JP7389999B2 - feeding device - Google Patents

Description

The present invention relates to a feeding device.

In recent years, feeding devices have been used in a wide range of fields including the manufacturing field. The drive mechanism of the feeding device includes a belt conveyor drive, a ball screw drive, a rack and pinion drive, and the like.

Belt conveyor drive is a mechanism that rotates a wide, ring-shaped belt and transports objects on it. Low cost and suitable for long distance transportation. However, the positioning accuracy of the conveyed object is not good, and the conveyance speed is slow.

A ball screw drive converts rotational force into linear motion. Conveyance accuracy is good due to the use of ball screws. Concerning the conveyance speed of the conveyed object, medium to high speed conveyance is also possible. However, the use of a polished ball screw that performs precise polishing makes the device expensive. In addition, the conveyance distance is within 1 to 5 meters, and long-distance conveyance is difficult from a manufacturing standpoint.

In a rack and pinion drive, a circular gear called a pinion rolls on a rack with gears cut into a flat rod. Rack and pinion drive can handle relatively long distance transportation. However, since the cable of the drive motor on the pinion side must be pulled, a cable carrier is required. Furthermore, when driving at high speeds, a large amount of noise is generated from the meshing of the pinion gear and rack gear.

Patent No. 4989061

As described above, there are various feeding devices with drive mechanisms, but none of them can simultaneously satisfy long-distance conveyance, high-speed conveyance, low noise, and high precision.

Here, the feeding device according to Japanese Patent No. 4989061 will be explained with reference to FIG. The feeding device 108 includes a motor support plate 12 that supports the motor 21 , an intermediate plate 13 that holds the bearing 24 that supports the rotation shaft 32 , and a main plate 14 that holds the other bearing 25 on the base plate 11 . ing.

Here, the rotating shaft 32 employs a spline shaft in order to transmit torque by rotation of the motor 21.

The flange 33 is integrated with a spline nut 34 and is fixed to a disc 35 with bolts 36. Preferably, a large number of balls (not shown) are arranged in the spline nut 34 and move in the axial direction while rolling on grooves having a semicircular cross section formed in the axial direction of the rotating shaft 32. . A structure in which rotation and axial movement are realized using balls and splines is called a ball spline, and the rotating shaft 32 is preferably a ball spline shaft that can easily transmit the rotational torque of the motor 21.

A cylindrical male screw member 41 is press-fitted or screwed onto the outer periphery of the spline nut 34 . Thereby, the male screw member 41 can rotate together with the spline nut 34 and move on the rotating shaft 32.

A cylindrical female thread member 42 is provided on the outer periphery of the male thread member 41 . A female thread is provided on the inner peripheral surface of the female thread member 42, and in the installed state, the female thread of the female thread member 42 and the male thread of the male thread member 41 are engaged. The female screw member 42 is fixed to the main plate 14 with bolts 37.

Furthermore, a cylindrical rotating rotor 43 is fixed to the outer circumference of the disk 35 with bolts 38. A predetermined gap exists between the inner circumferential surface of the rotating rotor 43 and the outer circumferential surface of the female screw member 42, allowing them to rotate relative to each other. A wire 51 is spirally wound around the outer peripheral surface of the rotating rotor 43.

With the above configuration, when the motor 21 rotates, the rotation of the output shaft 22 of the motor 21 is transmitted to the input part 31 of the rotating shaft 32 via the coupling 23, and furthermore, the rotating shaft 32, the flange 33, the spline nut 34, The power is transmitted in the order of the disk 35, the male screw member 41, and the rotating rotor 43, and these (hereinafter referred to as "integral rotating section" for convenience) rotate as one.

When the integral rotating portion rotates once, it moves in parallel in the axial direction of the rotating shaft 32 by one pitch of engagement between the male screw of the male screw member 41 and the female screw of the female screw member 42 .

Here, if the engagement pitch of the male screw and the female screw is P1, and the winding pitch of the wire 51 around the rotating rotor 43 is P2, then if P1=P2, the winding portion of the wire 51 due to one rotation of the rotating rotor 43 is The change in length and the amount of axial movement of the rotating rotor 43 become the same, and the wire 51 is wound into an aligned winding.

Both ends of a single wire 51 are wound around opposite ends of the outer peripheral surface of the rotating rotor 43 in opposite directions and fixed with clamps. Thereby, by rotating the rotating rotor 43 in one direction, it is possible to simultaneously wind up one end of the wire 51 and unwind the other end.

The wire 51 wound around the rotating rotor 43 as described above is sent out from the rotating rotor 43 and returns to the rotating rotor 43 via a pulley (the folding position of the wire 51) located away from the feeding device 108. If a moving body (not shown) is connected to the wire 51 between the pulley and the rotating rotor 43, one end of the wire 51 is wound around the moving body by the rotation of the motor 21, and the other end is wound around the moving body. No matter which direction the motor 21 is rotated in, the moving body can smoothly move toward or away from the feeding device.

With this configuration, the drive by wire does not use gears, so it is quiet and suitable for high-speed operation. Furthermore, by increasing the outer diameter of the rotor 43 or increasing the length between both ends, the amount of wire 51 that can be accommodated increases, making it suitable for long-distance conveyance. Further, if the processing accuracy of the outer periphery of the rotating rotor 43 is increased, high precision can be easily achieved.

As described above, "Patent No. 4989061" of Patent Document 1 has excellent features in terms of operation, but it also has the following problems.

That is, as shown in the cross-sectional view GG in FIG. 8, the spline shaft 32, the spline nut 34, the male screw member 41, the female screw member 42, and the rotating rotor 43 are all concentrically combined. One male screw member 41 that constitutes the engagement between the male screw and the female screw is integrated with a spline nut 34 that is an axially movable member, and the other female screw member 42 is assembled to the fixed main plate 14. ing. Therefore, in order to satisfy the function as a feeding device, each member must have high processing accuracy, the base plate 11, motor support plate 12, intermediate plate 13, and main plate 14 must be assembled with high accuracy, and the male threaded member 41 must be assembled with high precision. It is an important factor that the female screw member 42 is accurately centered.

(1) For this reason, it is necessary that all members be processed with high precision and assembled with high precision.

(2) Furthermore, in the case of the conventional technology, there is a problem that the number of parts is large, and each member must be processed with high precision, so that high costs are unavoidable.

(3) Furthermore, in the case of the conventional technology, there is a problem in that the number of parts is large and high precision is required in the assembly work for assembling the members, so that high costs are unavoidable in terms of the assembly work.

SUMMARY OF THE INVENTION In order to solve at least one of the above-mentioned conventional problems, the present invention provides a feeding device that can smoothly wind up and unwind a wire, and is capable of long-distance conveyance, high-speed conveyance, quiet operation, and high precision. It is an object of the present invention to provide a feeding device that satisfies the above requirements, has a simple structure, and does not require high assembly precision.

The feeding device according to one aspect of the present invention includes, for example,
motor and
a rotating shaft of a spline shaft connected to the output shaft of the motor;
a spline nut that is incorporated so as to rotate integrally with the rotation axis and move in parallel relative to the rotation axis;
A rotary rotor that is attached directly or indirectly to the spline nut so as to rotate integrally with the spline nut, has a winding part for winding a wire around the outer peripheral surface, and has a female thread on the inner peripheral surface;
a support structure rotatably supporting the motor, the rotating shaft, the spline nut, and the rotating rotor;
a feed screw member having a feed screw that meshes with the female thread of the rotating rotor;
has
The feed screw member is supported by the support structure such that the feed screw meshes with a female thread of the rotating rotor,
The present invention is characterized in that the rotating rotor is configured to move in parallel along the rotating shaft by one winding pitch of the wire when the rotating rotor rotates once.

A plurality of the feed screw members may be provided.

The feed screw member may include an assembly portion having a structure for attaching to the support structure, and a feed portion having the feed screw.

The feed screw member has a round bar shape as a whole, the assembly portion has a screw screwed onto the support structure on an outer peripheral surface, and the feed portion has the feed screw on an outer peripheral surface. You can leave it there.

The feed screw member may have a pedestal portion on which the assembly portion is attached to the support structure, and a rod portion in which the feed portion has the feed screw on at least a portion of an outer peripheral surface.

A feeding device according to another aspect of the present invention includes, for example,
motor and
a rotating shaft of a spline shaft connected to the output shaft of the motor;
a spline nut that is incorporated so as to rotate integrally with the rotation axis and move in parallel relative to the rotation axis;
A rotary rotor that is attached directly or indirectly to the spline nut so as to rotate integrally with the spline nut, and has a winding part that winds a wire around the outer peripheral surface;
a male threaded member having a male thread on its outer peripheral surface fixed to the spline nut;
a support structure rotatably supporting the motor, the rotating shaft, the spline nut, the rotating rotor, and the male threaded member;
a feed screw member having a feed screw that engages with the male thread of the male thread member;
has
The feed screw member is supported by the support structure such that the feed screw partially contacts and engages with one circumference of the male thread of the male thread member,
The present invention is characterized in that the rotating rotor is configured to move in parallel along the rotating shaft by one winding pitch of the wire when the rotating rotor rotates once.

A plurality of the feed screw members may be provided.

According to the present invention, there is provided a feeding device that smoothly winds and unwinds wire, satisfies long-distance conveyance, high-speed conveyance, low noise, and high precision, has a simple structure, and has high processing accuracy and assembly. An inexpensive feeding device that does not require precision can be provided.

FIG. 2 is an axial longitudinal cross-sectional view (a) of a feeding device according to an embodiment of the present invention, and a transverse longitudinal cross-sectional view (b) as seen in the direction of the arrow AA of the axial longitudinal cross-sectional view (a). 2 is an axial longitudinal cross-sectional view (a) of a feeding device according to a modification of the embodiment of FIG. 1, and a transverse longitudinal cross-sectional view (b) as seen in the direction of arrow B-B of the axial longitudinal cross-sectional view (a). . FIG. 2 is an axial longitudinal cross-sectional view (a) of a feeding device according to an embodiment of the present invention, and a transverse longitudinal cross-sectional view (b) as seen in the direction of arrow CC of the axial longitudinal cross-sectional view (a). 4 is an axial longitudinal cross-sectional view (a) of a feeding device according to a modification of the embodiment of FIG. 3, and a transverse longitudinal cross-sectional view (b) as seen in the direction of arrow DD of the axial longitudinal cross-sectional view (a). . FIG. 2 is an axial longitudinal cross-sectional view (a) of a feeding device according to an embodiment of the present invention and a transverse longitudinal cross-sectional view (b) as seen in the direction of arrow EE of the axial longitudinal cross-sectional view (a). FIG. 6 is an axial longitudinal cross-sectional view (a) of a feeding device according to a modification of the embodiment of FIG. 5, and a transverse longitudinal cross-sectional view (b) as seen in the direction of arrow FF of the axial longitudinal cross-sectional view (a). . It is a perspective view of the feed screw member of embodiment of this invention (a), (b). FIG. 2 is an axial longitudinal cross-sectional view (a) of a conventional feeding device and a transverse longitudinal cross-sectional view (b) as viewed in the direction of arrow GG of the axial longitudinal cross-sectional view (a).

Embodiments will be described below.

FIG. 1 shows an axial longitudinal cross-sectional view (a) and a transverse longitudinal cross-sectional view (b) taken in the direction of arrow A-A of the axial longitudinal cross-sectional view (a) of a feeding device 101 according to an embodiment. There is.

The feeding device 101 includes a motor support plate 112 that supports a motor 121, an intermediate plate 113 that holds a bearing 124 that supports a rotating shaft 132, and a main plate 114 that holds the other bearing 125 on a base plate 111. ing.

The rotating shaft 132 is a spline shaft that transmits the rotational torque of the motor 121.

A flange 133 and a spline nut 134, which are integrally formed, are fixed to a disc 135 with bolts 136.

The spline nut 134 has a rolling ball (not shown) inside, and has a ball spline structure with the rotating shaft 132. Therefore, the rotational torque of the motor 121 can be easily transmitted, and the spline nut 134 can easily move along the rotating shaft 132.

A cylindrical rotating rotor 143 is fixed to the outer periphery of the disk 135 with bolts 138 . A female thread 144 is provided on the inner peripheral surface of the rotating rotor 143. A wire guide or groove is provided on the outer peripheral surface of the rotating rotor 143, and a wire 151 is wound around the wire guide or groove. That is, the outer circumferential surface of the rotating rotor 143 serves as a winding portion around which the wire is wound. As described above, both ends of one wire 151 are wound in opposite directions and fixed with clamps.

With the above structure, when the motor 121 rotates, the output shaft 122 of the motor 121, the coupling 123, the input part 131 of the rotating shaft 132, the rotating shaft 132, the flange 133 and the spline nut 134, the disc 135, and the rotating rotor 143, in this order. Rotational torque is transmitted, and the above-mentioned members rotate together.

As shown in FIG. 1A, a feed screw member 200 is provided upright on the main plate 114, and its tip end is inserted into the inside of the rotating rotor 143. As shown in the perspective view of FIG. 7(a), the feed screw member 200 has an assembly portion 203 for assembling to the main plate 114, and a feed portion 204 having the feed screw 201.

In this embodiment, the feed screw member 200 has a round bar shape as a whole, the assembly portion 203 has a screw 205 on the outer circumference, and the feed portion 204 has a feed screw 201 on the outer circumference. . The assembly portion 203 is inserted into a through hole of the main plate 114 and fixed with a nut 202.

On the other hand, the feed screw 201 of the feed portion 204 of the feed screw member 200 is a male screw that partially contacts and engages one circumference of the female screw 144 on the inner peripheral surface of the rotating rotor 143. When the rotating rotor 143 rotates once, the rotating rotor 143 moves in the axial direction of the rotating shaft 132 by one pitch of engagement between the feed screw 201 and the female screw 144.

Assuming that the pitch of the feed screw 201 is P3 and the pitch of the female screw 144 of the rotary rotor 143 is P4, if P3=P4, the feed screw 201 and the female screw 144 can mesh with each other smoothly. Further, if the winding pitch of the wire 151 is P2, and if P2=P3=P4, then the rotary rotor 143 accurately moves in the axial direction by the winding pitch P2 of the wire 151 in one rotation of the rotary rotor 143. By doing so, when the rotating rotor 143 rotates once, the rotating rotor 143 moves in the axial direction by the wire winding pitch P2, and the wire 151 can be wound up and unwound by one turn. Thereby, winding and unwinding of the wire 151 is performed smoothly, and highly accurate and quiet feeding operation is possible.

Furthermore, by increasing the diameter or axial length of the rotating rotor 143, the amount of wire 151 that can be accommodated increases, so that long-distance transportation becomes possible. Furthermore, if the output of the motor 121 is increased to increase the rotational speed, the rotating rotor 143 will also rotate at a high speed, making high-speed conveyance possible.

Note that the base plate 111, motor support plate 112, intermediate plate 113, and main plate 114 are exemplary structures, and are used to rotate the motor 121, rotating shaft 132, flange 133, spline nut 134, disk 135, and rotating rotor 143. Any supporting structure possible with known technology may be used as long as it can be supported as possible.

Further, in the above embodiment, the rotating rotor 143 is fixed to the disk 135, but the rotating rotor 143 may be fixed to the spline nut 134 directly or indirectly.

According to this embodiment, the male threaded member 41 and female threaded member 42 of the prior art in FIG. 8 are replaced with the feed screw member 200, and the male threaded member 41 of the prior art can be omitted.

The female screw member 42 and the male screw member 41 of the prior art shown in FIG. 8 engage with each other around the entire circumference and therefore require high-precision machining, but the simplified feed screw member 200 of this embodiment is cast, lost and Since a molded product of wax or the like is sufficient, the cost of parts can be significantly reduced and assembly is easy. Furthermore, the number of assembly steps can be reduced.

The feed screw member 200 according to this embodiment is installed by temporarily assembling the assembly portion 203 to the main plate 114 with the nut 202, and then manually rotating the rotating rotor 143 and permanently tightening the nut 202 at a position where the engagement is smooth. Just do it.
Further, the wire 151 may be configured with one wire or may be configured with two wires. In the case of two wires, for example, one wire is fixed to one end of the rotating rotor 143, the other wire is fixed to the other end of the rotating rotor 143, and the wires are wound in opposite directions. do. Then, the ends of each wire are fixed to the moving body.

FIG. 2 is an axial longitudinal sectional view (a) of a feeding device 102 according to a modification of the feeding device 101 in FIG. Figure (b) is shown.

The feed device 102 has the same structure as in FIG. 1 except that feed screw members 200 are provided on the upper and lower sides. Components that are the same as those in FIG. 1 are designated by the same reference numerals, and redundant explanations will be omitted.

According to this modification, when the load on the wire 151 is heavy or when the rotation is fast, the effect of backing up the rotating rotor 143 and reducing the surface pressure of the threaded portion can be expected.

The number of feed screw members 200, whether singular or plural, may be appropriately determined depending on the purpose.

FIG. 3 shows an axial longitudinal cross-sectional view (a) of a feeding device 103 according to another embodiment, and a transverse longitudinal cross-sectional view (b) taken in the direction of arrow CC of the axial longitudinal cross-sectional view (a). It shows.

This embodiment is the same as the feed device 101 in FIG. 1 except that the feed screw member 300 is different from the feed screw member 200 in FIG.

As shown in the perspective view of FIG. 7(b), the feed screw member 300 has an assembly portion 301 as a pedestal portion and a feed portion 302 as a rod-shaped portion. The pedestal part of the assembly part 301 has a fixing part 303 and a mounting hole 304. The feed screw member 300 is fixed by inserting a part of the feed part 302 and the assembly part 301 into the through hole of the main plate 114 and inserting a screw into the mounting hole 304 to tightly connect the fixing part 303 to the main plate 114. can do. The feed section 302 is made of a rod-shaped or plate-shaped member, and has a feed screw 305 on at least a portion of its outer peripheral surface. However, the feed screw 305 is provided at a portion of the rotating rotor 143 that engages with the female thread 144.

The feed screw member 300 is composed of an assembly portion 301 and a feed portion 302, and since the attachment portion 301 can be fixed by inserting a screw into the attachment hole 304, it is less likely to be attached to the main plate 114 than the feed screw member 200. Installation is easy. In addition, when manufacturing the feed screw member 300, it is easier to use molded products such as casting or lost wax, and further cost reduction can be achieved.

Here, returning to FIG. 3 and continuing the explanation, this embodiment is the same as FIG. 1 except for the feed screw member 300. The feed screw member 300 has the same pitch as the female thread 144 of the rotating rotor 143, and smooth engagement is achieved as in FIG. 1.

FIG. 4 is an axial longitudinal cross-sectional view (a) of a feeding device 104 according to a modified example of the feeding device 103 in FIG. Figure (b) is shown.

The feeding device 104 has the same structure as in FIG. 3 except that the feeding screw members 300 are provided above and below, so the same parts as in FIG. .

According to this modification, when the load on the wire 151 is heavy or when the rotation is fast, the effect of backing up the rotating rotor 143 and reducing the surface pressure of the threaded portion can be expected.

FIG. 5 shows an axial longitudinal cross-sectional view (a) and a transverse longitudinal cross-sectional view (b) taken in the direction of arrow EE of the axial longitudinal cross-sectional view (a) of a feeding device 105 according to one embodiment. There is.

The feeding device 105 has the same structure as the feeding device 108 in FIG. 8, except that the female screw member 42 in FIG. 8 is replaced by a feeding screw member 300. That is, the feed screw member 300 is attached so that the feed screw 305 partially contacts and meshes with one circumference of the male thread on the outer peripheral surface of the male thread member 41 in the rotating rotor 43.

By employing the feed screw member 300, the parts cost can be reduced compared to the female screw member 42 shown in FIG. 8, and since difficult centering is not required, the number of assembly steps can be reduced.

Furthermore, as can be seen by comparing FIG. 5 and FIG. 3, the effective diameter D1 of the meshing portion between the female screw and the feed screw of the feeder 103 in FIG. 3 and the meshing portion between the male screw and the feed screw of the feeder 105 in FIG. Since the feed screw 305 in FIG. 5 is on the inside, the effective diameter D2 clearly has a relationship of D1>D2. Therefore, when it is desired to lower the circumferential speed of the screw engagement portion during high-speed operation, or when higher-speed operation is required, the structure shown in FIG. 5 can be suitably adopted.

Note that materials with high strength and high wear resistance are suitable for the feed screws 201 and 305. On the other hand, it is preferable that the internal thread 144 on the inner periphery of the rotating rotor 143 in FIG. 3 and the male thread member 41 in FIG.

6 is an axial longitudinal cross-sectional view (a) of a feeding device 106 according to a modification of the embodiment of FIG. 5, and a transverse longitudinal cross-sectional view taken in the direction of arrow FF in the axial longitudinal cross-sectional view (a) (b) is shown.

The feed device 106 has the same structure as in FIG. 5 except that feed screw members 300 are provided above and below. Components that are the same as those in FIG. 5 are given the same reference numerals and redundant explanations will be omitted.

According to this modification, when the load on the wire 151 is heavy or when the rotation is fast, the effect of backing up the rotating rotor 43 and reducing the surface pressure of the threaded portion can be expected.

As in the case of FIGS. 2 and 4, the number of feed screw members 300, whether singular or plural, may be appropriately determined depending on the application of the feed device 106.

As described above, the feeding device 101-106 according to the above embodiment inherits all the advantages of the feeding device 108 of the conventional technology, and can reduce parts costs and assembly man-hours, so it can be used in industry. It will be possible to further spread the use of this technology.

Based on the above description, those skilled in the art may be able to envision additional effects and various modifications of the present invention, but aspects of the present invention are not limited to the embodiments described above. Various additions, changes, and partial deletions are possible without departing from the conceptual idea and gist of the present invention derived from the content defined in the claims and equivalents thereof.

11, 111: Base plate 12, 112: Motor support plate 13, 113: Intermediate plate 14, 114: Main plate 21, 121: Motor 22, 122: Output shaft 23, 123: Coupling 24, 25, 124, 125: Bearing 31, 131: Input section 32, 132: Rotating shaft 33, 133: Flange 34, 134: Spline nut 35, 135: Disc 36, 37, 38, 136, 138: Bolt 41: Male thread member 42: Female thread member 43, 143: Rotating rotor 51, 151: Wire 101, 102, 103, 104, 105, 106, 108: Feeding device 144: Female screw 200, 300: Feed screw member 201, 305: Feed screw 202: Nut 203, 301 : Assembly part 204, 302: Feeding part 205: Screw 303: Fixing part 304: Mounting hole

Claims (7)

motor and
a rotating shaft of a spline shaft connected to the output shaft of the motor;
a spline nut that is incorporated so as to rotate integrally with the rotation axis and move in parallel relative to the rotation axis;
A rotary rotor that is attached directly or indirectly to the spline nut so as to rotate integrally with the spline nut, has a winding part for winding a wire around the outer peripheral surface, and has a female thread on the inner peripheral surface;
a support structure rotatably supporting the motor, the rotating shaft, the spline nut, and the rotating rotor;
a feed screw member having a feed screw that meshes with the female thread of the rotating rotor;
has
The feed screw member is supported by the support structure such that the feed screw partially contacts and engages with one circumference of the female screw of the rotary rotor,
A feeding device configured such that when the rotating rotor makes one rotation, the rotating rotor moves in parallel along the rotating shaft by one winding pitch of the wire. The feeding device according to claim 1,
A feeding device including a plurality of the feeding screw members. The feeding device according to claim 1 or 2,
A feeding device, wherein the feed screw member has an assembly portion having a structure for attaching to the support structure, and a feeding portion having the feed screw. 4. The feed device according to claim 3, wherein the feed screw member has a round bar shape as a whole, the assembly portion has a screw screwed onto the support structure on an outer peripheral surface, and The feeding device has the feed screw on the outer peripheral surface. The feeding device according to claim 3,
The feed screw member is a feeding device, wherein the assembly portion has a pedestal portion to which the support structure is attached, and the feed portion has a rod-shaped portion having the feed screw on at least a portion of an outer peripheral surface. motor and
a rotating shaft of a spline shaft connected to the output shaft of the motor;
a spline nut that is incorporated so as to rotate integrally with the rotation axis and move in parallel relative to the rotation axis;
A rotary rotor that is attached directly or indirectly to the spline nut so as to rotate integrally with the spline nut, and has a winding part that winds a wire around the outer peripheral surface;
a male threaded member having a male thread on its outer peripheral surface fixed to the spline nut;
a support structure rotatably supporting the motor, the rotating shaft, the spline nut, the rotating rotor, and the male threaded member;
a feed screw member having a feed screw that engages with the male thread of the male thread member;
has
The feed screw member is supported by the support structure such that the feed screw partially contacts and engages with one circumference of the male thread of the male thread member,
A feeding device configured such that when the rotating rotor makes one rotation, the rotating rotor moves in parallel along the rotating shaft by one winding pitch of the wire. The feeding device according to claim 5,
A feeding device including a plurality of the feeding screw members.

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