CN214685093U - Device convenient to FAST feed receiver installation and dismantlement - Google Patents
Device convenient to FAST feed receiver installation and dismantlement Download PDFInfo
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- CN214685093U CN214685093U CN202120711194.1U CN202120711194U CN214685093U CN 214685093 U CN214685093 U CN 214685093U CN 202120711194 U CN202120711194 U CN 202120711194U CN 214685093 U CN214685093 U CN 214685093U
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Abstract
The utility model discloses a device convenient to FAST feed receiver installation and dismantlement, include: the workbench is provided with a rolling mechanism, a push rod mechanism and a manipulator mechanism which are arranged at the lower end of the workbench; the push rod mechanism comprises a first electric push rod and a support rod arranged above the first electric push rod; the manipulator mechanism comprises a second electric push rod and a manipulator arranged above the second electric push rod; the lower end of the push rod mechanism and the lower end of the manipulator mechanism can slide along the table top of the workbench; the support rods of the push rod mechanisms can stably support the lower platform of the FAST feed source cabin; a plurality of rolling mechanisms are uniformly arranged on the workbench and can stably support the workbench. The device can adjust the positions of the push rod mechanism and the manipulator mechanism on the workbench according to different mounting and dismounting positions of the lower platform and the feed source receiver, so that the device has strong universality. The device provides convenience for the disassembly and the assembly of the lower platform and the feed source receiver to a greater extent.
Description
Technical Field
The utility model relates to an astronomical equipment application, concretely relates to device convenient to FAST feed receiver installation and dismantlement.
Background
The Spherical radio Telescope (FAST) with the caliber of 500 meters is the biggest single-caliber radio astronomical Telescope in the world, and has three independent innovations: taking natural karst depression of Guizhou as a station site; an active deformation reflecting surface; a flexible light mechanism dragged by six cables in parallel is adopted to drag the feed source cabin to realize primary cable driving, and an AB rotating shaft mechanism and a Stewart mechanism in the feed source cabin realize secondary fine adjustment of the position and the posture of the feed source, so that the feed source is positioned at high precision.
The FAST reflecting surface can realize active deformation of the instantaneous 300-meter caliber reflecting surface, the spherical surface is deformed into a paraboloid, the paraboloid is ensured to always point to a celestial body to be observed, and radio wave signals from the celestial body are focused. Meanwhile, the feed source receiver at the focus position receives and processes the electric wave signal, and the process is continuous.
In order to receive radio waves, the feed source receiver is arranged in a feed source cabin, and the positioning at 140m high altitude and 207m range is realized through a set of feed source supporting system. The feed source cabin is main equipment for bearing the feed source receiver and further finely adjusting and controlling the pose of the feed source cabin, and mainly comprises a star-shaped frame, an AB shaft mechanism, a Stewart mechanism, a multi-beam receiver steering device, a cabin cover, other accessory equipment/facilities and the like.
The existing feed cabin Stewart mechanism has 2 sets of lower platforms, namely a first lower platform I and a second lower platform II. Referring to fig. 1, a first lower platform i is equipped with a multi-beam receiver 1 'and a low-frequency feed receiver 2', and when viewed with only the multi-beam receiver 1 ', the low-frequency feed receiver 2' needs to be detached from the first lower platform. The second lower platform ii generally has two installation forms, see fig. 2, in which 5 different feed receivers 3 ', 4', 5 ', 6' and low-frequency feed receiver 2 'are installed by means of a first receiver adapter plate, and when the first lower platform i is installed with the low-frequency feed receiver 2' or observed with the feed receivers 3 ', 4', 5 ', 6', no low-frequency feed receiver 2 'needs to be installed or the low-frequency feed receiver 2' needs to be detached from the second lower platform ii; referring to fig. 3, in another form of installation, two different feed receivers 7 ' and 8 ' are installed on the second lower platform ii by means of second receiver adapter plates 9 '.
The type of a lower platform and the type of a feed source receiver installed on a feed source cabin Stewart mechanism are determined according to astronomical observation requirements, and the lower platform needs to be continuously replaced or different feed source receivers need to be installed and detached on the lower platform according to different observation requirements; the installation and the dismantlement of lower platform and feed receiver need be gone on under the feed cabin condition of entrying, because under the Stewart mechanism platform bottom surface is about 4.2 meters apart from ground, and lower platform and some feed receivers are heavier, and this all causes platform and feed receiver dismouting work very inconvenient down.
SUMMERY OF THE UTILITY MODEL
Problem to prior art existence, the utility model aims to provide a device convenient to FAST feed receiver installation and dismantlement to solve FAST when adapting to different observation needs, the inconvenient problem of feed receiver dismouting.
In order to achieve the above purpose, the technical scheme of the utility model is as follows:
an apparatus for facilitating the installation and removal of a FAST feed receiver, comprising: the workbench is provided with a rolling mechanism, a push rod mechanism and a manipulator mechanism which are arranged at the lower end of the workbench;
the push rod mechanism comprises a first electric push rod and a support rod arranged above the first electric push rod; the manipulator mechanism comprises a second electric push rod and a manipulator arranged above the second electric push rod;
the lower end of the push rod mechanism and the lower end of the manipulator mechanism can slide along the table top of the workbench;
the support rods of the push rod mechanisms can stably support a lower platform of the FAST feed source cabin;
and a plurality of rolling mechanisms are uniformly arranged on the workbench and can stably support the workbench.
Further, the upper surface of workstation sets up many crossing T type grooves, push rod mechanism's lower extreme with manipulator mechanism's lower extreme is all installed in the T type groove and along the T type groove slides.
Further, the workbench is provided with a plurality of circles of concentric annular T-shaped grooves and a plurality of linear T-shaped grooves passing through the diameters of the annular T-shaped grooves, and the annular T-shaped grooves are intersected with the linear T-shaped grooves.
Furthermore, the annular T-shaped grooves and the linear T-shaped grooves are formed in multiple circles, and/or a plurality of circles and/or T-shaped openings which are connected and run through the edge of the workbench.
Further, the push rod mechanism and the manipulator mechanism all include: the supporting seat is arranged at the lower end, the fastening pressing plate and the bolt assembly are arranged; the inserting rod positioned at the lower end of the supporting seat is inserted into the T-shaped groove, and the mounting disc positioned at the upper end of the supporting seat is supported on the table top of the workbench; in the T-shaped groove, the fastening pressing plate is sleeved on the insertion rod, and the bolt assembly is used for fixing the mounting disc and the fastening pressing plate so that the mounting disc and the fastening pressing plate clamp the side wall of the T-shaped groove.
Further, the first electric putter and the second electric putter all include: the motor speed reducer part, the ball screw pair and the ball spline pair; the motor speed reducer part drives the ball spline pair to move up and down through the ball screw pair; the ball spline pair is provided with a structure for preventing the ball screw pair from rotating along the axial direction;
the ball spline pair of the first electric push rod is fixedly connected with the supporting rod; and the ball spline pair of the second electric push rod is fixedly connected with the manipulator.
Further, the manipulator mechanism further includes: the torque gun, the torque gun fixing seat and the wrench socket are arranged on the handle; the torque gun is fixed on the manipulator through a torque gun fixing seat, and the wrench socket is installed on the torque gun.
Further, the manipulator mechanism further comprises a sensor mounted on the torque gun, the sensor being configured to identify a bolt position on the lower platform.
Further, the rolling mechanism is a universal wheel or a moving trolley.
The utility model discloses a device convenient to FAST feed receiver installation and dismantlement brings following beneficial effect:
when the feed source receiver on the lower platform or the lower platform is mounted and dismounted, the device can be moved to the position below the lower platform of the feed source cabin Stewart mechanism through the rolling structure, the lower platform is stably supported through the push rod mechanisms, and then the mechanical arm mechanism is used for completing dismounting and mounting of the lower platform or the feed source receiver. Because the lower extreme of push rod mechanism and the lower extreme of manipulator mechanism all can slide along table surface, the device can be according to platform and the different installation of feed receiver and dismantlement position down, and the position of adjustment push rod mechanism and manipulator mechanism on the workstation makes the device can cooperate the dismantlement and the installation of multiple platform and multiple feed receiver down, has stronger commonality. The device provides convenience for the disassembly and the assembly of the lower platform and the feed source receiver to a greater extent.
Drawings
FIG. 1 is a schematic cross-sectional view of a first lower platen in the prior art;
FIG. 2 is a schematic structural diagram of a first mounting manner of a second lower platform in the prior art;
FIG. 3 is a cross-sectional view of a second mounting manner of a second lower platform in the prior art;
fig. 4 is a schematic structural diagram of an apparatus for facilitating mounting and dismounting of a FAST feed receiver according to an example of the present invention;
fig. 5 is a schematic diagram illustrating a usage state of an apparatus for facilitating mounting and dismounting of a FAST feed receiver according to an example of the present invention;
fig. 6 is a schematic top view of the table 1 in the present example apparatus for facilitating mounting and dismounting of a FAST feed receiver;
FIG. 7 is a schematic illustration of an apparatus-mounted pusher mechanism for facilitating the mounting and dismounting of a FAST feed receiver in accordance with the present examples;
FIG. 8 is a schematic structural view of section A-A in FIG. 7;
FIG. 9 is an enlarged partial schematic view of FIG. 8;
FIG. 10 is a schematic cross-sectional view of a push rod mechanism in the present example apparatus for facilitating the installation and removal of a FAST feed receiver;
FIG. 11 is a schematic diagram of the construction of the robotic mechanism in the apparatus for facilitating the installation and removal of the FAST feed receiver of the present example;
in the figure:
1-a workbench; 1-annular T-shaped slot; 1-2-straight T-shaped groove; 1-3-T-shaped opening; 2-rolling mechanism; 3-a push rod mechanism; 3-1-support bar; 3-2-motor reducer component; 3-a reducer support; 3-4-ball screw pair; 3-5-ball spline pair; 4-a manipulator mechanism; 4-1-a manipulator; 4-2-connecting seat; 4-3-torque gun fixing seat; 4-torque gun; 4-5-wrench socket; 5, a device for facilitating the installation and the disassembly of the FAST feed source receiver; 6, a lower platform; 7-a feed source cabin; 8, the ground; 9, a support seat; 9-1 — insert rod; 9-2-mounting plate; 10, fastening a pressure plate; 11-bolt assembly.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions of the present invention are described below clearly and completely with reference to the drawings in the examples of the present invention, and it is obvious that the described examples are only a part of examples of the present invention, but not all examples. Based on the examples in the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely to distinguish similar items and are not to be construed as requiring a particular order or sequence, and it is to be understood that such uses are interchangeable under appropriate circumstances.
As shown in the examples of fig. 4-11, there is provided an apparatus for facilitating the installation and removal of a FAST feed receiver of the present invention, comprising: the device comprises a workbench 1, a rolling mechanism 2 arranged at the lower end of the workbench 1, a push rod mechanism 3 and a manipulator mechanism 4;
the push rod mechanism 3 comprises a first electric push rod and a support rod 3-1 arranged above the first electric push rod; the manipulator mechanism 4 comprises a second electric push rod and a manipulator 4-1 arranged above the second electric push rod;
the lower end of the push rod mechanism 3 and the lower end of the manipulator mechanism 4 can slide along the table-board of the workbench 1;
the support rods of the push rod mechanisms 3 can stably support the lower platform 6 of the FAST feed source cabin;
a plurality of rolling mechanisms 2 are uniformly installed on the work table 1 and stably support the work table 1.
When the device of the example is used for mounting and dismounting the lower platform 6 or the feed source receiver on the lower platform 6, the device can be moved to the position below the lower platform 6 of the feed source cabin Stewart mechanism through the rolling structure 2, then the lower platform 6 is stably supported through the plurality of push rod mechanisms 3, and then the lower platform 6 or the feed source receiver is dismounted and mounted through the mechanical arm mechanism 4. Because the lower extreme of push rod mechanism 3 and the lower extreme of manipulator mechanism 4 all can slide along 1 face of workstation, the device can be according to the installation and the dismantlement position of platform 6 and feed receiver difference down, and the position of adjustment push rod mechanism 3 and manipulator mechanism 4 on workstation 1 makes the device can cooperate the dismantlement and the installation of multiple lower platform and multiple feed receiver, has stronger commonality. The device provides convenience for the disassembly and the assembly of the lower platform and the feed source receiver to a greater extent.
It should be noted that, in the using process of the push rod mechanism 3 and the manipulator mechanism 4 of the device, the support rod 3-1 and the manipulator 4-1 are respectively pushed upwards by the first electric push rod and the second electric push rod, so as to support the lower platform and complete the dismounting of the lower platform or the feed source receiver.
Referring to fig. 4, the apparatus of the present example mounts 4 sets of pushing mechanisms 3 and 3 sets of robot mechanisms 4. In other embodiments of the present invention, the technician may increase or decrease the number of groups of the pushing mechanism 3 and the manipulator mechanism 4 according to the practical need.
In this example, the upper surface of the table 1 is provided with a plurality of intersecting T-shaped grooves, and the lower ends of the pusher mechanism 3 and the robot mechanism 4 are both mounted in and slide along the T-shaped grooves. Specifically, the workbench 1 is provided with a plurality of circles of concentric annular T-shaped grooves 1-1 and a plurality of linear T-shaped grooves 1-2 passing through the diameter of the annular T-shaped grooves 1-1, and the annular T-shaped grooves 1-1 are intersected with the linear T-shaped grooves 1-2. Referring to fig. 6, the table 1 of the present example is provided with 3 annular T-shaped grooves and 6 linear T-shaped grooves 1-2 intersecting with the 3 annular T-shaped grooves.
Preferably, a plurality of circles in the multi-circle annular T-shaped groove 1-1 are connected with a T-shaped opening 1-3 penetrating through the edge of the workbench 1; or a plurality of straight T-shaped grooves 1-2 are connected with T-shaped openings 1-3 penetrating through the edge of the workbench 1; or a plurality of circles and a plurality of T-shaped openings 1-3 which are connected with the edge of the workbench 1 are arranged in a plurality of circles and T-shaped grooves 1-1 and a plurality of straight T-shaped grooves 1-2.
Referring to fig. 6-9, in this example, both ends of the linear T-shaped groove 1-2 are connected to the T-shaped opening 1-3 penetrating the edge of the worktable, and in order to adapt to the shape of the worktable 1, the linear T-shaped groove 1-2 is connected with the T-shaped opening 1-3 in a zigzag manner.
The pusher mechanism 3 and the manipulator mechanism 4 each include: a support seat 9 arranged at the lower end, a fastening pressure plate 10 and a bolt assembly 11; an inserting rod 9-1 positioned at the lower end of the supporting seat 9 is inserted into the T-shaped groove, and a mounting disc 9-2 positioned at the upper end of the supporting seat is supported on the table top of the workbench 1; in the T-shaped groove, a fastening pressure plate 10 is sleeved on the insertion rod 9-1, and a bolt assembly 11 is used for fixing the mounting disc 9-2 and the fastening pressure plate 10, so that the mounting disc 9-2 and the fastening pressure plate 10 clamp the side wall of the T-shaped groove. Fig. 9 shows the operation of mounting the supporting base 9 and the tightening pressure plate 10 at the T-shaped opening 1-3, and the mounting and position adjustment of the pusher mechanism 3 and the robot mechanism 4 are completed by the cooperation of the supporting base 9, the tightening pressure plate 10 and the T-shaped groove.
In the embodiment of the present invention, the first electric putter and the second electric putter are disposed to move up and down through the support rod 3-1 and the manipulator 4-1, and the structures of the first electric putter and the second electric putter may be the same or different, so as to facilitate the matching, and reduce the kinds of accessories of the device, in this example, the structures of the first electric putter and the second electric putter are the same, and refer to fig. 10, and both include: 3-2 parts of a motor speed reducer, 3-4 parts of a ball screw pair and 3-5 parts of a ball spline pair; the motor speed reducer part 3-2 is arranged above the supporting seat 9 through a speed reducer supporting seat 3-3, and the motor speed reducer part 3-2 drives the ball spline pair 3-5 to move up and down through a ball screw pair 3-4; the ball spline pair 3-5 is provided with a structure for preventing the ball screw pair 3-4 from rotating along the axial direction, so that the ball spline pair 3-5 only stably moves up and down;
the ball spline pair 3-5 of the first electric push rod is fixedly connected with the support rod 3-1; the ball spline pair 3-5 of the second electric push rod is fixedly connected with the mechanical arm 4-1, so that the support rod 3-1 and the mechanical arm 4-1 can stably move up and down.
Referring to fig. 11, the robot mechanism 4 further includes: 4-4 parts of a torque gun, 4-3 parts of a torque gun fixing seat and 4-5 parts of a wrench sleeve; specifically, the manipulator 4-1 is fixedly connected with a corresponding ball spline pair 3-5 through a connecting seat 4-2, the torque gun 4-4 is fixed on the manipulator 4-1 through a torque gun fixing seat 4-3, and the wrench socket 4-5 is installed on the torque gun 4-4. The lower platform 6 and the feed source receiver on the lower platform are disassembled and assembled by disassembling and assembling bolts on the lower platform 6 through wrench sleeves 4-5.
In this example, the rolling mechanism 2 may be a universal wheel or a mobile cart. When the rolling mechanism is a direction wheel, the device is convenient for personnel to move, and the braking device is also arranged on the universal wheel, so that the positioning work is convenient when the device is moved to the position right below the feed source cabin; when the rolling mechanism 2 is a mobile trolley, the movement of the device can be automatically controlled by controlling the mobile trolley electrically.
In this example, the robot mechanism 4 also includes a sensor mounted to the torque gun 4-4 for identifying the bolt position on the lower platform 6. In particular, the sensor may be a visual sensor mounted at the edge of the torque gun 4-4. A target is pasted (placed) on the central point of a screw rod of a lower platform 6, which needs to be disassembled or screwed, a current mature target characteristic point automatic extraction method is utilized, coordinates of the central point of the bolt in a pixel coordinate system are obtained through a visual sensor, then based on a camera perspective projection model, coordinates of the corresponding bolt in a rolling mechanism 2 coordinate system or a world coordinate system can be obtained through the pixel coordinates of the central point of the bolt, finally, the manipulator 4-1 controls the movement of each joint of the mechanical arm through inverse kinematics, and the wrench socket 4-5 can accurately identify the bolt and disassemble or screw the bolt.
The working process of the apparatus for facilitating mounting and dismounting of the FAST feed receiver of the present example may be:
when the device does not work, the push rod structure 3 and the mechanical arm mechanism 4 are respectively reduced to the minimum through the first electric push rod and the second electric push rod.
When the device works, the device is moved to the position under a feed source cabin through the rolling mechanism 2, the positions of each group of push rod structures 3 and each group of mechanical arm mechanisms 4 on the workbench 1 are adjusted according to use requirements, and the push rod mechanisms 3 are controlled to ascend to support the lower platform 6. The manipulator mechanism 4 is moved to a proper position and lifted to a proper height according to the position of the bottom of the lower platform 6, which is required to be screwed or disassembled, so that the position adjustment of the torque gun 4-4 arranged on the manipulator 3-1 and the accurate identification of the position of the bolt on the lower platform 6 by the sensor are facilitated, and the installation and the disassembly of the bolt by the torque gun 4-4 through the wrench socket 4-5 are facilitated.
It should be noted that, in this example, the pusher structures 3 and the robot mechanisms 4 mounted on the table 1 are not necessarily all put into use in one assembling and disassembling process, for example, several groups of pusher structures 3 are selected for supporting on the lower platform, and several groups of robot mechanisms 4 are selected for assembling and disassembling bolts on the lower platform 6.
It should be noted that, in other embodiments of the present invention, to realize that the lower end of the push rod mechanism 3 and the lower end of the manipulator mechanism 4 can both slide along the table-board of the workbench 1, a groove can also be provided at the lower end of the push rod mechanism 3 and the lower end of the manipulator mechanism 4, a plurality of protrusions matched with the groove are provided on the table-board of the workbench 1, and for the convenience of installation of the push rod mechanism 3 and the manipulator mechanism 4, the protruding edge can also be extended to the edge of the workbench 1. These can be made by those skilled in the art based on their basic skills based on understanding the idea of the present invention, and therefore they are not listed here.
Finally, it is to be understood that the above embodiments are merely exemplary embodiments that have been employed to illustrate the principles of the present invention, and that the present invention is not limited thereto. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention, and these changes and modifications are to be considered as the protection scope of the invention.
Claims (9)
1. An apparatus for facilitating mounting and dismounting of a FAST feed receiver, comprising: the workbench is provided with a rolling mechanism, a push rod mechanism and a manipulator mechanism which are arranged at the lower end of the workbench;
the push rod mechanism comprises a first electric push rod and a support rod arranged above the first electric push rod; the manipulator mechanism comprises a second electric push rod and a manipulator arranged above the second electric push rod;
the lower end of the push rod mechanism and the lower end of the manipulator mechanism can slide along the table top of the workbench;
the support rods of the push rod mechanisms can stably support a lower platform of the FAST feed source cabin;
and a plurality of rolling mechanisms are uniformly arranged on the workbench and can stably support the workbench.
2. The apparatus of claim 1 wherein the upper surface of the table is provided with a plurality of intersecting T-shaped grooves, the lower end of the pusher mechanism and the lower end of the robot mechanism being mounted in and sliding along the T-shaped grooves.
3. The apparatus of claim 2, wherein the table has a plurality of concentric annular T-shaped slots and a plurality of linear T-shaped slots through a diameter of the annular T-shaped slots, the annular T-shaped slots intersecting the linear T-shaped slots.
4. The apparatus of claim 3, wherein a plurality of said annular T-shaped slots and a plurality of said linear T-shaped slots comprise a plurality of turns and/or a plurality of T-shaped openings extending through an edge of said table.
5. The apparatus of claim 2, wherein the pusher mechanism and the robot mechanism each comprise: the supporting seat is arranged at the lower end, the fastening pressing plate and the bolt assembly are arranged; the inserting rod positioned at the lower end of the supporting seat is inserted into the T-shaped groove, and the mounting disc positioned at the upper end of the supporting seat is supported on the table top of the workbench; in the T-shaped groove, the fastening pressing plate is sleeved on the insertion rod, and the bolt assembly is used for fixing the mounting disc and the fastening pressing plate so that the mounting disc and the fastening pressing plate clamp the side wall of the T-shaped groove.
6. The device of claim 1, wherein the first and second electric rams each comprise: the motor speed reducer part, the ball screw pair and the ball spline pair; the motor speed reducer part drives the ball spline pair to move up and down through the ball screw pair; the ball spline pair is provided with a structure for preventing the ball screw pair from rotating along the axial direction;
the ball spline pair of the first electric push rod is fixedly connected with the supporting rod; and the ball spline pair of the second electric push rod is fixedly connected with the manipulator.
7. The apparatus of claim 1, wherein the robot mechanism further comprises: the torque gun, the torque gun fixing seat and the wrench socket are arranged on the handle; the torque gun is fixed on the manipulator through a torque gun fixing seat, and the wrench socket is installed on the torque gun.
8. The apparatus of claim 7, wherein the robot mechanism further comprises a sensor mounted to the torque gun for identifying a bolt position on the lower platform.
9. The device of claim 1, wherein the rolling mechanism is a universal wheel or a mobile cart.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120711194.1U CN214685093U (en) | 2021-04-08 | 2021-04-08 | Device convenient to FAST feed receiver installation and dismantlement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120711194.1U CN214685093U (en) | 2021-04-08 | 2021-04-08 | Device convenient to FAST feed receiver installation and dismantlement |
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| CN214685093U true CN214685093U (en) | 2021-11-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894311A (en) * | 2021-04-08 | 2021-06-04 | 中国科学院国家天文台 | Device convenient to FAST feed receiver installation and dismantlement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894311A (en) * | 2021-04-08 | 2021-06-04 | 中国科学院国家天文台 | Device convenient to FAST feed receiver installation and dismantlement |
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