CN115173184A - Novel automatic pin inserting machine - Google Patents
Novel automatic pin inserting machine Download PDFInfo
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- CN115173184A CN115173184A CN202210900610.1A CN202210900610A CN115173184A CN 115173184 A CN115173184 A CN 115173184A CN 202210900610 A CN202210900610 A CN 202210900610A CN 115173184 A CN115173184 A CN 115173184A
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- pin
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- base
- moving platform
- detection device
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention relates to a novel automatic pin inserting machine which comprises a base, a moving platform, a pin inserting device, a pin inserting detection device and a pin seat detection device, wherein the moving platform is arranged in the middle of the base and is used for moving a pin seat; the pin inserting device is arranged on one side of the middle part of the moving platform and is used for inserting a pin into the pin base; the pin detection device is arranged on one side of the pin device and used for detecting whether the pin is qualified or not; the needle seat detection device is arranged at two ends of the mobile platform and used for detecting whether the needle seat is qualified or not. The invention has the beneficial effects that: 1. the sizes and the bending conditions of the contact pins are detected, and the unqualified contact pins are directly discharged into an NG material box, so that the probability of waste generation is reduced; 2. the inclination detection is carried out on the needle base before the needle insertion, and the needle insertion is not carried out on unqualified needle bases, so that the probability of waste generation is reduced; 3. the position, the verticality and the height of each needle seat are automatically compensated, so that the precision of the contact pin is higher; 4. 8 different insertion depths are set, and the pin inserting precision is further improved.
Description
Technical Field
The invention relates to the technical field of pin inserting machines, in particular to a novel automatic pin inserting machine.
Background
The rapid development of the human society at present, the social competitiveness is also aggravated continuously, and the production efficiency becomes the problem of great importance in the production process.
With the continuous progress of science and technology, people have more and more requirements on electronic products, and in the prior art, most processes adopt a manual mode, but the manual pin inserting mode is adopted, so that the working efficiency is low, meanwhile, the labor cost is continuously increased, and the requirements of the current social production are obviously not suitable.
At present, some automatic pin inserting machines exist, for example, a patent application with the name of "an automatic pin inserting machine" in chinese patent publication No. CN107969103A discloses an automatic pin inserting machine, which comprises a rack, a vibration feeding tray, a suction needle feeding mechanism, a pin connecting device, a rotary position adjusting device, a transverse moving mechanism, a lifting mechanism, a moving workbench, a fine adjustment machine head seat and two pin inserting machine heads; the two vibration feed trays can be provided with pins with the same or different specifications and sizes. Although automatic pin inserting can be carried out, the pins can be arranged only on messy pins in a tray during conveying, and only two pins with different specifications can be distinguished for pin inserting. However, the existing technology cannot automatically detect the position of each needle seat one by one, and when the needle seat is lacked or the position (offset, inclination and the like) of the needle seat exceeds the set range, the existing technology can not judge that the needle seat is not used or the needle seat is out of the set range, and can not automatically compensate the needle inserting track of the qualified product according to the detection result without inserting needles according to the actual situation.
Disclosure of Invention
The embodiment of the invention provides a novel automatic pin inserting machine which can solve the problems in the related technology.
In one aspect, the embodiment of the invention provides a novel automatic pin inserting machine, which comprises a base,
the needle holder moving device comprises a moving platform, wherein the moving platform is arranged in the middle of a base and is used for moving a needle holder;
the pin inserting device is arranged on one side of the middle part of the mobile platform and is used for inserting a pin into the pin base;
the pin detection device is arranged on one side of the pin device and used for detecting whether the pins are qualified or not;
and the needle seat detection device is arranged at the two ends of the moving platform and used for detecting whether the needle seat is qualified or not.
In some embodiments, the pin detection device comprises a fixing table, the fixing table is fixedly arranged on the base, the pin detection device is arranged at the lower part of the fixing table, and the pin detection device is fixedly arranged at the top of the fixing table.
In some embodiments, the pin insertion device is provided with a clamping jaw.
In some embodiments, the pin device is provided with an insertion force.
In some embodiments, the needle inserting device comprises a needle feeding device which is fixedly arranged on the base and is positioned at one side of the needle inserting device.
In some embodiments, the moving platform is fixed in the middle of the base in an i-shape, and both ends of the i-shaped moving platform can move back and forth and left and right along the middle.
In some embodiments, the robot further comprises a conveying belt, the conveying belt is fixedly arranged on the base and located on one side of the moving platform, and a mechanical arm is arranged between the moving platform and the conveying belt.
In some embodiments, an NG track is provided between the mobile platform and the conveyor belt.
In some embodiments, a protection frame is further disposed on the base, and at least one operation computer is disposed on the protection frame and electrically connected to the moving platform, the pin inserting device, the pin inserting detecting device, the pin seat detecting device, the pin feeding device, the conveying belt and the robot arm.
The technical scheme provided by the invention has the beneficial effects that: 1. by detecting the sizes and the bending conditions of the contact pins, the unqualified contact pins are directly discharged into the NG material box, so that the probability of waste generation is reduced;
2. the inclination detection is carried out on the needle base before the needle inserting, so that the needle inserting is not carried out on unqualified needle bases, and the probability of waste generation is reduced;
3. the position, the verticality and the height of each needle seat are automatically compensated, so that the precision of the contact pin is higher;
4. by setting 8 different insertion depths, the pin inserting precision is further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a top view of a novel unprotected rack of an automatic pin inserting machine of the present invention;
FIG. 2 is one of the overall structures of the protection removing frame of the novel automatic pin inserting machine of the present invention;
FIG. 3 is a second overall structure diagram of a protection-removing frame of the novel automatic pin inserting machine of the present invention;
FIG. 4 is an enlarged view of the needle feeding device of the novel automatic pin inserting machine of the present invention;
FIG. 5 is an enlarged view of the jaws of a novel automatic pin inserting machine of the present invention;
fig. 6 is an overall structure diagram of the novel automatic pin inserting machine according to the present invention.
In the figure: 1. a base; 2. a mobile platform; 3. a pin inserting device; 4. a pin detection device; 5. a needle seat detection device; 6. a fixed table; 7. a clamping jaw; 8. a needle feeding device; 9. a conveyor belt; 10. a robot arm; NG track; 12. a protective frame; 13. operating the computer; 14. an emergency stop button; 15. a support leg; 16. a needle feeding channel; 17. a guide disk.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1 to 3, an embodiment of the present invention provides a novel automatic pin inserter, including a base 1,
the needle base moving device comprises a moving platform 2, wherein the moving platform 2 is arranged in the middle of a base 1 and is used for moving a needle base;
the pin inserting device 3 is arranged on one side of the middle part of the movable platform 2 and used for inserting a pin into the pin seat;
the pin detection device 4 is arranged on one side of the pin device 3 and used for detecting whether the pin is qualified or not;
needle file detection device 5, needle file detection device 5 locates the moving platform both ends for whether qualified of detection needle file.
In this embodiment, needle file detection device 5 is vision system, and when the needle file was transported to moving platform 2 on, the needle file detection device 5 that sets up at moving platform 2 both ends can detect the position, the straightness that hangs down and the height of needle file, when the position, the straightness that hangs down and the range of height deviation that detect the needle file deviation were in predetermined scope, can feed back information to the computer, carry out automatic deviation compensation to the needle file through the procedure that the computer set for, when position, straightness that hangs down and height surpass the predetermined value, the computer control procedure judges NG needle file. When inserting needle, the position, perpendicularity and height of the needle base can be adjusted to preset values, and when an NG needle base is met, the needle inserting device 3 can not insert needle on the needle base and insert needle on the next needle base.
In the embodiment, the inserting depth of the contact pin is 1-4 mm and is freely adjusted, the inserting depth error of the contact pin is within +/-100 mu m, and the angle between the contact pin and the lining plate is 90 +/-2.5 degrees after the contact pin is completed.
In the embodiment, the pressure range of the contact pin is continuously adjustable within 10-500N, the pressure control precision is within 0.5%, the insertion depth of each pin can be set in a program, the effective contact pin of the Z axis is formed to be more than or equal to 50mm, and the repeat precision of the Z axis is within 100 mu m;
optionally, the device comprises a fixing table 6, the fixing table 6 is fixedly arranged on the base 1, the pin detection device 4 is arranged on the lower portion of the fixing table 6, and the pin device 3 is fixedly arranged on the top of the fixing table 6.
Referring to fig. 5, optionally, the pin keeper 3 is provided with a clamping jaw 7.
In this embodiment, pin detection device 4 is vision system, and when pin device 3 received the pin, pin detection device 4 carried out visual inspection to the pin on the clamping jaw 7, detected pin size and the condition of buckling etc. if the size of the pin and the condition of buckling did not conform to and set up the requirement, then the pin can be put into in the NG box by clamping jaw 7.
In the embodiment, the circle center position and the needle seat height of the needle seat are automatically detected before needle insertion, when the actual detection position is different from the set value, the track program coordinate value is automatically compensated, when the needle-free seat or the needle seat position (offset, inclination and the like) exceeds the set area, the module does not perform needle insertion, a defective product collecting conveyor belt is placed, and the detection precision is within 100 microns.
Optionally, the pin device 3 is provided with 8 insertion forces.
In the embodiment, the clamping jaw 7 is driven by air pressure, so that the power density is high, the reaction is quicker, the requirement of dust-free production is met, the force arranged in the vertical direction of the clamping jaw 7 is 10-500N, the setting can be freely adjusted, and the pressure precision deviation is controlled within 0.5%; when inserting the needle, the control program of the computer end controls the clamping jaws 7 to apply corresponding vertical insertion force in the vertical direction according to the corresponding position of the needle seat.
Referring to fig. 1 to 4, optionally, a needle feeding device 8 is included, and the needle feeding device 8 is fixedly arranged on the base 1 and located on one side of the needle inserting device 3.
In this embodiment, be equipped with on needle feeding device 8 and send needle passageway 16 and guide disc 17, when needs send the needle, the contact pin is sent into needle feeding passageway 16, needle feeding passageway 16 carries out preliminary screening to the contact pin, the contact pin that size and crooked condition are unsatisfactory can be followed mouth of pipe department and is arranged into in the NG box automatically, the qualified contact pin of preliminary detection is sent to mouth of pipe department and centre gripping along with needle feeding passageway 16, the contact pin of mouth of pipe department is held to direction clamping jaw 7 on the guide disc 17, rotatory 90 immediately, carry out the centre gripping by clamping jaw 7 on needle feeding device 3 again, accomplish and send the needle.
Optionally, the moving platform 2 is fixedly arranged in the middle of the base 1 in an i-shaped manner, and two ends of the moving platform 2 can move left and right along the middle in a front-back manner.
In this embodiment, after the needle file was placed at 2I-shaped both ends of moving platform, the visual system that sets up in the needle file detection device 5 at 2I-shaped both ends of moving platform collected the position, the straightness that hangs down and height information of needle file, and when the contact pin, moving platform 2's horizontal rail can drive the needle file along moving platform 2's vertical rail around the removal, simultaneously, through the distance that 3 control clamping jaw 7 reciprocated along the vertical direction of control contact pin device, thereby the realization carries out automatic deviation compensation to the needle file.
In the embodiment, the I-shaped moving platform 2 has the X-Y-Z axis repetition precision of +/-0.03 mm.
Optionally, the robot further comprises a conveying belt 9, the conveying belt 9 is fixedly arranged on the base 1 and located on one side of the moving platform 2, and a mechanical arm 10 is arranged between the moving platform 2 and the conveying belt 9.
In this embodiment, when the needle holder is transported to the conveyor belt 9, the needle holder is clamped by the robot arm 10 from the conveyor belt 9 to the transverse rail of the moving platform 2.
Optionally, an NG track 11 is provided between the moving platform 2 and the conveyor belt 9.
In this embodiment, when a defective pin holder (a pin holder without a pin or with a tilted pin) is detected, the robot arm 10 places the defective pin holder on the NG track 11.
Referring to fig. 6, optionally, a protective frame 12 is further disposed on the base 1, at least one operation computer 13 is disposed on the protective frame 12, and the operation computer 13 is electrically connected to the moving platform 2, the pin inserting device 3, the pin inserting detecting device 4, the pin seat detecting device 5, the pin feeding device 8, the conveying belt 9, and the robot 10.
In this embodiment, the operation computer 13 is provided with a pressure and displacement recording program, and when the Pin inserting device 3 inserts the pins, the operation computer 13 can record the pressure and the insertion depth of each Pin in real time and record the pressure and the insertion depth in the Log file. The pressure-displacement curve graph can be displayed on the operation computer 13, meanwhile, the upper limit and the lower limit of the pressure-displacement curve can be set on the operation interface, when the actual value exceeds the set upper limit and lower limit, the equipment is shut down, and an acousto-optic alarm is sent out.
In this embodiment, the pin insertion mode may be divided into a displacement control mode and a force control mode, where the displacement control mode is within a range of a set limit of the insertion force, and the device starts to calculate the insertion depth by using the position as an actual starting point of the pin insertion operation according to the mode, that is, after the device detects that the insertion force is greater than a certain set value.
Optionally, at least one emergency stop button 14 is arranged on the side surface of the base 1, and a support leg 15 is arranged below the base 1.
In this embodiment, when an emergency situation occurs in the operation or an emergency stop is required, the whole program can be emergently stopped by the emergency stop button 14.
The mode of operation of the invention is as follows:
s01, needle feeding:
1. the needles are placed into the needle feeding device 8, the inserting needles enter the needle feeding channel 16, and the needles move from the feeding end to the discharging end along the horizontal direction;
2. in the process of conveying the contact pins, automatically detecting the size and the bending condition of the contact pins, and if the size and the bending condition of the contact pins do not meet the set requirements, automatically discharging the contact pins into an NG material box;
3. the guide clamping jaw 7 on the guide disc 17 clamps the inserting needle at the pipe opening and rotates 90 degrees;
4. and clamping by the clamping jaws 7 on the needle inserting device 3 to finish needle feeding.
S02, conveying the plug pin seat:
1. the needle seat on the conveyer belt 9 is put on the I-shaped moving platform 2 by a mechanical arm 10;
2. the needle seat detection device 5 arranged on the mobile platform 2 can automatically identify the position, the perpendicularity and the height of the needle seat, judge the position, the perpendicularity and the height of the needle seat, automatically compensate deviation of the position of each needle seat, judge that no needle is inserted when the position and the perpendicularity exceed set values, and record the position and the perpendicularity into the operation computer 13;
3. when the needle seat detection device 5 detects that the needle seat without inserting needle or the position (offset, inclination and the like) of the needle seat exceeds the set area, the needle seat is not inserted, and after the needle inserting procedure is finished, the mechanical arm 10 puts the needle seat without inserting needle on the NG track 11;
4. after the needle inserting is finished, the mechanical arm 10 puts the needle base which is detected to be qualified on the conveyer belt 9, and the next step is carried out.
S03 pin insertion:
1. the needle base which judges that the needle is not inserted is not operated;
2. the clamping jaws 7 on the needle inserting device 3 clamp the needles, the position, the verticality and the height of each needle base are automatically subjected to deviation compensation according to information in an operation computer 13, and each needle base is adjusted in the X and Y directions through the mobile platform 2;
3. the pressure range of the contact pins is continuously adjustable within 10-500N, the pressure control precision is within 0.5%, the insertion depth of each contact pin can be set in a program, the effective contact pin stroke of the Z axis is more than or equal to 50mm, and the repeated precision of the Z axis is within 100 mu m;
4. inserting pins;
5. when a Pin is inserted, a pressure detection system on a clamping jaw 7 on the Pin device 3 records the pressure and the insertion depth of each Pin in a Log file;
6. the camera on the pin detection device 4 shoots the sizes of the pin before and after insertion, and the insertion depth is recorded to form a displacement curve chart;
7. the pressure-displacement curve chart is automatically formed by operating the program set by the computer 13, the upper and lower limits of the pressure-displacement curve can be set on the operation interface, and when the actual value exceeds the upper and lower limits of the set value, the equipment is stopped.
The invention has the beneficial effects that:
1. by detecting the sizes and the bending conditions of the contact pins, the unqualified contact pins are directly discharged into the NG material box, so that the probability of waste generation is reduced;
2. the inclination detection is carried out on the needle base before the needle inserting, so that the needle inserting is not carried out on unqualified needle bases, and the probability of waste generation is reduced;
3. the position, the verticality and the height of each needle seat are automatically compensated, so that the precision of the contact pin is higher;
4. by setting 8 different insertion depths, the pin inserting precision is further improved.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly and encompass, for example, both fixed and removable connections as well as integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is merely illustrative of particular embodiments of the invention that enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A novel automatic pin inserting machine is characterized by comprising a base (1),
the needle base moving device comprises a moving platform (2), wherein the moving platform (2) is arranged in the middle of a base (1) and is used for moving a needle base;
the pin inserting device (3) is arranged on one side of the middle part of the moving platform (2) and used for inserting a pin into the pin base;
the pin detection device (4) is arranged on one side of the pin device (3) and is used for detecting whether the pin is qualified or not;
needle file detection device (5), needle file detection device (5) are located the moving platform both ends for whether detect the needle file qualified.
2. A novel automatic pin inserting machine according to claim 1, characterized by comprising a fixing table (6), wherein the fixing table (6) is fixedly arranged on the base (1), the pin detecting device (4) is arranged at the lower part of the fixing table (6), and the pin inserting device (3) is fixedly arranged at the top of the fixing table (6).
3. A new type of automatic pin machine as claimed in claim 1, characterized by the fact that the said pin device (3) is provided with jaws (7).
4. A new type of automatic pin machine as claimed in claim 1, characterized by the fact that said pin device (3) is provided with 8 insertion forces.
5. A novel automatic pin inserter according to claim 1, which comprises a pin feeding device (8), wherein the pin feeding device (8) is fixedly arranged on the base (1) and is positioned at one side of the pin inserter (3), and the pin feeding device (8) further comprises a pin feeding channel (16) and a guide disc (17).
6. A novel automatic pin inserting machine as claimed in claim 1, characterized in that said moving platform (2) is fixed in the middle of said base (1) in an i-shape, and both ends can move left and right along the middle.
7. A novel automatic pin inserting machine as claimed in claim 6, characterized by further comprising a conveying belt (9), wherein the conveying belt (9) is fixedly arranged on the base (1) and located on one side of the moving platform (2), and a mechanical arm (10) is arranged between the moving platform (2) and the conveying belt (9).
8. A new automatic pin machine according to claim 1, characterized in that between the moving platform (2) and the conveyor belt (9) there is an NG track (11).
9. A novel automatic pin inserting machine according to claim 1, characterized in that a protection frame (12) is further arranged on the base (1), at least one operating computer (13) is arranged on the protection frame (12), and the operating computer (13) is electrically connected with the moving platform (2), the pin inserting device (3), the pin inserting detection device (4), the pin base detection device (5), the pin feeding device (8), the conveying belt (9) and the mechanical arm (10).
10. A novel automatic pin inserting machine as claimed in claim 9, characterized in that at least one emergency stop button (14) is provided on the side of the base (1), and a foot (15) is provided under the base (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210900610.1A CN115173184A (en) | 2022-07-28 | 2022-07-28 | Novel automatic pin inserting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210900610.1A CN115173184A (en) | 2022-07-28 | 2022-07-28 | Novel automatic pin inserting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115173184A true CN115173184A (en) | 2022-10-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210900610.1A Pending CN115173184A (en) | 2022-07-28 | 2022-07-28 | Novel automatic pin inserting machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN115173184A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116111423A (en) * | 2023-03-15 | 2023-05-12 | 东莞市群桦精密五金有限公司 | Pin processing equipment |
| CN116207034A (en) * | 2023-05-04 | 2023-06-02 | 烟台台芯电子科技有限公司 | Tooling fixture and IGBT module pin inserting method applying tooling fixture |
| CN116922429A (en) * | 2023-09-15 | 2023-10-24 | 上海林众电子科技有限公司 | IGBT module contact pin manipulator and contact pin equipment |
-
2022
- 2022-07-28 CN CN202210900610.1A patent/CN115173184A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116111423A (en) * | 2023-03-15 | 2023-05-12 | 东莞市群桦精密五金有限公司 | Pin processing equipment |
| CN116207034A (en) * | 2023-05-04 | 2023-06-02 | 烟台台芯电子科技有限公司 | Tooling fixture and IGBT module pin inserting method applying tooling fixture |
| CN116922429A (en) * | 2023-09-15 | 2023-10-24 | 上海林众电子科技有限公司 | IGBT module contact pin manipulator and contact pin equipment |
| CN116922429B (en) * | 2023-09-15 | 2023-12-05 | 上海林众电子科技有限公司 | IGBT module contact pin manipulator and contact pin equipment |
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