JPH071840B2 - Electronic component automatic assembly device - Google Patents
Electronic component automatic assembly deviceInfo
- Publication number
- JPH071840B2 JPH071840B2 JP60284984A JP28498485A JPH071840B2 JP H071840 B2 JPH071840 B2 JP H071840B2 JP 60284984 A JP60284984 A JP 60284984A JP 28498485 A JP28498485 A JP 28498485A JP H071840 B2 JPH071840 B2 JP H071840B2
- Authority
- JP
- Japan
- Prior art keywords
- lead
- printed board
- image
- electronic component
- hole
- 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
Links
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Supply And Installment Of Electrical Components (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、プリント板への各種電子部品の自動組み込み
を行う装置に係り、特に本体部分とリードとの位置関係
にバラツキの多い部品や取付穴の加工精度の低いプリン
ト板を用いる場合に好適な自動組み込み装置に関する。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically assembling various electronic parts on a printed board, and particularly to parts and attachments in which the positional relationship between the main body part and the leads varies widely. The present invention relates to an automatic assembling apparatus suitable for using a printed board with low hole processing accuracy.
プリント板に各種電子部品（IC,コンデンサ，抵抗器
等）を自動的にロボツト等を用いて組み込む場合、各電
子部品のリードの位置とプリント板の取付穴との相対的
な位置の対応関係が問題となる。この位置の補正を行う
従来装置の第１の従来例として、プリント板の背面側に
ホトアレイからなるホトセンサを配置し、一方、プリン
ト板の表面側に反射ミラーを配置し、プリント板の取付
穴を通過した光をホトセンサにより受光し、受光位置の
ホトダイオードの信号を論理“1"として単なるスルーホ
ールとリード用ホールを区別するようにしたものが知ら
れている（特公昭55-38070号公報参照）。When various electronic components (ICs, capacitors, resistors, etc.) are automatically incorporated into the printed circuit board by using a robot, etc., the correspondence between the relative position of the lead position of each electronic component and the mounting hole of the printed circuit board It becomes a problem. As a first conventional example of the conventional device for correcting this position, a photo sensor composed of a photo array is arranged on the back side of the printed board, while a reflection mirror is arranged on the front side of the printed board, and a mounting hole for the printed board is formed. It is known that the photo sensor receives the passing light and the signal of the photodiode at the light receiving position is set to logic "1" to distinguish between a simple through hole and a lead hole (see Japanese Patent Publication No. 55-38070). .
また、第２の従来例として３個または４個の光フアイバ
束の受光軸をプリント板の取付穴に面して配置し、プリ
ント板の穴の中心位置を検出するようにしたものが知ら
れている（特開昭57-18392号公報）。Also, as a second conventional example, there is known one in which the light receiving axes of three or four optical fiber bundles are arranged so as to face the mounting holes of the printed board and the center position of the holes of the printed board is detected. (JP-A-57-18392).
一般に、プリント板への電子部品の実装に当つて自動組
み込みロボツトを用いる場合、第７図に示すように、挿
入ヘツド14により電子部品15の本体部15aを挾持し、リ
ード15bをプリント板19の取付穴19aに挿入して行われ
る。ここで、問題となるのは、挿入ヘツド14の位置とプ
リント板19の取付穴19aの位置とが制御動作上一致して
いたとしても、実際の電子部品のリードの位置が個々の
部品によつて区々である場合が多いという点である。そ
の結果、リードと取付穴とが対応せず、その都度位置合
せを余儀なくされるという問題が起こる。この点に関
し、上記第1,第２の従来例はいずれも何ら配慮していな
い。In general, when an automatic built-in robot is used to mount an electronic component on a printed board, the insertion head 14 holds the main body 15a of the electronic component 15 and the lead 15b of the printed board 19 as shown in FIG. It is performed by inserting it into the mounting hole 19a. Here, the problem is that even if the position of the insertion head 14 and the position of the mounting hole 19a of the printed board 19 are the same in control operation, the actual lead position of the electronic component depends on the individual component. In many cases, it is different. As a result, the lead and the mounting hole do not correspond to each other, and there is a problem that the positioning is forced to be performed each time. With respect to this point, neither the above-mentioned first nor second conventional example takes any consideration.
また、使用量が比較的少ないDIP,SIP型部品以外の複数
（３個以上）のリードを持つ部品は組込工程の終りでプ
リント板上に実装されるため、挿入ヘツドによる部品リ
ードチヤツクは既に実装された他部品と挿入ヘツドの干
渉が問題となり、部品リード先端の矯正は不可能とな
る。このため、部品挿入時点での部品のリード位置補正
が必要である。In addition, parts with multiple leads (three or more) other than DIP and SIP type parts, which are used in a relatively small amount, are mounted on the printed board at the end of the assembly process, so the component lead chuck by the insertion head has already been mounted. Interference between the inserted other head and the inserted head becomes a problem, and it becomes impossible to correct the tip of the lead of the component. Therefore, it is necessary to correct the lead position of the component at the time of inserting the component.
そこで、本発明は、寸法精度の悪い電子部品であつても
プリント板の取付穴との相対位置のずれを正確に修正可
能な自動組み込み装置を提供することを目的とする。Therefore, it is an object of the present invention to provide an automatic assembling apparatus capable of accurately correcting the deviation of the relative position with respect to the mounting hole of the printed board even for an electronic component having poor dimensional accuracy.
上記問題点を解決するために、本発明は、電子部品のチ
ヤツクしてプリント板の指定穴にリードを挿入するロボ
ツトの挿入ヘツドと、前記電子部品のリードと前記プリ
ント板の指定穴に同一位置から双方に光軸を定めた光学
系と、該光学系からの各画像を画像信号に変換するテレ
ビジヨンカメラと、該テレビジヨンカメラからの各画像
信号から前記リードと前記プリント板の指定穴との位置
誤差を算出しその位置誤差を修正する補正指令を前記挿
入ヘツドに出力する修正制御装置とを有し、前記リード
を前記プリント板の指定穴に自動的に挿入する電子部品
の自動組み込み装置において、前記挿入ヘツドと前記光
学系と１台のテレビジヨンカメラとを前記ロボツトの先
端に組み込み、前記光学系が光の入射方向を前記リード
を前記プリント板の指定穴のそれぞれに動転可能に支持
されたプリズムでなり、前記修正制御装置に前記リード
と前記プリント板の指定穴との相対的位置誤差を算出す
る画像処理手段を設けたことを特徴とするものである。In order to solve the above problems, the present invention is to insert a lead into a designated hole of a printed board by chucking the electronic component, and an insertion head of a robot, and the lead of the electronic component and the designated hole of the printed board at the same position. To an optical system having optical axes defined on both sides, a television camera for converting each image from the optical system into an image signal, and the lead and the designated hole of the printed board from each image signal from the television camera. And a correction control device for outputting a correction command for correcting the position error to the insertion head and automatically inserting the lead into the specified hole of the printed board. In the above, the insertion head, the optical system, and one television camera are incorporated into the tip of the robot, and the optical system directs the light incident direction to the lead by the printed board. The correction control device is provided with image processing means for calculating a relative positional error between the lead and the designated hole of the printed board. The prism is rotatably supported in each designated hole. Is.
上記本発明の構成によれば、光学系が電子部品のリード
とプリント板の取付穴との間に介在し、同一位置にてリ
ードの先端画像と取付穴画像を光学的に認識し、その画
像情報から相互の位置ずれをとらえ、そのずれ分だけ挿
入ヘツドの位置を修正するものであるから、容易かつ正
確に位置合わせを行うことができる。したがつて、リー
ド位置の寸法精度の悪い電子部品であつても、個別的に
位置決めが可能となり、正確な取付け作業が可能とな
る。According to the above configuration of the present invention, the optical system is interposed between the lead of the electronic component and the mounting hole of the printed board, the tip image of the lead and the mounting hole image are optically recognized at the same position, and the image is obtained. Since the mutual positional deviation is detected from the information and the position of the insertion head is corrected by the amount of the positional deviation, the positioning can be performed easily and accurately. Therefore, even an electronic component with poor dimensional accuracy of the lead position can be individually positioned, and accurate mounting work can be performed.
以下、本発明の一実施例を第１図〜第６図により説明す
る。An embodiment of the present invention will be described below with reference to FIGS.
第１図に本発明に係る自動組み込み装置の構成をブロッ
ク図で示し、第２図に全体構造図を示す。制御装置１は
各装置全体を管理するものであり、入力装置２を介して
あらかじめ管理に必要な制御情報が制御装置１内の記憶
部に入力されている。また、出力装置３により制御装置
１による各装置の管理状態を把持することができる。制
御装置１による制御対象は五つの部力に分けられる。そ
れらはロボツト５およびその駆動装置４、ロボツトアー
ムに取付けられた光学装置６、プリント板位置決め装置
７、部品供給装置22、そしてプリズム16を含む画像処理
装置８である。FIG. 1 is a block diagram showing the configuration of an automatic embedding device according to the present invention, and FIG. 2 is an overall structural diagram. The control device 1 manages each device as a whole, and control information necessary for management is input to the storage unit in the control device 1 in advance via the input device 2. Further, the output device 3 can grasp the management state of each device by the control device 1. The control target by the control device 1 is divided into five force divisions. They are a robot 5 and its driving device 4, an optical device 6 attached to a robot arm, a printed board positioning device 7, a component supply device 22, and an image processing device 8 including a prism 16.
第３図は前述した装置の動作フローチヤートであり、第
４図の本発明による２画像取込み機構図と合わせて説明
する。FIG. 3 is an operation flow chart of the above-mentioned apparatus, which will be described in combination with the two-image taking mechanism diagram according to the present invention in FIG.
プリント板19が位置決めされると（ステツプ100）、挿
入ヘツド14により部品15がチヤツクされ（ステツプ10
1）、プリント板19の挿入穴19a位置まで移動される（ス
テツプ102）。次いで、まず部品15のリード15bの先端か
らその軸方向に指向した画像をプリズム16を介してITV
カメラ18により取込む（ステツプ103）。取込まれたリ
ード画像12（第６図）は画像処理装置８に送られる。一
方、プリズム16はその位置で反転され（ステツプ10
4）、プリント板19の挿入穴をその貫通方向に指向した
画像をIVTカメラ18に取込む（ステツプ105）。取込まれ
た挿入穴画像13（第６図）は画像処理装置８に送られ
る。When the printed board 19 is positioned (step 100), the insert head 14 chucks the part 15 (step 10).
1), the printed board 19 is moved to the insertion hole 19a position (step 102). Next, first, an image oriented in the axial direction from the tip of the lead 15b of the component 15 is transmitted through the prism 16 to the ITV.
Captured by camera 18 (step 103). The captured lead image 12 (FIG. 6) is sent to the image processing device 8. On the other hand, the prism 16 is inverted at that position (step 10
4) An image in which the insertion hole of the printed board 19 is oriented in the penetrating direction is captured by the IVT camera 18 (step 105). The captured insertion hole image 13 (FIG. 6) is sent to the image processing device 8.
画像処理については第５図を用いて後述するが、（ステ
ツプ106）では取込まれた二つの画像に基づいて、部品1
5のリード先端とプリント板19の挿入穴19aとの相互位置
誤差δｙ（または、δｘ）を計算し、挿入ヘツド14の位
置（すなわち、部品15のリード15bの先端位置）を挿入
穴19aに一致させるべく、挿入ヘツド14の移動方向，移
動量を決定する（ステツプ107）。決定された補正量は
挿入ヘツド14のロボツト駆動装置４に与えられ、挿入ヘ
ツド14が目的位置まで移動させる（ステツプ108）。次
いで、部品15とプリント板19との間にあるプリズム16を
移動させ（ステツプ109）、その後部品15のリード15bを
挿入穴19aに挿入すべく下降させ（ステツプ110）、挿入
動作を終了する（ステツプ111）。Image processing will be described later with reference to FIG. 5, but in (Step 106), based on the two captured images, the component 1
The mutual position error δy (or δx) between the lead tip of 5 and the insertion hole 19a of the printed board 19 is calculated, and the position of the insertion head 14 (that is, the tip position of the lead 15b of the component 15) is matched with the insertion hole 19a. To do so, the moving direction and moving amount of the insertion head 14 are determined (step 107). The determined correction amount is given to the robot driving device 4 of the insertion head 14 to move the insertion head 14 to the target position (step 108). Then, the prism 16 between the component 15 and the printed board 19 is moved (step 109), and then the lead 15b of the component 15 is lowered to be inserted into the insertion hole 19a (step 110), and the insertion operation is completed (step 110). Step 111).
次に、二つの画像（リード画像12および挿入穴画像13）
の画像処理アルゴリズムについて第５図により説明す
る。すなわち、プリズム16を介してITVカメラ10により
取込まれた二つの顔図が画像が入力されると（ステツプ
200,201）、それぞれアナログ信号から２値信号に変換
され（ステツプ202,203）、次いで、雑音除去のために
フイルタにかけられる（ステツプ204,205）。次いで、
各画像についての特徴量の抽出処理（ステツプ206,20
7）され、各特徴量により相互の画像間演算が施される
（ステツプ208）。演算結果は、第６図に示すように、
リード画像12と挿入穴画像13とが同一モニタ画面上に重
ねて表示され、その誤差を視認することができる。ちな
みに、第６図はリード位置と挿入穴位置とが互にずれて
いる状態を示している。11はCRTモニタの背景部を示し
ており、目視しやすいように背景を暗くするとともに、
はみ出たリード画像12の部分を白色で表示し、挿入穴画
像13と重なる部分について黒く表示してある。ただし、
表示の方法はこれにこだわるものではない。次いで、二
つの画像を重畳した場合の特徴量の抽出が行われ（ステ
ツプ210）、これに基づきリード15bの位置と挿入穴19a
の位置との相対的誤差が計算され（ステツプ211）、補
正量が算出され（ステツプ212）、その後は第３図の
（ステツプ108）にもどつて位置修正が実行される。Next, two images (lead image 12 and insertion hole image 13)
The image processing algorithm will be described with reference to FIG. That is, when two face images captured by the ITV camera 10 are input via the prism 16, an image is input (step
200, 201), respectively converted from an analog signal to a binary signal (steps 202, 203) and then subjected to a filter for noise removal (steps 204, 205). Then
Feature amount extraction processing for each image (steps 206 and 20)
7) is performed, and mutual image-to-image calculation is performed according to each feature amount (step 208). The calculation result is, as shown in FIG.
The lead image 12 and the insertion hole image 13 are overlapped and displayed on the same monitor screen, and the error can be visually recognized. Incidentally, FIG. 6 shows a state in which the lead position and the insertion hole position are displaced from each other. 11 indicates the background part of the CRT monitor, which makes the background darker for easier viewing,
A portion of the lead image 12 that protrudes is displayed in white, and a portion overlapping with the insertion hole image 13 is displayed in black. However,
The display method is not limited to this. Next, the feature amount when the two images are superimposed is extracted (step 210), and based on this, the position of the lead 15b and the insertion hole 19a are extracted.
The relative error with respect to the position is calculated (step 211), the correction amount is calculated (step 212), and then the position correction is executed by returning to (step 108) in FIG.
このように、複数（３以上）のリードを持つ低精度部品
15や第７図で示されるように部品のボデイ中心とリード
中心に位置ずれがある部品をプリント板に自動組み込み
する装置において、挿入穴と部品リードの相互位置誤差
を両者を相対した状態で検出し、一方を他方に合致する
よう補正させるため、安定した部品自動組み込みが可能
となる。In this way, low precision parts with multiple (3 or more) leads
As shown in Fig. 15 and Fig. 7, in a device that automatically assembles a component with a misalignment between the center of the body and the center of the lead in the printed board, the mutual positional error between the insertion hole and the component lead is detected in a state where they are facing each other. However, since one is corrected so as to match the other, stable automatic component assembly is possible.
また、ロボツトアームに挿入ヘツドと光学装置を取付け
たことにより、挿入ヘツドの停止した任意位置で部品リ
ード先端と挿入穴の両者を１台のITVカメラで画像認識
でき、装置構成が単純なものとなる。Also, by attaching the insertion head and the optical device to the robot arm, one ITV camera can recognize both the tip of the component lead and the insertion hole at an arbitrary position where the insertion head is stopped, and the device configuration is simple. Become.
以上述べたように、光学系が電子部品のリードとプリン
ト板の取付穴との間に介在し、同一位置にてリードの先
端画像と取付穴画像を光学的に認識し、その画像情報か
ら相互の位置ずれをとらえてずれ分だけ修正するもので
あるから容易に、かつ、正確に位置合せを行うことがで
きる。それによつてリード位置の寸法精度の悪い電子部
品であつても個々の部分について個別的に位置修正で
き、正確な取付作業が可能となる。As described above, the optical system is interposed between the lead of the electronic component and the mounting hole of the printed board, the tip image of the lead and the mounting hole image are optically recognized at the same position, and the image information is used for mutual recognition. Since it is intended to detect the positional deviation and correct the positional deviation, it is possible to perform the positioning easily and accurately. As a result, even electronic parts having poor lead position dimensional accuracy can be individually corrected in position for individual parts, and accurate mounting work can be performed.
第１図は本発明に係る実施例を示すブロック図、第２図
は本発明による装置概略図、第３図は本発明による装置
動作フローチヤート、第４図は本発明による２画像取込
み機構図、第５図は本発明による画像処理フローチヤー
ト、第６図は本発明による画像処理内容説明図、第７図
は部品ボデイとリードの位置関係図である。 １……制御装置、２……入力装置、３……出力装置、４
……ロボツト駆動装置、５……ロボツト、６……光学装
置、７……プリント板位置決め装置、８……画像処理装
置、９……CRT（モニター）、10……ITVカメラ、11……
CRT背景画像、12……部品リード先端画像、13……プリ
ント板挿入穴画像、14……挿入ヘツド、15……部品、16
……プリズム、17……プリズム反転機構、18……ITVカ
メラ、19……プリント板、20……照明灯、21……CRT
（モニター）、22……部品供給装置。FIG. 1 is a block diagram showing an embodiment according to the present invention, FIG. 2 is a schematic view of an apparatus according to the present invention, FIG. 3 is a flow chart of an apparatus operation according to the present invention, and FIG. 4 is a diagram of a two-image capturing mechanism according to the present invention. 5, FIG. 5 is an image processing flow chart according to the present invention, FIG. 6 is an image processing content explanatory diagram according to the present invention, and FIG. 7 is a positional relationship diagram between a component body and a lead. 1 ... Control device, 2 ... Input device, 3 ... Output device, 4
...... Robot drive device, 5 ...... Robot, 6 ...... Optical device, 7 ...... Print board positioning device, 8 ...... Image processing device, 9 ...... CRT (monitor), 10 ...... ITV camera, 11 ......
CRT background image, 12 …… Part lead tip image, 13 …… Printed board insertion hole image, 14 …… Insertion head, 15 …… Parts, 16
…… Prism, 17 …… Prism reversing mechanism, 18 …… ITV camera, 19 …… Printed board, 20 …… Illumination lamp, 21 …… CRT
(Monitor), 22 ... Parts supply device.
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭60−233899（ＪＰ，Ａ) 特開 昭60−103700（ＪＰ，Ａ) 特開 昭59−112684（ＪＰ，Ａ) 特開 昭59−171198（ＪＰ，Ａ) 特開 昭57−17195（ＪＰ，Ａ) ─────────────────────────────────────────────────── --- Continuation of front page (56) References JP-A-60-233899 (JP, A) JP-A-60-103700 (JP, A) JP-A-59-112684 (JP, A) JP-A-59- 171198 (JP, A) JP-A-57-17195 (JP, A)
Claims (1)
穴にリードを挿入するロボットの挿入ヘッドと、前記電
子部品のリードと前記プリント板の指定穴に同一位置か
ら双方に光軸を定めた光学系と、該光学系からの各画像
を画像信号に変換するテレビジョンカメラと、該テレビ
ジョンカメラからの各画像信号から前記リードと前記プ
リント板の指定穴との位置誤差を算出しその位置誤差を
修正する補正指令を前記挿入ヘツドに出力する修正制御
装置とを有し、前記リードを前記プリント板の指定穴に
自動的に挿入する電子部品の自動組み込み装置におい
て、前記挿入ヘッドと前記光学系と１台のテレビジョン
カメラとを前記ロボットの先端に組み込み、前記光学系
が光の入射方向を前記リードと前記プリント板の指定穴
のそれぞれに動転可能に支持されたプリズムでなり、前
記修正制御装置に前記リードと前記プリント板の指定穴
との相対的位置誤差を算出する画像処理手段を設けたこ
とを特徴とする電子部品の自動組み込み装置。1. An insertion head of a robot for checking an electronic component to insert a lead into a designated hole of a printed board, and an optical axis for the lead of the electronic component and the designated hole of the printed board from the same position. An optical system, a television camera that converts each image from the optical system into an image signal, and a position error between the lead and the designated hole of the printed board is calculated from each image signal from the television camera, and the position thereof is calculated. In an automatic assembling device for electronic parts, which has a correction control device for outputting a correction command for correcting an error to the insertion head, and which automatically inserts the lead into a specified hole of the printed board, the insertion head and the optical A system and a television camera are installed at the tip of the robot, and the optical system can move the incident direction of light to each of the lead and the designated hole of the printed board. Made of a supported prism, the correction control unit to the lead automatic incorporation device for an electronic component, characterized in that a image processing means for calculating a relative positional error between the designated hole in the printed circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60284984A JPH071840B2 (en) | 1985-12-18 | 1985-12-18 | Electronic component automatic assembly device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60284984A JPH071840B2 (en) | 1985-12-18 | 1985-12-18 | Electronic component automatic assembly device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62143497A JPS62143497A (en) | 1987-06-26 |
| JPH071840B2 true JPH071840B2 (en) | 1995-01-11 |
Family
ID=17685626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60284984A Expired - Lifetime JPH071840B2 (en) | 1985-12-18 | 1985-12-18 | Electronic component automatic assembly device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH071840B2 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2956842B2 (en) * | 1988-01-20 | 1999-10-04 | 株式会社東芝 | Positioning device |
| JP2803221B2 (en) * | 1989-09-19 | 1998-09-24 | 松下電器産業株式会社 | IC mounting apparatus and method |
| JP5531945B2 (en) * | 2010-12-22 | 2014-06-25 | パナソニック株式会社 | Component mounting apparatus and component mounting method |
| WO2015019456A1 (en) | 2013-08-07 | 2015-02-12 | 富士機械製造株式会社 | Lead position detecting apparatus and component inserting machine |
| JP6331335B2 (en) * | 2013-10-31 | 2018-05-30 | セイコーエプソン株式会社 | Control device, robot, robot system and control method |
| JP6368275B2 (en) * | 2015-04-17 | 2018-08-01 | ヤマハ発動機株式会社 | Component mounting machine, component mounting method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5717195A (en) * | 1980-07-07 | 1982-01-28 | Nippon Electric Co | Device for automatically inserting part |
| JPS59112684A (en) * | 1982-12-20 | 1984-06-29 | 富士通株式会社 | Method of positioning chip part |
| JPS59171198A (en) * | 1983-03-18 | 1984-09-27 | 株式会社日立製作所 | Method of detecting lead wire of multileg electronic part |
| JPS60103700A (en) * | 1983-11-11 | 1985-06-07 | 株式会社日立製作所 | Device for positioning part |
| JPS60233899A (en) * | 1984-05-02 | 1985-11-20 | 日立電子株式会社 | Part placing device |
-
1985
- 1985-12-18 JP JP60284984A patent/JPH071840B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62143497A (en) | 1987-06-26 |
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