CN215625179U

CN215625179U - Carrier replacing equipment

Info

Publication number: CN215625179U
Application number: CN202121475765.2U
Authority: CN
Inventors: 吴汉桥
Original assignee: Jiangsu Chuangyuan Electron Co Ltd
Current assignee: Jiangsu Chuangyuan Electron Co Ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2022-01-25
Anticipated expiration: 2031-06-30

Abstract

The application provides equipment is changed to carrier relates to electronic component production technical field, and equipment is changed to carrier is used for changing the material to the second carrier from first carrier, includes: the first transfer mechanism is provided with a first positioning area, and the first carrier is positioned in the first positioning area; the second transfer mechanism is provided with a second positioning area, and the second carrier is positioned in the second positioning area; and a carrying device which grips the material loaded by the first carrier and loads the material on the second carrier in a state where the first carrier and the second carrier are both positioned. The first carrier and the second carrier are respectively positioned in the first positioning area and the second positioning area, on the basis, the carrying device grabs materials on the first carrier and then loads the materials to the second carrier, and therefore carrier replacement is achieved.

Description

Carrier replacing equipment

Technical Field

The application relates to the technical field of electronic component production, in particular to carrier replacing equipment.

Background

In the prior art, the production of electronic components typically requires a carrier that is used to transport materials, such as Printed Circuit Boards (PCBs). To meet the requirements of some manufacturing processes, the material carriers need to be replaced. Conventionally, carriers are replaced manually, and the replaced carriers are stored. However, the efficiency of the replacement method is low, and the requirement of capacity is difficult to meet.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present application provides a carrier replacing apparatus, which aims to solve the above technical problems.

The application provides a carrier is changed equipment, carrier is changed equipment and is used for changing the material to the second carrier from first carrier, carrier is changed equipment and is included:

the first transfer mechanism is provided with a first positioning area, and the first carrier is positioned in the first positioning area;

the second transfer mechanism is provided with a second positioning area, and the second carrier is positioned in the second positioning area;

a carrying device that grips the material loaded by the first carrier and loads the material to the second carrier in a state where both the first carrier and the second carrier are positioned.

Preferably, the carrier replacement apparatus further includes:

the platform is arranged between the first transfer mechanism and the second transfer mechanism and is provided with a bearing plane for bearing the materials;

a bracket formed with a fixing portion opposite to the bearing plane, the bracket being arranged to pivot relative to the platform with an axis parallel to the bearing plane as an axis;

and the force application component is arranged on the bracket and applies force towards the fixed part to the material.

Preferably, the carrier replacement apparatus further includes:

two retaining members, the bracket being pivotally mounted between the two retaining members;

the output end of the rotary driving source is connected with the platform and drives the bearing plane to rotate in the horizontal plane;

and the linear driving assembly is connected with the rotary driving source and drives the rotary driving source to perform linear motion, and the direction of the linear driving assembly is perpendicular to the axis.

Preferably, the bracket is formed with a positioning portion for engagement with the material, and the force application member is a vacuum nozzle.

Preferably, the carrying device includes:

a first carrying mechanism which grips the material loaded by the first carrier and carries the material to the platform;

and the second carrying mechanism is used for grabbing the materials from the platform and loading the materials on a second carrier.

Preferably, either of the first handling mechanism and the second handling mechanism comprises a drive assembly, a first gripper assembly and a second gripper assembly, both the first gripper assembly and the second gripper assembly being connected to the drive assembly, the first gripper assembly being arranged to grip the material;

the second grasping assembly of the first handling mechanism is configured to grasp the first vehicle, and the second grasping assembly of the second handling mechanism is configured to grasp the second vehicle.

Preferably, the first grasping assembly includes:

a gripping member and a mounting member disposed at a distance from each other;

a guide member, portions of the guide member extending between the capture member and the mounting member;

a restoring member disposed between the grasping member and the mounting member and connected to both the grasping member and the mounting member.

Preferably, the carrier replacing apparatus includes a feeding mechanism for conveying the first carrier and a discharging mechanism for conveying the second carrier, respectively;

the first transfer mechanism reciprocates to a first position and a second position in butt joint with the feeding mechanism, and the second transfer mechanism reciprocates to a third position and a fourth position in butt joint with the discharging mechanism.

Preferably, the first carrier is mounted with a process auxiliary member, and the carrier replacing apparatus further includes:

a detachment assembly and a driving module connected to each other, the first carrier being transported from the feeding mechanism to the first relay mechanism in a state where the first relay mechanism is located at the second position, the detachment assembly being configured to be driven by the driving module to detach the process auxiliary member.

Preferably, the carrier replacing apparatus further includes a conveying line for conveying the first carrier, to which the first carrier gripped by the second gripper assembly of the first handling mechanism is handled;

the carrier replacing equipment further comprises a loading line for conveying the second carrier, and the second carrier is grabbed from the loading line to the second transfer mechanism by the second grabbing assembly of the second carrying mechanism.

According to the carrier replacing equipment provided by the application, the first carrier and the second carrier are respectively positioned in the first positioning area and the second positioning area, on the basis, the carrying device grabs materials on the first carrier and then loads the materials on the second carrier, and therefore the carrier is replaced.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic diagram illustrating a top view of a carrier exchange apparatus provided in the present embodiment;

fig. 2 shows a schematic view of an isometric view of a carrier exchange apparatus provided in the present embodiment;

fig. 3 is a schematic view showing an axonometric view of the turnover mechanism of the carrier exchange apparatus provided in the present embodiment;

FIG. 4 shows a schematic view of an enlarged view at A in FIG. 2;

FIG. 5 shows a schematic view of an enlarged view at B in FIG. 2;

fig. 6 shows a schematic view of an enlarged view at C in fig. 2.

Reference numerals:

1-a feeding mechanism;

2-dismantling the mechanism;

3-a first transfer mechanism; 31-a jacking assembly; 32-a conveyor belt; 33-a beam member; 34-a guide bar member; 35-driving the lead screw;

4-a first handling mechanism; 41-a first grasping assembly; 42-a spring; 43-a second grasping element; 44-a jaw member; 5-a second carrying mechanism;

6-turning over mechanism; 61-a scaffold; 62-a platform;

7-a second transfer mechanism;

8-a blanking mechanism;

91-a conveying line; 92-a first carrier; 93-a printed circuit board; 94-a silicon steel sheet; 95-a frame; 96-second carrier.

Detailed Description

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

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

As shown in fig. 1 to 6, the carrier replacing apparatus provided in the present embodiment includes: the loading mechanism 1, the removing mechanism 2, the first transfer mechanism 3, the second transfer mechanism 7, the first conveying mechanism 4, the second conveying mechanism 5, the turnover mechanism 6, the blanking mechanism 8 and the conveying line 91 are specifically described below with reference to fig. 1 to 6.

In an embodiment, a carrier changing apparatus is used to change material from the first carrier 92 to the second carrier 96. As an example, the material in the present embodiment may be the printed circuit board 93, that is, the carrier replacing apparatus in the present embodiment replaces the printed circuit board 93 from the first carrier 92 to the second carrier 96. Specifically, the first relay mechanism 3 is formed with a first positioning area, and the first carrier 92 is positioned in the first positioning area; the second transfer mechanism 7 is formed with a second positioning area, and the second carrier 96 is positioned in the second positioning area; in a state where both the first carrier 92 and the second carrier 96 are positioned, the carrying device grasps the printed circuit board 93 loaded by the first carrier 92 and loads the printed circuit board 93 to the second carrier 96.

Thus, the first carrier 92 and the second carrier 96 are respectively positioned in the first positioning area and the second positioning area, and on the basis, the printed circuit board 93 on the first carrier 92 is grabbed by the carrying device and then loaded on the second carrier 96, so that the carriers are replaced.

As shown in fig. 1, fig. 1 is a plan view of the vehicle exchanging apparatus, that is, fig. 1 shows the layout of the above-described respective mechanisms as a whole. In order to facilitate the development of the following description, the layout of the aforementioned respective mechanisms will be described herein with reference to fig. 1 and the structures of the respective mechanisms will be described in turn. Specifically, referring to fig. 1, each of the above-described mechanisms may be provided to a frame 95, and the frame 95 includes a first portion supporting the conveying line 91 and a second portion supporting the remaining mechanisms other than the conveying line 91.

The other mechanisms may be disposed on the upper end surface of the second portion of the frame 95, specifically, the feeding mechanism 1 is disposed at the lower left position, and the first carrier 92 with the printed circuit board 93 loaded thereon is conveyed by the feeding mechanism 1. The first transfer mechanism 3 is slidably disposed on the upper end surface of the second portion of the frame 95 to and fro between a first position (i.e., the upper position in fig. 1) and a second position (i.e., the lower position in fig. 1) where it is abutted against the feed mechanism 1, so that when the first transfer mechanism 3 is in the second position, it is abutted against the feed mechanism 1, and the first carrier 92 with the printed circuit board 93 loaded thereon is circulated to the first transfer mechanism 3.

Once the first carrier 92 is turned to the first relay mechanism 3 in the second position, the first relay mechanism 3 performs positioning of the first carrier 92 in a manner that will be described later in the description of the structure of the first relay mechanism 3. In a state where the first carrier 92 is positioned, the removal mechanism 2 removes the process auxiliary member from the first carrier 92. It should be noted that the process auxiliary components are components mounted on the carrier to meet the process requirements in the production process of the printed circuit board 93, such as the silicon steel sheet 94 for pressing the printed circuit board 93 as shown in the present embodiment.

With reference to fig. 1, 2 and 6, fig. 2 shows an isometric view of the carrier exchange device, fig. 6 correspondingly shows a schematic view of an enlarged view at C in fig. 2, and in particular fig. 6, fig. 6 shows a specific structure of a part of the dismantling mechanism 2. In an embodiment, the detaching mechanism 2 may include a detaching assembly and a driving module connected to each other, the detaching assembly may include a mounting plate and a plurality of vacuum suction nozzles (not shown) provided on the mounting plate, and the mounting plate may be driven by the driving module, such as a two-axis module. Referring to fig. 1 in particular, according to the orientation shown in fig. 1, the biaxial module includes two beams disposed opposite to each other in an up-down direction, and further includes a third beam having two ends slidably connected to the two beams, a lifting cylinder is disposed on the third beam, and the mounting plate can be connected to a piston rod of the lifting cylinder. Thus, the two-axis module can be adapted to the first carriers 92 with different specifications and the process auxiliary members with different specifications, so as to assist the disassembling assembly in completing the disassembling of the process auxiliary members.

The first carrier 92 after the process auxiliary member is removed moves to the first position together with the first transfer mechanism 3, and in this process, the first transfer mechanism 3 continuously positions the first carrier 92 in the first positioning area, so that the first carrier 92 is ensured to be stable in the moving process. On the basis, the first carrying mechanism 4 of the carrying device grabs the printed circuit board 93 to the turnover mechanism 6, and then the first transfer mechanism 3 returns to the second position below in fig. 1, and the silicon steel sheet 94 is loaded back to the first carrier 92 by the unloading mechanism 2 which just unloads the silicon steel sheet 94. Further, the first carrier 92 carrying the silicon steel sheet 94 is transferred back to the first position by the first transfer mechanism 3, and then is picked up to the conveying line 91 by the first carrying mechanism 4.

In an embodiment, the first handling mechanism 4 and the second handling mechanism 5 may have the same structure, and both may include the first grasping assembly 41 and the second grasping assembly 43 and a robot connected to both the first grasping assembly 41 and the second grasping assembly 43, such as a five-axis robot (i.e., a drive assembly), that is, both the first grasping assembly 41 and the second grasping assembly 43 may be disposed at the end of the five-axis robot.

Referring first to fig. 1, the first transporting mechanism 4 is disposed on the left side, i.e., on the side of the first relay mechanism 3, for the grabbing of the first carrier 92 and the printed circuit board 93, and the second transporting mechanism 5 is disposed on the right side, i.e., on the side of the second relay mechanism 7, for the grabbing of the second carrier 96 and the printed circuit board 93.

With further reference to fig. 2 and 5, fig. 5 shows a schematic view of an enlargement at B in fig. 2, which shows in particular the first gripper assembly 41 and the second gripper assembly 43 of the second handling mechanism 5. Wherein the first gripper assembly 41 is adapted to grip the printed circuit board 93, the first gripper assembly 41 comprising gripper members and mounting members arranged at a distance from each other, such as a gripper plate and a mounting plate, wherein the gripper plate may be provided with a vacuum nozzle (not shown in the figures). The first grabbing component 41 further includes guiding members, such as a plurality of guiding pillars, the upper end of each guiding pillar may be fixedly mounted on the mounting plate located above, the lower end of each guiding pillar may penetrate through the grabbing plate, and the outer side of each guiding pillar may be sleeved with a spring 42 (i.e., a reset member). In this way, when the printed circuit board 93 is sucked, the plurality of springs 42 can effectively play a role of buffering, which is particularly beneficial for protecting the printed circuit board 93 from being damaged.

Further, still referring to fig. 5, in an embodiment, the second gripper assembly 43 of the second handling mechanism 5 may be used for gripping the second carrier 96. Specifically, the second gripper assembly 43 includes a double acting cylinder and two jaw members 44 provided to the double acting cylinder. In the present embodiment, the first carrier 92 and the second carrier 96 are each provided with a hole portion for use in transportation, and each claw member 44 may be formed with two claw portions that penetrate through two hole portions located on the same side of the carrier, respectively. Thus, when the piston rod of the double-acting cylinder is extended, the claw portions of the two claw members 44 abut against the inner side of the aforementioned hole portion, thereby achieving the gripping of the carrier. On the contrary, if the carrier needs to be released, the piston rod of the double-acting air cylinder is contracted to release the carrier.

Further, the second transfer mechanism 7 reciprocates to the third position and the fourth position in butt joint with the blanking mechanism 8, when the second transfer mechanism 7 is located at the third position, the first grabbing component 41 of the second carrying mechanism 5 grabs the turned-over printed circuit board 93 from the turning mechanism 6 and transfers the printed circuit board 93 to the second carrier 96 located in the second locating area of the second transfer mechanism 7, then the second transfer mechanism 7 moves to the fourth position to be in butt joint with the blanking mechanism 8, and the second carrier 96 and the printed circuit board 93 circulate to the blanking mechanism 8 to complete blanking. Although not shown in the drawings, the present embodiment further includes a loading line for the second carrier 96, which has the same structure as the conveying line 91, and the second gripper assembly 43 of the second conveying mechanism 5 conveys the second carrier 96 to the second positioning area.

Still referring to fig. 1, the pcb 93 is transported to the turnover mechanism 6 by the first transporting mechanism 4, and specifically, the pcb 93 is transported to the turnover mechanism 6 by the first grasping unit 41 of the first transporting mechanism 4, and the first carrier 92 carrying the silicon steel sheets 94 is transported to the transporting line 91 by the second grasping unit 43 of the first transporting mechanism 4. Further, referring to fig. 1, in the embodiment, the conveying line 91 includes two conveyor belts disposed side by side at the first portion of the frame 95, and a jacking module is disposed between the two conveyor belts, and when the jacking module jacks up the first carrier 92 from the two conveyor belts, the jacking module plays a role of temporarily storing the first carrier 92.

Further, the turnover mechanism 6 is used to turn the printed circuit board 93 by 180 degrees, thereby satisfying the requirement for processing the other surface of the printed circuit board 93. Referring to fig. 3, fig. 3 shows a schematic representation of an isometric view of the canting mechanism 6. The turnover mechanism 6 may be located between the first relay mechanism 3 and the second relay mechanism 7, and includes a platform 62, a bracket 61, a force application member, a holding member, and a linear drive assembly. Specifically, the platform 62 may be formed with a bearing plane for bearing the printed circuit board 93, the bracket 61 may be disposed above the bearing plane, a lower end face thereof may be formed as a fixed portion opposed to the bearing plane, and the bracket 61 is disposed to pivot relative to the platform 62 with an axis parallel to the bearing plane as an axis, which is achieved by the cooperation of the bracket 61 and the holding member. In this embodiment, the platform 62 is linearly movable, preferably, the aforementioned axis and the linear movement direction of the platform 62 are perpendicular to each other, and the movement of the platform 62 will be described later.

With further reference to fig. 3, the two retaining members may be formed, for example, as two posts between which the bracket 61 is pivotally mounted. Specifically, the bracket 61 may be provided at both ends with shaft members, portions of which are held by bearings respectively located in the two columns, and one shaft member is further exposed through the bearings to mount a timing wheel, so that it can be driven by a timing belt and a motor to pivot.

Further, a force applying member may be disposed on the bracket 61 and applies a force to the material toward the fixing portion, for example, the force applying member may be formed as a vacuum suction nozzle disposed on the fixing portion so as to suck the printed circuit board 93, so that the bracket 61 can pivot together with the printed circuit board 93 when pivoting, and in the case of pivoting by 180 degrees, the printed circuit board 93 is initially located on the upper end surface, i.e., the bearing plane, of the platform 62, and the posture is changed to be located above the pivoted bracket 61, so as to be grabbed by the first grabbing component 41 of the second carrying mechanism 5.

Advantageously, the platform 62 may be coupled to a rotary drive source, which may be coupled to a linear drive assembly. Specifically, the linear drive assembly may be, for example, a screw nut provided to a rotary drive source, the screw penetrating the nut. The lower side of the rotary drive source may be slidably connected to the frame 95, for example, by a slide and rail fit. Thus, when the lead screw is rotated, the platform 62 is driven away from the lower side of the bracket 61, which facilitates the first carrying mechanism 4 to place the printed circuit board 93 on the platform 62. The advantage of this arrangement, in which the lead screw extends in a substantially linear direction of movement of the platform 62, perpendicular to the axis of pivoting of the carriage 61, as mentioned above, is that it facilitates the rapid positioning and suction of the printed circuit board 93 by means of the carriage.

Further, the holder 61 may be formed with a positioning portion that engages with the printed circuit board 93, for example, positioning pins are provided on the holder 61 according to hole portions on the printed circuit board 93, thereby ensuring that the holder 61 quickly and accurately positions and adsorbs the printed circuit board 93. In an embodiment, two sets of platforms 62 and the related structures are provided, so that two printed circuit boards 93 can be turned over at the same time.

In this embodiment, the rotary driving source may be, for example, a rotary cylinder, and an output end of the rotary cylinder may be connected to the platform 62. Specifically, the cylinder body of the rotary cylinder may be connected to the nut of the linear driving assembly, so that the bearing plane may perform a reciprocating linear motion along the above linear motion direction, and may perform a rotary motion in a horizontal plane under the driving of the rotary cylinder, and such a rotary motion is particularly beneficial to adjusting the relative angular relationship between the bracket 61 and the printed circuit board 93, so as to ensure that the bracket 61 can stably suck the printed circuit board 93.

On the basis of the above-described features, the structures of the four of the feeding mechanism 1, the discharging mechanism 8, the first relay mechanism 3, and the second relay mechanism 7, which are similar in the embodiment, will be further described below, and the structure of the first relay mechanism 3 will be described first, taking as an example an enlarged view at a in fig. 2 shown in fig. 4.

The first relay mechanism 3 includes, for example, four beam members 33, and each beam member 33 is further provided with a conveyor belt 32 using two rollers rotatably provided to the beam member 33. In the embodiment, two beam members 33 are grouped to jointly transport one first carrier 92, and four beam members 33 can actually transport two first carriers 92 at the same time, which corresponds to two platforms 62 of the turnover mechanism 6. And a jacking assembly 31 for jacking the first carrier 92 is arranged between every two beam members 33, and the jacking assembly 31 comprises a jacking plate and a cylinder below the jacking plate. Further, each beam member 33 may be provided with a positioning edge extending in the horizontal direction and facing the conveyor belt 32 disposed thereon, and when the jacking assembly 31 jacks the first carrier 92, the first carrier 92 is pressed between the jacking plate and the positioning edge, so as to achieve positioning. Thus, the first positioning area in which the first carrier 92 is positioned can be understood to include the area occupied by the two beam members 33 of the same set and the area between them, as can the second positioning area.

Further, in order to accommodate first carriers 92 of different widths, the distance between the two beam members 33 of the same set is adjustable. Specifically, one outermost beam member 33 of the four beam members 33 may be fixed to a bearing plate, the other three beam members 33 are slidably disposed on the bearing plate, the other three beam members 33 are respectively disposed with three nuts, and a driving screw 35 penetrates through the three nuts, one end of the driving screw 35 is rotatably disposed on the fixed beam member 33, and the other end thereof may be driven by a motor. This is achieved by rotating the drive screw 35 to adjust the distance between the two beam members 33 within the same set. Preferably, a guide bar 34 may be further provided to penetrate the other three beam members 33, and one end of the guide member is connected to the fixed beam member 33, thus ensuring stability of the distance adjusting process. As for the movement of the first pivoting mechanism 3 between the first position and the second position, it can be realized by providing a slider and a slide rail between the above-mentioned carrying plate and the frame 95.

Further, the second relay mechanism 7 has the same structure as the first relay mechanism 3, and the positions of the feeding mechanism 1 and the discharging mechanism 8 with respect to the frame 95 may be unchanged, so that the beam member 33 may be directly installed on the frame 95 without installing the carrier plate.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all changes that can be made in the details of the present application and the equivalents thereof, or directly or indirectly applied to other related technical fields, without departing from the spirit of the present application are intended to be embraced therein.

Claims

1. A carrier changing apparatus for changing material from a first carrier to a second carrier, the carrier changing apparatus comprising:

2. The carrier replacement apparatus according to claim 1, further comprising:

3. The carrier replacement apparatus according to claim 2, further comprising:

4. The carrier replacement apparatus according to claim 2,

the bracket is formed with a positioning portion for engaging with the material, and the force application member is a vacuum suction nozzle.

5. The vehicle exchange apparatus according to claim 2, wherein the carrying device includes:

6. The carrier replacement apparatus according to claim 5,

either one of the first handling mechanism and the second handling mechanism comprises a drive assembly, a first gripper assembly and a second gripper assembly, both the first gripper assembly and the second gripper assembly being connected to the drive assembly, the first gripper assembly being arranged to grip the material;

7. The carrier replacement apparatus according to claim 6, wherein the first gripper assembly includes:

a gripping member and a mounting member disposed at a distance from each other;

8. The carrier replacement apparatus according to any one of claims 1 to 7,

the carrier replacing equipment comprises a feeding mechanism and a discharging mechanism, wherein the feeding mechanism is used for conveying the first carrier, and the discharging mechanism is used for conveying the second carrier;

9. The carrier replacement apparatus according to claim 8, wherein the first carrier is mounted with a process assistance member, the carrier replacement apparatus further comprising:

10. The carrier replacement apparatus according to claim 6,

the carrier replacing apparatus further includes a conveying line for conveying the first carrier, to which the first carrier gripped by the second gripper assembly of the first conveying mechanism is conveyed;