JP2017043218A - Wheel for omnidirectionally movable vehicle - Google Patents

Wheel for omnidirectionally movable vehicle Download PDF

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JP2017043218A
JP2017043218A JP2015167312A JP2015167312A JP2017043218A JP 2017043218 A JP2017043218 A JP 2017043218A JP 2015167312 A JP2015167312 A JP 2015167312A JP 2015167312 A JP2015167312 A JP 2015167312A JP 2017043218 A JP2017043218 A JP 2017043218A
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core material
core member
roller
wall portion
omnidirectional vehicle
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JP6661304B2 (en
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韶得 辻
Akinori Tsuji
韶得 辻
重法 坂本
Shigenori Sakamoto
重法 坂本
和洋 浜口
Kazuhiro Hamaguchi
和洋 浜口
佐伯　誠
Makoto Saeki
佐伯　　誠
敦司 峯政
Atsushi Minemasa
敦司 峯政
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TOSA DENSHI KK
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TOSA DENSHI KK
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Abstract

PROBLEM TO BE SOLVED: To provide a wheel for omnidirectionally movable vehicle capable of preventing a core material of a roller from being damaged regardless of a traveling behavior of a vehicle, and maintaining a stable travel.SOLUTION: A wheel for omnidirectionally movable vehicle comprises rollers rotary supported with respective shafts disposed so as to be inclined with respect to the rotary shafts in a circumferential direction of the rotary supporting body rotary supported with the respective rotary shafts. The roller comprises: a core material and a ground part disposed surrounding around a circumference of the core material. The core material comprises a wall part projecting toward the circumference of the core material in the ground part.SELECTED DRAWING: Figure 3

Description

本発明は、全方向移動車両に設置される全方向移動車両用車輪に関するものである。   The present invention relates to an omnidirectional vehicle wheel installed in an omnidirectional vehicle.

従来より、全方向移動車両に設置される全方向移動車両用車輪が公知である。例えば、周方向に連なって配置された複数のローラを支持する第１リムと第２リムとを備え、夫々のローラをリムの回転軸心に対して傾いたローラ回転軸心を中心として回転自在に設置し、夫々のリムの間に周方向、全方向移動車両用車輪回転軸心に直交する方向、第１リム回転軸心、第２リム回転軸心に直交する方向、ならびに相対的に傾斜する方向のうちの少なくとも１つの方向において限定された相対運動を可能とする制御手段を備えるものが公知である（特許文献１参照）。   Conventionally, an omnidirectional vehicle wheel installed in an omnidirectional vehicle is known. For example, a first rim and a second rim for supporting a plurality of rollers arranged in a circumferential direction are provided, and each roller is rotatable about a roller rotation axis inclined with respect to the rotation axis of the rim. Between each rim, in the circumferential direction, in the direction orthogonal to the omnidirectional vehicle wheel rotation axis, in the direction orthogonal to the first rim rotation axis, the second rim rotation axis, and relatively inclined A device having a control means that enables a limited relative movement in at least one of the directions is known (see Patent Document 1).

特開２０１４−５２６４１９号公報JP 2014-526419 A

しかしながら、特許文献１の構造では、２つのリムによって不安定な走行状態を回避するものであるが、当該車輪に設置されるローラ自体については従来のものと略同様であるため、車両の走行挙動によっては一方のリムにおけるローラの端部に負荷が掛かってしまい、ローラの芯材に亀裂が入ってしまったり、当該芯材がローラから抜けてしまったりする等の損傷によって、安定した走行に影響を及ぼすことが懸念されるものであった。   However, in the structure of Patent Document 1, an unstable traveling state is avoided by two rims. However, since the rollers installed on the wheels are substantially the same as the conventional ones, the traveling behavior of the vehicle. Depending on the condition, a load may be applied to the end of the roller in one rim, and the core material of the roller may be cracked or the core material may come off the roller. Was a concern.

そこで、本発明はこのような問題点を解決するものであって、車両の走行挙動によっても、ローラの芯材が損傷するのを防止し、安定した走行を行うことができる全方向移動車両用車輪を提供することを課題とする。   Therefore, the present invention solves such a problem, and prevents the roller core material from being damaged by the traveling behavior of the vehicle, and is capable of stable traveling. It is an object to provide wheels.

前記問題点を解決するために、本発明の請求項１に記載の全方向移動車両用車輪は、回転軸にて回転自在に支持される回転支持体の周方向にて、前記回転軸に対して傾斜して設けられる軸部に回転自在に支持されるローラを備える全方向移動車両用車輪であって、前記ローラは、芯材と前記芯材の外周を覆設する接地部とを備え、前記芯材は前記接地部内にて前記芯材の外周方向へ突出する壁部を備えることを特徴とするものである。   In order to solve the above problems, an omnidirectional vehicle wheel according to claim 1 of the present invention is provided in a circumferential direction of a rotary support that is rotatably supported by a rotary shaft with respect to the rotary shaft. A wheel for an omnidirectional vehicle including a roller rotatably supported by a shaft portion provided to be inclined, and the roller includes a core material and a grounding portion that covers an outer periphery of the core material, The core member includes a wall portion that protrudes in an outer peripheral direction of the core member in the grounding portion.

また、本発明の請求項２に記載の全方向移動車両用車輪は、請求項１に記載の全方向移動車両用車輪において、前記壁部は、少なくとも前記芯材の両端側に設けられるものである。   An omnidirectional vehicle wheel according to claim 2 of the present invention is the omnidirectional vehicle wheel according to claim 1, wherein the wall portion is provided at least on both ends of the core member. is there.

また、本発明の請求項３に記載の全方向移動車両用車輪は、請求項１又は請求項２に記載の全方向移動車両用車輪において、前記壁部は、前記芯材の周方向に対して連続的に形成されるものである。   Moreover, the omnidirectional vehicle wheel according to claim 3 of the present invention is the omnidirectional vehicle wheel according to claim 1 or 2, wherein the wall portion is arranged in a circumferential direction of the core member. Are formed continuously.

また、本発明の請求項４に記載の全方向移動車両用車輪は、請求項１又は請求項２に記載の全方向移動車両用車輪において、前記壁部は、前記芯材の周方向に対して所定の間隙を有した状態で断続的に形成されるものである。   Moreover, the omnidirectional vehicle wheel according to claim 4 of the present invention is the omnidirectional vehicle wheel according to claim 1 or 2, wherein the wall portion is arranged in a circumferential direction of the core member. Thus, it is formed intermittently with a predetermined gap.

また、本発明の請求項５に記載の全方向移動車両用車輪は、請求項１から請求項４のいずれか１項に記載の全方向移動車両用車輪において、前記壁部は、前記芯材と一体に形成されるものである。   Moreover, the omnidirectional vehicle wheel according to claim 5 of the present invention is the omnidirectional vehicle wheel according to any one of claims 1 to 4, wherein the wall portion includes the core member. And are formed integrally.

本発明の全方向移動車両用車輪では、ローラにおける芯材から外周方向へ突出する壁部を備えるので、芯材の強度を高めることができ、車両の走行挙動によっても、芯材が損傷するのを防止し、安定した走行を行うことができる。   In the omnidirectional vehicle wheel according to the present invention, since the wall portion that protrudes from the core material in the roller to the outer peripheral direction is provided, the strength of the core material can be increased, and the core material is also damaged by the running behavior of the vehicle. Can be prevented and stable running can be performed.

本発明の実施例における全方向移動車両用車輪の正面図である。It is a front view of the wheel for omnidirectional vehicles in the example of the present invention. 本発明の実施例における全方向移動車両用車輪の側面図である。It is a side view of the wheel for omnidirectional vehicles in the example of the present invention. 本発明の実施例における全方向移動車両用車輪の一部分解斜視図である。It is a partial exploded perspective view of the wheel for omnidirectional vehicles in the example of the present invention. 本発明の実施例における全方向移動車両用車輪のローラの斜視図である。It is a perspective view of the roller of the wheel for omnidirectional vehicles in the example of the present invention.

以下、本発明の実施の形態における全方向移動車両用車輪を図面に基づいて説明する。当該全方向移動車両用車輪は、いわゆる、メカナムホイールとされ、回転軸にて回転自在に支持される回転支持体１０の周方向にて、回転軸に対して傾斜して設けられる軸部３０に回転自在に支持されるローラ２０を備えてなり、ローラ２０は、芯材２１と芯材２１の外周を覆設する接地部２２とを備え、芯材２１は接地部２２内にて芯材２１の外周方向へ突出する壁部２４を備えるものである。全方向移動車両用車輪は、全方向移動車両の回転軸（図示しない）に設置されることで使用される。   Hereinafter, an omnidirectional vehicle wheel according to an embodiment of the present invention will be described with reference to the drawings. The omnidirectional vehicle wheel is a so-called mecanum wheel, and is provided with a shaft portion 30 that is inclined with respect to the rotation axis in the circumferential direction of the rotation support 10 that is rotatably supported by the rotation axis. The roller 20 includes a core material 21 and a grounding portion 22 that covers the outer periphery of the core material 21, and the core material 21 is a core material in the grounding portion 22. The wall part 24 which protrudes in the outer peripheral direction of 21 is provided. The omnidirectional vehicle wheel is used by being installed on a rotating shaft (not shown) of the omnidirectional vehicle.

本発明の実施例に係る全方向移動車両用車輪は、図１から図４に示すように、全方向移動車両の回転軸（図示しない）に対して回転自在となるよう支持される回転支持体１０と、回転支持体１０の周方向で当該回転軸に対して傾斜して設けられる軸部３０に回転自在となるよう支持されるローラ２０とを備えてなる。   As shown in FIGS. 1 to 4, the omnidirectional vehicle wheel according to the embodiment of the present invention is supported so as to be rotatable with respect to a rotating shaft (not shown) of the omnidirectional vehicle. 10 and a roller 20 that is rotatably supported by a shaft portion 30 that is inclined with respect to the rotation axis in the circumferential direction of the rotation support 10.

回転支持体１０は、全方向移動車両に回転軸に設置される基部１１と、基部１１の外形縁部から外側方向に延出して形成されるブラケット１２とから形成される左右一対の支持片１３を対向配置させて、ボルト等の固定手段１４を介して固定することで構成される。当該一対の支持片１３は、例えば、金属板等をプレス加工して形成されるが、合成樹脂等から形成することもできる。   The rotary support 10 is composed of a pair of left and right support pieces 13 formed from a base 11 installed on a rotating shaft in an omnidirectional vehicle and a bracket 12 formed to extend outward from an outer edge of the base 11. Are arranged opposite to each other and fixed through fixing means 14 such as a bolt. The pair of support pieces 13 are formed, for example, by pressing a metal plate or the like, but can also be formed from a synthetic resin or the like.

基部１１の略中央部には、全方向移動車両の回転軸を挿通するための回転軸孔１５が形成されており、当該回転軸孔１５の周辺には、一対の支持片１３の両者を固定するための固定孔（図示しない）が所定の個数形成されている。また、ブラケット１２は、基部１１の外形縁部から外側方向に向かう長さ寸法の略中央部を対向配置される支持片１３側へ折曲して形成されており、先端部側に軸部３０を挿通するための貫通孔１６が形成されている。   A rotation shaft hole 15 for inserting the rotation shaft of the omnidirectional vehicle is formed in a substantially central portion of the base portion 11, and both the pair of support pieces 13 are fixed around the rotation shaft hole 15. A predetermined number of fixing holes (not shown) are formed. In addition, the bracket 12 is formed by bending a substantially central portion of a length dimension from the outer edge of the base portion 11 toward the outer side toward the support piece 13 that is disposed to face the shaft portion 30, and a shaft portion 30 on the distal end portion side. A through hole 16 is formed for insertion of the through hole 16.

当該左右一対の支持片１３においては、対向する両者のブラケット１２間に所定の間隔を有した状態でボルト等の固定手段１４を介して固定されることで回転支持体１０が構成される。そして、夫々の対向するブラケット１２間に軸部３０を軸支し、当該軸部３０にローラ２０を回転可能な状態で軸支している。このとき、図２に示すように、回転支持体１０に挿通される回転軸に対して、軸部３０が傾斜するよう回転支持体１０が構成されている。   In the pair of left and right support pieces 13, the rotary support body 10 is configured by being fixed via a fixing means 14 such as a bolt with a predetermined interval between the brackets 12 facing each other. The shaft portion 30 is pivotally supported between the brackets 12 facing each other, and the roller 20 is pivotally supported on the shaft portion 30 in a rotatable state. At this time, as shown in FIG. 2, the rotary support 10 is configured such that the shaft portion 30 is inclined with respect to the rotary shaft inserted through the rotary support 10.

本実施例においては、基部１１に形成されるブラケット１２の個数は１２個とされ、回転支持体１０の周方向において等間隔にローラ２０が設置されるとともに、回転支持体１０に挿通される回転軸に対して、軸部３０が４５度傾斜するよう設置されるものである。このような回転支持体１０の基本構造は、公知の構造と略同様であるため、適宜変更することができるのは勿論であり、特に制限されるものではない。   In the present embodiment, the number of brackets 12 formed on the base 11 is twelve, and the rollers 20 are installed at equal intervals in the circumferential direction of the rotation support 10 and the rotation inserted through the rotation support 10 is performed. The shaft portion 30 is installed to be inclined 45 degrees with respect to the shaft. Since the basic structure of the rotating support 10 is substantially the same as a known structure, it can be changed as appropriate and is not particularly limited.

ローラ２０は、図３及び図４に示すように、回転支持体１０の軸部３０を挿通する芯材２１と、芯材２１の外周を覆設する接地部２２とから構成される。当該芯材２１は、内部に軸部３０を挿通可能とする挿通孔２３が形成されており、例えば、アルミニウム合金、鋼鉄等からなり、後述の壁部を除いて円筒状の部材とされる。また、芯材２１の外周に覆設される接地部２２は、例えば、ウレタンゴム、天然ゴム等の弾性体、６ナイロン、６６ナイロン等の合成樹脂からなる略円筒状、略樽状等の部材とされる。   As shown in FIGS. 3 and 4, the roller 20 includes a core member 21 that passes through the shaft portion 30 of the rotary support 10 and a grounding portion 22 that covers the outer periphery of the core member 21. The core member 21 has an insertion hole 23 through which the shaft portion 30 can be inserted. The core member 21 is made of, for example, an aluminum alloy, steel, or the like, and is a cylindrical member except for a wall portion described later. In addition, the grounding portion 22 covered on the outer periphery of the core material 21 is a member having a substantially cylindrical shape or a substantially barrel shape made of an elastic body such as urethane rubber or natural rubber, or a synthetic resin such as 6 nylon or 66 nylon. It is said.

また、芯材２１には、接地部２２内にて芯材２１の外周方向へ突出する壁部２４が設けられる。当該壁部２４は、芯材２１と一体に形成されるものであって、芯材２１の外形より大きく、芯材２１における軸方向の所定の幅寸法を有するよう形成されるものであれば、特に制限されるものではない。すなわち、壁部２４は、芯材２１の周方向に対して連続的に形成されるものであってもよいし、所定の間隙を有した状態で断続的に形成されるものであってもよく、芯材２１から外周方向へ突出する段部が形成されていればよい趣旨である。   Further, the core member 21 is provided with a wall portion 24 that protrudes in the outer peripheral direction of the core member 21 within the grounding portion 22. The wall portion 24 is formed integrally with the core material 21 and is larger than the outer shape of the core material 21 and is formed to have a predetermined width dimension in the axial direction of the core material 21. There is no particular limitation. That is, the wall portion 24 may be formed continuously in the circumferential direction of the core material 21 or may be formed intermittently with a predetermined gap. In other words, it is only necessary to form a stepped portion protruding from the core material 21 in the outer peripheral direction.

具体的には、芯材２１の周方向に対して連続的に形成される壁部２４は、例えば、環状、四角形状、多角形状等の形状から形成されるが、走行時における芯材２１に対する荷重の観点から、環状又は環状に近似する多角形状とすることが望ましい。すなわち、壁部２４は、環状を包含する略環状に形成されることが望ましい。   Specifically, the wall portion 24 continuously formed in the circumferential direction of the core material 21 is formed from, for example, an annular shape, a quadrangular shape, a polygonal shape, or the like. From the viewpoint of load, it is desirable to have a ring shape or a polygonal shape that approximates a ring shape. That is, the wall portion 24 is preferably formed in a substantially annular shape including an annular shape.

また、芯材２１の周方向に対して、所定の間隙を有した状態で断続的に形成される壁部２４は、例えば、対向する位置の２箇所、所定間隙を有した３箇所等、周方向に等間隔に形成されるが、走行時における芯材２１に対する荷重の観点から、環状に近似するよう放射状に形成することが望ましい。   In addition, the wall portion 24 that is intermittently formed with a predetermined gap with respect to the circumferential direction of the core material 21 has, for example, two places at opposite positions and three places with a predetermined gap. Although formed at equal intervals in the direction, it is desirable to form them radially so as to approximate an annular shape from the viewpoint of the load on the core member 21 during traveling.

また、壁部２４は、芯材２１における軸方向において、少なくとも両端側に設けられる。具体的には、少なくとも芯材２１の両端側に壁部２４が形成されることから、当該壁部２４を芯材２１の両端縁部に形成することもできるし、芯材２１の縁部から所定寸法だけ内側に位置した状態で両端側に形成することもできる。また、両壁部２４の間に所定間隔を有した状態で別途の壁部２４を形成することもできるし、これに限られない。   The wall portions 24 are provided at least on both ends in the axial direction of the core material 21. Specifically, since the wall portions 24 are formed at least at both ends of the core material 21, the wall portions 24 can be formed at both edge portions of the core material 21, or from the edge portions of the core material 21. It can also be formed on both end sides in a state of being located inside by a predetermined dimension. Moreover, the separate wall part 24 can also be formed in the state which has the predetermined space | interval between both wall parts 24, It is not restricted to this.

これにより、芯材２１における両端側の強度を高めることができ、車両の走行挙動によって、ローラ２０の端部に荷重が掛かってしまう場合であっても、芯材２１に亀裂等が入るのを防止することができる。また、ローラ２０の端部に掛かる荷重が大きいものであって、仮に芯材２１に亀裂等が入ってしまった場合であっても、壁部２４が芯材２１と一体となって形成されるとともに、壁部２４が芯材２１の外形より大きく形成されるため、その損傷を芯材２１の縁部にて留める、又は縁部から壁部２４が設けられる位置に至るまでに留めることができる。   As a result, the strength of both ends of the core material 21 can be increased, and even if a load is applied to the end portion of the roller 20 due to the running behavior of the vehicle, the core material 21 is not cracked. Can be prevented. Further, even if the load applied to the end of the roller 20 is large and the core member 21 is cracked or the like, the wall portion 24 is formed integrally with the core member 21. At the same time, since the wall portion 24 is formed larger than the outer shape of the core material 21, the damage can be stopped at the edge portion of the core material 21, or can be stopped from the edge portion to the position where the wall portion 24 is provided. .

さらには、車両の走行挙動によって、ローラ２０の側面側から軸方向に荷重が掛かってしまった場合であっても、壁部２４によって芯材２１から外周方向へ突出する段部が形成されているため、応力が分散されることで芯材２１が接地部２２から抜けてしまうのを防止することができる。これらにより、結果として、ローラ２０の耐久性を向上させることができ、商品価値を高めることができる。   Furthermore, even if a load is applied in the axial direction from the side surface of the roller 20 due to the running behavior of the vehicle, the wall portion 24 forms a step portion that protrudes from the core material 21 toward the outer peripheral direction. Therefore, it is possible to prevent the core material 21 from coming off from the grounding portion 22 due to the stress being dispersed. As a result, the durability of the roller 20 can be improved and the commercial value can be increased.

本実施例においては、接地部２２は略樽状のウレタンゴムからなり、円筒状のアルミニウム合金に切削加工を行うことによって、芯材２１と壁部２４が一体に形成され、芯材２１における軸方向において、芯材２１の縁部から所定寸法だけ内側に位置した状態で両端側の２箇所に環状の壁部２４が形成される。具体的には、芯材２１の縁部から壁部２４までの長さ寸法と、壁部２４の幅寸法と、芯材２１における軸方向の全長寸法との比率は、１対１．２対１０程度とされる。また、芯材２１の外形寸法と、壁部２４の外形寸法と、ローラ２０の最大外形寸法との比率は、１対１．３対２程度とされる。このようにして構成されるローラ２０は、図３に示すように、両端縁部にブッシュ３１等を固着し、ワッシャ３２を介した状態でパイプ３３と軸部３０を挿通してナット３４で固定することで、回転支持体１０の周方向において等間隔に設置される。   In the present embodiment, the ground contact portion 22 is made of substantially barrel-shaped urethane rubber, and the core material 21 and the wall portion 24 are integrally formed by cutting a cylindrical aluminum alloy. In the direction, annular wall portions 24 are formed at two positions on both ends in a state where the inner wall is positioned by a predetermined dimension from the edge portion of the core material 21. Specifically, the ratio of the length dimension from the edge of the core member 21 to the wall part 24, the width dimension of the wall part 24, and the total length dimension in the axial direction of the core member 21 is 1 to 1.2 pairs. It is about 10. Further, the ratio of the outer dimension of the core member 21, the outer dimension of the wall portion 24, and the maximum outer dimension of the roller 20 is about 1 to 1.3 to 2. As shown in FIG. 3, the roller 20 configured in this manner has bushes 31 and the like fixed to both end edges, and is inserted with a pipe 33 and a shaft 30 through a washer 32 and fixed with a nut 34. By doing so, it is installed at equal intervals in the circumferential direction of the rotary support 10.

以上、説明した本発明に係る全方向移動車両用車輪によれば、ローラ２０における芯材２１の軸方向において、少なくとも両端側に芯材２１から外周方向へ突出する壁部２４を備えるので、車両の走行挙動によっても、ローラ２０の芯材２１が損傷するのを防止するとともに、ローラ２０の耐久性を向上させることでき、全方向移動車両の安定した走行を行うことができる。   As described above, according to the omnidirectional vehicle wheel according to the present invention described above, in the axial direction of the core member 21 in the roller 20, at least the both ends are provided with the wall portions 24 projecting from the core member 21 in the outer peripheral direction. Even with this traveling behavior, the core material 21 of the roller 20 can be prevented from being damaged, the durability of the roller 20 can be improved, and the omnidirectional vehicle can travel stably.

上述した実施例において、回転支持体１０、芯材２１、接地部２２及び壁部２４を含んだローラ２０の形状、寸法等を適宜変更して実施することが可能である。さらに、一部構成を省略することができるし、一部抽出した構成とすることができるのは勿論である。   In the embodiment described above, it is possible to appropriately change the shape, dimensions, etc. of the roller 20 including the rotary support 10, the core material 21, the grounding portion 22, and the wall portion 24. Furthermore, it is needless to say that a part of the configuration can be omitted or a part of the configuration can be extracted.

１０ 回転支持体
２０ ローラ
２１ 芯材
２２ 接地部
２４ 壁部
３０ 軸部
DESCRIPTION OF SYMBOLS 10 Rotating support body 20 Roller 21 Core material 22 Grounding part 24 Wall part 30 Shaft part

Claims (5)

回転軸にて回転自在に支持される回転支持体の周方向にて、前記回転軸に対して傾斜して設けられる軸部に回転自在に支持されるローラを備える全方向移動車両用車輪であって、
前記ローラは、芯材と前記芯材の外周を覆設する接地部とを備え、前記芯材は前記接地部内にて前記芯材の外周方向へ突出する壁部を備えることを特徴とする全方向移動車両用車輪。 An omnidirectional vehicle wheel comprising a roller rotatably supported on a shaft portion provided to be inclined with respect to the rotation shaft in a circumferential direction of a rotation support that is rotatably supported by the rotation shaft. And
The roller includes a core member and a grounding portion that covers an outer periphery of the core member, and the core member includes a wall portion that protrudes in the outer peripheral direction of the core member in the grounding portion. Wheel for direction moving vehicle. 前記壁部は、少なくとも前記芯材の両端側に設けられる請求項１に記載の全方向移動車両用車輪。   The omnidirectional vehicle wheel according to claim 1, wherein the wall portion is provided at least on both ends of the core member. 前記壁部は、前記芯材の周方向に対して連続的に形成される請求項１又は請求項２に記載の全方向移動車両用車輪。   The omnidirectional vehicle wheel according to claim 1, wherein the wall portion is formed continuously with respect to a circumferential direction of the core member. 前記壁部は、前記芯材の周方向に対して所定の間隙を有した状態で断続的に形成される請求項１又は請求項２に記載の全方向移動車両用車輪。   The omnidirectional vehicle wheel according to claim 1, wherein the wall portion is formed intermittently with a predetermined gap with respect to a circumferential direction of the core member. 前記壁部は、前記芯材と一体に形成される請求項１から請求項４のいずれか１項に記載の全方向移動車両用車輪。




The omnidirectional vehicle wheel according to any one of claims 1 to 4, wherein the wall portion is formed integrally with the core member.




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