CN208719289U - Double speed increasing mechanism for manipulator lifting - Google Patents
Double speed increasing mechanism for manipulator lifting Download PDFInfo
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- CN208719289U CN208719289U CN201821270899.9U CN201821270899U CN208719289U CN 208719289 U CN208719289 U CN 208719289U CN 201821270899 U CN201821270899 U CN 201821270899U CN 208719289 U CN208719289 U CN 208719289U
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- vertical movement
- movement frame
- synchronous belt
- servo motor
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Abstract
The utility model discloses a kind of double speed increasing mechanisms for manipulator lifting, including the Horizontal Motion Carriage being mounted on crossbeam that can be moved, the down fixing rack being mounted on Horizontal Motion Carriage, the vertical movement frame B that can be removably mounted within the vertical movement frame A on down fixing rack and can be mounted on up or down on vertical movement frame A；Servo motor is fixed on the rack gear on vertical movement frame A by driving, and vertical movement frame A is driven to move above and below, and synchronous pulley drives synchronous pulley other side synchronous belt to move above and below with rotating while vertical movement frame A is moved above and below around wheel shaft；Synchronous belt moves drive vertical movement frame B above and below and moves above and below；That is vertical movement frame A drives vertical movement frame B to make constant speed under servo motor driving, above and below and moves above and below while movement, their speed are identical with stroke.The utility model shortens manipulator lifting time, meets the beat of line production, while reducing equipment cost.
Description
Technical field
The utility model relates to a kind of speed increasing mechanism, specifically a kind of double speed increasing mechanism for manipulator lifting belongs to
In manipulator speed increasing mechanism technical field.
Background technique
It is more and more with domestic manufacturing industry salary and conditions and the increase of Welfare cost and the aggravation of market competition
Household appliances enterprise face the difficult predicament of recruitment.Meanwhile it is also obvious that personnel, which brings the loss of enterprise,.For this purpose, close
Nian Lai, domestic many well-known household appliances enterprises coincidentally will while carrying out lean production, inside is taped the latent power, deepening management
Sight invests few peopleization of production technology equipment, automation.The production automation of country's household appliances manufacturing at present, few peopleization process
It has been switched on.China's household appliance industry has set about taking action in terms of improving production management and equipment automation two, this is also in recent years
Come Chinese household appliances enterprise and develops the hot spot to merit attention.
Inner container of icebox punching special machine is the production indispensable equipment of refrigerator, its precision and working efficiency directly influences
The efficiency and quality of refrigerator production.Most enterprise generally uses following two method punching at present:
(1) it is punched out with easy pneumatic punching special machine；(2) enterprising in dedicated hydraulic press with large-scale punching die
Row punching.Both hole-punching methods require manually to pick and place material, need revolution trolley, form liner and punching it is good liner it is equal
Need to consider biggish inventory lot.How to reduce manually, workshop zero stock production becomes problem in the urgent need to address.
" object appliance industry intelligence chemical plant Full-automatic flexible punching equipment " is had developed thus.The product is transmission system
System picks and places and expects that manipulator, punching apparatus etc. are incorporated on a platform, carries out logic control by PLC, realizes product with before
The direct line production of process afterwards, it is no longer necessary to which artificial and product inventory improves production efficiency, reduces product cost.
Due to be necessarily less than the productive temp of preceding working procedure with preceding working procedure line, the productive temp of this product.At present
Preceding working procedure productive temp >=35 second, thus the productive temp of this product it is necessary≤30 seconds.It is each due to being that manipulator picks and places material
A circulation include: manipulator from feeding station crawl tablet → manipulator walking to punching station → manipulator blowing → punching →
Manipulator crawl tablet → manipulator runs to discharge station → manipulator blowing → manipulator and runs to feeding station.From each
Circulation action can be seen that improve the productive temp of this product, there is very big difficulty, because normal circulating time is 6
~10 seconds, each travel time of manipulator 3~5 seconds, each lifting time >=6 second of manipulator, a circulation most fast time was 39
Second.Therefore productive temp≤30 second for how guaranteeing this product, are the key that can entire project go on smoothly.From each circulation
Movement has four movements as can be seen that manipulator grabs tablet, to improve productive temp, first has to consider to shorten machine each time
The time of tool hand lifting, such effect are most obvious.What existing manipulator walking and lifting were all made of is servo motor driving, if
Want to shorten lifting time, it is necessary to reduce the speed ratio of servo motor, if power is constant, speed ratio reduces, and torque also reduces, to protect
Demonstrate,prove torque, it is necessary to which expanded motor power causes increased costs.Further, since lifting total kilometres are little, servo motor is from starting to
Quickly and from quickly an acceleration and deceleration process has been required to stopping, when speed ratio variation is little, lifting time is varied less.
Utility model content
In view of the above-mentioned problems of the prior art, the utility model provides a kind of double speedup for manipulator lifting
Mechanism the time required to can shortening each lifting time of manipulator, meets the beat of line production, at low cost.
To achieve the goals above, the utility model adopts the following technical solution: a kind of for the double of manipulator lifting
Speed increasing mechanism is fixed including the Horizontal Motion Carriage being mounted on crossbeam that can be moved, the lifting being mounted on Horizontal Motion Carriage
Frame, the vertical movement frame A that can be mounted on up or down on down fixing rack and it can be mounted on vertical fortune up or down
Vertical movement frame B on moving frame A；The vertical movement frame A includes upper and lower horizontally disposed upper junction plate and lower connecting plate, vertical
Be mounted on the vertical plate between upper junction plate and lower connecting plate, two be symmetrically mounted on upper junction plate and lower connecting plate be located at vertical plate
Synchronous pulley, the synchronous belt that engagement is mounted on two synchronous pulleys, the rack gear being mounted on the right side of vertical plate and the engagement in left side
It is mounted on rack gear gear, the front side of the vertical plate is equipped with the straight-line guide rail slide block B being slidably matched with down fixing rack；It is described to hang down
Straight movement frame B is arranged in the rear side of vertical plate, and the upper side close to vertical plate vertical movement frame B with vertical plate equipped with being slidably matched
Straight-line guide rail slide block A, the lower end of the vertical movement frame B are equipped with pedestal, and the bottom of pedestal is equipped with several suckers and fixes
Frame is equipped with the sucker being connected with vacuum generator on the sucker fixed frame；The synchronous belt is that opening band walks band, and both ends are logical
It crosses the synchronous belt fixed plate B being fixed on vertical movement frame B and synchronous belt clamping plate B is fixedly clamped；It is leaned on the down fixing rack
The side of nearly synchronous belt be equipped on synchronous belt the fixed plate A, the synchronous belt fixed plate A for fixing synchronous belt install it is useful
In the synchronous belt clamping plate A for clamping synchronous belt；Side on the down fixing rack close to rack gear is equipped with servo motor mounting plate,
Servo motor, the gear axis connection of servo motor and gear are installed on the servo motor mounting plate.
It preferably, further include cylinder, the installed in front of the down fixing rack upper vertical plate has air cylinder fixed plate, the cylinder
It is fixedly mounted in air cylinder fixed plate, the tailpiece of the piston rod of cylinder is connect with lower connecting plate.
Preferably, the tailpiece of the piston rod of the cylinder is connected with convex cylinder link block, be equipped on the lower connecting plate with
The briquetting that cylinder link block matches, T-shaped slot connection between cylinder link block and briquetting.
Preferably, it is mounted on horizontally disposed supporting plate fixed plate on the upper junction plate and lower connecting plate, it is each described
It is symmetrically installed at left and right sides of supporting plate fixed plate there are two the synchronous pulley supporting plate arranged vertically, the synchronous pulley passes through belt wheel
Axis is mounted between two synchronous pulley supporting plates, and synchronous pulley is formed by rolling bearing, bushing A, bushing B and pulley shaft and rolled
Cooperation.
Preferably, the position on the down fixing rack close to servo motor mounting plate is equipped with servo motor tightening plate,
The servo motor tightening plate is connect with servo motor mounting plate by adjusting screw rod.
Preferably, the pedestal is in groined type structure, the aluminium alloy extrusions A and two or so cloth arranged including two front and backs
The aluminium alloy extrusions B set, the sucker fixed frame are mounted on aluminium alloy extrusions B.
Servo motor is fixed on the rack gear on vertical movement frame A by the gear driving on gear shaft in the utility model
Upper and lower movement, the synchronous pulley being fixed on vertical movement frame A moves above and below together with vertical movement frame A, due to synchronization
Band synchronous belt fixed plate A be synchronized band clamping plate A be fixedly clamped it is motionless, therefore synchronous pulley with vertical movement frame A transport above and below
It is dynamic to be rotated simultaneously around wheel shaft, drive synchronous pulley other side synchronous belt to move above and below, the both ends for the synchronous belt that is open pass through synchronous belt
Fixed plate B and synchronous belt clamping plate B is fixed on vertical movement frame B, and synchronous belt moves drive vertical movement frame B above and below and transports above and below
It is dynamic.Therefore, vertical movement frame A drives vertical movement frame B to make constant speed upper and lower above and below under servo motor driving while movement
Movement, their speed are identical with stroke, and the maximum distance that the sucker being fixed on vertical movement frame B moves above and below is vertically to transport
Twice of moving frame A.In the case where sucker range is constant, the movement of servo motor drive rack and stroke only have sucker maximum
The half of stroke, the half that servo motor runing time only directly drives, i.e. manipulator lifting time only with
Before directly drive the half of time, thus save the plenty of time.To sum up, with the direct total travel of former servo motor
Driving is compared, and the utility model shortens manipulator lifting time, meet line production beat, while reduce equipment at
This.
Detailed description of the invention
Fig. 1 is schematic diagram when the utility model manipulator rises；
Fig. 2 is schematic diagram when the utility model manipulator declines；
Fig. 3 is the top view of Fig. 2；
Fig. 4 is the right view of Fig. 2；
The K direction view (only showing vertical lift motor) that Fig. 5 is Fig. 2；
Fig. 6 is the enlarged diagram in Fig. 2 at A.
In figure: 1, Horizontal Motion Carriage, 2, down fixing rack, 3, synchronous belt fixed plate A, 4, synchronous belt clamping plate A, 5, upper connection
Plate, 6, vertical plate, 7, rack gear, 8, gear, 9, gear shaft, 10, servo motor mounting plate, 11, servo motor, 12, cylinder link block,
13, briquetting, 14, lower connecting plate, 15, synchronous belt fixed plate B, 16, tightening plate A, 17, adjusting bolt, 18, synchronous belt, 19, straight line
Guide rail slide block A, 20, straight-line guide rail slide block B, 21, cylinder, 22, air cylinder fixed plate, 23, aluminium alloy extrusions A, 24, vertical movement frame
B, 25, sucker fixed frame, 26, sucker, 27, synchronous belt clamping plate B, 28, aluminium alloy extrusions B, 29, synchronous pulley supporting plate, 30, supporting plate
Fixed plate, 31, rolling bearing, 32, bushing A, 33, bushing B, 34, pulley shaft, 35, belt wheel, 36, servo motor tightening plate, 37,
Adjusting screw rod.
Specific embodiment
With reference to the accompanying drawing, a specific embodiment of the utility model is described in detail, it is to be understood that this
The protection scope of utility model is not limited by the specific implementation.
As shown in Figures 1 to 6, a kind of double booster engine for manipulator lifting provided by the embodiment of the utility model
Structure, including the Horizontal Motion Carriage 1 being mounted on crossbeam that can be moved, the down fixing rack 2 being mounted on Horizontal Motion Carriage 1,
The vertical movement frame A that can be mounted on up or down on down fixing rack 2 and it can be mounted on vertical movement up or down
Vertical movement frame B24 on frame A；The vertical movement frame A include upper and lower horizontally disposed upper junction plate 5 and lower connecting plate 14,
Vertical plate 6, two be vertically installed between upper junction plate 5 and lower connecting plate 14 are symmetrically mounted on upper junction plate 5 and lower connecting plate
It is located at the synchronous pulley 35 in 6 left side of vertical plate on 14, the synchronous belt 18 that engagement is mounted on two synchronous pulleys 35, is mounted on vertical plate
The rack gear 7 on 6 right sides and engagement are mounted on 7 gear 8 of rack gear, and vertical movement frame A can be moved above and below with rack gear 7；It is described vertical
The front side of plate 6 is equipped with the straight-line guide rail slide block B20 being slidably matched with down fixing rack 2, and the entire frame A that moves vertically is led by straight line
Rail slide block B 20 can move above and below on down fixing rack 2；The vertical movement frame B24 is arranged in the rear side of vertical plate 6, described to hang down
It is equipped with the straight-line guide rail slide block A19 being slidably matched with vertical plate 6 close to the side of vertical plate 6 on straight movement frame B24, move vertically frame
B24 can be moved above and below by straight-line guide rail slide block A19 on vertical movement frame A；The lower end installation of the vertical movement frame B24
There is pedestal, the bottom of pedestal is equipped with several sucker fixed frames 25, is equipped on the sucker fixed frame 25 and occurs with vacuum
The connected sucker 26 of device；The synchronous belt 18 is that opening band walks band, and both ends pass through the synchronous belt being fixed on vertical movement frame B24
Fixed plate B15 and synchronous belt clamping plate B27 are fixedly clamped；Close to the side of synchronous belt 18, installation is useful on the down fixing rack 2
It is equipped on synchronous belt the fixed plate A3, the synchronous belt fixed plate A3 of fixed synchronous belt 18 for clamping the same of synchronous belt 18
Step band clamping plate A4, the synchronous belt 18 are fixed in clamped position；Pacify on the down fixing rack 2 close to the side of rack gear 7
Equipped with servo motor mounting plate 10, servo motor 11, servo motor 11 and gear 8 are installed on the servo motor mounting plate 10
Gear shaft 9 connect.Wherein, down fixing rack 2 can be fixedly mounted on Horizontal Motion Carriage 1 by screw, the both ends of vertical plate 6 with
It can also be fixed by screw between upper junction plate 5, lower connecting plate 14.
It preferably, further include cylinder 21, the installed in front of 2 upper vertical plate 6 of down fixing rack has air cylinder fixed plate 22, institute
It states cylinder 21 to be fixedly mounted in air cylinder fixed plate 22, the tailpiece of the piston rod of cylinder 21 is connect with lower connecting plate 14.The cylinder 21
Play service hoisting vertical movement frame A, in use, can connect the cavity of resorption of cylinder with gas source by rapid escape valve, gas
The gas outlet in source is equipped with pressure regulator valve, and for servo motor when being promoted, solenoid valve obtains electric, lower chamber of air cylinder air inlet, and service hoisting is vertical
Movement frame A；When the frame A that moves vertically declines, solenoid valve power loss, cylinder is died, while Quick air-discharge valve exhaust, reduces decline resistance
Power.
Preferably, the tailpiece of the piston rod of the cylinder 21 is connected with convex cylinder link block 12, pacifies on the lower connecting plate 14
Equipped with the briquetting 13 matched with cylinder link block 12, T-shaped slot connection between cylinder link block 12 and briquetting 13.
Preferably, it is mounted on horizontally disposed supporting plate fixed plate 30 on the upper junction plate 5 and lower connecting plate 14, each
The left and right sides of the supporting plate fixed plate 30 is symmetrically installed that there are two the synchronous pulley supporting plate 29 arranged vertically, the synchronous pulleys
35 are mounted between two synchronous pulley supporting plates 29 by pulley shaft 34, synchronous pulley 35 by rolling bearing 31, bushing A32,
Bushing B33 and pulley shaft 34, which are formed, rolls cooperation.
Preferably, the position on the down fixing rack 2 close to servo motor mounting plate 10 is equipped with servo motor tensioner
Plate 36, the servo motor tightening plate 36 are connect with servo motor mounting plate 10 by adjusting screw rod 37.The servo motor rises
Adding for tight plate 36 and adjusting screw rod 37, is adjusted wheel and rack back lash.
Preferably, the pedestal is in groined type structure, including the aluminium alloy extrusions A23 arranged before and after two and two or so
The aluminium alloy extrusions B28 of arrangement, the sucker fixed frame 25 are mounted on aluminium alloy extrusions B28.
Specific use process is as follows:
Down fixing rack 2 is fixed by screws in can be along the Horizontal Motion Carriage 1 that crossbeam moves horizontally, down fixing rack
2 can be mobile with 1 horizontal direction of Horizontal Motion Carriage.Servo motor 11 is fixed on vertical fortune by the driving of gear 8 on gear shaft 9
Rack gear 7 on moving frame A moves above and below, and servo motor mounting plate 10 passes through adjusting screw rod 37 and is fixed on watching for down fixing rack 2
Take motor tightening plate 36, adjustable wheel and rack back lash.Rack gear 7 drives entire vertical movement frame A to move above and below,
The synchronous pulley 35 being fixed on vertical movement frame A moves above and below together with vertical movement frame A, since synchronous belt 18 is same
Step band fixed plate A3 be synchronized band clamping plate A4 be fixedly clamped it is motionless, therefore synchronous pulley 35 with vertical movement frame A move above and below
It is rotated simultaneously around wheel shaft 34,35 other side synchronous belt of synchronous pulley is driven to move above and below, the both ends of opening synchronous belt 18 pass through same
Step band fixed plate B15 and synchronous belt clamping plate B27 is fixed on vertical movement frame B24, and movement drives vertical fortune to synchronous belt 18 above and below
Moving frame B24 is moved above and below.Therefore, vertical movement frame A drives vertical fortune under the driving of servo motor 11 above and below while movement
Moving frame B24 makees constant speed and moves above and below, their speed are identical with stroke, and the sucker 26 being fixed on vertical movement frame B24 is upper and lower
The maximum distance of movement is twice of vertical movement frame A.In the case where 26 range of sucker is constant, servo motor 11 is driven
The movement of rack gear 7 and stroke only have the half of 26 range of sucker, and 11 runing time of servo motor only directly drives
Half, i.e. manipulator lifting time only directly drove the half of time in the past, thus saved the plenty of time.
In addition, it is contemplated that lifting speed is pervious 2 times, inertia is big, and the instantaneous operating current of servo motor is big when promotion,
Cylinder auxiliary lifting mechanism is increased, the cavity of resorption of cylinder 21 is connect by rapid escape valve with gas source, and the epicoele port of cylinder is not
Road is taken over, the gas outlet of gas source is equipped with pressure regulator valve, and for servo motor when being promoted, solenoid valve obtains electric, lower chamber of air cylinder air inlet, auxiliary
Vertical movement frame A is promoted, when vertical movement frame A declines, solenoid valve power loss, cylinder is died, while Quick air-discharge valve exhaust, is reduced
Decline resistance.
In conclusion the utility model shortens manipulator lifting compared with the direct total travel driving of former servo motor
Time meets the beat of line production, passes through control, it is ensured that each lifting time≤4 second of manipulator, while reducing and setting
Standby cost.
Basic principles, main features, and advantages of the present invention has been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Only the principles of the present invention, the utility model also has respectively on the premise of not departing from the spirit and scope of the utility model
Kind changes and improvements, these changes and improvements are both fallen in the range of claimed invention.
Claims (6)
1. a kind of double speed increasing mechanism for manipulator lifting, which is characterized in that be mounted on crossbeam including what can be moved
Horizontal Motion Carriage (1), be mounted on Horizontal Motion Carriage (1) down fixing rack (2), lifting can be mounted on up or down
Vertical movement frame A on fixed frame (2) and the vertical movement frame B (24) that can be mounted on up or down on vertical movement frame A；
The vertical movement frame A includes upper and lower horizontally disposed upper junction plate (5) and lower connecting plate (14), the company of being vertically installed at
Vertical plate (6) between fishplate bar (5) and lower connecting plate (14), two be symmetrically mounted on upper junction plate (5) and lower connecting plate (14)
Synchronous belt (18) that synchronous pulley (35) on the left of vertical plate (6), engagement are mounted on two synchronous pulleys (35) is mounted on
Rack gear (7) and engagement on the right side of vertical plate (6) are mounted on rack gear (7) gear (8), and the front side of the vertical plate (6) is equipped with and liter
The straight-line guide rail slide block B (20) that drop fixed frame (2) is slidably matched；
Vertical movement frame B (24) is arranged in the rear side of vertical plate (6), on vertical movement frame B (24) close vertical plate (6)
Side is equipped with the straight-line guide rail slide block A (19) being slidably matched with vertical plate (6), and the lower end of vertical movement frame B (24) is equipped with
Pedestal, the bottom of pedestal are equipped with several sucker fixed frames (25), are equipped on the sucker fixed frame (25) and send out with vacuum
The connected sucker (26) of raw device；
The synchronous belt (18) is that opening band walks band, and both ends pass through the synchronous belt fixed plate B being fixed in vertical movement frame B (24)
(15) it is fixedly clamped with synchronous belt clamping plate B (27)；
It is solid that side on the down fixing rack (2) close to synchronous belt (18) is equipped with the synchronous belt for fixing synchronous belt (18)
Fixed board A (3) is equipped with the synchronous belt clamping plate A (4) for clamping synchronous belt (18) on the synchronous belt fixed plate A (3)；It is described
Side on down fixing rack (2) close to rack gear (7) is equipped with servo motor mounting plate (10), the servo motor mounting plate
(10) it is equipped on servo motor (11), servo motor (11) is connect with the gear shaft (9) of gear (8).
2. a kind of double speed increasing mechanism for manipulator lifting according to claim 1, which is characterized in that further include gas
The installed in front of cylinder (21), down fixing rack (2) upper vertical plate (6) has air cylinder fixed plate (22), and the cylinder (21) is fixed
It is mounted on air cylinder fixed plate (22), the tailpiece of the piston rod of cylinder (21) is connect with lower connecting plate (14).
3. a kind of double speed increasing mechanism for manipulator lifting according to claim 2, which is characterized in that the cylinder
(21) tailpiece of the piston rod is connected with convex cylinder link block (12), is equipped with and cylinder link block on the lower connecting plate (14)
(12) briquetting (13) matched, T-shaped slot is connect between cylinder link block (12) and briquetting (13).
4. a kind of double speed increasing mechanism for manipulator lifting according to claim 1, which is characterized in that the upper company
Horizontally disposed supporting plate fixed plate (30), each supporting plate fixed plate are mounted on fishplate bar (5) and lower connecting plate (14)
(30) it is symmetrically installed at left and right sides of there are two the synchronous pulley supporting plate (29) arranged vertically, the synchronous pulley (35) passes through band
Wheel shaft (34) is mounted between two synchronous pulley supporting plates (29), and synchronous pulley (35) passes through rolling bearing (31), bushing A
(32), bushing B (33) and pulley shaft (34), which are formed, rolls cooperation.
5. a kind of double speed increasing mechanism for manipulator lifting according to claim 1, which is characterized in that the lifting
Position on fixed frame (2) close to servo motor mounting plate (10) is equipped with servo motor tightening plate (36), the servo motor
Tightening plate (36) is connect with servo motor mounting plate (10) by adjusting screw rod (37).
6. a kind of double speed increasing mechanism for manipulator lifting according to claim 1, which is characterized in that the pedestal
In groined type structure, the aluminium alloy extrusions B of the aluminium alloy extrusions A (23) arranged including two front and backs and two or so arrangements
(28), the sucker fixed frame (25) is mounted on aluminium alloy extrusions B (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821270899.9U CN208719289U (en) | 2018-08-08 | 2018-08-08 | Double speed increasing mechanism for manipulator lifting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821270899.9U CN208719289U (en) | 2018-08-08 | 2018-08-08 | Double speed increasing mechanism for manipulator lifting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208719289U true CN208719289U (en) | 2019-04-09 |
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ID=65976589
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821270899.9U Active CN208719289U (en) | 2018-08-08 | 2018-08-08 | Double speed increasing mechanism for manipulator lifting |
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| Country | Link |
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| CN (1) | CN208719289U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108730468A (en) * | 2018-08-08 | 2018-11-02 | 滁州市科创模具制造有限公司 | A kind of double speed increasing mechanism for manipulator lifting |
-
2018
- 2018-08-08 CN CN201821270899.9U patent/CN208719289U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108730468A (en) * | 2018-08-08 | 2018-11-02 | 滁州市科创模具制造有限公司 | A kind of double speed increasing mechanism for manipulator lifting |
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