CN218905447U - Manual locking formula knee joint - Google Patents
Manual locking formula knee joint Download PDFInfo
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- CN218905447U CN218905447U CN202223018090.6U CN202223018090U CN218905447U CN 218905447 U CN218905447 U CN 218905447U CN 202223018090 U CN202223018090 U CN 202223018090U CN 218905447 U CN218905447 U CN 218905447U
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Abstract
The utility model discloses a manual locking knee joint, which belongs to the technical field of robots and comprises a first joint body, a first connecting piece, a second joint body, a second connecting piece, a locking assembly and an extension assisting assembly, wherein one end of the first connecting piece is rotationally connected with the first joint body; the second joint body is rotationally connected with the other end of the first connecting piece; the second connecting piece is simultaneously connected with the first joint body and the second joint body in a rotating way, and the first joint body, the second joint body, the first connecting piece and the second connecting piece form a four-bar mechanism together; the locking component is arranged between the second joint body and the first connecting piece; the extension assisting component is connected with the first connecting piece and the first joint body at the same time. The manual locking knee joint solves the problems of large occupied space, inflexible movement, high manufacturing cost, incapability of realizing fixation and easy slipping existing in the prior art. The utility model has simple structure and obvious action effect, and is suitable for wide popularization.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a manual locking knee joint.
Background
The joint of the existing robot is controlled to move through a plurality of motors in a combined way, the structure causes inflexible movement of the joint, the manufacturing cost is high, and the control mode of using the motors occupies a larger space for the knee joint of the small-sized equipment; in addition, the knee joint can not be well fixed under the condition that the existing equipment is not used, so that the equipment is easy to slip off, and the equipment is damaged.
Aiming at the problems, the knee joint is urgently designed, and the problems of large occupied space, inflexible movement, high manufacturing cost, incapability of realizing portable fixation and easy slipping in the prior art are solved.
Disclosure of Invention
Aiming at the defects, the utility model provides the manual locking knee joint to solve the problems of large occupied space, inflexible movement, high manufacturing cost, portability, realization of fixation and easy slipping existing in the prior art.
The utility model provides a manual locking knee joint, comprising:
a first joint body;
one end of the first connecting piece is rotationally connected with the first joint body;
the second joint body is rotationally connected with the other end of the first connecting piece;
the second connecting piece is simultaneously connected with the first joint body and the second joint body in a rotating way, and the first joint body, the second joint body, the first connecting piece and the second connecting piece form a four-bar mechanism together;
the locking assembly is arranged between the second joint body and the first connecting piece and used for limiting the relative displacement between the second joint body and the first connecting piece;
and the extension assisting assembly is connected with the first connecting piece and the first joint body simultaneously and is used for providing force for changing the numerical value of the included angle between the first connecting piece and the first joint body.
Preferably, the locking assembly comprises:
the locking piece is rotationally connected with the second joint body and used for limiting the change of the angle between the first connecting piece and the second joint body after being clamped with the first connecting piece;
the locking elastic body is arranged between the locking block and the second joint body;
the buffer block is connected with the second joint body;
and the limiting cushion block is connected with the second joint body and is used for being abutted with the first connecting piece.
Preferably, the extension assisting assembly comprises:
the accommodating bin is connected with the first joint body and penetrates through the first joint body, and an extension assisting slideway is arranged on the accommodating bin;
one end of the pushing piece is abutted with the first connecting piece, the other end of the pushing piece stretches into the stretching-assisting slideway, and the pushing piece slides along the stretching-assisting slideway;
one end of the extension-assisting elastic body is connected with the pushing piece and is used for providing acting force for the pushing piece to move towards the first connecting piece;
the support piece is connected with the other end of the extension assisting elastomer and arranged in the extension assisting slideway, and the support piece is connected with the accommodating bin and used for providing supporting force for the extension assisting elastomer.
Preferably, the method further comprises:
one end of the rectangular pyramid connector is connected with the second joint body, and the other end of the rectangular pyramid connector is used for being clamped with external equipment;
the first swing shaft is connected with the first joint body and the first connecting piece at the same time;
the second swinging shaft is connected with the first joint body and the second connecting piece at the same time;
the third swinging shaft is connected with the first connecting piece and the second joint body at the same time;
and the fourth swinging shaft is simultaneously connected with the second connecting piece, the second joint body and the locking block.
Preferably, an extension-assisting clamp protrusion is arranged at one end, close to the first joint body, of the first connecting piece, and the extension-assisting clamp protrusion is abutted with the pushing piece; a locking clamping protrusion is arranged at one end, close to the locking block, of the first connecting piece, and the locking clamping protrusion is clamped with the locking block; and the first connecting piece is also provided with a limit bump matched with the limit cushion block.
Preferably, a first accommodating groove for installing the locking elastomer is formed in one side, close to the second joint body, of the locking block, and a second accommodating groove for installing the locking elastomer is formed in the second joint body; the other side of the locking piece is provided with a notch which is used for being clamped with the locking clamp convex.
Preferably, the first joint body is provided with a containing cavity, and the containing bin is arranged in the containing cavity; the accommodating cavity and the accommodating bin are of cylindrical structures, and the accommodating bin and the accommodating cavity are coaxially arranged; the first joint body is provided with a fastening groove communicated with the accommodating cavity, the first joint body is further connected with a first fastening piece, and the first fastening piece penetrates through the first joint body and is arranged in the fastening groove and used for adjusting the size of the fastening groove so as to be connected with external equipment.
Preferably, the second joint body is provided with a third accommodating groove for installing the first connecting piece, the locking piece is arranged in the third accommodating groove, and a fourth accommodating groove for limiting the moving distance of the locking piece is further arranged in the third accommodating groove.
Preferably, bearings are arranged on the first swing shaft, the second swing shaft, the third swing shaft and the fourth swing shaft; one end of the locking piece, which is far away from the fourth swinging shaft, is provided with a holding protrusion.
Preferably, the accommodating bin is provided with internal threads, and the supporting piece is provided with external threads matched with the internal threads; an adjusting clamping groove is formed in one side, away from the extension-assisting elastic body, of the supporting piece; the adjusting clamping groove is in a shape of a straight line or a cross.
According to the scheme, the manual locking knee joint is provided with the four-bar mechanism composed of the first joint body, the second joint body, the first connecting piece and the second connecting piece, so that the whole structure is more flexible to operate, the first joint body is fixed, the first connecting piece is driven to move, the second joint body and the second connecting piece can be driven to synchronously move, the driving is simpler, and the problems of overhigh cost and overlarge occupied space caused by the arrangement of too many driving motors are avoided; the second joint body is locked and fixed with the first connecting piece through the arrangement of the locking assembly, namely the locking and fixing of the whole device are realized in a portable way, the operation is simple, and the sliding is not easy to occur; through the setting of helping stretching the subassembly, can be portable drive first connecting piece rotate, the structure sets up succinctly compacter, effectively reduces the space and occupies. The utility model solves the problems of large occupied space, inflexible movement, high manufacturing cost, portability, realization of fixation and easy slipping existing in the prior art, has simple structure and remarkable action effect, and is suitable for wide popularization.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a manually locked knee joint according to the present utility model;
FIG. 2 is a schematic view of an exploded view of a manually-locked knee joint according to the present utility model;
FIG. 3 is a schematic view of an exploded view of a manual locking knee joint according to another aspect of the present utility model;
FIG. 4 is a schematic top view of a manually locked knee joint according to the present utility model;
FIG. 5 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 4;
FIG. 6 is an enlarged schematic view of the structure shown at B in FIG. 5;
fig. 7 is a schematic structural view of a second joint body of a manually-locking knee joint according to the present utility model;
fig. 8 is a schematic structural view of a first joint body of a manually-locking knee joint according to the present utility model.
In fig. 1-8:
1. a first joint body; 2. a first connector; 3. a second joint body; 4. a second connector; 5. a locking assembly; 6. an extension assisting component; 7. a rectangular pyramid joint; 11. a receiving chamber; 12. a fastening groove; 13. a first fastener; 21. extension-assisting clamp protrusions; 22. locking clamp convex; 23. a limit bump; 31. a second accommodation groove; 32. a third accommodation groove; 33. a fourth accommodating groove; 51. a locking piece; 52. a locking elastomer; 53. a buffer block; 54. limiting cushion blocks; 61. a receiving bin; 62. a pushing member; 63. a stretch-assisting elastomer; 64. a support; 81. a first swing shaft; 82. a second swing shaft; 83. a third swing shaft; 84. a fourth swing shaft; 511. a first accommodation groove; 512. a notch; 513. holding the protrusion; 611. extension assisting slideway; 641. the clamping groove is adjusted.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1 to 8, a specific embodiment of a manually locking knee joint according to the present utility model will now be described. The manual locking knee joint comprises a first joint body 1, a first connecting piece 2, a second joint body 3, a second connecting piece 4, a locking component 5 and an extension assisting component 6, wherein one end of the first connecting piece 2 is rotationally connected with the first joint body 1; the second joint body 3 is rotationally connected with the other end of the first connecting piece 2; the second connecting piece 4 is simultaneously connected with the first joint body 1 and the second joint body 3 in a rotating way, and the first joint body 1, the second joint body 3, the first connecting piece 2 and the second connecting piece 4 form a four-bar mechanism together; the locking component 5 is arranged between the second joint body 3 and the first connecting piece 2 and is used for limiting the relative displacement between the second joint body 3 and the first connecting piece 2; the extension assisting component 6 is connected with the first connecting piece 2 and the first joint body 1 at the same time and is used for providing force for changing the included angle value between the first connecting piece 2 and the first joint body 1.
For convenience of explanation, referring to fig. 1, a rectangular coordinate system is established by taking any point in space as an origin, taking the setting direction of the first joint body 1 as a Z axis, taking the setting direction of the first connecting piece 2 relative to the second connecting piece 4 as an X axis, taking a straight line direction vertical to the X axis and the Z axis at the same time as a Y axis, wherein an XY plane is a horizontal plane, the direction indicated on the horizontal plane is a horizontal direction, and the direction indicated on the Z axis is a vertical direction.
Compared with the prior art, the manual locking knee joint has the advantages that through the four-bar mechanism formed by the first joint body 1, the second joint body 3, the first connecting piece 2 and the second connecting piece 4, the whole structure is more flexible to operate, the first joint body 1 is fixed, the first connecting piece 2 is driven to move, the second joint body 3 and the second connecting piece 4 can be driven to synchronously move, the driving is simpler, and the problems of overhigh cost and overlarge occupied space caused by the arrangement of too many driving motors are avoided; the second joint body 3 and the first connecting piece 2 are locked and fixed through the arrangement of the locking component 5, so that the locking and fixing of the whole device are realized, the operation is simple, and the sliding is not easy to occur; through the setting of helping stretching subassembly 6, can be portable drive first connecting piece 2 rotate, the structure sets up succinctly compacter, effectively reduces the space and occupies.
As another embodiment of the present utility model, the structure of the manual locking knee joint is basically the same as that of the above embodiment, except that the locking assembly 5 includes a locking block 51, a locking elastic body 52, a buffer block 53, and a limit pad 54, where the locking block 51 is rotatably connected with the second joint body 3, and is used for limiting the change of the angle between the first connecting piece 2 and the second joint body 3 after being engaged with the first connecting piece 2; the locking elastic body 52 is disposed between the locking block 51 and the second joint body 3, and the locking elastic body 52 may be a spring, for providing a resilience force for the locking block 51 to rotate relative to the second joint body 3; the buffer block 53 is connected with the second joint body 3 and is abutted against the first connecting piece 2, and is used for providing buffer effect for the first connecting piece 2 and the second joint body 3 when the angle between the two bodies is enlarged and collision occurs, so that collision damage is reduced, and service life is prolonged; the limit cushion block 54 is connected with the second joint body 3, and is used for being abutted with the first connecting piece 2 and being abutted with the first connecting piece 2, and is used for providing buffering effect for the first connecting piece 2 and the second joint body 3 when the angle between the two is reduced and collision occurs.
As another implementation manner of the present utility model, the structure of the manually locking knee joint is basically the same as that of the above embodiment, except that the extension assisting component 6 comprises a containing bin 61, a pushing piece 62, an extension assisting elastic body 63 and a supporting piece 64, wherein the containing bin 61 is connected with the first joint body 1 and is arranged through the first joint body 1, and an extension assisting slideway 611 is arranged on the containing bin 61; one end of the pushing piece 62 is abutted with the first connecting piece 2, the other end of the pushing piece extends into the extension assisting slideway 611, and the pushing piece 62 slides along the extension assisting slideway 611; one end of the extension-assisting elastic body 63 is connected with the pushing piece 62, and the extension-assisting elastic body 63 can be a spring for providing acting force for the pushing piece 62 to move towards the first connecting piece 2; the supporting piece 64 is connected with the other end of the extension-assisting elastic body 63 and is arranged in the extension-assisting slideway 611, and the supporting piece 64 is connected with the accommodating bin 61 and is used for providing supporting force for the extension-assisting elastic body 63.
In the present embodiment, the accommodating chamber 61 is provided with an internal thread, and the supporting member 64 is provided with an external thread adapted to the internal thread; an adjusting clamping groove 641 is arranged on one side of the supporting piece 64 away from the extension-assisting elastic body 63; the adjustment groove 641 is in a straight line shape or a cross shape. The support member 64 is rotated to move the support member 64 up or down along the extension-assisted slideway 611, and the pushing member 62 is pushed up or down by the extension-assisted elastic body 63, so that the first connecting member 2 is driven to rotate.
In this embodiment, the end of the first connecting piece 2 near the first joint body 1 is provided with a protrusion 21 for assisting in extending, and the protrusion 21 for assisting in extending is abutted with the pushing piece 62; the first connecting piece 2 is provided with a locking clamping protrusion 22 at one end close to the locking block 51, and the locking clamping protrusion 22 is clamped with the locking block 51; the first connecting piece 2 is also provided with a limit bump 23 which is matched with the limit cushion block 54.
As another embodiment of the present utility model, the structure of the manual locking knee joint is basically the same as that of the above-described example, except that the device further comprises a quadrangular pyramid joint 7, a first swing shaft 81, a second swing shaft 82, a third swing shaft 83, and a fourth swing shaft 84, wherein one end of the quadrangular pyramid joint 7 is connected to the second joint body 3, and the other end is used for being engaged with an external device; the first swing shaft 81 is connected with the first joint body 1 and the first connecting piece 2 at the same time; the second swing shaft 82 is connected with the first joint body 1 and the second connecting piece 4 at the same time; the third swinging shaft 83 is connected with the first connecting piece 2 and the second joint body 3 at the same time; the fourth swing shaft 84 is connected to the second connector 4, the second joint body 3 and the lock block 51 at the same time, and the lock block 51 is rotatably connected to the second joint body 3 through the fourth swing shaft 84.
In the present embodiment, a first accommodating groove 511 for installing the locking elastic body 52 is provided on one side of the locking block 51 near the second joint body 3, and a second accommodating groove 31 for installing the locking elastic body 52 is provided on the second joint body 3; the other side of the locking block 51 is provided with a notch 512 for being engaged with the locking clamp protrusion 22; bearings are arranged on the first swing shaft 81, the second swing shaft 82, the third swing shaft 83 and the fourth swing shaft 84; the locking piece 51 is provided with a holding protrusion 513 at one end far away from the fourth swinging shaft 84, and the holding protrusion 513 is arranged to enable an operator to conveniently operate and control the locking piece 51. It is within the scope of the present application to achieve the above-described performance of the locking piece 51.
In the embodiment, the first joint body 1 is provided with a containing cavity 11, and a containing bin 61 is arranged in the containing cavity 11; the accommodating cavity 11 and the accommodating bin 61 are of cylindrical structures, and the accommodating bin 61 and the accommodating cavity 11 are coaxially arranged; be equipped with on the first joint body 1 with hold the fastening groove 12 of chamber 11 intercommunication, still be connected with first fastener 13 on the first joint body 1, first fastener 13 runs through first joint body 1 and fastening groove 12 setting for adjust the size of fastening groove 12 and be convenient for be connected with external equipment, the diameter size that holds chamber 11 can be changed in the setting of fastening groove 12 and first fastener 13, be convenient for with external equipment adaptation.
In this embodiment, the second joint body 3 is provided with a third accommodating groove 32 for mounting the first connector 2, the lock block 51 is disposed in the third accommodating groove 32, and a fourth accommodating groove 33 for limiting the moving distance of the lock block 51 is further disposed in the third accommodating groove 32. It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. What is not described in detail in the embodiments of the present utility model belongs to the prior art known to those skilled in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A manually-lockable knee joint, comprising:
a first joint body (1);
one end of the first connecting piece (2) is rotationally connected with the first joint body (1);
the second joint body (3) is rotationally connected with the other end of the first connecting piece (2);
the second connecting piece (4) is simultaneously connected with the first joint body (1) and the second joint body (3) in a rotating way, and the first joint body (1), the second joint body (3), the first connecting piece (2) and the second connecting piece (4) form a four-bar mechanism together;
the locking assembly (5) is arranged between the second joint body (3) and the first connecting piece (2) and is used for limiting the relative displacement between the second joint body (3) and the first connecting piece (2);
and the extension assisting component (6) is connected with the first connecting piece (2) and the first joint body (1) at the same time and is used for providing force for changing the value of an included angle between the first connecting piece (2) and the first joint body (1).
2. A manually-locked knee joint according to claim 1, wherein the locking assembly (5) comprises:
the locking block (51) is rotationally connected with the second joint body (3) and is used for limiting the change of the angle between the first connecting piece (2) and the second joint body (3) after being clamped with the first connecting piece (2);
a lock elastic body (52) provided between the lock block (51) and the second joint body (3);
a buffer block (53) connected to the second joint body (3);
and the limiting cushion block (54) is connected with the second joint body (3) and is used for being abutted with the first connecting piece (2).
3. A manually-locked knee joint according to claim 2, wherein the extension-assist assembly (6) comprises:
the accommodating bin (61) is connected with the first joint body (1) and penetrates through the first joint body (1), and an extension assisting slideway (611) is arranged on the accommodating bin (61);
one end of the pushing piece (62) is abutted with the first connecting piece (2), the other end of the pushing piece extends into the extension assisting slideway (611), and the pushing piece (62) slides along the extension assisting slideway (611);
an extension-assisting elastic body (63), one end of which is connected with the pushing piece (62) and is used for providing acting force for the pushing piece (62) to move towards the first connecting piece (2);
and the supporting piece (64) is connected with the other end of the extension-assisting elastic body (63) and is arranged in the extension-assisting slideway (611), and the supporting piece (64) is connected with the accommodating bin (61) and is used for providing supporting force for the extension-assisting elastic body (63).
4. A manually-locked knee joint according to claim 3, further comprising:
one end of the rectangular pyramid connector (7) is connected with the second joint body (3), and the other end of the rectangular pyramid connector is used for being clamped with external equipment;
a first swinging shaft (81) which is simultaneously connected with the first joint body (1) and the first connecting piece (2);
a second swing shaft (82) connected to the first joint body (1) and the second connecting member (4) at the same time;
a third swinging shaft (83) connected with the first connecting piece (2) and the second joint body (3) at the same time;
and a fourth swinging shaft (84) which is simultaneously connected with the second connecting piece (4), the second joint body (3) and the locking piece (51).
5. The manually-locked knee joint according to claim 4, wherein an extension-assisting clamp protrusion (21) is arranged at one end of the first connecting piece (2) close to the first joint body (1), and the extension-assisting clamp protrusion (21) is abutted with the pushing piece (62); one end of the first connecting piece (2) close to the locking piece (51) is provided with a locking clamping protrusion (22), and the locking clamping protrusion (22) is clamped with the locking piece (51); and the first connecting piece (2) is also provided with a limit bump (23) which is matched with the limit cushion block (54).
6. A manually-locked knee joint according to claim 5, wherein a first receiving groove (511) for mounting the locking elastic body (52) is provided on a side of the locking piece (51) close to the second joint body (3), and a second receiving groove (31) for mounting the locking elastic body (52) is provided on the second joint body (3); the other side of the locking block (51) is provided with a notch (512) for being clamped with the locking clamping convex (22).
7. A manually-locked knee joint according to claim 3, wherein the first joint body (1) is provided with a containing cavity (11), and the containing bin (61) is arranged in the containing cavity (11); the accommodating cavity (11) and the accommodating bin (61) are of cylindrical structures, and the accommodating bin (61) and the accommodating cavity (11) are coaxially arranged; the utility model discloses a fastening device for the joint of the automobile, including a first joint body (1), a second joint body (1), a fastening groove (12) that is equipped with hold chamber (11) intercommunication, still be connected with first fastener (13) on the first joint body (1), first fastener (13) run through the first joint body (1) with fastening groove (12) set up, be used for adjusting the size of fastening groove (12) is convenient for be connected with external equipment.
8. A manually locking knee joint according to claim 3, wherein the second joint body (3) is provided with a third accommodating groove (32) for mounting the first connecting piece (2), the locking piece (51) is arranged in the third accommodating groove (32), and a fourth accommodating groove (33) for limiting the moving distance of the locking piece (51) is further arranged in the third accommodating groove (32).
9. A manually-locked knee joint according to claim 6, wherein bearings are provided on each of the first swing shaft (81), the second swing shaft (82), the third swing shaft (83) and the fourth swing shaft (84); one end of the locking piece (51) far away from the fourth swinging shaft (84) is provided with a holding protrusion (513).
10. A manually-locked knee joint according to any of claims 3-9, wherein said receiving compartment (61) is provided with an internal thread and said support (64) is provided with an external thread adapted to said internal thread; an adjusting clamping groove (641) is formed in one side, away from the extension-assisting elastic body (63), of the supporting piece (64); the adjusting clamping groove (641) is in a shape of a straight line or a cross.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223018090.6U CN218905447U (en) | 2022-11-14 | 2022-11-14 | Manual locking formula knee joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223018090.6U CN218905447U (en) | 2022-11-14 | 2022-11-14 | Manual locking formula knee joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218905447U true CN218905447U (en) | 2023-04-25 |
Family
ID=86012193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223018090.6U Active CN218905447U (en) | 2022-11-14 | 2022-11-14 | Manual locking formula knee joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218905447U (en) |
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2022
- 2022-11-14 CN CN202223018090.6U patent/CN218905447U/en active Active
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