CN104959978A - Pipe fitting operation robot - Google Patents
Pipe fitting operation robot Download PDFInfo
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- CN104959978A CN104959978A CN201510394558.7A CN201510394558A CN104959978A CN 104959978 A CN104959978 A CN 104959978A CN 201510394558 A CN201510394558 A CN 201510394558A CN 104959978 A CN104959978 A CN 104959978A
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- working head
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Abstract
The invention discloses a pipe fitting operation robot. The pipe fitting operation robot comprises a moving platform with XYZ-axis degrees of freedom. The pipe fitting operation robot is characterized in that an L-shaped rod, a connecting base, a rotating driving module, a telescoping mechanism, a telescopic arm base, working arms and a working head are arranged on the moving platform, and the working head is fixed to the working arms; the upper end of the L-shaped rod is arranged on the moving platform through the rotating driving module, the lower end of the L-shaped rod is connected with one end of the connecting base through the rotating driving module, and the other end of the connecting rod is connected with the telescopic arm base through the rotating driving module; the telescoping mechanism and the working arms are arranged on the telescopic arm base, and the working arms are telescopic under the drive of the telescoping mechanism. The pipe fitting operation robot has the advantages of being compact in structure, simple in route planning, low in requirement on each degree of freedom, free of control coupling and the like.
Description
Technical field
The present invention relates to Machining Technology field, particularly relate to a kind of pipe fitting Work robot.
Background technology
Along with the development of automated arm and Robotics, various co-ordinate-type lathe, machining center and joint type industrial robot are come out one after another, and define co-ordinate-type and articulated type two class popular motion platform gradually, connect different work head in this two type games platform end, various job task can be completed.
But for workpieces manipulating object, there is following shortcoming in this two classes popular motion platform: one, realizes the complicated movement of complete cycle operation, needs more than three frees degree to link; Its two, this two type games platform adopts spatial data to drive the operation of operation head, thus needs the accurate dimension knowing workpiece profile in advance; Its three, because operation head needs to reach accurate locus, just require that each free degree of this two type games platform has high precision, thus cost is high.
Summary of the invention
The object of the invention is to propose a kind of pipe fitting Work robot, can not only to plate and curved surface operation, all kinds of workpiece operation task can also be applicable to well, comprising center line is spatial form or close-shaped complex part, when being applied to workpiece operation, have that cost is low, only need clear and definite workpiece centre line position and contour shape before operation and without the need to knowing workpiece profile exact position, there is compact conformation, path planning is simple, low to each free degree required precision, without advantages such as control couplings.
For reaching this object, the present invention by the following technical solutions:
A kind of pipe fitting Work robot, comprises the motion platform with the XYZ axle free degree; Described motion platform is provided with L shape bar, Connection Block, rotary actuation module, telescoping mechanism, telescopic arm pedestal, working arm and working head, and described working head is fixed on described working arm;
The upper end of described L shape bar by described rotary actuation module installation at described motion platform, the lower end of L shape bar is connected with one end of described Connection Block by described rotary actuation module, and the other end of described Connection Block and described telescopic arm pedestal are by rotary actuation model calling; Described telescoping mechanism and working arm are arranged on described telescopic arm pedestal, and described working arm is scalable under described telescoping mechanism drives.
Further: described rotary actuation module comprises electric rotating machine and decelerator.
Further: described L shape bar is hollow structure.
Further: the described L shape bar of hollow is fixedly formed by screw by L connected in star and L shape cover plate.
Further, described telescoping mechanism comprises side rails, lower side rails, upper side slide, lower sliding block, working head pedestal, nut, screw mandrel and screw mandrel actuating unit; Described upper side rails and downside guide rails assembling are in described telescopic arm pedestal, described upper side slide and lower sliding block are respectively along described upper side rails and downside slide, described working head pedestal is fixedly installed in described upper side slide and lower sliding block simultaneously, described nut is fixedly installed in described working head pedestal and coordinates with described wire rod thread, described screw mandrel actuating unit is installed on described telescopic arm pedestal and drives described screw mandrel to rotate, and described working arm is installed on described working head pedestal.
Further, described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, telescopic belt, telescopic belt actuating unit and telescopic belt wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described telescopic belt by described contiguous block, described telescopic belt is enclosed within described telescopic belt wheel, and under the driving of described telescopic belt actuating unit, drive described working head pedestal;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, stretching chain, stretching chain actuating unit and flexible sprocket wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described stretching chain by described contiguous block, described stretching chain is enclosed within described flexible sprocket wheel, and under the driving of described stretching chain actuating unit, drive described working head pedestal.
Further, described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described telescopic arm pedestal, described flexible tooth bar is fixedly installed in described working head pedestal, and described flexible gear engages with described flexible tooth bar;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described working head pedestal, described flexible tooth bar is fixedly installed in described telescopic arm pedestal, and described flexible gear engages with described flexible tooth bar.
Further, described telescoping mechanism comprises a flexible slide rail, flexible slide block, working head pedestal, telescopic screw rod and a telescopic screw rod actuating unit;
Described flexible slide rail is installed on described telescopic arm pedestal, described flexible skid is in described flexible slide rail, described telescopic screw rod is installed on described telescopic arm pedestal and is engaged in the nut of described working head pedestal setting, and described telescopic screw rod drives described working head pedestal to move under the driving of described telescopic screw rod actuating unit.
Beneficial effect of the present invention: the design of L shape mechanism makes compact conformation, reduces workpiece setting height(from bottom) on the table simultaneously; The design of L shape mechanism makes the disposable homogeneous tube machining path that completes plan simpler; Other free degree required precisions are low, compensated by the high accuracy working arm of least significant end; When operation head will keep constant force or distance controlling with workpiece, and power or distance adopt other specific control laws time, only automatically need control the flexible enforcement of working arm, other frees degree are just according to set speed and coordinate motion, do not participate in automatic control, namely the realization of control objectives is with other frees degree without being coupled, and makes control simple, reliable;
Working head adaptability clamping becomes to be used for the machining tool of the operations such as grinding, polishing, welding, spraying, boring, riveted joint, only need the shape of clear and definite pipe fitting position of center line and profile before operation and without the need to knowing pipe profiles exact position, there is advantages such as realizing the free degree needed for the pipe fitting complete cycle Working motion is few, cost is low, maintenance easy to use.
Accompanying drawing explanation
Fig. 1 is the stereogram of one embodiment of the present of invention;
Fig. 2 is the structural representation of the embodiment 1 of telescoping mechanism in the present invention;
Fig. 3 is the structural representation of the embodiment 2 of telescoping mechanism in the present invention;
Fig. 4 is the structural representation of the embodiment 3 of telescoping mechanism in the present invention;
Fig. 5 is the structural representation of the embodiment 4 of telescoping mechanism in the present invention;
Fig. 6 is operation principle schematic diagram of the present invention.
Wherein: L shape bar 1, Connection Block 2, rotary actuation module 3, telescopic arm pedestal 4;
Upper side rails 401, lower side rails 402, upper side slide 403, lower sliding block 404, working head pedestal 405, nut 406, screw mandrel 407, screw mandrel actuating unit 408; Upper siding track 411, lower side rail 412, upper side slide 413, lower sliding block 414, contiguous block 416, telescopic belt 417, telescopic belt actuating unit 418, telescopic belt wheel 419, flexible tooth bar 426, flexible gear 427, expansion teeth wheel power machine structure 428; Flexible slide rail 431, flexible slide block 432, telescopic screw rod 433, telescopic screw rod actuating unit 434;
Working arm 5, working head 6, workpiece 7.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of pipe fitting Work robot, comprises the motion platform with the XYZ axle free degree; Described motion platform is provided with L shape bar 1, Connection Block 2, rotary actuation module 3, telescoping mechanism, telescopic arm pedestal 4, working arm 5 and working head 6, and described working head 6 is fixed on described working arm 5;
The upper end of described L shape bar 1 is arranged on described motion platform by described rotary actuation module 3, the lower end of L shape bar is connected by described rotary actuation module 3 one end with described Connection Block 2, and the other end of described Connection Block 2 and described telescopic arm pedestal 4 are by rotary actuation model calling; Described telescoping mechanism and working arm 5 are arranged on described telescopic arm pedestal 4, and described working arm 5 is scalable under described telescoping mechanism drives.
The operation principle of the technical program: as shown in Figure 6, B rotating shaft represents L shape bar 1, B rotating shaft by rotary actuation module installation on the motion platform with XYZ Three Degree Of Freedom, by the rotation of A, C two frees degree, make B shaft axis and workpiece 7 profile target job point normal parallel vertically, make B degree-of-freedom rotating shaft center equidistantly amplify shape along workpiece profile by XYZ three-degree-of-freedom motion to run, by B freedom degree rotating, make working arm 5 keep vertical with contour surface and carry out operation; Stretched by the trace of working arm 5, distance or the contact force that can control working head 6 and workpiece 7 contour surface keep constant.
The design of L shape mechanism makes compact conformation, reduces workpiece setting height(from bottom) on the table simultaneously; The design of L shape mechanism makes the disposable homogeneous tube machining path that completes plan simpler; Other free degree required precisions are low, compensated by the high accuracy working arm of least significant end; When operation 6 will keep constant force or distance controlling with workpiece, and power or distance adopt other specific control laws time, only automatically need control the flexible enforcement of working arm, other frees degree are just according to set speed and coordinate motion, do not participate in automatic control, namely the realization of control objectives is with other frees degree without being coupled, and makes control simple, reliable.
Described rotary actuation module 3 comprises electric rotating machine and decelerator.
Described L shape bar 1 is hollow structure; Can cotton covered wire and other electronic devices and components in the hollow cavity of L shape bar; Inner cabling, available protecting important and the electric wire of fragility and electronic devices and components etc., it also avoid electric wire or other electronic devices and components to the interference of polishing process; In addition, hollow structure is ensureing, under enough structural strength prerequisites, to significantly reduce the deadweight of L shape bar, have higher load ratio.
The described L shape bar 1 of hollow is fixedly formed by screw by L connected in star and L shape cover plate; Installation and removal are convenient, are convenient to internal wiring.
Embodiment 1
As shown in Figure 2, described telescoping mechanism comprises side rails 401, lower side rails 402, upper side slide 403, lower sliding block 404, working head pedestal 405, nut 406, screw mandrel 407 and screw mandrel actuating unit 408; Described upper side rails 401 and lower side rails 402 are installed on described telescopic arm pedestal 304, described upper side slide 403 and lower sliding block 404 slide along described upper side rails 401 and lower side rails 402 respectively, described working head pedestal 405 is fixedly installed in described upper side slide 403 and lower sliding block 404 simultaneously, described nut 406 be fixedly installed in described working head pedestal 405 and with described screw mandrel 407 threaded engagement, described screw mandrel actuating unit 408 is installed on described telescopic arm pedestal 304 and drives described screw mandrel 407 to rotate, and described working arm 5 is installed on described working head pedestal 405.
In the present embodiment, screw mandrel actuating unit 408 provides power drive screw mandrel 407 to rotate, after screw mandrel 407 and nut 406 relatively rotate, upper side slide 403 on the working head pedestal 405 of hold-down nut 406 and lower sliding block 404 respectively along upper side rails 401, lower side rails 402 moving linearly, then the working head 6 being fixed on working head pedestal 405 simultaneously by with do away from or near the rectilinear motion of workpiece.
Described working arm 5 stretches to the inner ring side of described arc-shaped rack 201.Then arc-shaped rack 201 extends to the inside, saves installing space, is convenient to the flexible processing of working arm 5, improves working (machining) efficiency.
Embodiment 2
As shown in Figure 3, described telescoping mechanism comprises siding track 411, lower side rail 412, upper side slide 413, lower sliding block 414, working head pedestal 405, contiguous block 416, telescopic belt 417, telescopic belt actuating unit 418 and telescopic belt wheel 419; Described upper siding track 411 and lower side rail 412 are installed on described telescopic arm pedestal 304, described upper side slide 413 and lower sliding block 414 slide on described upper siding track 411 and lower side rail 412 respectively, described working head pedestal 405 is installed on described upper side slide 413 and lower sliding block 414 simultaneously, described working head pedestal 405 is fixedly connected with described telescopic belt 417 by described contiguous block 416, described telescopic belt 417 is enclosed within described telescopic belt wheel 419, and under the driving of described telescopic belt actuating unit 418, drive described working head pedestal 405.
Working head pedestal 405 is fixedly connected with telescopic belt 417 by contiguous block 416, driving telescopic belt to take turns 419 rotations by telescopic belt actuating unit 418 drives telescopic belt 417 to operate, thus drives the orbiting motion that working head pedestal 405 is retrained along upper siding track 411 and lower side rail 412 by upper side slide 413 and lower sliding block 414.In the present embodiment, the flexible kind of drive of working head pedestal 405 is belt transmission, similarly, also can use chain drive: bel-drivenn precision is high, be applicable to the transmission of light small workpiece; The bearing capacity of chain drive is large, is applicable to the transmission of large-scale workpiece.
Embodiment 3
As shown in Figure 4, described telescoping mechanism comprises siding track 411, lower side rail 412, upper side slide 413, lower sliding block 414, working head pedestal 405, flexible tooth bar 426, flexible gear 427 and expansion teeth wheel power machine structure 428; Described upper siding track 411 and lower side rail 412 are installed on described telescopic arm pedestal 304, described upper side slide 413 and lower sliding block 414 slide on described upper siding track 411 and lower side rail 412 respectively, described working head pedestal 405 is installed on described upper side slide 413 and lower sliding block 414 simultaneously, described flexible gear 427 and expansion teeth wheel power machine structure 428 are installed on described telescopic arm pedestal 304, described flexible tooth bar 426 is fixedly installed in described working head pedestal 405, and described flexible gear 427 engages with described flexible tooth bar 426.
In the present embodiment, it is rack pinion that working arm 5 realizes the flexible kind of drive, and transmission is accurate.Wherein, working head pedestal 405 is fixedly connected with flexible tooth bar 426, flexible gear 427 is arranged on working head pedestal 405, moved by the rotary actuation of flexible gear 427 tooth bar 426 that stretches, thus drive the orbiting motion that working head pedestal 405 is retrained along upper siding track 411 and lower side rail 412 by upper side slide 413 and lower sliding block 414.In the present embodiment; flexible tooth bar 426 is arranged on working head pedestal 405, and flexible gear 427 is arranged on telescopic arm pedestal 304, according to concrete open operating mode; both installation sites can exchange mutually, and the structure before and after exchanging all drops in the protection domain of the technical program.
Embodiment 4
As shown in Figure 5, described telescoping mechanism comprises a flexible slide rail 431, flexible slide block 432, working head pedestal 405, telescopic screw rod 433 and a telescopic screw rod actuating unit 434;
Described flexible slide rail 431 is installed on described telescopic arm pedestal 304, described flexible slide block 432 slides on described flexible slide rail 431, described telescopic screw rod 433 is installed on described telescopic arm pedestal 304 and is engaged in the nut of described working head pedestal 405 setting, and described telescopic screw rod 433 drives described working head pedestal 405 to move under the driving of described telescopic screw rod actuating unit 434.
Telescoping mechanism can use single track, when less with guide rail vertical direction moment of torsion, adopt this mode to save cost, reduces structure and taken up space.
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (8)
1. a pipe fitting Work robot, comprise the motion platform with the XYZ axle free degree, it is characterized in that: described motion platform is provided with L shape bar, Connection Block, rotary actuation module, telescoping mechanism, telescopic arm pedestal, working arm and working head, and described working head is fixed on described working arm;
The upper end of described L shape bar by described rotary actuation module installation at described motion platform, the lower end of L shape bar is connected with one end of described Connection Block by described rotary actuation module, and the other end of described Connection Block and described telescopic arm pedestal are by rotary actuation model calling; Described telescoping mechanism and working arm are arranged on described telescopic arm pedestal, and described working arm is scalable under described telescoping mechanism drives.
2. a kind of pipe fitting Work robot according to claim 1, is characterized in that: described rotary actuation module comprises electric rotating machine and decelerator.
3. a kind of pipe fitting Work robot according to claim 1, is characterized in that: described L shape bar is hollow structure.
4. a kind of pipe fitting Work robot according to claim 3, is characterized in that: the described L shape bar of hollow is fixedly formed by screw by L connected in star and L shape cover plate.
5. a kind of pipe fitting Work robot according to claim 1, is characterized in that: described telescoping mechanism comprises side rails, lower side rails, upper side slide, lower sliding block, working head pedestal, nut, screw mandrel and screw mandrel actuating unit; Described upper side rails and downside guide rails assembling are in described telescopic arm pedestal, described upper side slide and lower sliding block are respectively along described upper side rails and downside slide, described working head pedestal is fixedly installed in described upper side slide and lower sliding block simultaneously, described nut is fixedly installed in described working head pedestal and coordinates with described wire rod thread, described screw mandrel actuating unit is installed on described telescopic arm pedestal and drives described screw mandrel to rotate, and described working arm is installed on described working head pedestal.
6. a kind of pipe fitting Work robot according to claim 1, is characterized in that: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, telescopic belt, telescopic belt actuating unit and telescopic belt wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described telescopic belt by described contiguous block, described telescopic belt is enclosed within described telescopic belt wheel, and under the driving of described telescopic belt actuating unit, drive described working head pedestal;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, stretching chain, stretching chain actuating unit and flexible sprocket wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described stretching chain by described contiguous block, described stretching chain is enclosed within described flexible sprocket wheel, and under the driving of described stretching chain actuating unit, drive described working head pedestal.
7. a kind of pipe fitting Work robot according to claim 1, is characterized in that: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described telescopic arm pedestal, described flexible tooth bar is fixedly installed in described working head pedestal, and described flexible gear engages with described flexible tooth bar;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described working head pedestal, described flexible tooth bar is fixedly installed in described telescopic arm pedestal, and described flexible gear engages with described flexible tooth bar.
8. a kind of pipe fitting Work robot according to claim 1, is characterized in that: described telescoping mechanism comprises a flexible slide rail, flexible slide block, working head pedestal, telescopic screw rod and a telescopic screw rod actuating unit;
Described flexible slide rail is installed on described telescopic arm pedestal, described flexible skid is in described flexible slide rail, described telescopic screw rod is installed on described telescopic arm pedestal and is engaged in the nut of described working head pedestal setting, and described telescopic screw rod drives described working head pedestal to move under the driving of described telescopic screw rod actuating unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510394558.7A CN104959978A (en) | 2015-07-03 | 2015-07-03 | Pipe fitting operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510394558.7A CN104959978A (en) | 2015-07-03 | 2015-07-03 | Pipe fitting operation robot |
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| CN104959978A true CN104959978A (en) | 2015-10-07 |
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| CN201510394558.7A Pending CN104959978A (en) | 2015-07-03 | 2015-07-03 | Pipe fitting operation robot |
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| CN106182080A (en) * | 2016-08-08 | 2016-12-07 | 江苏捷帝机器人股份有限公司 | A kind of can the rotary extension type mechanical arm of all-direction rotation |
| CN109803795A (en) * | 2016-09-06 | 2019-05-24 | 高级智能系统股份有限公司 | For transporting the mobile workstation of more than one piece article |
| CN114905533A (en) * | 2022-06-21 | 2022-08-16 | 安徽江河智能装备集团有限公司 | Lining-changing mechanical arm applied to narrow space work |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106041997A (en) * | 2016-08-08 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Telescopic mechanical arm capable of rotating in omnibearing manner |
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| CN114905533A (en) * | 2022-06-21 | 2022-08-16 | 安徽江河智能装备集团有限公司 | Lining-changing mechanical arm applied to narrow space work |
| CN114905533B (en) * | 2022-06-21 | 2024-04-16 | 安徽江河智能装备集团有限公司 | Lining changing manipulator applied to narrow space work |
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