifting mechanism, and the fixed lifting mechanism can perform a lifting action under the control of the control device.
According to the layered one-way interactive storage device provided by the invention, the horizontal transmission mechanisms in two directions are arranged in the storage bin, the vertical channel is arranged to interact with the horizontal channel, and the goods taking robot is used for conveying the goods box to the picking platform, so that frequent staggered movement of a large number of goods taking robots is avoided, the efficiency of the system is improved, and the control difficulty is greatly reduced. In addition, compared with the prior art, the layered one-way interactive storage device provided by the invention has the advantages that under the condition of the same working efficiency, the required goods taking robot is greatly reduced, the total equipment number is inevitably greatly reduced, and the cost can be effectively reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a layered unidirectional interactive stocker provided in the present invention.
Fig. 2 is a side view of a tiered unidirectional interaction warehouse device provided in the present invention.
Fig. 3 is a schematic diagram of the work area division of the picking robot of the layered unidirectional interactive warehousing device provided by the invention.
Fig. 4 is a schematic diagram illustrating a work area division of the first-direction horizontal transmission mechanism of the hierarchical one-way interactive warehousing device provided by the invention.
Fig. 5 is a schematic diagram of the division of the working area of the horizontal transmission mechanism in the second direction of the layered unidirectional interactive stocker provided by the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As a first aspect of the present invention, there is provided a layered unidirectional interactive warehouse device, wherein, as shown in fig. 1, the layered unidirectional interactive warehouse device 10 comprises: a cargo cabin 1, a goods taking robot 2, a vertical cargo channel 3, a horizontal cargo channel 8, a first direction horizontal transmission mechanism 4, a second direction horizontal transmission mechanism 7 and a picking platform 6, wherein the first direction and the second direction are parallel to a plane and opposite in direction,
the cargo compartment 1 is divided by brackets along the transverse direction and the longitudinal direction to form a plurality of sub cargo compartments 11, and a plurality of containers can be stacked in each sub cargo compartment 11;
the goods taking robot 2 is positioned on a bracket at the top of the goods warehouse 1, and the goods taking robot 2 can do plane motion along the first direction and/or the second direction;
the vertical cargo channel 3 is arranged in one or more sub-cargo compartments 11;
the horizontal cargo channel 8 is parallel to the first direction or the second direction and comprises a first-layer horizontal cargo channel 81 and a second-layer horizontal cargo channel 82, the second-layer horizontal cargo channel 82 is positioned above the first-layer horizontal cargo channel 81, and the first-layer horizontal cargo channel 81 is communicated with the vertical cargo channel 3;
the first-direction horizontal conveying mechanism 4 is arranged in the first-layer horizontal cargo channel 81, and the first-direction horizontal conveying mechanism 4 can convey the containers in a first direction;
the second-direction horizontal conveying mechanism 7 is arranged in the second-layer horizontal cargo channel 82, and the second-direction horizontal conveying mechanism 7 can convey the cargo containers in a second direction;
the picking platform 6 is located at one end of the first-layer horizontal goods channel 81 and is connected with the first-direction horizontal transmission mechanism 4, and the picking platform 6 can pick a plurality of containers to obtain required goods.
According to the layered one-way interactive storage device provided by the invention, the horizontal transmission mechanisms in two directions are arranged in the storage bin, the vertical channel is arranged to interact with the horizontal channel, and the goods taking robot is used for conveying the goods box to the picking platform, so that frequent staggered movement of a large number of goods taking robots is avoided, the efficiency of the system is improved, and the control difficulty is greatly reduced. In addition, compared with the prior art, the layered one-way interactive storage device provided by the invention has the advantages that under the condition of the same working efficiency, the required goods taking robot is greatly reduced, the total equipment number is inevitably greatly reduced, and the cost can be effectively reduced.
In the horizontal plane, a direction parallel to the horizontal lane 8 is referred to as a longitudinal direction, and a direction perpendicular to the horizontal lane 8 is referred to as a lateral direction.
It is understood that, as shown in fig. 2, the first-floor horizontal cargo channel 81 includes a plurality of first-floor horizontal cargo channels, and the second-floor horizontal cargo channel 82 includes a plurality of second-floor horizontal cargo channels, each of the first-floor horizontal cargo channels is provided with the first-direction horizontal transmission mechanism 4, and each of the second-floor horizontal cargo channels is provided with the second-direction horizontal transmission mechanism 7.
It should be understood that the first direction and the second direction are not limited to specific directions, the specific direction of the horizontal cargo channel in the layered unidirectional interactive warehouse device can be selected according to the needs, and it can be determined that the first direction and the second direction are opposite.
Specifically, in order to facilitate the transportation of the container from the first-level horizontal cargo channel 81 to the second-level horizontal cargo channel 82, the layered unidirectional interactive warehousing device 10 includes a fixed lifting mechanism 5, one end of the fixed lifting mechanism 5 is connected to the picking platform 6, and the other end of the fixed lifting mechanism 5 is connected to one end of the second-level horizontal cargo channel 82, and the fixed lifting mechanism 5 can lift the container from the picking platform 6 to the second-level horizontal cargo channel 82.
Specifically, the first-layer horizontal channel 81 is located at the bottom layer of the warehouse, and the second-layer horizontal channel 82 is located at the top layer of the warehouse.
It is understood that the first layer of horizontal cargo channel 81 and the second layer of horizontal cargo channel 82 are arranged above each other, and preferably, the second layer of horizontal cargo channel 82 is located at the top layer of the cargo compartment, and the first layer of horizontal cargo channel 81 is located at the bottom layer of the cargo compartment. It will be appreciated that since the picking station 6 is located at one end of the first level of horizontal lanes, the picking station 6 is located at the bottom of the warehouse when the first level of horizontal lanes 81 is located at the bottom of the warehouse.
It should be understood that when the containers transported in the first-floor horizontal cargo way 81 reach the picking platform 6, the picking platform 6 can pick out the required goods, and then lift the remaining containers to the second-floor horizontal cargo way 82 by the fixed lifting mechanism 5, and then transport the containers to the corresponding sub-warehouse locations by the second-floor horizontal cargo way 82, and then pick and place the containers by the picking robot 2.
In particular, in order to increase the picking efficiency of the pick robot 2, the pick robot 2 comprises a plurality of actuators, each of which is capable of picking one container.
Preferably, the first direction horizontal transfer mechanism 4 and the second direction horizontal transfer mechanism 7 each include a conveyor belt.
The working principle of the layered unidirectional interactive warehousing device provided by the invention is described in detail with reference to fig. 3 to 5.
The conveyance of the containers in the longitudinal direction from the end remote from the picking station 6 to the end of the picking station 6 can be referred to as a first direction, and the conveyance of the containers in the longitudinal direction from the end of the picking station 6 to the end remote from the picking station 6 can be referred to as a second direction.
The top of the warehouse 1 is paved with a bracket which has the same size with the container and is arranged along the transverse direction and the longitudinal direction, and the goods taking robot 2 performs two transverse and longitudinal plane motions on the bracket at the top of the warehouse 1. The pick robot 2 has some sort of actuator to pick up the lower container. When the goods taking robot 2 moves to the position above the goods box to be taken, the container is taken out by the executing mechanism and is transferred to the first-direction horizontal transmission mechanism 4 through the vertical goods channel 3, the first-direction horizontal transmission mechanism 4 is positioned at the bottom of the goods warehouse, and the tail end of the first-direction horizontal transmission mechanism is connected with the picking platform 6. For containers at the middle and bottom levels, the containers above can be taken out one by one and placed aside until the target container is taken out. After the first-direction horizontal conveying mechanism 4 obtains a target container, the target container is transferred to the picking platform 6, picking work is completed, required goods are obtained, then the target container is lifted and placed on the second-direction horizontal conveying mechanism 7 through the fixed lifting mechanism 5, the goods are gradually conveyed backwards through the second-direction horizontal conveying mechanism 7, and finally the goods are taken out from the second-direction horizontal conveying mechanism 7 and placed at a proper position through the goods taking robot 2. The second-direction horizontal transmission mechanism 7 is arranged on the second top layer of the cargo compartment, so that the height of the cargo compartment does not influence the work of the cargo taking robot after the cargo compartment is placed on the second-direction horizontal transmission mechanism. It will be appreciated that the second direction horizontal transfer mechanism 7 may result in no container being placed thereunder.
To ensure system efficiency and reliability, the work areas of the picking robots may overlap and may change from time to time. The goods-taking robot 2 does not have to deliver the goods to the edge of the warehouse close to the picking platform, but only needs to deliver the containers to the first-direction horizontal conveying mechanism 4. The first direction horizontal transmission mechanism 4 and the second direction horizontal transmission mechanism 7 are responsible for unidirectional cargo conveying.
It should be noted that the working area/responsible area shown in fig. 3 to 5 is not completely fixed, and can be adjusted by the controller in real time according to specific working requirements, which is intended to illustrate the working principle.
Therefore, the layered one-way interactive storage device provided by the invention divides the work of taking/placing the goods boxes of the goods taking robot and the work of sending/retrieving the goods boxes to the picking platform into a plurality of layers from the space, so that the goods boxes are not mutually conflicted with each other, and the vertical goods channel not only connects the two separated work layers together, but also enables the work of the goods taking robot to be executed in a divided region; the horizontal transmission devices in two directions are combined for use, so that the purposes of reducing the vertical lifting height of the goods taking robot and canceling the cooperative work between the goods taking robot and the horizontal transmission equipment are achieved, the system difficulty is further reduced, and the reliability is improved. Meanwhile, frequent staggered traffic of a large number of goods taking robots is avoided, so that the system efficiency is improved, and the control difficulty is greatly reduced; the goods taking robot is provided with a plurality of executing mechanisms for picking up the containers, so that the containers can be picked up at one time and then conveyed to the vertical goods channel, and when the containers at the middle bottom layer are picked up, the containers do not need to be taken out and put in one place, and the picking efficiency can be greatly improved; the layered one-way interactive storage device has good site adaptability, and only a horizontal goods channel is needed to avoid fixed barriers in the site; the goods taking robot and the horizontal shuttle are not on the same working surface, and the goods taking robot and the horizontal shuttle are not physically interfered with each other, so that the safety is good.
As a second aspect of the present invention, a layered unidirectional interactive warehousing system is provided, wherein the layered unidirectional interactive warehousing system includes a control device and the layered unidirectional interactive warehousing device described above, the control device is connected to a pick-up robot in the layered unidirectional interactive warehousing device, and the pick-up robot can transmit picked-up container data to the control device and can perform a pick-up action according to feedback of the control device.
According to the layered one-way interactive warehousing system, the horizontal transmission mechanisms in two directions are arranged in the warehouse, the vertical channel is arranged to interact with the horizontal channel, and the goods taking robot is used for conveying the goods boxes to the picking platform, so that frequent staggered movement of a large number of goods taking robots is avoided, the efficiency of the system is improved, and the control difficulty is greatly reduced. In addition, compared with the prior art, the layered one-way interactive warehousing system provided by the invention has the advantages that under the condition of the same working efficiency, the required goods taking robots are greatly reduced, the total equipment number is inevitably greatly reduced, and the cost can be effectively reduced.
Specifically, when the layered single-phase mutual warehousing device comprises a fixed lifting mechanism, the control device can be further connected with the fixed lifting mechanism, and the fixed lifting mechanism can perform lifting action under the control of the control device.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (6)
1. A tiered, unidirectional interaction warehousing device, the tiered, unidirectional interaction warehousing device comprising: a cargo cabin, a cargo taking robot, a vertical cargo channel, a horizontal cargo channel, a first direction horizontal transmission mechanism, a second direction horizontal transmission mechanism and a picking platform, wherein the first direction and the second direction are both parallel to a plane and opposite to each other,
the cargo compartment is divided by brackets along the transverse direction and the longitudinal direction to form a plurality of sub cargo compartments, and a plurality of containers can be stacked in each sub cargo compartment;
the goods taking robot is positioned on a bracket at the top of the goods warehouse and can do plane motion along the first direction and/or the second direction;
the vertical cargo channel is arranged in one or more sub-cargo bins;
the horizontal cargo channel is parallel to the first direction or the second direction and comprises a first layer of horizontal cargo channel and a second layer of horizontal cargo channel, the second layer of horizontal cargo channel is positioned above the first layer of horizontal cargo channel, and the first layer of horizontal cargo channel is communicated with the vertical cargo channel;
the first-direction horizontal conveying mechanism is arranged in the first-layer horizontal cargo channel and can convey the containers in a first direction;
the second-direction horizontal conveying mechanism is arranged in the second-layer horizontal cargo channel and can convey the containers along a second direction;
the picking platform is positioned at one end of the first-layer horizontal cargo channel and is connected with the first-direction horizontal transmission mechanism, and the picking platform can pick a plurality of containers to obtain required goods;
the layered unidirectional interactive warehousing device comprises a fixed lifting mechanism, one end of the fixed lifting mechanism is connected with the picking platform, the other end of the fixed lifting mechanism is connected with one end of the second-layer horizontal goods channel, and the fixed lifting mechanism can lift a container to the second-layer horizontal goods channel from the picking platform.
2. The tiered one-way interactive warehouse device as recited in claim 1, wherein the first level horizontal lanes are located at a bottom level of the warehouse and the second level horizontal lanes are located at a top level of the warehouse.
3. The tiered one-way interactive warehousing device of claim 1, wherein the pick robot includes a plurality of actuators, each actuator capable of picking up one container.
4. The tiered one-way interactive warehousing device of any claim 1-3 wherein the first directional horizontal transport mechanism and the second directional horizontal transport mechanism each include a conveyor belt.
5. A layered unidirectional interactive warehousing system, characterized in that the layered unidirectional interactive warehousing system comprises a control device and the layered unidirectional interactive warehousing device as claimed in any one of claims 1 to 4, the control device is connected with a pick-up robot in the layered unidirectional interactive warehousing device, and the pick-up robot can transmit picked-up container data to the control device and can execute a pick-up action according to feedback of the control device.
6. The system according to claim 5, wherein when the device comprises a fixed lifting mechanism, the control device is further capable of being connected to the fixed lifting mechanism, and the fixed lifting mechanism is capable of performing a lifting action under the control of the control device.
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| CN201810413055.3A CN108584263B (en) | 2018-05-03 | 2018-05-03 | Layered unidirectional interaction storage device and system |
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| PT2847105T (en) * | 2012-05-11 | 2021-09-10 | Ocado Innovation Ltd | Storage systems and methods for retrieving units from a storage system |
| DE102013220998A1 (en) * | 2013-10-16 | 2015-04-16 | Siemens Aktiengesellschaft | storage system |
| GB201409883D0 (en) * | 2014-06-03 | 2014-07-16 | Ocado Ltd | Methods, systems, and apparatus for controlling movement of transporting devices |
| GB2527543A (en) * | 2014-06-25 | 2015-12-30 | Ocado Innovation Ltd | System and method for managing shipping containers |
| CN104724430B (en) * | 2015-03-04 | 2017-06-06 | 东华大学 | A kind of goods yard arrangement method of lineament stereo storage rack |
| KR102502714B1 (en) * | 2015-04-15 | 2023-02-21 | 오카도 이노베이션 리미티드 | Object handling system and method |
| GB201509921D0 (en) * | 2015-06-08 | 2015-07-22 | Ocado Innovation Ltd | Object storage, handling and retrieving system and method |
| CN205471046U (en) * | 2016-03-25 | 2016-08-17 | 佳宸科技有限公司 | High efficiency storing system |
| GB201610837D0 (en) * | 2016-06-21 | 2016-08-03 | Ocado Innovation Ltd | Robotic cargo handling system and method |
| NO345223B1 (en) * | 2016-10-14 | 2020-11-09 | Autostore Tech As | Picking or supply station assembly for storage system and method of transferring an item to and/or from storage system |
| CN107472788A (en) * | 2017-08-18 | 2017-12-15 | 石家庄学院 | Without tunnel tiered warehouse facility |
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