CN207359060U - A kind of manipulator with space all standing work capacity - Google Patents

A kind of manipulator with space all standing work capacity Download PDF

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Publication number
CN207359060U
CN207359060U CN201721222939.8U CN201721222939U CN207359060U CN 207359060 U CN207359060 U CN 207359060U CN 201721222939 U CN201721222939 U CN 201721222939U CN 207359060 U CN207359060 U CN 207359060U
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China
Prior art keywords
mechanical arm
space
manipulator
joint
trolley
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CN201721222939.8U
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Chinese (zh)
Inventor
栗园园
刘标
官雪梅
张帆
莫堃
董娜
邓超
于信宾
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Dongfang Electric Corp
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Dongfang Electric Corp
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Abstract

The utility model discloses a kind of manipulator with space all standing work capacity, the function of the operating position of any adjusting mechanical arm in plane space again is realized by the cooperation of cart and trolley, the ascending motion of mechanical arm is realized by electric block at the same time, and mechanical arm is driven to realize ascending motion, and due between retracting cylinder and revolving drum by being slidably connected, therefore the descending motion of mechanical arm is realized by the gravity of mechanical arm itself, it is achieved thereby that a wide range of locus adjustment of the mechanical arm in full extent of space, the accurate adjustment to operating position is realized by multiple frees degree of mechanical arm at the same time;The rotary motion that revolving drum can be done relative to fixed cylinder in plane then further increases adaptability of the mechanical arm to complex environment, improves the accuracy of robot station adjusting.

Description

A kind of manipulator with space all standing work capacity
Technical field
It the utility model is related to Industrial Robot Technology field, and in particular to a kind of with space all standing work capacity Manipulator.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand, to be captured according to fixed routine, carry object Or the automatic pilot of operation instrument, its main feature is that various expected operations can be completed by programming;Manipulator is most The industrial robot early occurred, and the modern machines people occurred earliest, the heavy labor that it can substitute people are produced with realizing Mechanization and automation, can be operated under hostile environment to protect personal safety, thus be widely used in machine-building, smelting The departments such as gold, electronics, light industry and atomic energy.But existing manipulator is generally 6 frees degree, its shoulder joint is fixed on ground Or opposing bottom surface movement is carried by track, range of movement is smaller, can not realize all standing campaign in a wide range of space, while its Each joint is rotary joint, and end can not freely stretch, poor to the adaptability of small space.
The Chinese patent of Publication No. CN105252549A was disclosed under a kind of nuclear radiation environment on January 20th, 2016 Retracting cylinder and mechanical arm fast assembling-disassembling system are hung, mainly including driving frame, retracting cylinder device, manipulator and attaching/detaching apparatus, Driving frame is large-scale cube frame structure, is provided with two relatively short sides of connection and the guide rail that can be translated along relatively short side, Retracting cylinder device, which mainly includes fixed seat, retracting cylinder, lifting chain, lifting pulley and pulley drive device, manipulator, to be included upper Coupling part, disc baffles and the power section that lower structure is fixed, coupling part is a mechanical arm, and attaching/detaching apparatus is mainly by tearing open Docking mechanism and storage deck composition are filled, dismounting docking mechanism mainly includes a pair of of card and sets docking block and clump weight.
The content of the invention
For manipulator working space existing in the prior art it is limited the defects of, the utility model discloses one kind to have The manipulator of space all standing work capacity, the utility model have widened the working space of manipulator significantly, make its application range Expanded, improve the scope of application of manipulator.
The utility model is achieved through the following technical solutions above-mentioned purpose:
A kind of manipulator with space all standing work capacity, including drive a vehicle, turn round retracting cylinder and mechanical arm, its feature It is:The driving includes cart and trolley;Track, motion motor and large vehicle walking wheel, the movement are set on the cart Motor is connected with each other with large vehicle walking wheel;The trolley is installed on track by traveling wheel of trolley, is also set up on the trolley There is the motion motor being connected with traveling wheel of trolley;The revolution retracting cylinder includes fixed cylinder, revolving drum and retracting cylinder, the fixation Cylinder is installed on trolley, and revolving drum is installed in fixed cylinder by rolling bearing, and the retracting cylinder is slidably mounted in revolving drum; Electric block and turning motor are additionally provided with the fixed cylinder, the electric block is connected with retracting cylinder;On the revolving drum Swiveling gear is installed with, the turning motor is connected by rotary planetary retarder with swiveling gear;The mechanical arm bag Include by the sequentially connected shoulder joint of electromechanical interface, large arm, forearm rotary joint, forearm, wrist joint, the wrist joint end End is connected with end-of-arm tooling by mechanical interface;The shoulder joint is fixedly connected with retracting cylinder end.
The mechanical arm includes passing through the sequentially connected shoulder joint of electromechanical interface, large arm, forearm and wrist joint, described Wrist joint end is connected with end-of-arm tooling by mechanical interface;The shoulder joint is fixedly connected with retracting cylinder end.
One end of the shoulder joint, large arm and forearm is both provided with fixed connector, and the other end is provided with rotatable connection axis, Electric rotating machine is both provided with the shoulder joint, large arm and forearm, is provided with worm gear on the axis that is rotatably connected, the electric rotating machine is defeated Outlet is provided with planetary reduction gear, and the planetary reduction gear output terminal is connected by worm screw with turbine.
Forearm rotary joint one end is provided with fixed connector, and the other end is installed with rolling bearing, the rolling Dynamic bearing inner ring is installed with swivel coupling;The forearm rotary is intra-articular to be provided with turning motor, the turning motor with It is connected with planetary reduction gear between swivel coupling in turn, swiveling gear is connected with cycloidal-pin gear speed reducer.
The wrist joint includes supporting shell, is rotated in supporting shell and is provided with revolving body and turning motor, the revolving body leads to Cross swiveling gear and planetary reduction gear is connected with turning motor;Extrusome, the revolving body are slidably fitted with the revolving body Telescope motor is inside provided with, the output terminal of telescope motor is provided with planetary reduction gear, and the planetary reduction gear output terminal passes through biography Dynamic nut and turn-screw are connected with extrusome.
The revolving body is rotatablely installed in supporting shell by rolling bearing.
The end-of-arm tooling includes tool body, and described tool body one end is provided with connector, and the other end is provided with folder Pincers;Adjusting nut is slidably fitted with the tool body, is connected between adjusting nut and clamp by connecting rod;The adjusting spiral shell Turn-screw is equipped with mother.
Electromotor brake is both provided with the turning motor and electric rotating machine.
Compared with prior art, the utility model has the advantages that:
1st, the utility model includes cart and trolley, and the trolley is installed on cart by traveling wheel of trolley, on trolley Revolution retracting cylinder is installed, the revolution retracting cylinder bottom is provided with mechanical arm;Realized by cart and matching somebody with somebody for trolley flat The function of the operating position of any adjusting mechanical arm in space of planes, its adjusting position is accurate, easy to control;Pass through electronic calabash at the same time The ascending motion of telescopic arm is realized in the stretching of reed, and drives mechanical arm to realize ascending motion, and due to retracting cylinder and revolving drum it Between by being slidably connected, therefore need to only keep electric block static, mechanical arm can be realized by the gravity of mechanical arm itself Descending motion, it is achieved thereby that station adjustment of the mechanical arm in full extent of space, and revolving drum can be relative to fixed cylinder Do the rotary motion in plane and then further increase adaptability of the mechanical arm to complex environment, reduce the adjusting of mechanical arm Difficulty, improves the accuracy of robot station adjusting.
2nd, the mechanical arm of the utility model includes shoulder joint, large arm, forearm, wrist joint and end-of-arm tooling, has mechanical arm Have large arm rotation, forearm rotation, wrist joint rotation, wrist joint revolution, wrist joint stretches and multiple frees degree such as tool drives, The controllability of mechanical arm is substantially increased, mechanical arm is accurately adjusted to any working position in working space Put, improve the accuracy of mechanical arm work.
3rd, the mechanical arm of the utility model includes shoulder joint, large arm, forearm rotary joint, forearm, wrist joint and end work Tool, makes that mechanical arm is provided with large arm rotation, forearm rotation, forearm rotary, wrist joint rotates, wrist joint turns round, wrist joint stretches With multiple frees degree such as tool drives, the controllability of mechanical arm is substantially increased, mechanical arm is accurately adjusted to Any operating position in working space, improves the accuracy of mechanical arm work.
4th, electric rotating machine is separately provided with the shoulder joint of the utility model, large arm and forearm, electric rotating machine passes through row Star retarder, worm and worm wheel are connected with rotatable connection axis, on the one hand improve the accuracy to the control of each movable joint, together When avoid interfering with each other between different joints, improve the reliability of manipulator motion;On the other hand planetary reduction gear is passed through Device, worm and worm wheel can effectively reduce the volume of equipment, while improve the accuracy and stationarity of transmission, so as to improve machinery The reliability that arm operating position is adjusted.
5th, the utility model is additionally provided with forearm rotary joint, and the forearm rotary is intra-articular to be provided with turning motor and return Adapter, the turning motor are convenient to adjust wrist joint and end by planetary reduction gear, swiveling gear and cycloidal-pin gear speed reducer The operating angle of ending tool, on the one hand adds the free degree of mechanical arm, makes operation easier, efficient, on the other hand can Effectively avoid colliding in narrow and small working space, improve the security of equipment work.
6th, revolving body is provided with the wrist joint of the utility model, extrusome is provided with revolving body, makes wrist joint at the same time The flexible free degree and the revolution free degree are provided with, improves the adjustment control ability to end-of-arm tooling, the locus of mechanical arm Adjust more convenient, efficient, ensure that end-of-arm tooling can be adjusted to the optional position of working space.
7th, the end-of-arm tooling of the utility model controls unlatching and the closure of clamp by adjusting nut and turn-screw, it is passed Dynamic connector is simplified, and improves the reliability of tool ends end work.
8th, the utility model is provided with electromotor brake on turning motor, convenient to leave the motor off operating in time, improves To the accuracy of manipulator motion control.
Brief description of the drawings
Fig. 1 is 1 structure diagram of the utility model embodiment;
Fig. 2 is 2 structure diagram of the utility model embodiment;
Fig. 3 turns round retracting cylinder drive mechanism schematic diagram for the utility model;
Fig. 4 is the utility model shoulder joint drive mechanism figure;
Fig. 5 is the utility model large arm drive mechanism figure;
Fig. 6 is the utility model forearm rotary joint structure schematic diagram;
Fig. 7 is the utility model forearm drive mechanism figure;
Fig. 8 is the utility model wrist joint drive mechanism figure;
Fig. 9 is the utility model end-of-arm tooling structure diagram;
Reference numeral:1st, cart, 2, trolley, 3, track, 4, motion motor, 5, large vehicle walking wheel, 6, traveling wheel of trolley, 7, Fixed cylinder, 8, revolving drum, 9, retracting cylinder, 10, rolling bearing, 11, electric block, 12, turning motor, 13, swiveling gear, 14, Planetary reduction gear, 15, shoulder joint, 16, large arm, 17, forearm rotary joint, 18, forearm, 19, wrist joint, 20, end-of-arm tooling, 21st, fixed connector, 22, rotatable connection axis, 23, electric rotating machine, 24, worm gear, 25, worm screw, 26, revolution connector, 27, cycloid Pinwheel reducer, 28, supporting shell, 29, revolving body, 30, extrusome, 31, telescope motor, 32, transmission nut, 33, turn-screw, 34th, tool body, 35, connector, 36, clamp, 37, adjusting nut, 38, connecting rod, 39, mechanical interface, 40, electromotor brake, 41st, transmission shaft, 42, travelling gear, 43, sliding slot.
Specific embodiment
The utility model will be described further by specific embodiment below
Embodiment 1
Most preferred embodiment of the present embodiment as the utility model, it discloses one kind to have space all standing work capacity Manipulator, its concrete structure diagram is as shown in 1 and Fig. 2, including drives a vehicle, turns round retracting cylinder and mechanical arm, and the driving includes big Car 1 and trolley 2,1 bottom of cart are provided with large vehicle walking wheel 5, and the top of cart 1 is provided with track 3 and motion motor 4, institute Motion motor 4 to be stated by transmission shaft 41 with large vehicle walking wheel 5 to be connected, the track 3 is connected by traveling wheel of trolley 6 with trolley 2, Motion motor 4 is also equipped with the trolley 2,2 bottom of trolley is connected with revolution retracting cylinder, and the revolution retracting cylinder includes Fixed cylinder 7, revolving drum 8 and retracting cylinder 9, the fixed cylinder 8 are fixedly installed in 2 bottom of trolley, rolling are installed with fixed cylinder 8 Dynamic bearing 10, the inner ring of the rolling bearing 10 are installed with revolving drum 7;One end of the revolving drum 7 is provided with rotary teeth 13 are taken turns, is additionally provided with turning motor 12 in fixed cylinder 7, the turning motor 12 passes through planetary reduction gear 14 and 13 phase of swiveling gear Even;The other end of the revolving drum 8 is connected with retracting cylinder 9 by sliding pair, and the bottom of the retracting cylinder 9 is with being arranged at fixed cylinder Electric block 11 on 7 connects;The end of the retracting cylinder 9 is fixedly connected with mechanical arm, and the mechanical arm includes passing through electromechanics Integrated interface sequentially connected shoulder joint 15, large arm 16, forearm 18, forearm rotary joint 17 and wrist joint 19, its shoulder joint 15 are fixedly connected with the end of retracting cylinder 9, and 19 end of wrist joint is connected with end-of-arm tooling 20 by connector 35.
One end of the shoulder joint 15, large arm 16 and forearm 18 is both provided with and higher level joint as shown in Fig. 3, Fig. 4 and Fig. 6 The fixed connector 21 being fixedly connected, the other end are provided with the rotatable connection axis 22 being connected with subordinate joint, the shoulder joint 15, Electric rotating machine 23 is both provided with large arm 16 and forearm 18, worm gear 24, the electric rotating machine 23 are provided with the axis 22 that is rotatably connected Output terminal is provided with planetary reduction gear 14, and 14 output terminal of planetary reduction gear is connected by worm screw 25 with turbine 24.
Described 17 one end of forearm rotary joint as shown in Figure 5 is provided with fixed connector 21, and the other end is installed with rolling Dynamic bearing 10, the inner ring of rolling bearing 10 are installed with revolution connector 26;It is fixedly mounted in the forearm rotary joint 17 Have a turning motor 12, the output terminal of turning motor 12 is connected with planetary reduction gear 14, the output terminal of the planetary reduction gear 14 with Swiveling gear 13 is connected, and the swiveling gear 13 is connected with cycloidal-pin gear speed reducer 27;The revolution connector 26 and cycloidal pin The output terminal of wheel decelerator 27 is connected.
Wrist joint 19 includes supporting shell 28 as described in Figure 7, and rolling bearing 10, the rolling are installed with supporting shell 28 The inner ring of bearing 10 is installed with revolving body 29, and turning motor 12, the revolution are also installed with the supporting shell 28 Swiveling gear 13 is provided with 29 excircle of body, the turning motor 12 is connected by planetary reduction gear 14 with swiveling gear 13; Extrusome 30 is provided with by sliding pair in the revolving body 29, telescope motor 31, transmission spiral shell are provided with the revolving body 29 Mother 32 and turn-screw 33, the output terminal of telescope motor 31 are provided with planetary reduction gear 14, and the transmission nut 32 passes through rolling Bearing 10 is fixedly installed in revolving body 29, and the biography to match with 14 output terminal of planetary reduction gear is additionally provided with transmission nut 32 Moving gear 42,33 screwed connection of the transmission nut 32 and turn-screw, 33 one end of turn-screw is fixedly linked with extrusome 30.
End-of-arm tooling 20 includes tool body 34 as described in Figure 8, and described 34 one end of tool body is provided with and wrist joint 19 On the connected connector 35 of extrusome 30, the other end is hinged with clamp 36;Sliding slot 43 is provided with the tool body 34, it is sliding Adjusting nut 37 is slidably fitted with groove 43, is connected between adjusting nut 37 and clamp 36 by connecting rod 38;The tool body Rolling bearing 10 is additionally provided with 34, the inner ring of rolling bearing 10 is installed with turn-screw 33, and turn-screw 33 passes through spiral shell Line is placed in adjusting nut 37, and the other end of the turn-screw 33 is provided with mechanical interface 39, the mechanical interface 39 with The output terminal of planetary reduction gear 14 in extrusome 30 is connected.
Electromotor brake 40 is both provided with the turning motor 12 and electric rotating machine 23.
Embodiment 2
Another embodiment of the present embodiment as the utility model, its disclosed mechanical arm include sequentially connected shoulder Joint 15, large arm 16, forearm 17 and wrist joint 18, its shoulder joint 15 are fixedly connected with the end of retracting cylinder 9, the wrist joint 18 End is connected with end-of-arm tooling 20 by connector 35
The utility model can accurately adjust specific work of the mechanical arm in space by the cooperation movement of cart and trolley Industry position, while realize by the gravity of the adjusting of electric block and mechanical arm itself fortune up and down to mechanical arm in space It is dynamic, and then the adjustment of operating position of the mechanical arm in working space is realized, while mechanical arm has large arm rotation, forearm rotation Turn, the rotation of forearm rotary, wrist joint, wrist joint revolution, wrist joint stretches and multiple frees degree such as tool drives, realize to end The accurate adjustment of ending tool operating position, make the manipulator have can accurately position with the optional position in working space, Improve the work capacity of manipulator;At the same time by the revolute function of revolving drum, facilitate mechanical arm and irregular space is fitted Should be able to power, while reduce mechanical arm locus adjusting difficulty, be conducive to mechanical arm pushing away in large space job area Wide application.

Claims (8)

1. a kind of manipulator with space all standing work capacity, including drive a vehicle, turn round retracting cylinder and mechanical arm, its feature exists In:The driving includes cart(1)And trolley(2);The cart(1)Upper setting track(3), motion motor(4)With big garage Walk wheel(5), the motion motor(4)With large vehicle walking wheel(5)It is connected with each other;The trolley(2)Pass through traveling wheel of trolley(6)Peace Loaded on track(3)On, the trolley(2)On be additionally provided with and traveling wheel of trolley(6)Connected motion motor(4);The revolution Retracting cylinder includes fixed cylinder(7), revolving drum(8)And retracting cylinder(9), the fixed cylinder(7)It is installed on trolley(2)On, revolving drum (8)Pass through rolling bearing(10)It is installed on fixed cylinder(7)It is interior, the retracting cylinder(9)It is slidably mounted on revolving drum(8)It is interior;It is described Fixed cylinder(7)On be additionally provided with electric block(11)And turning motor(12), the electric block(11)With retracting cylinder(9)Phase Even;The revolving drum(8)On be installed with swiveling gear(13), the turning motor(12)Pass through planetary reduction gear(14)With Swiveling gear(13)It is connected;The mechanical arm includes passing through the sequentially connected shoulder joint of electromechanical interface(15), large arm(16)、 Forearm rotary joint(17), forearm(18)And wrist joint(19), the wrist joint(19)End is connected with end by mechanical interface Ending tool(20);The shoulder joint(15)With retracting cylinder(9)End is fixedly connected.
A kind of 2. manipulator with space all standing work capacity according to claim 1, it is characterised in that:The machine Tool arm includes passing through the sequentially connected shoulder joint of electromechanical interface(15), large arm(16), forearm(18)And wrist joint(19), institute State wrist joint(19)End is connected with end-of-arm tooling by mechanical interface(20);The shoulder joint(15)With retracting cylinder(9)End It is fixedly connected.
A kind of 3. manipulator with space all standing work capacity according to claim 1, it is characterised in that:The shoulder Joint(15), large arm(16)And forearm(18)One end be both provided with fixed connector(21), the other end is provided with rotatable connection Axis(22), the shoulder joint(15), large arm(16)And forearm(18)Inside it is both provided with electric rotating machine(23), be rotatably connected axis(22) On be provided with worm gear(24), the electric rotating machine(23)Output terminal is provided with planetary reduction gear(14), the planetary reduction gear (14)Output terminal passes through worm screw(25)With worm gear(24)Connection.
A kind of 4. manipulator with space all standing work capacity according to claim 1, it is characterised in that:It is described small Revolution of arm joint(17)One end is provided with fixed connector(21), the other end is installed with rolling bearing(10), the rolling Bearing(10)Inner ring is installed with swivel coupling(26);The forearm rotary joint(17)Inside it is provided with turning motor(12), The turning motor(12)With turning round connector(26)Between be connected with planetary reduction gear in turn(14), swiveling gear(13)And pendulum Line pinwheel reducer(27).
A kind of 5. manipulator with space all standing work capacity according to claim 1, it is characterised in that:The wrist Joint(19)Including supporting shell(28), supporting shell(28)Interior rotation is provided with revolving body(29)And turning motor(12), described time Swivel(29)Pass through swiveling gear(13)And planetary reduction gear(14)With turning motor(12)It is connected;The revolving body(29)Interior cunning It is dynamic that extrusome is installed(30), the revolving body(29)Inside it is provided with telescope motor(31), telescope motor(31)Output terminal set It is equipped with planetary reduction gear(14), the planetary reduction gear(14)Output terminal passes through transmission nut(32)And turn-screw(33)With stretching Contracting body(30)It is connected.
A kind of 6. manipulator with space all standing work capacity according to claim 1, it is characterised in that:Described time Swivel(29)Pass through rolling bearing(10)It is rotatablely installed in supporting shell(28)It is interior.
A kind of 7. manipulator with space all standing work capacity according to claim 1, it is characterised in that:The end Ending tool(20)Including tool body(34), the tool body(34)One end is provided with connector(35), the other end is provided with Clamp(36);The tool body(34)On be slidably fitted with adjusting nut(37), adjusting nut(37)With clamp(36)Between Pass through connecting rod(38)Connection;The adjusting nut(37)On be equipped with turn-screw(33), set on the turn-screw organic Tool interface(39).
A kind of 8. manipulator with space all standing work capacity according to claim 1, it is characterised in that:Described time Rotating motor(12)And electric rotating machine(23)On be both provided with electromotor brake(40).
CN201721222939.8U 2017-09-22 2017-09-22 A kind of manipulator with space all standing work capacity Active CN207359060U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110054084A (en) * 2019-04-29 2019-07-26 广东博智林机器人有限公司 A kind of more mechanical arm row crane systems and its control method and fault handling method
CN110076747A (en) * 2019-05-30 2019-08-02 燕山大学 A kind of radar block dismounting auxiliary is taken three-freedom mechanical arm
CN112017506A (en) * 2020-08-28 2020-12-01 芜湖宏嘉科技有限公司 Auxiliary device for intelligent teaching
CN112077870A (en) * 2020-09-10 2020-12-15 厚力德机器(杭州)有限公司 Flexible deformation pipeline transportation robot
CN112298947A (en) * 2020-12-24 2021-02-02 健芮智能科技(昆山)有限公司 Cantilever truss multistage telescopic transfer robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110054084A (en) * 2019-04-29 2019-07-26 广东博智林机器人有限公司 A kind of more mechanical arm row crane systems and its control method and fault handling method
CN110076747A (en) * 2019-05-30 2019-08-02 燕山大学 A kind of radar block dismounting auxiliary is taken three-freedom mechanical arm
CN110076747B (en) * 2019-05-30 2020-09-25 燕山大学 Three-degree-of-freedom mechanical arm for assisting in taking radar block in dismounting
CN112017506A (en) * 2020-08-28 2020-12-01 芜湖宏嘉科技有限公司 Auxiliary device for intelligent teaching
CN112077870A (en) * 2020-09-10 2020-12-15 厚力德机器(杭州)有限公司 Flexible deformation pipeline transportation robot
CN112298947A (en) * 2020-12-24 2021-02-02 健芮智能科技(昆山)有限公司 Cantilever truss multistage telescopic transfer robot

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