JPH0430190Y2 - - Google Patents
Info
- Publication number
- JPH0430190Y2 JPH0430190Y2 JP1985168712U JP16871285U JPH0430190Y2 JP H0430190 Y2 JPH0430190 Y2 JP H0430190Y2 JP 1985168712 U JP1985168712 U JP 1985168712U JP 16871285 U JP16871285 U JP 16871285U JP H0430190 Y2 JPH0430190 Y2 JP H0430190Y2
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- arm
- support member
- guide member
- predetermined
- 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
Links
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 238000001179 sorption measurement Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 description 1
Landscapes
- De-Stacking Of Articles (AREA)
- Specific Conveyance Elements (AREA)
Description
【考案の詳細な説明】
（産業上の利用分野）
この考案は、段付きワークを吸着して所定の位
置まで搬送するワーク搬送装置に関するものであ
る。[Detailed Description of the Invention] (Industrial Application Field) This invention relates to a workpiece conveyance device that attracts a stepped workpiece and conveys it to a predetermined position.
（従来の技術）
従来より、水平に積重ねられた複数個の平板の
ワークに対して、吸着手段に降下・吸着・上昇・
搬送の各動作を順に行わせることで、ワークの搬
送を行うことは知られている（例えば、特開昭59
−212336号公報参照）。(Prior art) Conventionally, suction means has been used to lower, adsorb, raise, and
It is known that a workpiece can be transported by performing each transport operation in sequence (for example, in Japanese Patent Application Laid-Open No. 59
-Refer to Publication No. 212336).
（考案が解決しようとする課題）
しかし、搬送されるワークが上記にように平板
でなく、第５図に示すワークＷのような段付部
W1を有するものである場合、第６図に示すよう
にワークＷを積重ねると、段付部W1の厚み分だ
け順次横方向へズレて載置されてしまう。このた
め、ワーク搬送離脱位置での位置精度が求められ
る場合（例えば、ワークを位置決め部材上に落下
させる場合）、上記積載時のズレが吸着手段の吸
着位置ズレとなり、落下位置がズレてしまうとい
う問題と、ワークが特定方向へズレて積載される
ために載置状態の不安定化及び載置スペースの拡
大化という問題があつた。(Problem to be solved by the invention) However, the work to be transported is not a flat plate as described above, but a stepped part like the work W shown in FIG.
In the case where the workpieces W are stacked as shown in FIG. 6 , the workpieces W are stacked one after another in the horizontal direction by the thickness of the stepped portion W1 . For this reason, when positional accuracy is required at the workpiece conveyance/detachment position (for example, when dropping the workpiece onto a positioning member), the above-mentioned deviation during loading results in a deviation in the suction position of the suction means, resulting in a deviation in the dropping position. There was also the problem that the workpieces were loaded with deviations in a particular direction, resulting in unstable loading conditions and an expansion of the loading space.
本考案は、上記問題点を解決するために、段付
きワークを載置スペースの拡大を伴なうことなく
載置して常に段付きワークに対して所定の位置を
吸着するとともに、これに伴い該ワークを吸着す
る姿勢とワークを搬送して落下させる姿勢とが異
なつても該落下姿勢でもつてワークを搬送できる
ようにしたワーク搬送装置を提供することを目的
とする。 In order to solve the above-mentioned problems, the present invention has been developed to place a stepped workpiece without expanding the mounting space, and to constantly attract the stepped workpiece to a predetermined position. It is an object of the present invention to provide a workpiece conveyance device which can convey a workpiece in the falling posture even if the posture in which the workpiece is attracted and the posture in which the workpiece is conveyed and dropped are different.
（課題を解決するための手段）
上記の目的を達成するため、本考案の解決手段
は、第１図に示すように、段付部W1を有するワ
ークＷを複数個積重ねた状態で各々同じ垂直投影
面内に位置するように載置せしめる載置部１ａを
有するワーク置台１と、該ワーク置台１の上方に
おいて該ワーク置台１に対して昇降動する支持部
材９と、該支持部材９に水平軸９ａを介して上下
方向に揺動可能に支持されたアーム８と、該アー
ム８の一端に設けられ、上記ワークＷの所定傾斜
面を吸着するためのワーク吸着手段１１と、上記
アーム８に側方に突出せしめて設けられたガイド
部材１３と、上記支持部材９に上記アーム８の他
端と対向して設けられ、上記支持部材９の上昇状
態時に上記アーム８の他端と当接して該アーム８
のワーク搬送時の姿勢が所定の回動位置になるよ
うに該アーム８の回動を規制する回動規制部材１
４と、上記ワーク置台１の載置部１ａ近傍上に立
設され、上記支持部材９の下降時に上記ガイド部
材１３が当接摺動して上記アーム８を上記ワーク
吸着手段１１が常に上記ワーク置台１上の各ワー
クＷの所定傾斜面を吸着するよう回動せしめる傾
斜部２ａと該傾斜部２ａの下方に連設され該傾斜
部２ａで回動せしめられたアーム８の回動姿勢を
維持するストレート部２ｂとからなる案内部材２
とを備えたものとする。(Means for Solving the Problems) In order to achieve the above object, the solution means of the present invention, as shown in FIG . A workpiece stand 1 having a placing part 1a on which the workpiece is placed so as to be positioned in a vertical projection plane, a support member 9 that moves up and down with respect to the workpiece stand 1 above the workpiece stand 1, and a support member 9 that moves up and down with respect to the workpiece stand 1. An arm 8 supported so as to be swingable in the vertical direction via a horizontal shaft 9a, a work suction means 11 provided at one end of the arm 8 for suctioning a predetermined inclined surface of the work W, and the arm 8. A guide member 13 is provided to protrude laterally at the support member 9, and the guide member 13 is provided on the support member 9 to face the other end of the arm 8, and comes into contact with the other end of the arm 8 when the support member 9 is in a raised state. The arm 8
a rotation regulating member 1 that regulates the rotation of the arm 8 so that the posture when transporting the workpiece is at a predetermined rotation position;
The guide member 13 slides into contact with the support member 9 when the support member 9 is lowered, so that the work suction means 11 always holds the workpiece in place. The tilted portion 2a rotates to attract a predetermined tilted surface of each workpiece W on the table 1, and the arm 8 connected below the tilted portion 2a and rotated by the tilted portion 2a maintains the rotational posture. A guide member 2 consisting of a straight portion 2b that
It shall be equipped with the following.
（作用）
これにより、本考案では、各ワークＷは、ワー
ク置台１の載置部１ａ上に各々同じ垂直投影面内
に位置するよう積重ねられている。このワークＷ
に対してその上方から、支持部材１０の下降に伴
いワーク吸着手段３を備えたアーム８が下降する
と、該アーム８に設けたガイド部材１３が案内部
材２の傾斜部２ａに当接し、下降するにつれてガ
イド部材１３は案内部材２の傾斜部２ａ上を下側
に向つてストレート部２ｂに至るまで摺動するこ
とで、アーム８はワーク吸着手段３が上記ワーク
Ｗの所定傾斜面に当接する位置まで回動する。こ
の回動により、ワーク吸着手段３は常に各ワーク
Ｗの所定傾斜面を吸着することになる。吸着後
は、支持部材１０の上昇に伴いワーク吸着手段３
を備えたアーム８は上昇する。その場合でも、ガ
イド部材１３は、案内部材２上を摺動して、アー
ム８はワーク吸着手段３がワークＷを吸着した状
態で元の姿勢（ワーク搬送時の姿勢）になる位置
まで回動する。そして、このアーム８の回動は回
動規制部材１４により規制され、アーム８はワー
クＷを搬送姿勢にした所定の回動位置にセツトさ
れることになる。(Function) Accordingly, in the present invention, the workpieces W are stacked on the mounting portion 1a of the workpiece mounting table 1 so as to be located within the same vertical projection plane. This work W
When the arm 8 equipped with the workpiece suction means 3 descends from above as the support member 10 descends, the guide member 13 provided on the arm 8 comes into contact with the inclined portion 2a of the guide member 2 and descends. As the guide member 13 slides downward on the inclined part 2a of the guide member 2 until it reaches the straight part 2b, the arm 8 is moved to a position where the workpiece suction means 3 comes into contact with a predetermined inclined surface of the workpiece W. Rotate until. Due to this rotation, the work suction means 3 always suctions a predetermined inclined surface of each work W. After suction, as the support member 10 rises, the workpiece suction means 3
The arm 8 is raised. Even in that case, the guide member 13 slides on the guide member 2, and the arm 8 rotates to the position where the workpiece suction means 3 takes the workpiece W to its original position (the position at the time of transporting the workpiece). do. The rotation of the arm 8 is regulated by the rotation regulating member 14, and the arm 8 is set at a predetermined rotation position with the workpiece W in the conveyance position.
（実施例）
以下、本考案の実施例を図面に基づいて説明す
る。(Example) Hereinafter, an example of the present invention will be described based on the drawings.
第１図〜第４図において、段付部を有するワー
クＷは複数個、ワーク置台１の載置部１ａ上に積
重ねて載置されている。ワーク置台１上の載置部
１ａ近傍には、ワーク吸着手段３を備えたアーム
８に設けられたガイドーロラ１３（ガイド部材）
を当接摺動せしめる案内部材２が立設されてい
る。 In FIGS. 1 to 4, a plurality of workpieces W having stepped portions are stacked and placed on the placement portion 1a of the workpiece placement table 1. As shown in FIGS. A guide roller 13 (guide member) provided on an arm 8 equipped with a workpiece suction means 3 is located near the workpiece placement portion 1a on the workpiece placement table 1.
A guide member 2 is provided in an upright position for sliding in contact with the guide member 2.
この案内部材２は、ワーク吸着手段３がワーク
の所定傾斜面を吸着できるように、上部にワーク
吸着手段３のアーム８を傾けるために形勢された
傾斜部２ａと、この傾斜部２ａの下方に連なり上
記アーム８の傾き位置を保持させるためのストレ
ート部２ｂとから構成されている。 This guide member 2 has an inclined part 2a on the upper part of which is shaped to tilt the arm 8 of the workpiece adsorption means 3 so that the workpiece adsorption means 3 can adsorb a predetermined inclined surface of the workpiece, and a lower part of this inclined part 2a. The straight portion 2b is connected to the arm 8 to maintain the tilted position of the arm 8.
次に、ワーク吸着手段３を備えたアーム８は、
周辺をカバー４で覆われたシリンダ５により昇降
動可能な支持部材９の支持されている。即ち、該
支持部材９の下端部には水平軸９ａが設けられ、
一方、上記アーム８はこの支持部材９の水平軸９
ａにより上下方向に揺動自在に支持されており、
該支持部材９は、シリンダ５に連結されて昇降動
する支持部材１０に固定支持されている。上記ア
ーム８の先端部下面にはワーク吸着手段３を構成
する吸着パツド１１及び位置決め部材１２が設け
られ、またアーム８の先端部側部には、側方に突
出したガイド部材としてのガイドーロラ１３が設
けられている。上記支持部材９には上記アーム８
の他端部と対向して、上記支持部材１０，９の上
昇状態時に該アーム８の他端部と当接して上記ア
ーム８のワーク搬送時の姿勢が所定の回動位置
（図では水平状態位置）となるように該アーム８
の所定回動位置以上の回動を規制する回動規制部
材１４が設けられている。また、上記カバー４の
側方下側には、ブラケツト６を介して円筒状のガ
イド筒部７が立設されているとともに、上記支持
部材１０の両端部には、上記ガイド筒部７に上下
方向に摺動自在に嵌挿案内されるガイド部材１５
が設けられている。 Next, the arm 8 equipped with the workpiece suction means 3
A support member 9 that can be moved up and down is supported by a cylinder 5 whose periphery is covered with a cover 4. That is, a horizontal shaft 9a is provided at the lower end of the support member 9,
On the other hand, the arm 8 is connected to the horizontal axis 9 of the support member 9.
It is supported so as to be able to swing vertically by a.
The support member 9 is fixedly supported by a support member 10 that is connected to the cylinder 5 and moves up and down. A suction pad 11 and a positioning member 12 constituting the workpiece suction means 3 are provided on the lower surface of the tip of the arm 8, and a guide roller 13 as a guide member protruding laterally is provided on the side of the tip of the arm 8. It is provided. The arm 8 is attached to the support member 9.
When the support members 10 and 9 are in the raised state, the support members 10 and 9 come into contact with the other end of the arm 8, and the posture of the arm 8 when transporting the workpiece is at a predetermined rotational position (horizontal state in the figure). position) so that the arm 8
A rotation restriction member 14 is provided to restrict rotation beyond a predetermined rotation position. Further, a cylindrical guide tube portion 7 is provided upright on the lower side of the cover 4 via a bracket 6, and upper and lower portions of the guide tube portion 7 are provided at both ends of the support member 10. A guide member 15 that is inserted and guided so as to be slidable in the direction
is provided.
一方、治具１６は搬送されたワークＷを載置す
るためのものであり、該治具１６上には先端がテ
ーパ状に形勢されワークＷのセツト穴W2（第５図
及び第６図参照）に嵌合する基準ピン１７が設け
られている。 On the other hand, the jig 16 is for placing the transported workpiece W, and has a tapered tip and a setting hole W 2 for the workpiece W (see FIGS. 5 and 6). A reference pin 17 is provided which fits into the reference pin (see).
次に、上記実施例の作動ついて説明する。各ワ
ークＷは、ワーク置台１の載置部１ａ上に各々同
じ垂直投影面内に位置するように積重ねられてい
る。この各ワークＷに対してその真上から、シリ
ンダ５の作動により支持部材９，１０が下降する
に伴い、ワーク吸着手段３を備えたアーム８が下
降する。この際、アーム８はワーク搬送時の姿勢
としての所定の回動位置（水平状態位置）にあ
る。また、下降する際ガイド筒部７内をガイド部
材１５が摺動する。 Next, the operation of the above embodiment will be explained. The workpieces W are stacked on the mounting portion 1a of the workpiece mounting table 1 so as to be located within the same vertical projection plane. As the support members 9 and 10 are lowered from directly above each workpiece W by the operation of the cylinder 5, the arm 8 provided with the workpiece suction means 3 is lowered. At this time, the arm 8 is at a predetermined rotational position (horizontal position) as a posture during transporting the workpiece. Furthermore, the guide member 15 slides within the guide cylinder portion 7 when descending.
上記アーム８の下降に伴い、該アーム８に設け
られたガイドーロラ１３が案内部材２の傾斜部２
ａに当接し、下降するにつれてガイドーロラ１３
は案内部材２の傾斜部２ａ上を下側に向つてスト
レート部２ｂに至るまで摺動することで、アーム
８はワーク吸着手段３がワークＷの所定傾斜面に
当接する位置まで回動する。この回動により、位
置決め部材１２がワークＷの段付部W1に当接す
るとともに、吸着パツド１１は常にワークＷの所
定傾斜面を吸着することができる。尚、第４図で
は、案内部材２とガイドーロラ１３とが遊離して
いるが、これは、ワーク吸着時、吸着パツド１１
がワークＷの傾斜面に乗り上げているためであつ
て、シリンダ５の下降位置がワークＷの位置に対
して多少誤差があつても吸着可能としている。吸
着後は、ワーク吸着手段３を備えたアーム８は、
シリンダ５の作動により支持部材９，１０の上昇
に伴い上昇する。その場合でも、アーム８のガイ
ドローラ１３は、案内部材２上を摺動して、アー
ム８は元の姿勢（ワーク搬送時の姿勢）になる位
置まで回動する。そして、アーム８が案内部材２
から離れると同時に、このアーム８の回動は、回
動規制部材１４により規制され、アーム８はワー
クＷを搬送姿勢にした所定の回動位置にセツトさ
れる。その後、アーム８を支持する支持部材９，
１０全体は、図示はしていないが、走行レールに
より、第１図右側に走行してワークＷを所定の治
具１６上に搬送する。そして、ワーク吸着手段３
を備えたアーム８はシリンダ５の作動により下降
し、治具１６上に設けられた基準ピン１７が搬送
されたワークＷのセツト穴W2（第５，６図参照）
に嵌まり、搬送は終了する。 As the arm 8 descends, the guide roller 13 provided on the arm 8 moves toward the inclined portion 2 of the guide member 2.
a, and as it descends, the guide roller 13
By sliding downward on the inclined portion 2a of the guide member 2 until reaching the straight portion 2b, the arm 8 rotates to a position where the workpiece suction means 3 comes into contact with a predetermined inclined surface of the workpiece W. Due to this rotation, the positioning member 12 comes into contact with the stepped portion W1 of the work W, and the suction pad 11 can always suction a predetermined inclined surface of the work W. In addition, in FIG. 4, the guide member 2 and the guide roller 13 are separated, but this is due to the fact that the suction pad 11
This is because the cylinder 5 rides on the inclined surface of the workpiece W, and even if the lowered position of the cylinder 5 has some error with respect to the position of the workpiece W, suction is possible. After suction, the arm 8 equipped with the workpiece suction means 3
The actuation of the cylinder 5 causes the support members 9 and 10 to rise. Even in that case, the guide roller 13 of the arm 8 slides on the guide member 2, and the arm 8 rotates to the position where it assumes its original position (the position when transporting the workpiece). Then, the arm 8 is connected to the guide member 2.
At the same time as the arm 8 is separated from the workpiece W, the rotation of the arm 8 is regulated by the rotation restriction member 14, and the arm 8 is set at a predetermined rotation position with the workpiece W in the conveyance position. After that, a support member 9 that supports the arm 8,
Although not shown, the entire assembly 10 travels to the right side in FIG. 1 on traveling rails to convey the workpiece W onto a predetermined jig 16. Then, the work adsorption means 3
The arm 8 equipped with this is lowered by the operation of the cylinder 5, and the reference pin 17 provided on the jig 16 is inserted into the set hole W2 of the transported workpiece W (see Figures 5 and 6).
, and the conveyance ends.
尚、上記実施例ではワーク吸着手段３としては
吸着パツドを用いたが、この代わりに永久磁石等
を用いてもよい。 In the above embodiment, a suction pad is used as the workpiece suction means 3, but a permanent magnet or the like may be used instead.
（考案の効果）
以上説明したように、本考案では、ワーク吸着
手段が段付きワークを常に所定位置で吸着すると
ともに、このためにワークを吸着する角度姿勢が
ワークを治具上にセツトする角度姿勢と異なつて
いても、搬送後ワークを治具上にセツトする際に
治具上の所定位置にセツトできる。(Effects of the invention) As explained above, in the present invention, the work suction means always suctions the stepped work at a predetermined position, and for this purpose, the angular posture for suctioning the work is adjusted to the angle at which the work is set on the jig. Even if the workpiece is in a different posture, it can be set at a predetermined position on the jig when the workpiece is set on the jig after being transported.
第１図は本考案の一実施例を示す正面図、第２
図は第１図の要部の側面図、第３図は第１図のワ
ーク吸着手段の部分を拡大した図、第４図はワー
ク吸着手段の下降時の状態を示す第３図相当図、
第５図は段付きワークを示す斜視図、第６図は従
来の段付きワーク積載の様子を示す正面図であ
る。
Ｗ……ワーク、１……ワーク置台、１ａ……載
置部、２……案内部材、２ａ……傾斜部、２ｂ…
…ストレート部、３……ワーク吸着手段、５……
シリンダ、８……アーム、９，１０……支持部
材、１１……吸着パツド、１３……ガイドーロラ
（ガイド部材）、１４……回動規制部材。
Figure 1 is a front view showing one embodiment of the present invention;
The figure is a side view of the main part of Figure 1, Figure 3 is an enlarged view of the workpiece suction means in Figure 1, and Figure 4 is a view equivalent to Figure 3 showing the state of the workpiece suction means when it is lowered.
FIG. 5 is a perspective view showing a stepped workpiece, and FIG. 6 is a front view showing how conventional stepped workpieces are loaded. W... Workpiece, 1... Workpiece stand, 1a... Placement part, 2... Guide member, 2a... Inclined part, 2b...
...Straight portion, 3... Work suction means, 5...
Cylinder, 8... Arm, 9, 10... Support member, 11... Adsorption pad, 13... Guide roller (guide member), 14... Rotation regulating member.
Claims (1)
状態で各々同じ垂直投影面内に位置するように載
置せしめる載置部１ａを有するワーク置台１と、 該ワーク置台１の上方において該ワーク置台１
に対して昇降動する支持部材９と、 該支持部材９に水平軸９ａを介して上下方向に
揺動可能に支持されたアーム８と、 該アーム８の一端に設けられ、上記ワークＷの
所定傾斜面を吸着するためのワーク吸着手段１１
と、 上記アーム８に側方に突出せしめて設けられた
ガイド部材１３と、 上記支持部材９に上記アーム８の他端と対向し
て設けられ、上記支持部材９の上昇状態時に上記
アーム８の他端と当接して該アーム８のワーク搬
送時の姿勢が所定の回動位置になるように該アー
ム８の回動を規制する回動規制部材１４と、 上記ワーク置台１の載置部１ａ近傍上に立設さ
れ、上記支持部材９の下降時に上記ガイド部材１
３が当接摺動して上記アーム８を上記ワーク吸着
手段１１が常に上記ワーク置台１上の各ワークＷ
の所定傾斜面を吸着するよう回動せしめる傾斜部
２ａと該傾斜部２ａの下方に連設され該傾斜部２
ａで回動せしめられたアーム８の回動姿勢を維持
するストレート部２ｂとからなる案内部材２と を備えたことを特徴とするワーク搬送装置。[Claims for Utility Model Registration] A workpiece mounting table 1 having a mounting portion 1a on which a plurality of stacked workpieces W each having a stepped portion W1 are placed so as to be positioned within the same vertical projection plane; Above the workpiece stand 1, the workpiece stand 1
a support member 9 that moves up and down relative to the support member 9; an arm 8 supported by the support member 9 so as to be swingable in the vertical direction via a horizontal shaft 9a; Work suction means 11 for suctioning an inclined surface
a guide member 13 provided on the arm 8 to protrude laterally; and a guide member 13 provided on the support member 9 facing the other end of the arm 8, which guides the arm 8 when the support member 9 is in a raised state. a rotation regulating member 14 that restricts the rotation of the arm 8 so that the arm 8 is in a predetermined rotation position by coming into contact with the other end; The guide member 1 is erected near the guide member 1 when the support member 9 is lowered.
3 slides into contact with the arm 8 so that the workpiece adsorption means 11 always picks up each workpiece W on the workpiece table 1.
An inclined part 2a that is rotated so as to attract a predetermined inclined surface of the inclined part 2a and
A workpiece conveyance device comprising a guide member 2 consisting of a straight portion 2b that maintains the rotational posture of the arm 8 rotated at point a.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985168712U JPH0430190Y2 (en) | 1985-10-31 | 1985-10-31 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985168712U JPH0430190Y2 (en) | 1985-10-31 | 1985-10-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6277132U JPS6277132U (en) | 1987-05-18 |
| JPH0430190Y2 true JPH0430190Y2 (en) | 1992-07-21 |
Family
ID=31101840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1985168712U Expired JPH0430190Y2 (en) | 1985-10-31 | 1985-10-31 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0430190Y2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60544A (en) * | 1983-06-17 | 1985-01-05 | Fujitsu Ltd | Controlling system of electric power supply |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60109133U (en) * | 1983-12-27 | 1985-07-24 | 日本電気株式会社 | semiconductor integrated circuit |
-
1985
- 1985-10-31 JP JP1985168712U patent/JPH0430190Y2/ja not_active Expired
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60544A (en) * | 1983-06-17 | 1985-01-05 | Fujitsu Ltd | Controlling system of electric power supply |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6277132U (en) | 1987-05-18 |
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