CN114304103B

CN114304103B - Be applied to high-efficient handling device of goods of commodity circulation

Info

Publication number: CN114304103B
Application number: CN202111682792.1A
Authority: CN
Inventors: 程元栋; 杨齐威; 王丹
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2023-02-03
Anticipated expiration: 2041-12-30
Also published as: CN114304103A

Abstract

The invention discloses a high-efficiency cargo carrying device applied to logistics, and relates to the technical field of logistics carrying. Including saddle and mosquito repellent case, the fixed riser that is provided with in one side at saddle top, the fixed mosquito repellent case that is provided with in one side of riser, the fixed fan that is provided with in one side of mosquito repellent case, the fixed first trachea that is provided with in one side of fan, first tracheal one end runs through to one side of mosquito repellent case and extends to the inside of mosquito repellent case, the fixed second trachea that is provided with in top of fan, the tracheal one end of second is fixed and is provided with the connecting pipe. Through setting up mosquito repellent cover, fluorescent tube, first trachea, second trachea, connecting pipe and fan, the inside that peripheral mosquito entered into the mosquito repellent cover is lured to light that the fluorescent tube sent, and the suction that the fan produced can be with mosquito in the mosquito repellent cover inhales the mosquito repellent incasement and kill to avoid the mosquito to influence the staff and carry out efficient transport operation.

Description

Be applied to high-efficient handling device of goods of commodity circulation

Technical Field

The invention relates to the technical field of logistics transportation, in particular to a high-efficiency cargo transporting device applied to logistics.

Background

Logistics is a part of the supply chain activity, a process of planning, implementing and controlling the efficient, low cost flow and storage of goods, service consumption and related information from source to consumer sites in order to meet customer needs. The logistics takes storage as a center, and the production and the market are kept synchronous.

Among the prior art, summer night, the mosquito in the commodity circulation warehouse is more, because current handling device does not possess the mosquito repellent function, at the in-process of transport, the mosquito can sting the skin that the staff exposes, causes the discomfort on the staff health, and then influences efficient transport operation.

Disclosure of Invention

The invention provides a high-efficiency cargo carrying device applied to logistics and aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a cargo efficient carrying device applied to logistics comprises a vehicle seat and a mosquito repelling box, wherein a vertical plate is fixedly arranged on one side of the top of the vehicle seat, the mosquito repelling box is fixedly arranged on one side of the vertical plate, a fan is fixedly arranged on one side of the mosquito repelling box, a first air pipe is fixedly arranged on one side of the fan, one end of the first air pipe penetrates through one side of the mosquito repelling box and extends into the mosquito repelling box, a second air pipe is fixedly arranged on the top of the fan, a connecting pipe is fixedly arranged at one end of the second air pipe, a mosquito repelling cover is fixedly arranged at one end of the connecting pipe, a lamp tube is fixedly arranged at the top and the bottom of the inner wall of the mosquito repelling cover, a cleaning ring is movably arranged on the surface of the lamp tube and is annular, a brush plate is arranged inside the cleaning ring and is arc-shaped, the brush plate is distributed in an annular shape, a fixing rod is fixedly arranged on one side of the cleaning ring, a nut seat is fixedly arranged at one end of the fixing rod, a nut seat is movably arranged on the inner wall of the nut seat, and one end of the lead screw is fixedly connected with an output shaft of a first motor;

the fixed loose axle that is provided with in the back of connecting pipe, the one end of loose axle runs through the outer wall of shell and extends to the inside of shell, the fixed surface of loose axle is provided with first gear, the back engagement of first gear is connected with first rack, the fixed transmission frame that is provided with in one end of first rack, the inner wall sliding connection of transmission frame has the protruding axle, the fixed disc that is provided with in one end of protruding axle, the fixed second pivot that is provided with in inner wall of disc, the one end of second pivot and the output shaft fixed connection of second motor, the fixed rolling disc that is provided with in bottom of shell, the fixed column spinner that is provided with in bottom of rolling disc, column spinner one end runs through to the top of casing and extends to the inside of casing.

Furthermore, an elastic rod is fixedly arranged on the outer side of the brush plate, one end of the elastic rod is fixedly provided with a first spring which penetrates through the inner wall of the cleaning ring and extends into the cleaning ring, and one end of the elastic rod is fixedly provided with a second spring.

Furthermore, the inside of mosquito repellent case is fixed and is provided with the shunt tubes, the fixed shower nozzle that is provided with in bottom of shunt tubes, the shower nozzle is even equidistance form distribution.

Further, the fixed first water pipe that is provided with of one end of shunt tubes, the fixed water pump that is provided with of one end of first water pipe, the fixed second water pipe that is provided with in one side of water pump, the one end of second water pipe runs through to one side of mosquito repellent case and extends to the inside of mosquito repellent case.

Furthermore, rollers are arranged on two sides of the bottom of the rotating disc and located at the top of the shell, and the rollers are movably connected with the shell.

Furthermore, a second gear is fixedly arranged on the surface of the rotating column, and a second rack is connected to the back of the second gear in a meshed manner.

Furthermore, a movable plate is fixedly arranged at one end of the second rack, a rotating shaft is fixedly arranged on one side of the movable plate, a connecting rod is movably arranged on the surface of the rotating shaft, a curved rod is movably arranged at one end of the connecting rod, and one end of the curved rod is fixedly connected with an output shaft of the third motor.

Further, the nut seat is in threaded connection with the screw rod through a ball, and the nut seat moves along the screw rod when the screw rod rotates.

Furthermore, the inside activity of mosquito repellent case is provided with the filter screen, the filter screen is horizontal placing.

Furthermore, the two sides of the filter screen are fixedly provided with sliding blocks, the sliding blocks are located in sliding grooves in the inner wall of the mosquito repelling box, and the sliding blocks are connected with the mosquito repelling box in a sliding mode.

Compared with the prior art, the invention provides the efficient cargo carrying device applied to logistics, which has the following beneficial effects:

1. this be applied to high-efficient handling device of goods of commodity circulation through setting up mosquito repellent cover, fluorescent tube, first trachea, second trachea, connecting pipe and fan, the inside that peripheral mosquito entered into the mosquito repellent cover is lured to light that the fluorescent tube sent, and the suction that the fan produced can be with mosquito in the mosquito repellent cover inhales the mosquito repellent incasement and kill to avoid the mosquito to influence the staff and carry out efficient transport operation.

2. This be applied to high-efficient handling device of goods of commodity circulation, through setting up nut seat and lead screw, the pivoted lead screw does benefit to and drives the clearance ring with the threaded connection of nut seat and carries out the vertical migration, and the clearance ring of removal does benefit to the dust of inside brush board on to the fluorescent tube and clears up, avoids the dust to adhere to the effect of shining that influences light, keeps the good mosquito of fluorescent tube to lure the effect.

3. This be applied to high-efficient handling device of goods of commodity circulation, through setting up first gear, first rack, transmission frame, protruding axle and disc, the pivoted disc drives first rack through the protruding axle and carries out reciprocating vertical movement, and the first rack of removal utilizes the meshing with first gear to be connected and drives the fluorescent tube that drives in the mosquito repellent cover and carry out the reciprocal swing of vertical direction, carries out the regulation of vertical direction to fluorescent tube and mosquito repellent cover, has enlarged the scope that the mosquito was lured.

4. This be applied to high-efficient handling device of goods of commodity circulation, through setting up second gear and second rack, reciprocal horizontal migration's second rack utilizes the meshing with the second gear to be connected and drives the fluorescent tube that drives in the mosquito repellent cover and carry out the reciprocal swing of horizontal direction to carry out the regulation of horizontal direction to fluorescent tube and mosquito repellent cover, thereby further enlarge the scope that the mosquito was lured.

5. This be applied to high-efficient handling device of goods of commodity circulation, through setting up first spring, the elasticity of first spring makes the close laminating in surface of brush board and fluorescent tube be in the same place, and when the brush board carried out vertical migration, the brush board can be powerful with the dust clearance on the fluorescent tube get off.

6. This be applied to high-efficient handling device of goods of commodity circulation, through setting up water pump, first water pipe and second water pipe, the water pump with the insect killer suction of mosquito repellent incasement to the reposition of redundant personnel intraductal, then through the shower nozzle blowout, the spun insect killer can kill the mosquito of inhaling the incasement.

Drawings

Fig. 1 is a schematic structural view of a cargo efficient handling device applied to logistics according to the present invention;

FIG. 2 is a front view of the structure of a cargo handling apparatus for logistics according to the present invention;

FIG. 3 is a schematic structural view of a mosquito repelling box of the efficient cargo handling device applied to logistics;

fig. 4 is a schematic structural view of a mosquito repelling cover of the efficient cargo handling device applied to logistics;

FIG. 5 is a schematic structural diagram of a connection pipe of the efficient cargo handling device for logistics according to the present invention;

fig. 6 is a schematic structural view of a mosquito repelling cover of the efficient cargo handling device applied to logistics;

FIG. 7 is a schematic top view of a cleaning ring of the efficient cargo handling device for logistics according to the present invention;

fig. 8 is a schematic structural view of a second motor of the efficient cargo handling device applied to logistics according to the present invention;

fig. 9 is a schematic view of a curved bar structure of a cargo high-efficiency handling device applied to logistics according to the invention;

fig. 10 is a schematic view of a filter screen structure of a cargo high-efficiency handling device applied to logistics according to the present invention.

In the figure: 1. a vehicle seat; 101. a vertical plate; 2. a mosquito repelling box; 201. a fan; 202. a first air pipe; 203. a second air pipe; 204. a connecting pipe; 205. a mosquito-repellent cover; 206. a lamp tube; 3. cleaning a ring; 301. fixing the rod; 302. a nut seat; 303. a screw rod; 304. a first motor; 305. a brush plate; 306. an elastic rod; 307. a first spring; 4. a movable shaft; 401. a first gear; 402. a first rack; 403. a transmission frame; 404. a protruding shaft; 405. a disc; 406. a second rotating shaft; 407. a second motor; 408. a housing; 5. rotating the disc; 501. a roller; 502. a spin column; 503. a second gear; 504. a second rack; 505. a housing; 6. moving the plate; 601. a rotating shaft; 602. a connecting rod; 603. a curved bar; 604. a third motor; 7. a shunt tube; 701. a spray head; 702. a first water pipe; 703. a water pump; 704. a second water pipe; 8. a filter screen; 801. a slide block.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 10, the invention discloses a high-efficiency cargo carrying device applied to logistics, which comprises a vehicle seat 1 and a mosquito repelling box 2, wherein a vertical plate 101 is fixedly arranged on one side of the top of the vehicle seat 1, the mosquito repelling box 2 is fixedly arranged on one side of the vertical plate 101, a movable door is arranged on the front surface of the mosquito repelling box 2, the movable door can be opened to take out a filter screen 8 to clean the filter screen 8, a fan 201 is fixedly arranged on one side of the mosquito repelling box 2, a first air pipe 202 is fixedly arranged on one side of the fan 201, one end of the first air pipe 202 penetrates through one side of the mosquito repelling box 2 and extends into the mosquito repelling box 2, a second air pipe 203 is fixedly arranged on the top of the fan 201, a connecting pipe 204 is fixedly arranged at one end of the second air pipe 203, a mosquito repelling cover 205 is fixedly arranged at one end of the connecting pipe 204, both the top and the bottom of the inner wall of the mosquito repelling cover 205 are fixedly provided with a lamp tube 206, a cleaning ring 3 is movably arranged on the surface of the lamp tube 206, the cleaning ring 3 is annular, a brush plate 305 is arranged in the inner wall of the cleaning ring 3, an annular brush plate 305 is arranged on one side of the fixing rod 302, and an output shaft of a nut base 301 of a screw rod 302 is arranged on which a fixing rod 302 is arranged.

The fixed loose axle 4 that is provided with in back of connecting pipe 204, the outer wall of shell 408 is run through and extends to the inside of shell 408 to the one end of loose axle 4, the fixed surface of loose axle 4 is provided with first gear 401, the meshing of the back of first gear 401 is connected with first rack 402, the fixed transmission frame 403 that is provided with in one end of first rack 402, the inner wall sliding connection of transmission frame 403 has protruding axle 404, the fixed disc 405 that is provided with in one end of protruding axle 404, the fixed second pivot 406 that is provided with in inner wall of disc 405, the one end of second pivot 406 and the output shaft fixed connection of second motor 407, the fixed rolling disc 5 that is provided with in bottom of shell 408, the fixed column 502 that is provided with in bottom of rolling disc 5, column 502 one end runs through to the top of casing 505 and extends to the inside of casing 505.

Specifically, an elastic rod 306 is fixedly arranged on the outer side of the brush plate 305, one end of the elastic rod 306 is fixedly arranged to penetrate through the inner wall of the cleaning ring 3 and extend into the cleaning ring 3, and a first spring 307 is fixedly arranged at one end of the elastic rod 306.

In this embodiment, by providing the first spring 307, the elasticity of the first spring 307 enables the brush plate 305 to tightly fit the surface of the lamp 206, and when the brush plate 305 moves vertically, the brush plate 305 can forcefully clean the dust on the lamp 206.

Specifically, the inside of mosquito repellent case 2 is fixed and is provided with shunt tubes 7, the fixed shower nozzle 701 that is provided with in bottom of shunt tubes 7, shower nozzle 701 is even equidistance form distribution.

In this embodiment, through setting up shower nozzle 701, evenly distributed's shower nozzle 701 can go out the even spraying of insecticide to carry out the efficient to the mosquito and kill.

Specifically, a first water pipe 702 is fixedly arranged at one end of the shunt pipe 7, a water pump 703 is fixedly arranged at one end of the first water pipe 702, a second water pipe 704 is fixedly arranged on one side of the water pump 703, and one end of the second water pipe 704 runs through one side of the mosquito repelling box 2 and extends into the mosquito repelling box 2.

In this embodiment, by providing the water pump 703, the first water pipe 702 and the second water pipe 704, the water pump 703 pumps the insecticide in the mosquito repellent box 2 into the diversion pipe 7, and then the insecticide is sprayed out through the spray head 701, and the sprayed insecticide can kill mosquitoes sucked into the box.

Specifically, rollers 501 are disposed on two sides of the bottom of the rotating disc 5, the rollers 501 are located at the top of the casing 505, and the connection relationship between the rollers 501 and the casing 505 is flexible.

In this embodiment, by arranging the roller 501, the roller 501 supports both sides of the rotating disc 5, and when the rotating disc 5 rotates, the roller 501 rolls along with the rotating disc, thereby improving the stability of the rotating disc 5.

Specifically, a second gear 503 is fixedly disposed on a surface of the rotating column 502, and a second rack 504 is engaged with a back surface of the second gear 503.

In this embodiment, by providing the second gear 503 and the second rack 504, the second rack 504 moving horizontally back and forth drives the lamp 206 in the mosquito repellent cover 205 to swing back and forth in the horizontal direction by engaging with the second gear 503, so as to adjust the lamp 206 and the mosquito repellent cover 205 in the horizontal direction, thereby further expanding the range of mosquito attraction.

Specifically, a moving plate 6 is fixedly arranged at one end of the second rack 504, a rotating shaft 601 is fixedly arranged at one side of the moving plate 6, a connecting rod 602 is movably arranged on the surface of the rotating shaft 601, a curved rod 603 is movably arranged at one end of the connecting rod 602, and one end of the curved rod 603 is fixedly connected with an output shaft of a third motor 604.

In this embodiment, by providing the moving plate 6, the rotating shaft 601, the connecting rod 602 and the curved rod 603, the rotating curved rod 603 drives the second rack 504 to perform reciprocating horizontal movement through the connecting rod 602, and drives the second gear 503 to perform reciprocating clockwise and counterclockwise rotation, thereby realizing adjustment of the lamp tube 206 and the mosquito repellent cover 205 in the horizontal direction.

Specifically, the nut holder 302 is screwed to the screw 303 by a ball, and the nut holder 302 moves along the screw 303 when the screw 303 rotates.

In this embodiment, by arranging the nut seat 302 and the screw rod 303, the rotating screw rod 303 is beneficial to the screw connection with the nut seat 302 to drive the cleaning ring 3 to move vertically, the moving cleaning ring 3 is beneficial to the cleaning of the dust on the lamp tube 206 by the internal brush plate 305, the dust is prevented from adhering to the irradiation effect of the lamp light, and the good mosquito attracting effect of the lamp tube 206 is maintained.

Specifically, the inside activity of mosquito repellent case 2 is provided with filter screen 8, filter screen 8 is horizontal placing.

In this embodiment, through setting up filter screen 8, filter screen 8 can filter the mosquito agent after killing the mosquito, separates out the impurity in the mosquito agent, and the mosquito agent after the filtration flows into under filter screen 8, and the pest agent after the filtration can cyclic utilization, reduces the waste of pest agent.

Specifically, both sides of the filter screen 8 are fixedly provided with sliding blocks 801, the sliding blocks 801 are located in sliding grooves in the inner wall of the mosquito repelling box 2, and the sliding blocks 801 are connected with the mosquito repelling box 2 in a sliding manner.

In this embodiment, through setting up slider 801, the mosquito corpse that is killed by the insecticide will pile up on filter screen 8, and the user takes filter screen 8 out from mosquito repellent case 2, and it can to clear up filter screen 8.

When the mosquito repelling device is used, the fan 201 and the lamp tube 206 are started, the lamp light emitted by the lamp tube 206 attracts surrounding mosquitoes to enter the mosquito repelling cover 205, in order to expand the attracting range, the second motor 407 is started, the second motor 407 drives the disc 405 to rotate through the second rotating shaft 406, the rotating disc 405 drives the first rack 402 to reciprocate and vertically move through the convex shaft 404, the moving first rack 402 drives the lamp tube 206 in the mosquito repelling cover 205 to reciprocate and swing in the vertical direction through meshing connection with the first gear 401, the third motor 604 is started, the third motor 604 drives the curved rod 603 to rotate, the rotating curved rod 603 drives the second rack 504 to reciprocate and horizontally move through the connecting rod 602, the reciprocating and horizontally moving second rack 504 drives the lamp tube 206 in the mosquito repelling cover 205 to reciprocate and swing in the horizontal direction through meshing connection with the second gear 503, and therefore the lamp tube 206 and the mosquito repelling cover 205 are adjusted in the horizontal direction.

The mosquito that fan 201's suction will enter into in mosquito repellent cover 205 inhales mosquito repellent case 2, when killing, water pump 703 is with the insecticide suction in mosquito repellent case 2 in shunt tubes 7, then spout through shower nozzle 701, the processing of killing is carried out to the mosquito, use through a period, the surface of fluorescent tube 206 can be attached to the dust, first motor 304 drives lead screw 303 and rotates, pivoted lead screw 303 does benefit to and drives clearance ring 3 with the threaded connection of nut seat 302 and carries out vertical migration, the clearance ring 3 that removes does benefit to inside brush board 305 and clears up the dust on fluorescent tube 206.

In conclusion, this be applied to high-efficient handling device of goods of commodity circulation, through setting up nut seat 302 and lead screw 303, pivoted lead screw 303 does benefit to and drives clearance ring 3 with the threaded connection of nut seat 302 and carries out the vertical migration, and the clearance ring 3 that removes does benefit to inside brush board 305 and clears up the dust on fluorescent tube 206, avoids the dust to adhere to the effect of shining that influences light, keeps the good mosquito luring effect of fluorescent tube 206.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a be applied to high-efficient handling device of goods of commodity circulation, includes saddle (1) and mosquito repellent case (2), its characterized in that: a vertical plate (101) is fixedly arranged on one side of the top of the saddle (1), a mosquito repellent box (2) is fixedly arranged on one side of the vertical plate (101), a fan (201) is fixedly arranged on one side of the mosquito repellent box (2), a first air pipe (202) is fixedly arranged at one side of the fan (201), one end of the first air pipe (202) penetrates through one side of the mosquito repelling box (2) and extends into the mosquito repelling box (2), a second air pipe (203) is fixedly arranged at the top of the fan (201), one end of the second air pipe (203) is fixedly provided with a connecting pipe (204), one end of the connecting pipe (204) is fixedly provided with a mosquito repelling cover (205), the top and the bottom of the inner wall of the mosquito repellent cover (205) are both fixedly provided with a lamp tube (206), the surface of the lamp tube (206) is movably provided with a cleaning ring (3), the cleaning ring (3) is in a ring shape, a brush plate (305) is arranged inside the cleaning ring (3), the brush plates (305) are arc-shaped, the brush plates (305) are distributed in a ring shape, a fixed rod (301) is fixedly arranged on one side of the cleaning ring (3), one end of the fixed rod (301) is fixedly provided with a nut seat (302), the inner wall of the nut seat (302) is movably provided with a screw rod (303), one end of the screw rod (303) is fixedly connected with an output shaft of a first motor (304);

a movable shaft (4) is fixedly arranged on the back of the connecting pipe (204), one end of the movable shaft (4) penetrates through the outer wall of the shell (408) and extends into the shell (408), a first gear (401) is fixedly arranged on the surface of the movable shaft (4), a first rack (402) is connected to the back of the first gear (401) in a meshed manner, a transmission frame (403) is fixedly arranged at one end of the first rack (402), a convex shaft (404) is connected to the inner wall of the transmission frame (403) in a sliding manner, a disc (405) is fixedly arranged at one end of the convex shaft (404), a second rotating shaft (406) is fixedly arranged on the inner wall of the disc (405), one end of the second rotating shaft (406) is fixedly connected with an output shaft of a second motor (407), a rotating disc (5) is fixedly arranged at the bottom of the shell (408), a rotating column (502) is fixedly arranged at the bottom of the rotating disc (5), and one end of the rotating column (502) penetrates through the top of the shell (505) and extends into the shell (505);

an elastic rod (306) is fixedly arranged on the outer side of the brush plate (305), one end of the elastic rod (306) is fixedly provided with a first spring (307) which penetrates through the inner wall of the cleaning ring (3) and extends into the cleaning ring (3);

a shunt pipe (7) is fixedly arranged in the mosquito repelling box (2), spray heads (701) are fixedly arranged at the bottom of the shunt pipe (7), and the spray heads (701) are uniformly and equidistantly distributed; the fixed first water pipe (702) that is provided with of one end of shunt tubes (7), the fixed water pump (703) that is provided with of one end of first water pipe (702), the fixed second water pipe (704) that is provided with in one side of water pump (703), the one end of second water pipe (704) runs through to one side of mosquito repellent case (2) and extends to the inside of mosquito repellent case (2).

2. The efficient cargo handling device applied to logistics according to claim 1, wherein: the two sides of the bottom of the rotating disc (5) are respectively provided with a roller (501), the rollers (501) are located at the top of the shell (505), and the connecting relationship between the rollers (501) and the shell (505) is flexible.

3. The efficient cargo handling device applied to logistics according to claim 1, wherein: a second gear (503) is fixedly arranged on the surface of the rotating column (502), and a second rack (504) is connected to the back surface of the second gear (503) in a meshing manner.

4. The efficient cargo handling device applied to logistics according to claim 3, wherein: the one end of second rack (504) is fixed and is provided with movable plate (6), one side of movable plate (6) is fixed and is provided with axis of rotation (601), the surface activity of axis of rotation (601) is provided with connecting rod (602), the one end activity of connecting rod (602) is provided with bent shape pole (603), the one end of bent shape pole (603) and the output shaft fixed connection of third motor (604).

5. The efficient cargo handling device applied to logistics according to claim 1, wherein: the nut seat (302) is in threaded connection with the screw rod (303) through a ball, and the nut seat (302) moves along the screw rod (303) when the screw rod (303) rotates.

6. The efficient cargo handling device applied to logistics according to claim 1, wherein: the inside activity of mosquito repellent case (2) is provided with filter screen (8), filter screen (8) are horizontal placing.

7. The efficient cargo handling device applied to logistics according to claim 6, wherein: the two sides of the filter screen (8) are fixedly provided with sliding blocks (801), the sliding blocks (801) are located in sliding grooves in the inner wall of the mosquito repelling box (2), and the sliding blocks (801) are connected with the mosquito repelling box (2) in a sliding mode.