CN217195422U - Flexible clamp and robot - Google Patents
Flexible clamp and robot Download PDFInfo
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- CN217195422U CN217195422U CN202220593597.5U CN202220593597U CN217195422U CN 217195422 U CN217195422 U CN 217195422U CN 202220593597 U CN202220593597 U CN 202220593597U CN 217195422 U CN217195422 U CN 217195422U
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- clamping jaw
- jaw
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- clamping
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The utility model relates to a flexible clamp and robot. The flexible clamp comprises a controller, a driving mechanism and a clamping jaw assembly. During operation, the controller sends a control instruction to the driving mechanism, and the driving mechanism acts according to the control instruction to realize accurate clamping of the dinner plate, so that the flexible clamp has high repeated positioning accuracy. Because the flexible pads are arranged on one side of the first clamping jaw facing the second clamping jaw and one side of the second clamping jaw facing the first clamping jaw, when the dinner plate is clamped, the flexible pads deform along with the increase of clamping force so as to increase the clamping area of the dinner plate, so that the flexible pads can better fit the edges of dinner plates with various sizes, and the stability of clamping the dinner plate is ensured; meanwhile, the flexible pad can not generate collision, impact and the like on the dinner plate, the dinner plate is prevented from being damaged in the clamping process of the first clamping jaw and the second clamping jaw, and the service life of the dinner plate is prolonged.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a flexible clamp and robot.
Background
With the rapid development of the robot technology, the mobile robot is gradually applied to the industries such as catering and the like to provide food delivery service. In the catering industry, an electric clamping jaw or a pneumatic clamping jaw is mostly adopted to clamp a dinner plate. However, the clamping jaws may collide with and impact the dish plate when clamping the dish plate, resulting in damage to the dish plate.
SUMMERY OF THE UTILITY MODEL
Therefore, there is a need for a flexible clamp and a robot, which can avoid damage to the dinner plate during the process of clamping the dinner plate.
A flexible clamp, comprising:
a controller;
the driving mechanism is electrically connected with the controller and can act according to the instruction of the controller; and
the clamping device comprises a first clamping jaw and a second clamping jaw, wherein a clamping space is formed between the first clamping jaw and the second clamping jaw; the driving mechanism is connected with the first clamping jaw and the second clamping jaw and used for driving the first clamping jaw and the second clamping jaw to move close to or away from each other; the first clamping jaw faces one side of the second clamping jaw and is provided with a flexible pad, and/or one side of the second clamping jaw faces one side of the first clamping jaw and is provided with a flexible pad.
In one embodiment, the flexible pad is at least one of a silicone pad, a latex pad, and a rubber pad.
In one embodiment, the surface of the flexible mat is provided with a non-slip structure.
In one embodiment, the flexible pad is removably mounted to a side of the first jaw facing the second jaw, and/or the flexible pad is removably mounted to a side of the second jaw facing the first jaw.
In one embodiment, the flexible pad is adhered to a side of the first jaw facing the second jaw, and/or the flexible pad is adhered to a side of the second jaw facing the second jaw.
In one embodiment, the driving mechanism includes a first driving assembly and a second driving assembly electrically connected to the controller, respectively, the first driving assembly is in driving connection with the first clamping jaw, and the second driving assembly is in driving connection with the second clamping jaw.
In one embodiment, each of the first driving assembly and the second driving assembly comprises a motor and a connecting rod assembly in transmission connection with the motor; the motor is electrically connected with the controller, the flexible clamp further comprises a mounting structure used for being connected with the mechanical arm, and the motor is assembled on the mounting structure.
In one embodiment, the connecting rod assembly comprises a driving rod, a first connecting rod and a second connecting rod, one end of the driving rod of the first driving assembly and one end of the driving rod of the second driving assembly are respectively connected with an output shaft of the motor, the other ends of the driving rods of the first driving assembly and the second driving assembly are respectively and correspondingly connected with one end of the first connecting rod of the first driving assembly and one end of the second connecting rod of the second driving assembly in a rotating way, the other ends of the first connecting rods of the first driving component and the second driving component are respectively and correspondingly connected with the first clamping jaw and the second clamping jaw in a rotating way, one end of the second connecting rod of the first driving component and one end of the second connecting rod of the second driving component are respectively and correspondingly connected with the first clamping jaw and the second clamping jaw in a rotating way, the other ends of the second connecting rods of the first driving assembly and the second driving assembly are respectively and correspondingly connected with the mounting structure in a rotating mode.
In one embodiment, a mounting portion is disposed at an end of the mounting structure away from the link assembly, and the mounting portion is used for connecting with the mechanical arm.
The robot comprises a robot body, a mechanical arm and a flexible clamp, wherein the mechanical arm is mounted on the robot body, and the flexible clamp is mounted at the tail end of the mechanical arm.
According to the flexible clamp and the robot, during operation, the controller sends a control instruction to the driving mechanism, the driving mechanism acts according to the control instruction, and the flexible pad is arranged on one side of the first clamping jaw facing the second clamping jaw and/or one side of the second clamping jaw facing the first clamping jaw; meanwhile, the flexible pad can not generate collision, impact and the like on the dinner plate, the dinner plate is prevented from being damaged in the clamping process of the first clamping jaw and the second clamping jaw, and the service life of the dinner plate is prolonged.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a flexible clamp holding a dinner plate according to an embodiment of the present invention;
fig. 2 is a top view of the flexible fixture shown in fig. 1.
The reference numbers indicate: 10. a mounting structure; 11. an installation part; 20. a drive mechanism; 21. a first drive assembly; 22. a second drive assembly; 23. a connecting rod assembly; 231. a drive rod; 232. a first link; 233. a second link; 2331. a second mounting groove; 30. a jaw assembly; 31. a first jaw; 32. a second jaw; 33. a flexible pad; 40. a dinner plate.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.
Referring to fig. 1 and 2, a flexible clamp according to an embodiment of the present invention includes a controller, a driving mechanism 20, and a clamping jaw assembly 30. The drive mechanism 20 is electrically connected to the controller, and the drive mechanism 20 can be operated according to a command from the controller. The clamping jaw assembly 30 includes a first clamping jaw 31 and a second clamping jaw 32 which are oppositely arranged at a distance, and a clamping space is formed between the first clamping jaw 31 and the second clamping jaw 32. The first clamping jaw 31 and the second clamping jaw 32 are respectively connected with the driving mechanism 20 and can move in a direction of relatively approaching or separating under the driving of the driving mechanism 20. The side of the first jaw 31 facing the second jaw 32 and the side of the second jaw 32 facing the first jaw 31 are provided with flexible pads 33.
In the present embodiment, the first jaw 31 and the second jaw 32 are plate-shaped and are rigid structural members.
Referring to fig. 1 and 2, a clamping plate 40 is illustrated. In operation, the flexible clamp is fed along the radial direction of the dinner plate 40, and after reaching the position right above the dinner plate 40, the controller sends a control instruction to the driving mechanism 20, and the driving mechanism 20 drives the first clamping jaw 31 and the second clamping jaw 32 to move in the direction away from each other according to the control instruction, so that the clamping jaw assemblies 30 are opened. Then, the flexible clamp moves downwards along the axial direction of the dinner plate 40 until the bottoms of the first clamping jaw 31 and the second clamping jaw 32 are arranged below the edge of the dinner plate 40 by 5-10 mm. Then, the controller sends a control command to the driving mechanism 20, and the driving mechanism 20 drives the first jaw 31 and the second jaw 32 to move in a relatively close direction according to the control command, so that the jaw assembly 30 is tightened to enclose the dish 40. Finally, the first jaw 31 and the second jaw 32 clamp the dinner plate 40 and move upwards along the axial direction of the dinner plate 40, so as to clamp the dinner plate 40.
It should be noted that the flexible clamp can be used not only for clamping the dish 40, but also for clamping other products, such as workpieces.
During operation, the controller sends a control instruction to the driving mechanism 20, and the driving mechanism 20 acts according to the control instruction to realize accurate clamping of the dinner plate 40, so that the flexible clamp has high repeated positioning accuracy. Because the flexible pads 33 are arranged on the side, facing the second clamping jaw 32, of the first clamping jaw 31 and the side, facing the first clamping jaw 31, of the second clamping jaw 32, when the dinner plate 40 is clamped, the flexible pads 33 deform along with the increase of the clamping force to increase the clamping area of the dinner plate 40, so that the flexible pads 33 can better fit the edges of the dinner plates 40 with various sizes, and the stability of clamping the dinner plate 40 is ensured; meanwhile, the flexible pad 33 does not collide, impact or the like on the dinner plate 40, so that the dinner plate 40 is prevented from being damaged by the first clamping jaw 31 and the second clamping jaw 32 in the process of clamping the dinner plate 40, and the service life of the dinner plate 40 is prolonged.
Optionally, the flexible pad 33 is at least one of a silicone pad, a latex pad, and a rubber pad. In the present embodiment, the flexible pads 33 are all silicone pads.
In one embodiment, flexible pads 33 are removably mounted to a side of first jaw 31 facing second jaw 32, and to a side of second jaw 32 facing first jaw 31. So, after flexible pad 33 damaged, can dismantle the change with flexible pad 33 from first clamping jaw 31 and second clamping jaw 32, so conveniently maintain the change, improve and use the flexibility, reduce cost simultaneously.
Optionally, a flexible pad 33 is adhered to a side of the first jaw 31 facing the second jaw 32, and a side of the second jaw 32 facing the first jaw 31. Thus, the flexible pad 33 is easily detached. Of course, in other embodiments, the flexible pads 33 may also be mounted on the first clamping jaw 31 and the second clamping jaw 32 respectively by clamping or the like.
In one embodiment, the surface of the flexible mat 33 is provided with an anti-slip structure. It should be noted that the surface of the flexible pad 33 of the first clamping jaw 31 refers to the side of the first flexible pad 33 facing the second clamping jaw 32, and the surface of the flexible pad 34 of the second clamping jaw 32 refers to the side of the second flexible pad 34 facing the first clamping jaw 31. Therefore, in the process that the clamping jaw assembly 30 clamps the dinner plate 40, the two sides of the dinner plate 40 are respectively contacted with the anti-skidding structures of the flexible pads 33, the friction force of the contact surface is increased, the stability of the flexible clamp when the dinner plate 40 is clamped is guaranteed, and the dinner plate 40 is effectively prevented from slipping.
Optionally, the anti-slip structure is anti-slip lines or the like. Of course, in other embodiments, a non-slip material may be disposed on the surface of the flexible mat 33.
In one embodiment, referring to fig. 1 and 2, the driving mechanism 20 includes a first driving assembly 21 and a second driving assembly 22, and the first driving assembly 21 and the second driving assembly 22 are electrically connected to the controller, respectively. The first driving assembly 21 is in driving connection with the first clamping jaw 31, and the second driving assembly 22 is in driving connection with the second clamping jaw 32. During operation, the controller sends control commands to the first driving assembly 21 and the second driving assembly 22, respectively, and the first driving assembly 21 and the second driving assembly 22 drive the first clamping jaw 31 and the second clamping jaw 32 to move towards a direction relatively close to or away from each other according to the control commands, so as to clamp or release the dinner plate 40.
Further, referring to fig. 1 and 2, each of the first driving assembly 21 and the second driving assembly 22 includes a motor, and a link assembly 23 in transmission connection with the motor. The flexible clamp further comprises a mounting structure 10 used for being connected with a robot, and the motor and the controller are both mounted on the mounting structure 10. The link assembly 23 includes a driving rod 231, a first link 232 and a second link 233, one end of the driving rod 231 of the first driving assembly 21 and the second driving assembly 22 is respectively connected to an output shaft of the motor, the other end of the driving rod 231 of the first driving assembly 21 and the second driving assembly 22 is respectively connected to one end of the first link 232 of the first driving assembly 21 and the second driving assembly 22 in a rotating manner, and the other end of the first link 232 of the first driving assembly 21 and the second driving assembly 22 is respectively connected to the first clamping jaw 31 and the second clamping jaw 32 in a rotating manner. One end of the second connecting rod 233 of the first driving assembly 21 and the second driving assembly 22 is rotatably connected with the first clamping jaw 31 and the second clamping jaw 32, respectively, and the other end of the second connecting rod 233 of the first driving assembly 21 and the second driving assembly 22 is rotatably connected with the mounting structure 10, respectively. In this way, the second connecting rod 233 can play a stabilizing role, and ensure that the first clamping jaw 31 and the second clamping jaw 32 can stably clamp or release the dinner plate 40.
Of course, in other embodiments, the first driving assembly 21 and the second driving assembly 22 may also be other devices having the same function, and are not limited thereto.
Specifically, referring to fig. 1, both ends of the first link 232 are provided with first mounting grooves, both ends of the second link 233 are provided with second mounting grooves 2331, and both the first mounting grooves and the second mounting grooves 2331 are U-shaped. The driving rod 231 of the first driving assembly 21 and the end of the first clamping jaw 31 are respectively arranged in the first mounting grooves at the two ends of the first connecting rod 232 of the first driving assembly 21, and are respectively correspondingly connected with the first connecting rod 232. One end of the mounting structure 10 and the end of the first clamping jaw 31 are respectively disposed in the second mounting grooves 2331 at the two ends of the second connecting rod 233 of the first driving assembly 21, and are respectively correspondingly connected with the second connecting rod 233. The driving rod 231 of the second driving assembly 22 and the end of the second clamping jaw 32 are respectively disposed in the first mounting grooves at the two ends of the first connecting rod 232 of the second driving assembly 22, and are respectively and correspondingly connected with the first connecting rod 232. The end of the second jaw 32 and one end of the mounting structure 10 are respectively disposed in the second mounting grooves 2331 at the two ends of the second link 233 of the second driving assembly 22, and are respectively connected to the second link 233 correspondingly. Thus, the reliability of connection between the components can be ensured.
In one embodiment, referring to fig. 2, the first jaw 31 and the second jaw 32 are symmetrically disposed about a central axis of the controller. Therefore, the first clamping jaw 31 and the second clamping jaw 32 can be ensured to stably clamp the dinner plate 40, and the clamping stability of the dinner plate 40 is improved.
In one embodiment, referring to fig. 1 and 2, the flexible clamp further includes a mounting structure 10, and the controller is mounted to the mounting structure 10. The end of the mounting structure 10 away from the driving mechanism is provided with a mounting part 11, and the mounting part 11 is used for connecting with the tail end of the robot. Specifically, the cross-sectional shape and size of the controller on the side away from the driving mechanism 20 may be set according to the shape and size of the flange of the robot end, for example, the cross-section of the mounting portion 11 may be circular, square, or other different shapes. Thus, the mounting part 11 is matched with a flange at the tail end of the robot, and the controller is convenient to assemble at the tail end of the robot.
Referring to fig. 1 and 2, a robot according to an embodiment of the present invention includes a robot body, a robot arm, and a flexible fixture according to any of the embodiments. The arm is installed in the robot body, and flexible clamp installs in the end of arm.
In the robot, during operation, the controller sends a control instruction to the driving mechanism 20, and the driving mechanism 20 acts according to the control instruction to realize accurate clamping of the dinner plate 40, so that the flexible clamp has high repeated positioning accuracy. Because the flexible pads 33 are arranged on the side, facing the second clamping jaw 32, of the first clamping jaw 31 and the side, facing the first clamping jaw 31, of the second clamping jaw 32, when the dinner plate 40 is clamped, the flexible pads 33 deform along with the increase of the clamping force to increase the clamping area of the dinner plate 40, so that the flexible pads 33 can better fit the edges of the dinner plates 40 with various sizes, and the stability of clamping the dinner plate 40 is ensured; meanwhile, the flexible pad 33 does not collide, impact or the like on the dinner plate 40, so that the dinner plate 40 is prevented from being damaged by the first clamping jaw 31 and the second clamping jaw 32 in the process of clamping the dinner plate 40, and the service life of the dinner plate 40 is prolonged.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected through the interior of two elements or in any other suitable relationship unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A flexible clamp, comprising:
a controller;
the driving mechanism is electrically connected with the controller and can act according to the instruction of the controller; and
the clamping device comprises a first clamping jaw and a second clamping jaw, wherein a clamping space is formed between the first clamping jaw and the second clamping jaw; the driving mechanism is connected with the first clamping jaw and the second clamping jaw and used for driving the first clamping jaw and the second clamping jaw to move close to or away from each other; one side of the first clamping jaw, which faces the second clamping jaw, is provided with a flexible pad, and/or one side of the second clamping jaw, which faces the first clamping jaw, is provided with a flexible pad.
2. The flexible fixture of claim 1 wherein the flexible pad is at least one of a silicone pad, a latex pad, and a rubber pad.
3. The flexible clamp of claim 1 wherein the surface of the flexible mat is provided with a non-slip structure.
4. The flexible clamp of claim 1, wherein the flexible pad is removably mounted to a side of the first jaw facing the second jaw and/or the flexible pad is removably mounted to a side of the second jaw facing the first jaw.
5. The flexible clamp of claim 4, wherein the flexible pad is bonded to a side of the first jaw facing the second jaw and/or the flexible pad is bonded to a side of the second jaw facing the second jaw.
6. The flexible fixture of claim 1, wherein the drive mechanism includes a first drive assembly and a second drive assembly electrically connected to the controller, respectively, the first drive assembly being in driving communication with the first jaw and the second drive assembly being in driving communication with the second jaw.
7. The flexible clamp of claim 6, wherein the first drive assembly and the second drive assembly each comprise a motor and a linkage assembly in driving connection with the motor; the motor is electrically connected with the controller, the flexible clamp further comprises a mounting structure used for being connected with the mechanical arm, and the motor is assembled on the mounting structure.
8. The flexible clamp of claim 7, wherein the linkage assembly comprises a driving rod, a first connecting rod and a second connecting rod, one end of the driving rod of the first driving assembly and one end of the driving rod of the second driving assembly are respectively connected to an output shaft of the motor, the other end of the driving rod of the first driving assembly and the other end of the driving rod of the second driving assembly are respectively and correspondingly connected to one end of the first connecting rod of the first driving assembly and one end of the first connecting rod of the second driving assembly are respectively and correspondingly connected to the first clamping jaw and the second clamping jaw, one end of the second connecting rod of the first driving assembly and one end of the second connecting rod of the second driving assembly are respectively and correspondingly connected to the first clamping jaw and the second clamping jaw, and the other end of the second connecting rod of the first driving assembly and the second driving assembly are respectively and correspondingly connected to the mounting structure in a rotating manner And (4) connecting.
9. The flexible clamp of claim 7, wherein an end of the mounting structure remote from the linkage assembly is provided with a mounting portion for connection to the robotic arm.
10. A robot comprising a robot body, a robot arm mounted to the robot body, and a flexible clamp according to any one of claims 1 to 9 mounted to an end of the robot arm.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202220593597.5U CN217195422U (en) | 2022-03-17 | 2022-03-17 | Flexible clamp and robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN202220593597.5U CN217195422U (en) | 2022-03-17 | 2022-03-17 | Flexible clamp and robot |
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CN217195422U true CN217195422U (en) | 2022-08-16 |
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CN202220593597.5U Active CN217195422U (en) | 2022-03-17 | 2022-03-17 | Flexible clamp and robot |
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- 2022-03-17 CN CN202220593597.5U patent/CN217195422U/en active Active
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