CN103624430A - Full-position automatic welding device and welding method - Google Patents
Full-position automatic welding device and welding method Download PDFInfo
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- CN103624430A CN103624430A CN201310596716.8A CN201310596716A CN103624430A CN 103624430 A CN103624430 A CN 103624430A CN 201310596716 A CN201310596716 A CN 201310596716A CN 103624430 A CN103624430 A CN 103624430A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0264—Carriages for supporting the welding or cutting element magnetically attached to the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
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Abstract
The invention provides a full-position automatic welding device and a welding method. The full-position automatic welding device and the welding method are used for solving the problem that a traditional automatic welding device cannot be adapted to vertical position welding and over-head position welding. The full-position automatic welding device comprises an automatic welder, a flexible track, a vehicle body and at least two welding gun clamping pieces. The flexible track is erected on a face to be welded through a plurality of magnetic-attraction blocks; the vehicle body is arranged on the flexible track through a walking device, the welding gun clamping pieces are arranged on the vehicle body, a welding gun is clamped by each welding gun clamping piece, the automatic welder comprises at least two welding feeding systems, and each welding feeding system is connected with one welding gun. The full-position automatic welding device is adopted, so that the welding efficiency is improved and full-position automatic welding in occasions of horizontal position welding, vertical position welding, over-head position welding and the like in various complex tracks is achieved.
Description
Technical field
The present invention relates to welding technology field, particularly a kind of all position automatic welding device and welding method.
Background technology
At present, the high efficiency automatic soldering technique for various steel constructions mainly comprises two kinds; A kind of is to improve welding efficiency by strengthening welding current; Another is by adopting mariages to raise the efficiency.The common ground of above-mentioned two kinds of welding procedures is all only to use a welding gun, this automatic welding device structure is relatively simple, but because strengthen welding current and adopt mariages to weld, capital causes that molten bath increases, thereby affect wlding crystal form, finally cause welding fabrication effect and penetration variation.In addition, because molten bath is larger, limits above-mentioned welding method and be only applicable to horizontal position welding, in the occasion of vertical position welding and overhead welding, easily occurred melting the danger that thing drops.In addition, above-mentioned automatic welding technique can not be realized the welding of complicated track, cannot adapt to especially the demand of the efficient automatic welding in full position of the various occasions such as horizontal position welding, vertical position welding and overhead welding of circle, arc and curvature continually varying track.
For this reason, be necessary to develop a kind of efficient all position automatic welding device and welding method that can adapt to horizontal position welding, vertical position welding and the various occasions of overhead welding of complicated track.
Summary of the invention
The object of the present invention is to provide a kind of all position automatic welding device and welding method, the problem that cannot adapt to vertical position welding and overhead welding to solve traditional automatic soldering device, when welding efficiency can be improved, be able to adapt to the object that all position automatic welding of horizontal position welding, vertical position welding and the various occasions of overhead welding of complicated track connects.
For solving the problems of the technologies described above, the invention provides a kind of all position automatic welding device, comprise an automatic welder(welding machine), comprise in addition:
One flexible rail, described flexible rail is erected on surface to be welded by several magnetic pieces;
One car body, described car body is arranged on described flexible rail by a running gear; And
At least two welding gun clip gripping members, described welding gun clip gripping member is arranged on described car body, and every described welding gun clip gripping member clamps respectively a welding gun;
Wherein, described automatic welder(welding machine) comprises at least two bond pads feed systems, welds feed system and be all connected with welding gun described in described in every group.
Optionally, in described all position automatic welding device, the distance of the center of adjacent described welding gun is 80mm ~ 120mm.
Optionally, in described all position automatic welding device, also comprise at least two guiding mechanisms, described in each, guiding mechanism is all connected with welding gun clip gripping member described in.
Optionally, in described all position automatic welding device, described adjustment structure comprises transverse adjusting mechanism, longitudinal guiding mechanism and angle-adjusting mechanism.
Optionally, in described all position automatic welding device, also comprise a control device, described control device is connected with described running gear with described guiding mechanism respectively.
Optionally, in described all position automatic welding device, described control device comprises first signal interface, at least two secondary signal interfaces, data storage processing device, manual operating, welding signal interface and manual automatic transfer switch; Described first signal interface is connected with described running gear, described in each, secondary signal interface is all connected with guiding mechanism described in, described first signal interface is connected with described data storage processing device respectively with secondary signal interface, described data storage processing device is connected with described welding signal mouth with described manual operating respectively, and described welding signal interface is connected with described automatic welder(welding machine).
Optionally, in described all position automatic welding device, described running gear and described flexible rail are intermeshing.
Accordingly, the present invention also provides a kind of automatic soldering method, comprises the following steps:
Step a. provide one described in all position automatic welding device;
Step b. places some described magnetic pieces fix along the edge of seam track, and described flexible rail is set up on described magnetic piece according to the shape of seam track;
Step c is opened described automatic welder(welding machine) and described running gear, makes described welding gun along the weld seam weld job of advancing, until complete the welding of butt welded seam.
Optionally, in described automatic soldering method, between described step b and described step c, also comprise:
Step b1. closes described automatic welder(welding machine), operates described manual operating and controls described running gear, makes the related described welding gun of described car body start along described flexible rail walking or stop the terminal of weld seam until described car body is walked; Operate described manual operating simultaneously and control described guiding mechanism, make described welding gun in the process of walking with the relative position of weld seam in preset range;
Step b2. is stored in the control information of the described manual operating in described step b1 in described data storage processing device;
Step b3. controls described running gear by operating described manual operating, makes described car body get back to the starting point of weld seam.
Optionally, in described automatic soldering method, in step c, described data storage processing device is according to the control information in described step b2, controls described car body and described welding gun is advanced along weld seam, and completes the welding of butt welded seam.
In all position automatic welding device of the present invention, comprise an automatic welder(welding machine), a flexible rail, described flexible rail is erected on surface to be welded by several magnetic pieces; One car body, described car body is arranged on described flexible rail by a running gear; At least two welding gun clip gripping members, described welding gun clip gripping member is arranged on described car body, and every described welding gun clip gripping member clamps respectively a welding gun; Wherein, described automatic welder(welding machine) comprises at least two bond pads feed systems, welds feed system and be all connected with welding gun described in described in every group.Adopt above-mentioned all position automatic welding device, with respect to existing automatic soldering device, there is following useful technique effect:
1. improved welding efficiency, because automatic soldering device has plural welding gun, the operating efficiency of two welding guns is with respect to a welding gun, and its welding efficiency can double, and by increasing the quantity of welding gun, can further improve welding efficiency.
2. the occasion that can adapt to vertical position welding and the overhead welding of complicated track, because can be by increasing the quantity of welding gun, improve welding efficiency, therefore do not need by strengthening welding current or adopting double wire welding technology, therefore thereby avoided the phenomenon in large molten bath, even if also there will not be because the danger of dropping compared with thawing thing large and that occur in molten bath in the occasion of vertical position welding or overhead welding.
Accompanying drawing explanation
Fig. 1 is the structural representation of all position automatic welding device of one embodiment of the invention;
Fig. 2 is that Fig. 1 is along the profile of A-B line.
The specific embodiment
The all position automatic welding device and the welding method that the present invention are proposed below in conjunction with the drawings and specific embodiments are described in further detail.According to the following describes and claims, advantages and features of the invention will be clearer.It should be noted that, accompanying drawing all adopts very the form of simplifying and all uses non-ratio accurately, only in order to convenient, the object of the aid illustration embodiment of the present invention lucidly.
As shown in Figure 1, all position automatic welding device 100 of one embodiment of the invention, comprises an automatic welder(welding machine) 1, a flexible rail 2, a car body 3 and at least two welding guns 4.Wherein, automatic welding machine 1 comprises at least two bond pads feed systems 11, described in every group, welding feed system 11 is all connected with welding gun described in one 4, described flexible rail 2 is erected on surface to be welded by several magnetic pieces 5, described car body 3 is arranged on described flexible rail 2 by a running gear 31, and every welding gun 4 is all arranged on described car body 3 by a welding gun clip gripping member 41.Preferably, running gear 31 is intermeshing with flexible rail 2.
In conjunction with Fig. 1 and Fig. 2, described automatic welder(welding machine) 1 comprises at least two bond pads feed systems 11, and every cover feed system 11 all connects a welding gun 4, and welding gun 4 is arranged on flexible rail 2 by car body 3.Flexible rail 2 can be laid according to the shape for the treatment of weld seam, flexible rail 2 shown in figure is linear pattern, should be understood that, when until weld seam being circle, other shapes of arc iso-curvature continually varying, magnetic piece 5 can be fixed along the arrangements for the treatment of weld seam, by flexible rail 2 cols become to treat the shape that weld shape is similar and set up with magnetic piece 5 on.When the related welding gun 4 of car body 3 moves on flexible rail 2, with this, realize the motion track of welding gun 4 and treat that the track of weld seam matches, thereby reaching the object of complicated shape being treated to the automatic welding of weld seam.
In addition, because all position automatic welding device 100 of the present invention has plural welding gun 4, the operating efficiency of two welding guns is with respect to a welding gun, its welding efficiency can double, and by increasing the quantity of welding gun, can further improve welding efficiency, and do not need by strengthening welding current or adopting double wire welding technology, therefore thereby avoided the phenomenon in large molten bath, even if also there will not be because the danger of dropping compared with thawing thing large and that occur in molten bath in the occasion of vertical position welding or overhead welding.In addition, two welding guns 4 are respectively by two independently welding gun clip gripping member 41 clampings, that is to say that these two welding guns 4 work alone, therefore by this two welding guns 4 formed molten bath in welding job, be also separate, for fear of two independent molten baths, merge into a larger molten bath, preferably, two adjacent welding guns 4 should be at a distance of certain distance, and for example the center position of adjacent welding gun 4 is 80mm ~ 120mm.
Continuation is with reference to figure 1 and Fig. 2, in order to make the position of welding gun 4 more meet the locational requirement for the treatment of weld seam, for each welding gun clip gripping member 41, a guiding mechanism being all connected with it 42 can be set, by controlling guiding mechanism 42, can adjust welding gun clip gripping member 41 and in more among a small circle, change position, with this, realize the fine position to each welding gun 4.Specifically, described guiding mechanism 42 comprises transverse adjusting mechanism 421, longitudinal guiding mechanism 422 and angle-adjusting mechanism 423, adjust transverse adjusting mechanism 421 and can finely tune the lateral separation of welding gun 4 and weld seam, adjust longitudinal guiding mechanism 422 and can adjust welding gun 4 apart from the height of weld seam, adjust the angle that angle-adjusting mechanism 423 can be adjusted welding gun 4 and weld seam.
Continuation, with reference to figure 1 and Fig. 2, for the remote position of adjusting every welding gun 4, can increase by a control device 6, and control device 6 is connected with running gear 31 by cable, with the translational speed of each welding gun 4 of this far distance controlled; Meanwhile, control device 6 is connected with guiding mechanism 42 by cable, with this remote welding gun 4 of adjusting, changes position among a small circle, is fitted more in the position of welding gun 4 and treats the shape of weld seam.
Continuation is with reference to figure 1, and in order accurately to control the position of welding gun 4, control device 6 comprises first signal interface 61, at least two secondary signal interfaces 62, data storage processing device 63, manual operating 64, welding signal interface 65 and manual automatic transfer switch 66.Wherein, first signal interface 61 is connected with running gear 31, each secondary signal interface 62 is all connected with a guiding mechanism 42, first signal interface 61 is connected with data storage processing device 63 respectively with secondary signal interface 62, data storage processing device 63 is connected with manual operating 64, by data storage processing device 63, the operation signal of manual operating 64 can be passed to first signal interface 61 and secondary signal interface 62, with this, control the action of running gear 31 and guiding mechanism 42, thus the speed of travel of Long-distance Control welding gun 4 and position.In addition, data storage processing device 63 is connected with welding signal mouth 65, and welding signal interface 65 is connected with automatic welding machine 1, thereby the welding signal being arranged on automatic welding machine 1 is passed to data storage processing device 63 by welding signal mouth 65, and by data storage processing device 63, welding signal is passed to secondary signal interface 62, thereby control the welding condition of welding gun 4.Visible, data storage processing device 63 can pass to running gear 31, guiding mechanism 42 and welding gun 4 by the welding signal of the operation signal of manual operating 64 and automatic welding machine 1.In addition, data storage processing device 63 can also be deposited the action message of running gear 31, guiding mechanism 42 and the welding condition of welding gun 4, by the switching of manual automatic transfer switch 66, data storage processing device 63 can select instruction or the acceptance of accepting manual operating 64 to be pre-stored in dependent instruction in data storage processing device 63, with this, completes the switching of manual operation and automatic operation.
Accordingly, the present invention also provides a kind of automatic soldering method that uses all position automatic welding device 100.Below in conjunction with Fig. 1 and Fig. 2, describe the process of automatic soldering method in detail:
Step a. provides an all position automatic welding device 100;
Step b. places some described magnetic pieces fix along the edge of seam track, and described flexible rail is set up on described magnetic piece according to the shape of seam track;
Specifically, first some magnetic pieces 5 placed and fixed along the edge of seam track, flexible rail 2 cols are become to the shape of seam track, and being set up on the magnetic piece 5 having arranged, then car body 3 being engaged on flexible rail 2.Because the shape of flexible rail 2 can change, therefore can so that be arranged at the position of the welding gun 4 on car body 3, more meet welding requirements by stubborn curved flexible rail 2.In order to control more accurately the welding position of welding gun 4, can make the position of welding gun 4 more meet the requirement of welding position by controlling guiding mechanism 42.
For convenient and control accurately welding position and the speed of service of welding gun 4, in another embodiment, can, after step b, carry out following steps:
Step b1. first closes automatic welder(welding machine) 1 and welding gun 4, with manual operating 64 action row walking apparatus 31 and guiding mechanism 42, makes welding gun 4 walk or stop along weld seam.In the process of walking along weld seam at welding gun 4, the track along weld seam walking can be divided into several line segments, in each line segment, by manual operating 64, control guiding mechanisms 42, make the relative position of welding gun 4 and weld seam in preset range.
The object that the track that welding gun 4 is walked along weld seam is divided into several line segments is, in order to become several shapes to approach the line segment of straight line the irregular welding seam segmentation of one strip, with this, welding gun 4 is divided into the walking line segment that several shapes approach straight line along the run trace of out-of-shape weld seam, can be according to the concrete condition of each line segment of walking, by the relative position of manual operating 64 fine setting welding guns 4, make welding gun 4 when this walking line segment expert walks welding gun 4 with the relative position of weld seam all the time in preset range, when welding gun 4 run to certain when some welding gun 4 depart from after preset range with the relative position of weld seam, starting point using this point as next section of walking line segment, readjust the position of welding gun 4, so repeat, until welding gun 4 walkings are to the terminal of weld seam.Specifically, along weld seam run trace, need to be divided into how many line segments, depend on the shape of weld seam, the shape of weld seam is more complicated, and the line segment quantity that need to cut apart is also more, and the shape of weld seam more approaches straight line, and the line segment quantity that need to cut apart is also fewer.
Step b2. is stored in the control information of the manual operating in described step b1 64 in data storage processing device 63;
Specifically, welding gun 4 control information that manual operating 64 adopts in each walking line segment is stored in data storage processing device 63, and data storage processing device 63 is integrated into welding gun 4 along the control information in whole weld seam walking process by the control information in each walking line segment.Control information is in this step the control information of relative position within preset range that guarantees welding gun 4 and weld seam.
Step b3. controls running gear 31 by operation manual operating 64, makes car body 3 get back to the starting point of weld seam.
Above-mentioned steps b1 is to step b3, to carry out in the situation that closing automatic welder(welding machine) 1 and welding gun 4, and step b1 is in order to find, to make the run trace of welding gun 4 more meet the control information of weld shape to the object of step b3, can not meet the defect of weld shape with the shape of this additional flexibility track 2 completely.That is to say, step b1 is " teaching " process of a searching control information in fact to step b3.
Step c is opened automatic welder(welding machine) 1 and running gear 31, makes welding gun 4 along the weld seam weld job of advancing, until and complete the welding of butt welded seam.
For the weld seam of complicated shape, data storage processing device 63 can, according to the control information in step b2, be controlled car body 3 and welding gun 4 and advance along weld seam, and complete the welding of butt welded seam.Because the control information in step 2 can guarantee preferably the run trace of welding gun 4 and more meet weld shape, even if therefore weld seam is irregular shape, welding gun 4 also can well be controlled in preset range in welding process with the relative position of weld seam.That is to say, step c, in fact to above-mentioned " teaching " process " reproduction " process, by the intense adjustment to " teaching " process, can guarantee the accurate and smooth of " reproduction " process.
In sum, in above-mentioned all position automatic welding device, because there is plural welding gun, the operating efficiency of two welding guns is with respect to a welding gun, its welding efficiency can double, and by increasing the quantity of welding gun, can further improve welding efficiency.Because can be by increasing the quantity of welding gun, improve welding efficiency, therefore do not need by strengthening welding current or adopting double wire welding technology, therefore thereby avoided the phenomenon in large molten bath, even if also there will not be because the danger of dropping compared with thawing thing large and that occur in molten bath in the occasion of vertical position welding or overhead welding.When improving welding efficiency, reached the object that all position automatic welding of horizontal position welding, vertical position welding and the various occasions of overhead welding that can adapt to complicated track connects.
Foregoing description is only the description to preferred embodiment of the present invention, the not any restriction to the scope of the invention, and any change, modification that the those of ordinary skill in field of the present invention is done according to above-mentioned disclosure, all belong to the protection domain of claims.
Claims (10)
1. an all position automatic welding device, comprises an automatic welder(welding machine), it is characterized in that, also comprises:
One flexible rail, described flexible rail is erected on surface to be welded by several magnetic pieces;
One car body, described car body is arranged on described flexible rail by a running gear; And
At least two welding gun clip gripping members, described welding gun clip gripping member is arranged on described car body, and every described welding gun clip gripping member clamps respectively a welding gun;
Wherein, described automatic welder(welding machine) comprises at least two bond pads feed systems, welds feed system and be all connected with welding gun described in described in every group.
2. all position automatic welding device as claimed in claim 1, is characterized in that, the distance of the center of adjacent described welding gun is 80mm ~ 120mm.
3. all position automatic welding device as claimed in claim 1, is characterized in that, also comprises at least two guiding mechanisms, and described in each, guiding mechanism is all connected with welding gun clip gripping member described in.
4. all position automatic welding device as claimed in claim 3, is characterized in that, described adjustment structure comprises transverse adjusting mechanism, longitudinal guiding mechanism and angle-adjusting mechanism.
5. all position automatic welding device as claimed in claim 3, is characterized in that, also comprises a control device, and described control device is connected with described running gear with described guiding mechanism respectively.
6. all position automatic welding device as claimed in claim 5, it is characterized in that, described control device comprises first signal interface, at least two secondary signal interfaces, data storage processing device, manual operating, welding signal interface and manual automatic transfer switch; Described first signal interface is connected with described running gear, described in each, secondary signal interface is all connected with guiding mechanism described in, described first signal interface is connected with described data storage processing device respectively with secondary signal interface, described data storage processing device is connected with described welding signal mouth with described manual operating respectively, and described welding signal interface is connected with described automatic welder(welding machine).
7. all position automatic welding device as described in any one in claim 1 to 6, is characterized in that, described running gear and described flexible rail are intermeshing.
8. an automatic soldering method, comprises the following steps:
Step a. provides just like all position automatic welding device described in any one in claim 1 to 7;
Step b. places some described magnetic pieces fix along the edge of seam track, and described flexible rail is set up on described magnetic piece according to the shape of seam track;
Step c is opened described automatic welder(welding machine) and described running gear, makes described welding gun along the weld seam weld job of advancing, until complete the welding of butt welded seam.
9. automatic soldering method as claimed in claim 8, is characterized in that, between described step b and described step c, also comprises:
Step b1. closes described automatic welder(welding machine), operates described manual operating and controls described running gear, makes the related described welding gun of described car body start along described flexible rail walking or stop the terminal of weld seam until described car body is walked; Operate described manual operating simultaneously and control described guiding mechanism, make described welding gun in the process of walking with the relative position of weld seam in preset range;
Step b2. is stored in the control information of the described manual operating in described step b1 in described data storage processing device;
Step b3. controls described running gear by operating described manual operating, makes described car body get back to the starting point of weld seam.
10. automatic soldering method as claimed in claim 9, is characterized in that, in step c, described data storage processing device is according to the control information in described step b2, controls described car body and described welding gun is advanced along weld seam, and completes the welding of butt welded seam.
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| CN105499861A (en) * | 2015-12-30 | 2016-04-20 | 浙江大学宁波理工学院 | Double-sided double-pendulum blind-zone-free welding tractor and welding method thereof |
| CN105945458A (en) * | 2016-05-13 | 2016-09-21 | 中船重工鹏力（南京）智能装备***有限公司 | All-position automatic welding device under multi-obstacle environment and welding method |
| CN106695210A (en) * | 2017-03-20 | 2017-05-24 | 浙江国际海运职业技术学院 | Automatic welding machine and use method thereof |
| CN108127229A (en) * | 2018-02-05 | 2018-06-08 | 中石化南京工程有限公司 | A kind of motor-driven welder of rail type all positon and its welding procedure |
| WO2020125019A1 (en) * | 2018-12-20 | 2020-06-25 | 中建钢构有限公司 | Robotic welding device employing flexible guide rail, and welding method |
| CN115106619A (en) * | 2022-08-01 | 2022-09-27 | 北京石油化工学院 | System and method for underwater maintenance of microtubes |
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| CN105945458A (en) * | 2016-05-13 | 2016-09-21 | 中船重工鹏力（南京）智能装备***有限公司 | All-position automatic welding device under multi-obstacle environment and welding method |
| CN106695210A (en) * | 2017-03-20 | 2017-05-24 | 浙江国际海运职业技术学院 | Automatic welding machine and use method thereof |
| CN106695210B (en) * | 2017-03-20 | 2018-03-09 | 浙江国际海运职业技术学院 | Automatic welder and its application method |
| CN108127229A (en) * | 2018-02-05 | 2018-06-08 | 中石化南京工程有限公司 | A kind of motor-driven welder of rail type all positon and its welding procedure |
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