CN208453934U - Handling device - Google Patents
Handling device Download PDFInfo
- Publication number
- CN208453934U CN208453934U CN201820141548.1U CN201820141548U CN208453934U CN 208453934 U CN208453934 U CN 208453934U CN 201820141548 U CN201820141548 U CN 201820141548U CN 208453934 U CN208453934 U CN 208453934U
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- wheel
- swing arm
- lifting
- attachment base
- hole
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Abstract
The utility model discloses a kind of handling device, and the top of front and back transmission gear is meshed with rack gear；Driven wheel rotation is connected to another side for sliding back and forth frame, first fifth wheel and the second fifth wheel are fixedly installed in the left and right end for the frame that horizontally slips respectively, one end of conveyer belt is fixed on the first fifth wheel, and the other end of conveyer belt successively winds driving wheel, driven wheel and is fixedly connected on the second fifth wheel；The side for being fixedly installed in mounting plate moved towards before and after telescopic cylinder, claw is connected to the output shaft of telescopic cylinder, the both ends of two connection cross bars are separately connected the top of mounting plate, one end of lifting and driving band and lifting driving wheel are affixed, the top edge of the other end winding lifting driven wheel of lifting and driving band and down extension and lower swing arm attachment base Joint, connect the bottom connection of cross bar and lower swing arm attachment base.The handling device is compact-sized, can improve production efficiency automatically by pallet carrying to designated position.
Description
Technical field
The utility model relates to machinery field more particularly to a kind of handling devices.
Background technique
After existing pallet process equipment makes pallet, need manpower that pallet finished product is carried to designated position, significantly
Affect production efficiency.
Summary of the invention
The purpose of this utility model is to provide it is a kind of can automatically by the handling device of pallet carrying to designated position, thus
Improve production efficiency.
To achieve the goals above, the technical solution of the utility model are as follows: provide a kind of handling device, including two mutually equal
Row and place vertically bracket, slide back and forth component, horizontally slip component and manipulator mechanism, the bracket include two vertical bars
And I-shaped connection section bar, the bottom of the roof of the inside of the connection section bar are installed with rack gear；It is described to slide back and forth group
Part includes the rectangular front and back driving support for sliding back and forth frame, offering front and back drive shaft hole, front and back speed reducer, front and back driving
Motor, front and back transmission shaft, two front and back drive axle seats and two front and back transmission gears equipped with front and back transmission axis hole, the front and back are sliding
The bottom of two lateral wall of front and back of dynamic frame is vertically convexly equipped with to horizontally slip outward supports sole piece, the front and back driving support installation
In the centre at the top of the rear wall for sliding back and forth frame, the front and back driving motor is installed on the front and back driving support
Top, and the output shaft of the front and back driving motor passes through the defeated of the front and back drive shaft hole and the front and back speed reducer down
Entering end to connect, the middle part of the front and back transmission shaft connects with the output end of the front and back speed reducer, and the front and back transmission shaft
Left and right ends rotate through the front and back transmission axis hole and, the top of the front and back transmission gear affixed with the front and back transmission gear
Portion is meshed with the rack gear, and rotary setting has and the connection section bar left and right sides wall for sliding back and forth frame respectively
Inner sidewall rolls the front and back side wheel to connect and rolls the front and back bottom idler wheel to connect with the bottom wall of the inside of the connection section bar；
The component that horizontally slips includes horizontally slip box, the motor that horizontally slips, driving wheel, driven wheel, the first fifth wheel, the second company
Cock wheel and conveyer belt, the box that horizontally slips are placed in the lower section for sliding back and forth frame, the box that horizontally slips
Be respectively equipped at the top of two wall of front and back with it is described horizontally slip support sole piece upper surface roll the left and right bottom idler wheel that connects and
The left and right side wheel to connect, the side setting for sliding back and forth frame are rolled with the front and back outer wall for sliding back and forth frame
Horizontally slip motor mounting plate, and the motor installing hole that horizontally slips, the left side are offered on the motor mounting plate that horizontally slips
Right sliding motor horizontally slips on motor mounting plate described in being installed on, and the output shaft of the motor that horizontally slips passes through the left side
Right sliding motor mounting hole connects with the driving wheel, and the driven wheel rotation is connected to the other side for sliding back and forth frame
End, first fifth wheel and second fifth wheel are fixedly installed in the left and right end of the box that horizontally slips respectively, described
One end of conveyer belt is fixed on first fifth wheel, and the other end of the conveyer belt successively winds the driving wheel, described
Driven wheel is simultaneously fixedly connected on second fifth wheel；The manipulator mechanism includes manipulator module and manipulator lifting
Mould group, the manipulator module includes two grippers and two connection cross bars, the gripper include the mounting plate that front and back is moved towards
And the centrosymmetric cylinder claw assembly for being connected to the mounting plate two sides, the cylinder claw assembly include claw and stretch
Cylinder, the side for being fixedly installed in the mounting plate that the telescopic cylinder front and back is moved towards, the claw is connected to described flexible
The both ends of the output shaft of cylinder, the two connection cross bars are separately connected the top of the mounting plate, and the manipulator goes up and down mould group
Including upper swing arm, lower swing arm, upper swing arm attachment base, lower swing arm attachment base, intermediate attachment base, upper transfer gear, lower transmissioning gear,
Lifting motor, lifting motor cabinet, lifting driving wheel, lifting driven wheel and lifting conveyer belt, the upper swing arm attachment base are fixed
In the bottom of the box that horizontally slips, the lifting motor cabinet is installed on the antetheca of the upper swing arm attachment base, the upper pendulum
The antetheca of arm is provided with driven wheel mounting hole, and the lifting motor cabinet is provided with the active axis hole and driven shaft of left and right trend
Hole, the lifting motor are installed on the lifting motor cabinet, and the output shaft of the lifting motor passes through the active axis hole
Connect with the lifting driving wheel, the lifting driven wheel rotation is connected in the driven-shaft hole, and the lifting driven wheel
Rear end put in the driven wheel mounting hole, the front end rotation of the upper swing arm is connected on the upper swing arm attachment base, described
The rear end of upper swing arm connects with upper transfer gear rotation, and the upper transfer gear rotation is connected to the intermediate attachment base
Top, the lower transmissioning gear rotation are connected to the lower part of the intermediate attachment base and rotate phase with the rear end of the lower swing arm
It connects, the upper transfer gear is intermeshed with the lower transmissioning gear, and the front end rotation of the lower swing arm is connected to the bottom
On arm attachment base, one end of the lifting conveyer belt and the lifting driving wheel are affixed, and the other end of the lifting conveyer belt twines
Around it is described lifting driven wheel top edge and down extend with the lower swing arm attachment base Joint, the connection cross bar with it is described
The bottom connection of lower swing arm attachment base.
If the manipulator mechanism further includes bolt stem, the rear and front end of the bottom wall of the lower swing arm attachment base opens up respectively
There are at least two bolts hole, connecting screw hole is equipped at bolt hole described in the connection cross bar face, the bolt passes through the bolt
Hole is screwed with the connecting screw hole to connect, and the diameter of the nut of the bolt is greater than the diameter of the bolt hole, the bolt
Length is greater than the depth of the bolt hole, and the lower part of the side wall of the lower swing arm attachment base is provided with position sensor, institute's rheme
The bottom for setting inductor is equipped with switch button, and the lower end of the switch button elasticity extends under the lower swing arm attachment base
Side.
The bottom of the mounting plate is equipped with the sliding rail of front and back trend, and the upper end of the claw is equipped with sliding block, before the sliding block
After be slidably connected on the sliding rail.
The manipulator lifting mould group further includes two first balancing poles and two second balancing poles, two first balancing poles
One end be connected to the intermediate attachment base top two insides, the other end of two first balancing poles is separately connected
In two insides on the top of the lower swing arm attachment base, one end of two second balancing poles is connected to the intermediate connection
Two outsides of the lower part of seat, the other end of two second balancing poles are connected to the two of the lower part of the upper swing arm attachment base
Outside.
Compared with prior art, the utility model handling device is compact-sized, can automatically by pallet carrying to designated position,
Substantially increase production efficiency.
Through the following description and in conjunction with the attached drawings, the utility model will become more fully apparent, these attached drawings are for explaining this
The embodiment of utility model.
Detailed description of the invention
Fig. 1 is the structure chart of first angle of the utility model handling device.
Fig. 2 is the structure chart of second angle of the utility model handling device.
Fig. 3 is the structure chart of the utility model handling device third angle.
Fig. 4 is the structure chart of the 4th angle of the utility model handling device.
Fig. 5 is the structure chart of the 5th angle of the utility model handling device.
Specific embodiment
Referring to figs. 1 to Fig. 5, the utility model handling device 100 includes the two parallel to each other and brackets 10, preceding placed vertically
Afterwards slide assemblies 20, horizontally slip component 30 and manipulator mechanism 40.
The bracket 10 includes two vertical bars 11 and I-shaped connection section bar 12.The top of the inside of the connection section bar 12
The bottom of wall is installed with rack gear 13.
It is described slide back and forth component 20 include it is rectangular slide back and forth frame 21, offer front and back drive shaft hole 221 before
Support 22, front and back speed reducer 23, front and back driving motor 24, front and back transmission shaft 25, two is driven to be equipped with front and back transmission axis hole 261 afterwards
Front and back drive axle seat 26 and two front and back transmission gears 27.The bottom of two lateral wall of front and back for sliding back and forth frame 21 is vertical
It is convexly equipped with to horizontally slip outward and supports sole piece 211.Front and back driving support 22 is installed on described after sliding back and forth frame 21
The centre at the top of side wall.The front and back driving motor 24 is installed on the top of the front and back driving support 22, and the front and back
The output shaft of driving motor 24 passes through the front and back drive shaft hole 221 down and connects with the input terminal of the front and back speed reducer 23.
The middle part of the front and back transmission shaft 25 connects with the output end of the front and back speed reducer 23, and the left and right of the front and back transmission shaft 25
Both ends rotate through respectively the front and back transmission axis hole 261 and with the affixed front and back transmission gear 27.The front and back driving cog
The top of wheel 27 is meshed with the rack gear 13.Rotary setting has and institute the left and right sides wall for sliding back and forth frame 21 respectively
The inner sidewall for stating connection section bar 12 rolls the front and back side wheel 212 to connect and rolls with the bottom wall of the inside of the connection section bar 21
The dynamic front and back bottom idler wheel 213 to connect.
The component 30 that horizontally slips includes horizontally slip box 31, the motor 32 that horizontally slips, driving wheel 33, driven wheel
34, the first fifth wheel 35, the second fifth wheel 36 and conveyer belt 37.The box 31 that horizontally slips slides back and forth frame described in being placed in
The lower section of frame 21.It is respectively equipped at the top of two wall of front and back of the box 31 that horizontally slips and supports sole piece with described horizontally slip
211 upper surface rolls the left and right bottom idler wheel 311 to connect and connects with the front and back outer wall rolling for sliding back and forth frame 21
Left and right side wheel 312.The side for sliding back and forth frame 21 is provided with the motor mounting plate 214 that horizontally slips, the left side
214 offer the motor installing hole (not shown) that horizontally slips on right sliding motor mounting plate.The installation of motor 32 that horizontally slips
It horizontally slips on motor mounting plate 214 in described, and the output shaft of the motor 32 that horizontally slips passes through the electricity that horizontally slips
Machine mounting hole connects with the driving wheel 33.The driven wheel 34, which rotates, is connected to the other side for sliding back and forth frame 21
End.First fifth wheel 35 and second fifth wheel 36 are fixedly installed in the left and right of the box 31 that horizontally slips respectively
End, one end of the conveyer belt 37 are fixed on first fifth wheel 35, and the other end of the conveyer belt 37 successively winds institute
It states driving wheel 33, the driven wheel 34 and is fixedly connected on second fifth wheel 36.
The manipulator mechanism 40 includes that manipulator module 41 and manipulator go up and down mould group 42.The manipulator module 41
Including two grippers 411 and two connection cross bars 412.The gripper 411 include front and back trend mounting plate 4111 and in
The heart is symmetrically connected to the cylinder claw assembly 4112 of 4111 two sides of mounting plate.The cylinder claw assembly 4112 includes claw
41121 and telescopic cylinder 41122.That moves towards before and after the telescopic cylinder 41122 is fixedly installed in the mounting plate 4111
Side, the claw 41121 are connected to the output shaft of the telescopic cylinder 41122, the both ends difference of the two connection cross bars 412
Connect the top of the mounting plate 4111.The manipulator lifting mould group 42 includes upper swing arm 421, lower swing arm 422, upper swing arm company
Joint chair 423, lower swing arm attachment base 424, intermediate attachment base 425, upper transfer gear 426, lower transmissioning gear 427, lifting motor
428, lifting motor cabinet 429, lifting driving wheel 4291, lifting driven wheel 4292 and lifting conveyer belt 4230.The upper swing arm
Attachment base 423 is fixed on the bottom of the box 31 that horizontally slips.The lifting motor cabinet 429 is installed on the upper swing arm connection
The antetheca of seat 423.The antetheca of the upper swing arm 421 is provided with driven wheel mounting hole (not shown).The lifting motor cabinet 429 is set
It is equipped with the active axis hole 4293 and driven-shaft hole 4294 of left and right trend.The lifting motor 429 is installed on the lifting motor
On seat 429, and the output shaft of the lifting motor 428 passes through the active axis hole 4293 and 4291 phase of lifting driving wheel
It connects.The rotation of lifting driven wheel 4292 is connected in the driven-shaft hole 4294, and the rear end of the lifting driven wheel 4292
Put in the driven wheel mounting hole.The front end rotation of the upper swing arm 421 is connected on the upper swing arm attachment base 424, described
The rear end of upper swing arm 421 connects with the upper transfer gear 426 rotation, and the rotation of upper transfer gear 426 is connected in described
Between attachment base 425 top, the lower transmissioning gear 427 rotate the lower part for being connected to the intermediate attachment base 425 and with it is described
The rear end rotation of lower swing arm 421 connects.The upper transfer gear 426 is intermeshed with the lower transmissioning gear 427, the bottom
The front end rotation of arm 422 is connected on the lower swing arm attachment base 424.One end of the lifting conveyer belt 4230 and the lifting
Driving wheel 4291 is affixed.The other end of the lifting conveyer belt 4230 winds the top edge and down of the lifting driven wheel 4292
Extend and 424 Joint of lower swing arm attachment base.The bottom phase of the connection cross bar 412 and the lower swing arm attachment base 424
It connects.
Preferably, if the manipulator mechanism 40 further includes bolt stem (not shown).The bottom of the lower swing arm attachment base 424
The rear and front end of wall offers at least two bolts hole 4241 respectively, sets at bolt hole 4241 described in 412 face of connection cross bar
There is connecting screw hole (not shown), the bolt, which passes through the bolt hole 4241 and screws with the connecting screw hole, to connect.The bolt
The diameter of nut be greater than the diameter of the bolt hole 4241, the length of the bolt is greater than the depth of the bolt hole 4241.
The lower part of the side wall of the lower swing arm attachment base 424 is provided with position sensor 4242, the bottom of the position sensor 4242
Equipped with switch button 42421, the lower end of the switch button 42421 extends to the lower section of the lower swing arm attachment base 424.
Preferably, the bottom of the mounting plate 4111 are equipped with the sliding rail 41111 of front and back trend, the claw 41121 it is upper
End is equipped with sliding block 41123, and the sliding block 41123, which slides back and forth, to be connected on the sliding rail 41111.
Preferably, the manipulator lifting mould group 42 further includes two first balancing poles 4295 and two second balancing poles
4296, one end of two first balancing poles 4295 is connected to two insides on the top of the intermediate attachment base 425, two institutes
State the first balancing pole 4295 the other end be connected to the lower swing arm attachment base top two inside, two described second is flat
One end of weighing apparatus bar 4296 is connected to two outsides of the lower part of the intermediate attachment base 425, two second balancing poles 4296
The other end be connected to the upper swing arm attachment base lower part two outside.
When the utility model handling device 100 works, slides back and forth component 20 and the component 30 that horizontally slips is mobile thus will
Manipulator mechanism 40 is moved to specified horizontal position, and then lifting motor 428 starts and lifting conveyer belt 4230 is driven to transfer,
Lower swing arm 422 and lower swing arm attachment base move down under the effect of gravity, relative rotation between upper swing arm 421 and lower swing arm 422
Movement, when four claws 41121 of two grippers 411 are moved to the outer edge of pallet, telescopic cylinder 41122 starts, and makes
Claw 41121 bounces back and catches pallet, and lifting motor 428 starts and lifting conveyer belt 4230 is driven up to recycle later, after
And slide back and forth component 20 and the component 30 that horizontally slips is moved to specified horizontal position, it will be held in the palm finally by manipulator mechanism 40
Disk 200 is put down, and is then repeated the above steps.
The utility model handling device is compact-sized, can substantially increase production automatically by pallet carrying to designated position
Efficiency.
Above combine most preferred embodiment the utility model is described, but the utility model be not limited to it is disclosed above
Embodiment, and various modifications and equivalent combinations according to the essence of this embodiment should be covered.
Claims (4)
1. a kind of handling device characterized by comprising
The two parallel to each other and brackets placed vertically, the bracket includes two vertical bars and I-shaped connection section bar, the company
The bottom of the roof of the inside of direct type material is installed with rack gear；
Slide back and forth component, the component that slides back and forth includes rectangular sliding back and forth frame, offering front and back drive shaft hole
Front and back drives support, front and back speed reducer, front and back driving motor, front and back transmission shaft, two front and backs for being equipped with front and back transmission axis hole to be driven
Axle bed and two front and back transmission gears, the bottom of two lateral wall of front and back for sliding back and forth frame are vertically convexly equipped with left and right outward
Sole piece is slidably supported, the front and back driving support is installed on the centre at the top of the rear wall for sliding back and forth frame, described
Front and back driving motor is installed on the top of the front and back driving support, and the output shaft of the front and back driving motor passes through institute down
It states front and back drive shaft hole to connect with the input terminal of the front and back speed reducer, the middle part and the front and back of the front and back transmission shaft are slowed down
The output end of machine connects, and the left and right ends of the front and back transmission shaft rotate through the front and back transmission axis hole and with the front and back
Transmission gear is affixed, and the top of the front and back transmission gear is meshed with the rack gear, the left and right two for sliding back and forth frame
Side wall respectively rotary setting have with the inner sidewall of the connection section bar roll the front and back side wheel that connects and with the connecting-type
The bottom wall of the inside of material rolls the front and back bottom idler wheel to connect；
Horizontally slip component, it is described horizontally slip component include horizontally slip box, the motor that horizontally slips, driving wheel, driven wheel,
First fifth wheel, the second fifth wheel and conveyer belt, the box that horizontally slips are placed in the lower section for sliding back and forth frame, institute
State to be respectively equipped at the top of two wall of front and back for the box that horizontally slips supports the upper surface rolling of sole piece to connect with described horizontally slip
Left and right bottom idler wheel and the front and back outer wall that slides back and forth frame with described roll the left and right side wheel to connect, it is described to slide back and forth
One side of frame is provided with the motor mounting plate that horizontally slips, and offers the electricity that horizontally slips on the motor mounting plate that horizontally slips
Machine mounting hole, the motor that horizontally slips be installed on it is described horizontally slip on motor mounting plate, and the motor that horizontally slips
Output shaft passes through the motor installing hole that horizontally slips and connects with the driving wheel, and the driven wheel rotation is connected to the front and back
Another side of sliding frame, first fifth wheel and second fifth wheel are fixedly installed in the side of horizontally slipping respectively
The left and right end of frame, one end of the conveyer belt are fixed on first fifth wheel, and the other end of the conveyer belt is successively wound
The driving wheel, the driven wheel are simultaneously fixedly connected on second fifth wheel；
Manipulator mechanism, the manipulator mechanism include manipulator module and manipulator lifting mould group, the manipulator module
Including two grippers and two connection cross bars, the gripper includes the mounting plate and centrosymmetric be connected to that front and back is moved towards
The cylinder claw assembly of the mounting plate two sides, the cylinder claw assembly include claw and telescopic cylinder, before the telescopic cylinder
That moves towards afterwards is fixedly installed in the side of the mounting plate, and the claw is connected to the output shaft of the telescopic cylinder, described in two
The both ends of connection cross bar are separately connected the top of the mounting plate, the manipulator lifting mould group include upper swing arm, lower swing arm, on
Swing arm attachment base, lower swing arm attachment base, intermediate attachment base, upper transfer gear, lower transmissioning gear, lifting motor, lifting motor cabinet,
Driving wheel, lifting driven wheel and lifting conveyer belt are gone up and down, the upper swing arm attachment base is fixed on the box that horizontally slips
Bottom, the lifting motor cabinet are installed on the antetheca of the upper swing arm attachment base, and the antetheca of the upper swing arm is provided with driven wheel
Mounting hole, the lifting motor cabinet are provided with the active axis hole and driven-shaft hole of left and right trend, and the lifting motor is installed on
On the lifting motor cabinet, and the output shaft of the lifting motor passes through the active axis hole and connects with the lifting driving wheel,
The lifting driven wheel rotation is connected in the driven-shaft hole, and the rear end of the lifting driven wheel puts in the driven wheel peace
Hole is filled, the front end rotation of the upper swing arm is connected on the upper swing arm attachment base, the rear end of the upper swing arm and the upload
Moving gear rotation connects, and the upper transfer gear rotation is connected to the top of the intermediate attachment base, the lower transmissioning gear rotation
Turn be connected to the intermediate attachment base lower part and with the rear end of the lower swing arm rotation connect, the upper transfer gear with it is described
Lower transmissioning gear intermeshes, and the front end rotation of the lower swing arm is connected on the lower swing arm attachment base, the lifting transmission
One end of band and the lifting driving wheel are affixed, and the other end of the lifting conveyer belt winds the top edge of the lifting driven wheel
And extend down and the lower swing arm attachment base Joint, the bottom connection of the connection cross bar and the lower swing arm attachment base.
2. handling device as described in claim 1, it is characterised in that: described if the manipulator mechanism further includes bolt stem
The rear and front end of the bottom wall of lower swing arm attachment base offers at least two bolts hole, bolt hole described in the connection cross bar face respectively
Place is equipped with connecting screw hole, and the bolt, which passes through the bolt hole and screws with the connecting screw hole, to connect, the nut of the bolt
Diameter is greater than the diameter of the bolt hole, and the length of the bolt is greater than the depth of the bolt hole, the lower swing arm attachment base
The lower part of side wall be provided with position sensor, the bottom of the position sensor is equipped with switch button, the switch button bullet
The lower end of property extends to the lower section of the lower swing arm attachment base.
3. handling device as described in claim 1, it is characterised in that: the bottom of the mounting plate is equipped with the cunning of front and back trend
The upper end of rail, the claw is equipped with sliding block, and the sliding block, which slides back and forth, to be connected on the sliding rail.
4. handling device as described in claim 1, it is characterised in that: the manipulator lifting mould group further includes two first balances
Bar and two second balancing poles, one end of two first balancing poles are connected in the two of the top of the intermediate attachment base
Side, the other end of two first balancing poles are connected to two insides on the top of the lower swing arm attachment base, and two described the
One end of two balancing poles is connected to two outsides of the lower part of the intermediate attachment base, the other end of two second balancing poles
It is connected to two outsides of the lower part of the upper swing arm attachment base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820141548.1U CN208453934U (en) | 2018-01-25 | 2018-01-25 | Handling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820141548.1U CN208453934U (en) | 2018-01-25 | 2018-01-25 | Handling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208453934U true CN208453934U (en) | 2019-02-01 |
Family
ID=65141096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820141548.1U Active CN208453934U (en) | 2018-01-25 | 2018-01-25 | Handling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208453934U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111532774A (en) * | 2020-05-28 | 2020-08-14 | 南京大树智能科技股份有限公司 | Bobbin paper grabbing mechanism of intelligent bobbin paper replacing and splicing system |
-
2018
- 2018-01-25 CN CN201820141548.1U patent/CN208453934U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111532774A (en) * | 2020-05-28 | 2020-08-14 | 南京大树智能科技股份有限公司 | Bobbin paper grabbing mechanism of intelligent bobbin paper replacing and splicing system |
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