EP0440579B1 - Dispositif et procédé pour la commande du battant d'un métier à tisser, et métier utilisant un tel dispositif - Google Patents

Dispositif et procédé pour la commande du battant d'un métier à tisser, et métier utilisant un tel dispositif Download PDF

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Publication number
EP0440579B1
EP0440579B1 EP91810036A EP91810036A EP0440579B1 EP 0440579 B1 EP0440579 B1 EP 0440579B1 EP 91810036 A EP91810036 A EP 91810036A EP 91810036 A EP91810036 A EP 91810036A EP 0440579 B1 EP0440579 B1 EP 0440579B1
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EP
European Patent Office
Prior art keywords
reed
loom
rocking shaft
motor
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP91810036A
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German (de)
English (en)
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EP0440579A1 (fr
Inventor
Masami C/O Kabushiki Kaisha Toyoda Shinbara
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Industries Corp
Original Assignee
Toyoda Jidoshokki Seisakusho KK
Toyoda Automatic Loom Works Ltd
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Filing date
Publication date
Application filed by Toyoda Jidoshokki Seisakusho KK, Toyoda Automatic Loom Works Ltd filed Critical Toyoda Jidoshokki Seisakusho KK
Publication of EP0440579A1 publication Critical patent/EP0440579A1/fr
Application granted granted Critical
Publication of EP0440579B1 publication Critical patent/EP0440579B1/fr
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Classifications

    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D49/00—Details or constructional features not specially adapted for looms of a particular type
    • D03D49/60—Construction or operation of slay
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D49/00—Details or constructional features not specially adapted for looms of a particular type
    • D03D49/60—Construction or operation of slay
    • D03D49/64—Construction or operation of slay wherein the slay dwells or moves slowly while the weft is being inserted
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D51/00—Driving, starting, or stopping arrangements; Automatic stop motions
    • D03D51/005—Independent drive motors

Definitions

  • the present invention relates to a device for driving a reed in a weaving loom, a method for driving the reed and further to a loom with such a device.
  • weft picking can take place during a longer period of time and, therefore, weft feeding and weft tension controlling can be performed advantageously, with the result that fabrics with better quality can be produced.
  • the Japanese patent application 58-191247 e.g. discloses a so called multi-joint link type drive for the reed and shaft. According to this arrangement, the uniform rotational movement of a crankshaft is converted into a reciprocating motion of the rocking shaft by a link mechanism that influences the movement of the reed in a way that the time for weft picking is more advantageous compared to a sinus-type reed motion.
  • the Japanese patent application 54-10662 discribes a so called positive cam type reed shaft drive. According to such an arrangement, the uniform rotational movement of the crankshaft is converted into a reciprocating motion of the rocking shaft by a the cam lever which slidably rides on the positive cams. By profiling the positive cams, so as to provide a defined angle of repose, an irregular movement of the reed, desirable for securing longer time for weft picking is achieved.
  • DE-A-37.23.433 discloses a ribbon loom with a motor that drives a rocking shaft system with a V-shaped reed, together with a knitting needle the for securing the inserted wefts. This knitting needle cooperates with the picking needle. Varying the rocking speed of the shaft system is only possible if the reciprocating speed of the picking needle is varied by the same rate.
  • EP-A-0.298.454 describes a reed operating system for a loom, wherein the advance position of the reed can be altered by rotation of a cranked shaft by means of a hydraulic cylinder.
  • FR-A-2.359.917 discloses a reed operating system of a loom whose reciprocating speed is determined by springs. The amount of energy lost during one rocking cycle is added by a fluid driven piston in a cylinder. The frequency of the rocking reed is constant and determined by the springs.
  • the invention provides for a device for driving the reed that is characterized by the features of claim 1 and further provides for a method that is characterized by the features of claim 5.
  • the loom according to the invention is characterized by the features of claim 7.
  • the dependent claims are related to particular embodiments of the invention.
  • the main motor when referred to in the present invention, means specifically a motor other than the motor used to supply power for driving the reed of the loom.
  • the variable-speed motor which is provided independently of drive systems driven by the main motor and used to supply power to the rocking shaft drive system, is controlled by a control device. Rotation of the rocking shaft in forward direction causes the sley to move toward the cloth fell/cloth beam (Warenbaum) for beating-up operation of the reed. Rotation of the rocking shaft in reverse direction causes the sley to move toward its retracted position.
  • Such reciprocatory rotary movement of the rocking shaft is accomplished by a mechanism provided for the rocking shaft drive system and adapted to change the rotational direction of the rocking shaft or by changing the operational direction of the variable-speed motor.
  • the speed and timing of beating-up operation and the speed of reed movement can be controlled easily by electrically and/or electronically controlling the reed drive motor.
  • a reciprocating rotatable rocking shaft 10 disposed extending across the loom has a sley sword 11 and a rocking arm 15 fixedly mounted thereon for reciprocating with the rocking shaft 10.
  • the sley sword 11 has a sley 12 fixed thereto and having a reed 13 with a guide dent forming a weft guide passage 14.
  • a connecting rod 21 is slidably connected at its distal end 22 to the rocking arm 15.
  • the reed 13 may be substituted with an ordinary reed having no guide dents or guide channel.
  • crankshaft 20 there is a crankschaft 20 to which the proximal end 23 of the connecting rod 21 is eccentrically and slidably mounted.
  • the crankshaft 20 is driven by a variable-speed motor 30.
  • the power of the motor 30 is transmitted to the crankshaft 20 by any suitable means such as gears, chain, rod, etc.
  • a timing belt 31 is used in the embodiment for transmitting the power of the motor 30 to the crankshaft 20.
  • the variable-speed motor 30 is driven under the control of a control device 50 through a speed control device 57.
  • the control device 50 is adapted to receive detect signals from a rotary encoder 35 for detecting the angle of rotation of the variable-speed motor 30 and also detect signals from a rotary encoder 45 for detecting the angle of rotation of a main motor 40.
  • a control device 50 it would also be possible to use e.g. a controlled variable-speed transmission or transmission gear.
  • the control device 50 has a microcomputer 51 which includes a central processing unit 52 (hereinafter referred to as "CPU"), a program memory 53, or a read-only memory (ROM), for storing therein a control program, and a work memory 54, or a random access memory (RAM), for temporarily storing the processing results of the CPU 52.
  • the CPU 52 operates from the control program data stored in the program memory 53.
  • the control device 50 further includes a keyboard as an input device 55 for inputting into the microcomputer 51 data of various weaving conditions and weaving requirements, such as kind of weft yarn, weaving width, loom speed, etc.
  • the CPU 52 is adapted to calculate for an optimum reed motion on the basis of the data on the kind of weft yarn to be used, weaving width, loom speed, etc. which are inputted into the CPU 52 from the input device 55 prior to starting of the loom operation. For example, when a reed motion is calculated by the CPU 52, as indicated by the solid line in the diagram of Fig. 3, the CPU compares and processes the signals by detected the rotary encoders 35, 45 thereby to transmit to the speed control device 57 a control signal for correcting and controlling the operation of the variable-speed motor 30 in such a way, that it operates in accordance with the solid curved line in the diagram.
  • the speed control device 57 causes the variable-speed motor 30 to rotate.
  • the rocking shaft 10 is driven thereby to make reciprocatory rotation via the belt 31, crankshaft 20, connecting rod 21 and rocking arm 15.
  • the sley sword 11, sley 12 and reed 13 are moved together with the rocking shaft 10 for beating-up motion of the reed 13.
  • Varying positions of the reed 13 are detected by the rotary encoder 35 mounted on the variable-speed motor 30 and pulse signals corresponding to the reed positions are transmitted to the control device 50.
  • the movement of component parts of the loom which are driven by the main motor 40 is detected by the rotary encoder 45 mounted on the main motor 40 and pulse signals representing the motion of each such part are also transmitted to the control device 50.
  • the control device 50 operates in accordance with the flow chart provided in Fig. 4 to control the reversible variable-speed motor 30 so that it operates following the optimum beating-up curve calculated from the data on weaving conditions fed into the work memory 54 and stored in advance before starting the loom operation.
  • the rocking shaft 10 and the main shaft (not shown) driven by the main motor 40 are positioned relative to each other for initial start-up. Then, making sure that loom stop command is not present, the loom operation is started.
  • the control device 50 constantly compares the pulse signals from the rotary encoders 35 and 45 and controls the rocking motor 30 while adjusting its operation as required so that the rocking motor operation follows the stored optimum beating-up curve.
  • the reed should move as little as possible while a weft yarn is being inserted/blown through the shed.
  • the reed movement can be adjusted according to the ease of weft insertion.
  • the ratio of time for weft picking in one cycle of loom operation can be adjusted, it is possible to weave a variety of fabrics by a single loom.
  • the drive system for reed beating-up according to the present invention is thus simpler in construction than in conventional systems.
  • the device according to the invention is advantageous with regard to the reduction of heat build-up, noise and vibration, operating efficiency, etc. Accordingly, the present invention allows for further speed-up of loom operation.
  • a motor operable in both forward and reverse directions e.g. a servo motor 32
  • a servo motor 32 is employed as the variable-speed motor.
  • This embodiment thus differs from the first embodiment in details of the beating-up motion drive system.
  • the sley sword 11, sley 12 and reed 13 are disposed on the rocking shaft 10 in the same arrangement as in the above-described first embodiment.
  • the rocking shaft 10 is driven by the servo motor 32 by way of a timing belt 33.
  • means for transmitting power of the motor 32 to the rocking shaft 10 is not limited to the timing belt only.
  • the control circuit 50 for controlling the operation of the servo motor 32 operates in accordance with the flow chart shown in Fig. 6.
  • This flow chart differs from that provided in Fig. 4 in respect of the portion for controlling the reciprocating rotation of the rocking shaft 10, but other portions thereof are substantially similar to the corresponding portions of the flow chart in Fig. 4.
  • the control device 50 responds to the pulse signals from the rotary encoder 45 to integrate the main shaft angle ⁇ . After making sure that loom stop command is not present, the direction in which the rocking shaft 10 is then rotating, forward or reverse, is determined.
  • the control device 50 controls the rocking motor 32 so that it operates in compliance with the stored optimum beating-up curve until a condition ⁇ > ⁇ 1 is reached if the rocking shaft 10 is then rotating in forward direction, or until a condition ⁇ > ⁇ 2 is reached if the rocking shaft is then rotating in reverse direction, wherein ⁇ 1 represents a main shaft angle at the moment of beating-up, and ⁇ 2 a main shaft angle at which the reed is just about to move from the retracted position toward the cloth fell.
  • the main shaft angle reaches either ⁇ 1 or ⁇ 2
  • the servo motor 32 receives a reverse command and accordingly changes its rotational direction to reverse the rocking shaft 10.
  • this embodiment operates in the same manner as the first embodiment.
  • a third embodiment shown in Fig. 7 can be seen in the structure for feeding weft yarns.
  • the other structures are similar to those of the first or second embodiment shown in Fig. 1 and 5.
  • On one end (or weft picking side) of the rocking shaft 10 is fixedly mounted a nozzle holder 60 in which there are two weft picking nozzles 61, 62 for injecting weft yarns Y1, Y2 from a weft supply (not shown) into the weft guide passage 14.
  • the nozzle 61 is connected to a compressed air tank 67 via a flexible pipe 63 and an electromagnetic valve 65, while the other nozzle 62 is connected to a compessed air tank 68 via a flexible pipe 64 and an electromagnetic valve 66.
  • either one of the elctromagnetic valves 65, 66 is openend to release its weft yarn Y1 or Y2. In this way, the order in which the weft yarns Y1 and Y2 are picked is controlled according to the preset picking pattern.
  • the pressures of air from t he two picking nozzles 61, 62 can be controlled independently of each other and also the beating-up curve can be established as required, so that the two weft yarns Y1 und Y2 do not have to be of a similar type in characteristics, but they may be of different types, e.g. one being a cotton yarn and the other being a silk yarn.
  • the desired pattern of beating-up curve may vary with the kind of weft yarn to be picked.
  • the number of weft picking nozzles used in the above embodiment is not limited to two only, but three or more nozzles may be used for picking three or more different of weft yarns even of a different type, for example by adding a pattern of beating-up curve for woolen weft yarn, as indicated in Fig. 8.
  • the reed driving device of the present invention is not limited to the embodiments illustrated in the above, but it may be used in combination with shuttleless looms other than air jet looms, and also with looms using a shuttle.
  • the rotary encoder 35 is mounted on the motor in the embodiments, it may be mounted on the crankshaft 20 or rocking shaft 10.
  • the rotary encoder itself may be substituted by other detecting means such as a resolver.
  • the other rotary encoder 45 which may be substituted by a resolver mounted on the main shaft.
  • the control device 50 may be arranged in a way that a plurality of patterns of beating-up curves, e.g. three patterns as exemplified in Fig. 8, can be stored in the program memory 53 so that the operator may select the desired pattern.
  • control device 50 may be simplified by dispensing with the input device 55 so that the loom operates always from a predetermined pattern of beating-up curve.
  • the arrangement according to the prior art, shown in Fig. 9, is referred to as multi-joint link type, and disclosed, e.g., by Japanese patent application 58-191247.
  • this device the uniform rotational movement of the crankshaft 101 is converted into a reciprocatory rotary motion of the rocking shaft 103 through the link mechanism 102.
  • Provision of the lever 112 permits an irregular movement of the reed, as shown by solid line in Fig. 10, thereby to secure the time for weft pcking more advantageously as comopared with the reed motion, as indicated by dashed line in Fig. 10, which had been realized by standard crank mechanism.
  • FIG. 11 Another arrangement according to the prior art, shown in Fig. 11, which is referred to as positive cam type, is disclosed in Japanese patent application 54-10662.
  • the uniform rotational movement of the crankshaft 105 is converted into a reversible rotational motion of the rocking shaft 109 through the cam lever 108 which slidably rides on the positive cams 106, 107.
  • an irregular movement of the reed as shown in Fig. 10, desirable for securing longer time for weft picking is achieved.
  • the present invention can solve the aforementioned problems inherent to the conventional reed driving methods and devices, such as heat build-up, development of noise and vibration, and poor operating efficiency, thus making possible operation of a loom at a higher speed.
  • the reed driving system of the invention provides for a loom which is capable of flexibly coping with weaving fabrics having a larger width and/or also wovens with weft yarns of different types, which could not be manufactured with the conventional looms so far. Additionally, because the reed movement is electrically controlled, independent of the movement of other major parts of the loom, the beating-up curve can be established with a high degree of freedom. This can make it possible to produce woven by an unprecedented combination of different kinds of weft yarns.
  • the device for driving the reed in a loom is completely independent from the main motor.
  • the separate motor for driving the rocking shaft on which the reed is fixed, is controlled according to the desired idividual operating conditions.
  • the method of driving the reed consists in driving the rocking shaft with the reed independent from the main motor for driving other systems of the loom.
  • the loom is including an individual drive for the rocking shaft with the reed.
  • Fig. 1 is a schematic side view showing the first embodiment of the reed drive device of the invention
  • Fig. 2 is a block diagram showing the control device for the beating-up motion in the first embodiment
  • Fig. 3 is a diagram exemplifying a beating-up curve representing the positional relationship between the main shaft and the reed of the loom
  • Fig. 4 is a flow chart showing the operational procedure of the loom in the first embodiment
  • Fig. 5 is a block diagram of the control device for the beating-up motion in the second embodiment
  • Fig. 6 is a flow chart showing the operational procedure of the loom in the second embodiment
  • Fig. 1 is a schematic side view showing the first embodiment of the reed drive device of the invention
  • Fig. 2 is a block diagram showing the control device for the beating-up motion in the first embodiment
  • Fig. 3 is a diagram exemplifying a beating-up curve representing the positional relationship between the main shaft and the reed of the loom
  • FIG. 7 is a partial perspective view showing schematically the weft picking device of the loom in the third embodiment;
  • Fig. 8 is a diagram exemplifying beating-up curves for different kinds of weft yarns.
  • Figs. 9 through 11 showing the beating-up motion of conventional structures;
  • Fig. 9 is a schematic side view of a conventional beating-up motion of multi-joint link type;
  • Fig. 10 is a diagram exemplifying a beating-up curve of the conventional device;
  • Fig. 11 is a side view of a conventional beating-up motion of positive cam type.

Claims (7)

  1. Dispositif d'entraînement de peigne (13) dans un métier, comportant :
    un arbre culbuteur (10) avec des moyens (11, 12) pour fixer le peigne (13) sur l'arbre (10) ;
    un système d'entraînement d'arbre culbuteur (20, 21, 15) qui est entraîné indépendamment par un moteur principal (40) pour des systèmes d'entraînement, autre que le système d'entraînement d'arbre basculant (20, 21, 15) du métier, caractérisé en ce qu'un moteur (30) est apte à entraîner ledit système d'entraînement d'arbre basculant (20, 21, 15) et à actionner suivant un mouvement alternatif ledit arbre basculant (10) avec le peigne (13) fixé sur celui-ci ;
    un dispositif de commande (50, 57) commande ledit système d'entraînement d'arbre basculant (20, 21, 15) ;
    le moteur (30) est un moteur à vitesse variable apte à entraîner ledit système d'entraînement d'arbre basculant (20, 21, 15) à une vitesse variable, le dispositif de commande (50, 57) comporte un dispositif de commande de variation de vitesse (57) pour faire varier la vitesse du moteur à vitesse variable (30) en accord avec les conditions de fonctionnement à obtenir du métier.
  2. Dispositif selon la revendication 1, où le moyen pour fixer le peigne sur l'arbre basculant comporte un battant (12) et une échasse (11).
  3. Dispositif selon la revendication 1 ou 2, où l'arbre basculant (10) s'étend vers le côté de la chaîne et/ou le peigne (13) dudit métier.
  4. Dispositif selon l'une des revendications 1 à 3, où le moteur à vitesse variable (32) est un servo-moteur fonctionnant pour exécuter un mouvement de va-et-vient vers l'avant et vers l'arrière.
  5. Procédé pour entraîner le peigne (13) d'un métier en actionnant suivant un mouvement alternatif un arbre basculant (10) sur lequel le peigne (13) est fixé, ledit arbre basculant (10) étant amené à exécuter un mouvement alternatif ;
       par un système d'entraînement d'arbre (20, 21, 15) indépendant du moteur principal (40) pour entraîner les systèmes du métier, autre que le système d'entraînement d'arbre basculant (20, 21, 15) caractérisé par un actionnement suivant un mouvement alternatif de l'arbre basculant (10) via le système d'entraînement d'arbre (20, 21, 15) au moyen d'un moteur à vitesse variable (30), en accord avec les conditions de fonctionnement à obtenir du métier, le moteur à vitesse variable (30) étant commandé par un dispositif de commande de vitesse variable (57).
  6. Procédé pour entraîner le peigne (13) d'un métier en accord avec la revendication 5, au moyen d'un dispositif en accord avec l'une des revendications 1 à 4.
  7. Métier avec un dispositif en accord avec l'une des revendications 1 à 4 pour faire basculer l'arbre (10) et le peigne (13) à une vitesse variable.
EP91810036A 1990-02-01 1991-01-16 Dispositif et procédé pour la commande du battant d'un métier à tisser, et métier utilisant un tel dispositif Expired - Lifetime EP0440579B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP23007/90 1990-02-01
JP2023007A JP2975387B2 (ja) 1990-02-01 1990-02-01 筬の駆動方法及び装置

Publications (2)

Publication Number Publication Date
EP0440579A1 EP0440579A1 (fr) 1991-08-07
EP0440579B1 true EP0440579B1 (fr) 1996-07-10

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EP91810036A Expired - Lifetime EP0440579B1 (fr) 1990-02-01 1991-01-16 Dispositif et procédé pour la commande du battant d'un métier à tisser, et métier utilisant un tel dispositif

Country Status (3)

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EP (1) EP0440579B1 (fr)
JP (1) JP2975387B2 (fr)
DE (1) DE69120692T2 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10021520A1 (de) * 2000-05-03 2001-11-15 Dornier Gmbh Lindauer Drehantrieb für die Webblattstütze einer Webmaschine
DE10252053A1 (de) * 2002-11-08 2004-06-09 Lindauer Dornier Gmbh Verfahren zum Steuern von Komponenten eines Arbeitsmittels in Webmaschinen und Webmaschine zur Verfahrensdurchführung
CN101831752A (zh) * 2010-05-25 2010-09-15 杭州天马纺织机械有限公司 织机的非惯性打纬机构及实现非惯性打纬的筘座运动方法

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Publication number Priority date Publication date Assignee Title
DE4111405A1 (de) * 1991-04-09 1992-10-15 Jaeger Emil Gmbh Co Kg Antrieb fuer die ladenbewegung eines webstuhles
DE4122249C1 (fr) * 1991-07-05 1992-09-24 Juergens Maschinenbau Gmbh & Co Kg, 4407 Emsdetten, De
DE19924627C1 (de) * 1999-05-28 2001-05-23 Dornier Gmbh Lindauer Verfahren zur Steuerung des Bewegungsablaufes der Webblattwelle einer Webmaschine
DE10154941C2 (de) 2001-11-08 2003-11-20 Dornier Gmbh Lindauer Antriebsanordnung für das Webblatt einer Webmaschine
DE10393916D2 (de) * 2002-10-10 2005-08-25 Dornier Gmbh Lindauer Verfahren zum Steuern von Komponenten eines Arbeitsmittels in Webmaschinen und Webmaschine zur Verfahrensdurchführung
CZ302120B6 (cs) * 2003-10-20 2010-10-20 VÚTS, a.s. Tkací stroj
DE102004046649B4 (de) 2004-09-25 2008-04-10 Lindauer Dornier Gesellschaft Mit Beschränkter Haftung Webblatt-Antrieb einer Webmaschine
CN101492853B (zh) * 2009-03-05 2010-12-01 王勇 毛巾机活筘机构
CN102560834A (zh) * 2010-12-09 2012-07-11 江苏万工科技集团有限公司 一种织机七杆打纬机构
CN105755653B (zh) * 2016-04-26 2017-04-26 江苏友诚数控科技有限公司 一种筘动起毛机构
CN105755652B (zh) * 2016-04-26 2017-04-26 江苏友诚数控科技有限公司 一种喷气织机打纬机构

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FR1451236A (fr) * 1964-12-10 1966-01-07 Métier à tisser
US3822726A (en) * 1972-04-13 1974-07-09 Rosenfors Bruk Ab Sley driving system with single or double contact for power looms or hand looms
FR2359917A1 (fr) * 1976-07-26 1978-02-24 Gagey Etienne Procede et dispositif pour la commande d'un battant de metier a tisser
JPS59199841A (ja) * 1983-04-23 1984-11-13 株式会社豊田自動織機製作所 織機における筬打ち駆動方法
US4625768A (en) * 1984-03-02 1986-12-02 N.V. Weefautomaten Picanol Batten for weaving loom
CH671784A5 (fr) * 1987-04-03 1989-09-29 Textilma Ag
JPS6410088U (fr) * 1987-07-08 1989-01-19

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10021520A1 (de) * 2000-05-03 2001-11-15 Dornier Gmbh Lindauer Drehantrieb für die Webblattstütze einer Webmaschine
DE10252053A1 (de) * 2002-11-08 2004-06-09 Lindauer Dornier Gmbh Verfahren zum Steuern von Komponenten eines Arbeitsmittels in Webmaschinen und Webmaschine zur Verfahrensdurchführung
CN101831752A (zh) * 2010-05-25 2010-09-15 杭州天马纺织机械有限公司 织机的非惯性打纬机构及实现非惯性打纬的筘座运动方法

Also Published As

Publication number Publication date
DE69120692T2 (de) 1997-02-20
JPH03227429A (ja) 1991-10-08
DE69120692D1 (de) 1996-08-14
EP0440579A1 (fr) 1991-08-07
JP2975387B2 (ja) 1999-11-10

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