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WO2020065608A1 - Système auxiliaire pour sites industriels - Google Patents

Système auxiliaire pour sites industriels Download PDF

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Publication number
WO2020065608A1
WO2020065608A1 PCT/IB2019/058235 IB2019058235W WO2020065608A1 WO 2020065608 A1 WO2020065608 A1 WO 2020065608A1 IB 2019058235 W IB2019058235 W IB 2019058235W WO 2020065608 A1 WO2020065608 A1 WO 2020065608A1
Authority
WO
WIPO (PCT)
Prior art keywords
elongated structural
fulcrum assembly
structural element
fluids
plane
Prior art date
Application number
PCT/IB2019/058235
Other languages
English (en)
Inventor
Alessandro PATERNI
Original Assignee
Pnp Discover Srl
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Pnp Discover Srl filed Critical Pnp Discover Srl
Publication of WO2020065608A1 publication Critical patent/WO2020065608A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L3/00—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets
    • F16L3/01—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets for supporting or guiding the pipes, cables or protective tubing, between relatively movable points, e.g. movable channels
    • F16L3/015—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets for supporting or guiding the pipes, cables or protective tubing, between relatively movable points, e.g. movable channels using articulated- or supple-guiding elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts

Definitions

  • the present invention relates to an auxiliary apparatus which can be associated with industrial plants for moving a work system such as a motorized arm, or a robotic arm, which must move over an industrial processing plant.
  • the invention relates to an apparatus for cleaning industrial plants where dust or chips are generated during processing.
  • Cartesian robot arms adapted to move a work system, such as machining heads for cutting, drilling, welding and moving in general a tool over a specific area.
  • the known technique using Cartesian robot arms involves the construction of a supporting structure with two orthogonal translation axes.
  • the translation movement can be realized with various systems, which can be electromechanical or with linear motors depending on the specific activities to be performed, but in all these systems the device that allows to carry, support and guide the electric power and signal cables is a multi-articulated chain-like device, and an example is described in patent document KR20040040369 (A) published on 12-05-2004.
  • This system consists of various elements hinged together, generally made of plastic material, and having a shape such as to provide joints and constraints to obtain sufficient rigidity.
  • the main disadvantages relate to the fact that dust and dirt can be collected between the spaces between one chain element and the adjacent one, resulting in a difficult cleaning operation; furthermore, residues from the processing activities, especially in the food sector, when entering the multi-articulated chain, can generate serious hygiene problems.
  • Another disadvantage is its noise, due to the mutual change in position of its elements.
  • Another fundamental element is the maintenance of the pipes when they are suction pipes because they need to be cleaned in their inside, in the sections where the sucked residues accumulate and because they also need to be replaced when, following frequent bending and bending, they are at the end ot their life- cycle.
  • This entails the need to have multi-articulated chains in easily accessible areas, but this can create limitations for space management with other devices.
  • the inefficiencies of the multi-articulated chain concern both the wear of its elements that inevitably have surfaces that slide over one another and also the wear of the cables, inserted into their interior, because they are forced to bend with arcs of at least 180° at every little move of the work system.
  • Other disadvantages of the multi-articulated chain are its bulky dimensions, as it requires a space equal to twice the height of the chain itself plus the diameter of the bending arc, which in the case of cables or pipes not very flexible, can reach considerable values.
  • the main object of the present invention is to propose an apparatus for supporting electric cables and / or pipes for fluids in industrial plants, capable of eliminating, or at least greatly reducing, the aforementioned drawbacks.
  • Another object of the present invention is to propose an apparatus for supporting electric cables and / or pipes for fluids that does not require the use of structural elements with high characteristics of strength and flexibility, thus reducing the costs of the components of the apparatus.
  • Another object of the present invention is to propose an apparatus for supporting electric cables and / or pipes for fluids intended for supplying a work system provided with suction means without high power supply means thanks to the capacity of the apparatus to minimize the pressure losses.
  • Another object of the present invention is to propose an apparatus for supporting electric cables and / or pipes for fluids in which the surfaces on which dirt can accumulate are minimized and they are easy to clean as well.
  • Another object of the present invention is to propose an apparatus for supporting electric cables and / or pipes for fluids that is easy to maintain.
  • Another object of the present invention is to propose an electric cable and pipe support system which does not need frequent maintenance thus increasing the efficiency of the system.
  • auxiliary apparatus for industrial plants characterized in that it comprises:
  • Cartesian-plane movement system for moving said work system, said cartesian-plane movement system comprising:
  • At least two tubular beams arranged parallel each other at both sides on top of the plant to extend longitudinally thereto;
  • load-bearing columns suitable for supporting said tubular beams
  • a supporting structure adapted to support a second fulcrum assembly at said connection zone in a rotary mode with respect to an axis parallel to that of said first fulcrum assembly;
  • first elongated structural element rigidly connected to said first fulcrum assembly to extend in cantilever mode so as to be able to rotate integrally with said first fulcrum assembly;
  • first and second elongated structural element are connected to each other by means of a hinged joint suitable for allowing a relative rotation between them according to an axis parallel to the rotation axes of the first and second fulcrum assemblies.
  • the elongated structural elements provide, in their length, a tubular section with rigid walls, adapted to receive and guide electric cables and / or pipes for fluids inside it and an open section portion suitable to support electric cables and / or piping for fluids leaving them free to be able to bend on the horizontal plane, in each elongated structural element the tubular section being in a proximal area with reference to its fulcrum assembly, while the open section is in a distal area, at the end of it said hinged joint being provided so that in the area of connection between the elongated structural elements the fluid pipes and the electric cables have greater freedom of movement to avoid damage to the same due to sharp folding.
  • the apparatus comprises actuator members suitable for determining a rotation of the second elongated structural element at the configurations in which the elongated structural elements are substantially aligned with each other to cause their misalignment.
  • An auxiliary apparatus as described above overcomes the limits previously set forth in conventional chain systems in that it reduces the overall dimensions of the cable and pipe support system, drastically reduces the areas in which dust and dirt can accumulate and drastically simplifies maintenance operations.
  • Fig. 1 shows a top view of a production plant, where a motorized arm is mounted on a Cartesian plane movement system and an apparatus according to the present invention is installed to carry electric cables and / or pipes for fluids between a fixed connection point and the motorized arm;
  • Fig. 2 shows a section view taken along line AA of Fig. 1 ;
  • FIG. 3 shows a detail of Fig. 2 depicting the connection area between a supporting apparatus according to the invention and a work system;
  • Fig.4 shows a further detail of Fig. 2 depicting the connection area between an apparatus according to the invention and a fixed connection area;
  • FIG. 5 shows an axonometric view of an alternative embodiment of an apparatus according to the invention in a production plant
  • FIG. 6 shows a top view of the assembly of Fig. 1 consisting of the support apparatus of the invention and of the work system to which it is associated in various operating configurations
  • - Fig. 7 shows a top view of the assembly of Fig. 5 consisting of the support apparatus of the invention and of the working system with which it is associated in various operating configurations
  • - Fig. 8 shows a top view of the support apparatus of Fig. 5 associated with a linear movement work system.
  • an interconnection apparatus 9 for supporting electric cables and / or piping for fluids are described below, associated with an apparatus for cleaning industrial plants in a tissue converting line for producing paper rolls.
  • a line for converting the tissue, L comprises an unwinder, S, for unwinding reels, an embosser, G, to obtain reliefs by pressing rollers, a rewinder, R, adapted to realize transversal perforations to obtain the tears and to rewind the web to obtain the finished product.
  • an apparatus for cleaning, 1 in which a work system, 7, is anchored to a support, 7.5, guided by a movement system to move into a work volume of the industrial processing plant.
  • the movement system comprises a structure made with load-bearing columns, 1A, and two tubular beams, 2, designed to provide a guide and sliding track for a translating beam, 3.
  • the latter has at its ends wheels that rest on the tubular beams 2 and toothed belt connections, 4.1 and 4.2, which turn about pulleys, 5.1 and 5.2.
  • the latter are mounted on a torsion bar 5.3, free to rotate on bearings and controlled by a motor 6.
  • the translating beam 3 slidably carries a support, 7.5, of the work system, 7 which, mounted on rails 7.1 , is a translated along the beam 3 by a further toothed belt, 7.2 which in turn receives is rotated by an additional pulley, 7.3, powered by a second motor 7.4.
  • the support7.5 of the work system 7, in this embodiment a motorized arm or a robotic arm, which is adapted to move a suction mouth connected to the end of a piping for fluids 7.8 of the device, to reach the various areas of the system and perform cleaning.
  • An interconnection apparatus, 9, for supporting electric cables and / or pipes for fluids used to support electric cables and pipes which, starting from a connection zone, F, must be brought into correspondence with the support 7.5 of the work system 7 for feeding the latter, is composed of a first elongated structural element, 10, anchored to a first fulcrum assembly, 8, placed on the support 7.5 of the work system and by a second cantilever elongated structural element, 1 1 , anchored to a second fulcrum assembly, 12, arranged in correspondence with the connection zone, F, near which the electric, pneumatic and / or hydraulic power supply is present, and which in this example is located in a central part of the area occupied by the industrial plant, above it.
  • the connection zone F can be fixed and predetermined as regards its position, or alternatively it can be movable by means of movement and supply means not described since they are outside the scope of the present discussion.
  • the first fulcrum assembly 8 is anchored on the support 7.5 of the work system by means of a flange, 8.1.
  • the latter houses bearings, 8.2, in which a first sleeve, 8.3, is inserted.
  • the latter is advantageously made with two cylindrical parts of different diameter, closed with plates at the ends, but suitably drilled to allow the electric cables to pass through the entire first sleeve 8.3.
  • a rotary electric joint 8.4 is installed on the first sleeve 8.3, which is a component known in the sector which allows the electric power and the electric signals to pass between a fixed and a rotating part.
  • the electric and signal cables are connected to the non-rotating part of the rotary electric joint 8.4, the piping for fluids 7.8 is connected to the first sleeve 8.3, going into it for a length approximately equal to its diameter.
  • the type of connection is not rigid but rather the diameter of the fluid piping 7.8 is a few tenths of a millimeter smaller than the inner hole of the first sleeve 8.3 so as to allow the rotation of one with respect to the other and at the same time maintain a sufficient seal for the fluid, for example air.
  • the first sleeve 8.3 extends upwards to connect in a rigid way and therefore to support a first elongated structural element 10, also allowing the connection on a ring element, 10.2, of a piping for fluids, 10c.
  • a second fulcrum assembly 12 is similar to the first fulcrum assembly 8, therefore a flange 12.1 is anchored to a fixed support structure, 12s.A second sleeve, 12.3, with bearings, 12.2, can rotate in the flange 12.1. An electric joint, 12.4, then allows the passage of electric power and signals between the rotating part and the fixed electric connection, 12e.
  • the second sleeve 12.3 extends downwards to connect in a rigid manner and thus support the second elongated structural element 1 1. At its top end it is inserted in a manifold, 12a, so as to be freely rotating about its axis, but at the same time to maintain a sufficient seal to the passage of the fluid.
  • the manifold 12a is then connected to vacuum means, not shown in these drawings because they are known in the sector.
  • an alternative embodiment of an apparatus according to the invention is associated with a Cartesian-plane movement system which supports and moves a work system 7 like a motorized arm associated with suction means and thus forming a cleaning apparatus 1.
  • the Cartesian- plane movement system comprises two tubular beams 2 arranged parallel at both sides of the industrial plant to extend longitudinally to it supported by eight load-bearing columns 1A.
  • a translating beam 3 is supported at the ends by the tubular beams 2 to slide along them remaining perpendicular to them and a first fulcrum assembly 8 is supported by the translating beam 3 to slide along it, so that the first fulcrum assembly 8 can be moved within a horizontal movement plan, X, above the industrial plant.
  • a connection zone F at which electric power is supplied and the suction power is supplied, is located at one side of the industrial plant.
  • a first elongated structural element 10 is rigidly connected to the first fulcrum assembly 8 to extend in cantilever within a plane parallel to the movement plane X towards the connection zone F and so as to be able to rotate integrally with the first fulcrum assembly 8.
  • a second elongated structural element 1 1 is rigidly connected to the second fulcrum assembly 12 and it cantilevery extends in a plane parallel to the movement plane towards the motorized arm 7 and so as to be able to rotate integrally with the second fulcrum assembly 12.
  • Electric cables, 10c', and piping for fluids, 10c lie between the first fulcrum assembly 8 and the second fulcrum assembly 12 and they are constrained to the first elongated structural element 10 and to the second elongated structural element 11 so as to be supported by them.
  • the first and second elongated structural element 10 and 1 1 are connected to each other by means of a hinged joint, 10.1 , suitable for allowing a relative rotation between them according to an axis parallel to the axes of rotation of the first and second fulcrum assembly 8, 12.
  • the elongated structural elements 10 and 1 1 provide, in their length, a tubular section, 10r, 1 1 r, with rigid walls, adapted to receive and guide cables and / or pipes inside it and open sections, 10f, 1 1f, suitable for supporting electrical cables 10c' and pipes for fluids 10c allowing them to bend on the horizontal plane.
  • each elongated structural element 10, 1 1 the tubular section is located in a proximal area with reference to fulcrum assembly 8, 12, thereof while the open section is located in a distal zone and at the end of it there is a joint hinge so that in the area of connection between the two elongated structural elements 10 and 1 1 , the pipes for fluids 10c and the electric cables 10c' have greater freedom of movement to avoid damage to the same due to narrow folds.
  • the elongated structural elements 10 and 11 are made of a material with characteristics of resistance and light weight such as aluminum or composite carbon fiber material, so that they can support their own weight and the weight of the cables and / or pipes they house.
  • the apparatus of the present invention therefore realizes the support and the guide for the electric cables 10c' and pipes for fluids 10c which are housed inside the elongated structural elements 10 and 1 1.
  • Fig. 6 shows in planar view a series of configurations which can assume an apparatus according to the embodiment of Figs from 1 to 4 of the present invention following the movement in the movement plane X of a motorized arm, or a robotic arm.
  • the configurations assumed in Figs.6A and 6B represent positions of the apparatus of the invention when the work system 7 is in the area at the left of the connection zone F while the configurations of Figs.6C, 6D and 6E represent the positions of the apparatus of the invention when the work system 7 is at the right of the connection zone F.
  • Fig. 7 shows in planar view a series of configurations that an apparatus according to the embodiment of Fig. 5 of the present invention can assume following the movement in the movement plane X of a motorized arm, or a robotic arm.
  • Two actuators 13 and 14 are also shown, which operate respectively at the right and at the left of the connection zone F in the vicinity of the tubular beam 2, to which they are rotatably connected in points 13.1 and 14.1 and the second elongated structural element 1 1.
  • the configuration assumed in Fig. 7A relates to an operating situation in which the work system 7 is at the right of the connection zone F and the actuators 13 and 14 are closed in alignment with the tubular beam 2.
  • FIG. 7B relates to an operating situation in which the work system 7 is at the left of the connection zone F and the actuators 13 and 14 are closed.
  • the configuration assumed in Fig. 7C relates to an operating situation in which the work system 7 is at the left of the connection zone F and the elongated structural elements 10 and 11 are in aligned position. In this configuration the actuator 13 is in an open position resting on the first elongated structural element 10 while the actuator 14 is closed and aligned with the tubular beam 2.
  • the configuration assumed in Fig. 7D relates to an operating situation in which the work system 7 is at the left of the connection zone F and the elongated structural elements 10 and 1 1 form an angle at the hinge joint 10.1 which is opposite to the angle they form in Fig. 7B.
  • Fig. 7E relates to an operating situation in which the work system 7 is at the left of the connection zone F and the elongated structural elements 10 and 1 1 form an angle at the hinge joint 10.1 which is opposite to the angle they form in Fig. 7B and the actuators 13 and 14 are back in the closed position.
  • connection zone where electric power and air are supplied is inside the industrial plant work area, is described below with reference to the first embodiment shown in Figs 1 to 4 and 6.
  • a work system 7 in this example a motorized arm, perform cleaning operations, it must have, in addition to the electric power cables, a flexible-type pipe for transporting air processing residues.
  • the motorized arm 7 moves by means of a Cartesian-type movement system, where the positions along a transverse direction, x, are obtained by moving the support 7.5 of the work system along the beam 3 and the positions along a longitudinal direction, y, are obtained by moving the translating beam 3 along the tubular beams 2.
  • the electric and signal cables and the piping for fluids 7.8 of the device start from the connections to the actuators of the motorized arm 7 and they reach the support 7.5.
  • connection zone F the path to reach the connection zone F is very simple and straight since the elongated structural elements 10 and 1 1 each form a rectilinear path while at the relative distal sections 10f and 1 1f the section of piping for fluids 10c and electric cables 10c' bends as much as it is needed to pass from the first elongated structural element 10 to the second elongated structural element 1 1.
  • the elongated structural elements 10 and 11 consist of the rigid sections 10r and 1 1 r only, so that in the section between the ends of the rigid sections 10r and 1 1 r the pipes for fluids 10c and the electric cables 10c' are not supported by any component, and yet the distance between the elongated structural elements 10 and 1 1 is such that their bending due to their own weight idoes not negatively affect the operation of the device and does not cause damage to the pipes for fluids 10c and to the electric cables 10c'.
  • portions 10f and 1 1 f are provided, which provide support and constraint for the piping for fluids 10c and the electric cables 10c' while leaving them the freedom of bending as a function of the relative configuration between the two elongated structural elements 10 and 1 1. As can be observed in Figs .
  • the pipes for fluids 10c and electric cables 10c' even if they are forced to bend due to the different configurations assumed by the apparatus in its multiple positions, curvature conditions with particularly narrow bending radius does not occur.
  • the dimensioning of the elongated structural elements 10 and 1 1 in relation to the work area to be covered and to the resistance properties of the pipes for fluids 10c and the electric cables 10c' used, is such as to allow bending radii that do not risk damaging the structural integrity of the pipes and the cables themselves.
  • the elongated structural elements 10 and 11 form an angle that never exceeds 180° and therefore the bending of the pipes for fluids 10c and electric cables 10c', besides not having a sensitive bending variation, they never have a condition of counter-bending, that is bending on the opposite side.
  • connection point of the electric cables and / or of piping for fluids must be, for example for a better accessibility, outside the working area and at the same time the elongated structural elements 10 and 1 1 must remain contained within the work area itself.
  • the elongated structural elements 10 and 1 1 never exit the work area of the plant but rather they are contained therein, performing a clockwise or counterclockwise rotation about the connection zone F. Otherwise, in the embodiment of Figs. 5 and 7 the elongated structural elements 10 and 11 must rotate in a 180° sector to remain within the working area.
  • the electric cables 10c' and the pipes for fluids 10c start from the work system 7 and they reach the connection zone F.
  • the angles formed between the elongated structural elements 10 and 11 and the longitudinal axis passing through the second fulcrum assembly 12y are always useful for following the work system 7 in all the positions on the right side of the working area with respect to the transverse axis passing through the second fulcrum assembly, 12. Otherwise, as shown in Fig. 5B, when the work system 7 has to operate on the left side with respect to the axis 12x, the elongated structural elements 10 and 1 1 , since they cannot exceed the axis 12y, would limit its movements.
  • a software programming command commands the motor 6 to position the translating beam 3 at a given height and the second motor 7.4 to position the support 7.5, which supports the work system 7, at another determined height, such as to realize the geometrical condition of alignment between the elongated structural elements 10 and 1 1.
  • the actuator 13 pivoted in point 13.1 is moved to the open position in which with its free end abuts the second elongated structural element 11.
  • the motors of the translating beam 3 and of the support 7.5 of the work system perform a new positioning so that an angle can be made between the elongated structural elements 10 and 1 1 , as shown in Fig. 7D.
  • the interconnection apparatus 9 of the present invention is able to cover every positioning point of the work system which is on the left with respect to the transverse axis passing through the second fulcrum group 12x. In fact, in Fig.
  • the actuators 13 and 14 are described and depicted as pivoted arms but this is only one of the possible embodiments, since they could be cylinders which perform a linear movement up to the point of support of the second elongated structural element 1 1 , or a motorization could be installed on the second fulcrum assembly 12 for determining a rotation of the second elongated structural element 1 1 at the configurations in which said elongated structural elements 10 and 1 1 are substantially aligned so that the configuration change for the transition from the work area on the right and the work area on the left of the 12x axis.AII the advantages of the minimum curvature of the piping for fluids 10c and the 10c electric cables 10c' remain, even in this realization version, so that a fast fatigue of the materials or an increase in costs for special materials is avoided.
  • a further embodiment provides that the work system is moved along a line instead of along a work area.
  • a work system is installed on a support 7.5, slidably mounted on a binary beam 16 which extends almost parallel to the system L, consisting of an unwinder S, an embosser G and a rewinder perforator R.
  • connection zone F is located at a determined distance with respect to the binary beam 16 so that the interconnection apparatus 9 for supporting electric cables and / or piping for fluids which has the same structural characteristics as the example of Fig.3 with the elongated structural elements 10 and 1 1 free to form angles up to 180° between them, it is able to follow all the positions assumed by the support 7.5 of the work system in its movements along the binary beam 16 up to a maximum distance between the work system 7 and the connection zone F substantially equal to the sum of the lengths of the elongated structural elements 10 and 11.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Un appareil auxiliaire (1) comprend un système de travail (7) tel qu'un bras robotique ou similaire, un système de déplacement sur un plan cartésien pour déplacer le système de travail (7) et un appareil d'interconnexion (9) pour supporter des câbles électriques et/ou des conduites pour des fluides pour alimenter le système de travail (7). L'appareil d'interconnexion (9) comprend un premier élément structural allongé (10) ayant la possibilité de tourner sur un premier manchon (8,3) et un second élément structurel allongé (11) avec possibilité de rotation sur un second manchon (12,3) de manière à supporter lesdits câbles et/ou conduites suivant toutes les positions prises par le système de travail (7) dans la zone de travail.
PCT/IB2019/058235 2018-09-28 2019-09-27 Système auxiliaire pour sites industriels WO2020065608A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT201800009024 2018-09-28
IT102018000009024 2018-09-28

Publications (1)

Publication Number Publication Date
WO2020065608A1 true WO2020065608A1 (fr) 2020-04-02

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2533660A1 (fr) * 1982-09-24 1984-03-30 Fmc Corp Canalisation articulee montee sur une fleche telescopique
US20140227071A1 (en) * 2013-02-11 2014-08-14 Harnischfeger Technologies, Inc. Conduit support structure for an industrial machine
EP3091825A1 (fr) * 2015-05-05 2016-11-09 King Slide Works Co., Ltd. Dispositif de gestion de câbles

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2533660A1 (fr) * 1982-09-24 1984-03-30 Fmc Corp Canalisation articulee montee sur une fleche telescopique
US20140227071A1 (en) * 2013-02-11 2014-08-14 Harnischfeger Technologies, Inc. Conduit support structure for an industrial machine
EP3091825A1 (fr) * 2015-05-05 2016-11-09 King Slide Works Co., Ltd. Dispositif de gestion de câbles

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