DE102015107113B4 - Transport system and treatment machine with such a transport system - Google Patents

Abstract

Transport system (1) for treatment machines, in particular in the form of assembly and / or production machines, with a transport element (2), which consists of a plurality of chain links on chain links (23) hingedly interconnected transport pallets (3) and an in closed loop forms, which is guided over at least two sprockets (4, 5) and driven by at least one drive (6) in a transport direction (A), preferably clocked driven, wherein at the sprockets (4, 5) in each case in a predetermined Spacing or pitch angle sprocket engagement or entrainment areas (8) are provided, which move in circumferential sprockets (4, 5) on a respective pitch circle (8.1) and with between the transport pallets (3) formed entrainment areas (20) cooperate with transport pallet guides (21, 22) for guiding between the transport pallets (3) arranged transport pallet side Führungselem ducks (19, 20) in such a way that the chain hinges (23) are guided on a closed movement path (10) enclosing the sprockets (4, 5) and first sections (13, 14) between the sprockets (4, 5), wherein the transport pallet guides (21, 22) relative to the transport direction (A) in front of a Transportpaletteneinlauf (11.1, 12.1) and after a Transportpalettenauslauf (11.2, 12.2) of the at least two sprockets (4, 5) radially to the axis (4.1, 5.1) Sprockets (4, 5) have a curve corresponding to a compensation curve (24, 24a), characterized in that the course of the compensation curves (24, 24a) is selected so that the movement of the transport pallets (3) on the first sections (13, 14) is linearly proportional to the rotation angle of the sprockets (4, 5), and that each rotation step of the sprockets (4, 5) generates the same moving step of the transport pallets (3) on the first sections (13, 14).

Description

The invention relates to a transport system according to the preamble of claim 1 and to a treatment machine according to the preamble of claim 17.

A transport system having the features of the preamble of claim 1 is known ( DE 10 2012 104 213 A1 ). This transport system, which is intended in particular for use in treatment machines, preferably in assembly and / or production machines, used to avoid the so-called. Polygon effect in the range of Transportpaletteneinlaufs and Transportpalettenauslaufs the sprockets and deflections transport pallet guides whose course corresponds to the polygon effect avoiding balance curve , When using the transport system in a treatment machine working positions or stations are formed at sections of the trajectory of the transport pallets between the sprockets on which the transport pallets are clocked with arranged on these products, objects or workpieces passed. However, there is a certain problem when several treatments have to be carried out in succession at work positions or stations, and in this case the respective transport pallet located at a working position or station has to be moved precisely between a respective movement or clock step between every two work steps, such as This is the case, for example, in the assembly of multiple connector strips or terminals. So far, this requires at least a not inconsiderable control effort.

From the publication DE 39 90 012 C1 has become known a plant with multiple workstations for machining and / or assembly of components, with workpiece carriers, which are provided with receptacles for holding components, and associated with the workpiece carriers transport chain as a feed drive and with a guide device with guide tracks with guide rails for the height guide of transport chain. The guideways are arranged on housing parts parallel to an upper side of the same and connected to one another and to a deflection station for the transport chain via guiding and / or coupling devices to form a housing unit. The DE 39 90 012 C1 Characterized in particular by the fact that the height guide track extends in the deflection of the immediately preceding this housing part to a rotational axis or drive shaft of a deflection plate and a distance between the height guide track and the rotation axis or drive shaft in the region of the vertex of the deflection is greater than a radius of a root circle of the deflection plate and this distance in the circumferential direction of the deflection disc decreases to this radius.

From KROSE, Theo; SOPUCH, Martin: A new timing chain without polygon effect; in: MTZ Motortechnische Zeitschrift, Jg. 65, 2004, H. 5, p 382-389 ; ISSN 0024-8525 has become known a chain that theoretically eliminates the polygon effect.

The object of the invention is to show a transport system, which makes it possible at the same time at several working positions or stations, which are also provided in particular between the sprockets extending portions of the trajectory of the transport pallets, with reduced tax expense at the same time processing of objects, products or Perform workpieces.

To solve this problem, a transport element is designed according to claim 1. A treatment machine is the subject of claim 17.

The transport system according to the invention is characterized in that the movement of the transport pallets along the movement path and in particular also on the extending between the sprockets portions of the movement path is linearly proportional to the rotational movement or the angle of rotation of the sprockets, and that specifically on the between the Sprocket extending portions of the orbit is achieved a synchronization for the transport pallets in such a way that each rotation step of the sprockets results in an equal movement step of the transport pallets on the extending between the sprockets sections.

In the invention, the compensation curves, which are provided on the at least two sprockets before Transportpaletteneinlauf and after the Transportpalettenauslauf, each completely included within an angular range extending between the Transportpaletteneinlauf and a the axis of the respective sprocket enclosing plane or between the extends between the transport pallet outlet and this plane enclosing the axis of the respective sprocket. This angular range is maximum 45 °. The compensation curves are thus in each case completely within the angular range of the rotational movement of the respective sprocket, so that those sections the trajectory of the transport pallets, which can be used between the at least two sprockets or the intersections of the above levels with the respective pitch circle of the respective sprocket, on its entire length for the arrangement of working or treatment positions, etc., and this preferably straight run.

"Parting circle of the sprocket" means in the context of the invention that circular path about the axis of the sprocket on which the sprocket engagement or entrainment areas move, engage in the driving areas of the chain-like transport element and formed, for example, of the periphery of the sprocket recesses between sprocket teeth are.

"Treatment machines" in the context of the present invention are generally machines or devices for treating products or objects in a wide variety of ways, in particular manufacturing and / or assembly machines or manufacturing and / or assembly devices for machining and / or processing and / or assembly of components or assemblies in several temporally successive steps at each one and / or at different working positions or stations.

"Treatment" in the sense of the invention means any treatment of products or objects in the broadest sense, in particular processing and / or processing and / or assembly, etc.

"Timed movement" in the sense of the invention means a movement in steps, each subsequent standstill phase, i. in movement cycles, each of which has a movement phase and a stoppage phase.

"Transport pallet inlet of the sprocket" is within the meaning of the invention, that angular position of the circular path of movement or the pitch circle of the drive areas of the sprocket on the (angular position) the driving areas of the chain-like transport element are completely taken for the first time in each case a sprocket engagement or entrainment of the sprocket or For the first time with a sprocket engagement or entrainment fully compliant come into engagement.

"Outlet of the sprocket" is in the context of the invention that point of the circular path of movement of the sprocket engagement or entrainment of the sprocket on which the entrainment areas of the chain-like transport element each move out of the sprocket engagement or entrainment areas.

The term "substantially" or "approximately" in the sense of the invention means deviations from respectively exact values by +/- 10%, preferably by +/- 5% and / or deviations in the form of changes insignificant for the function.

"Polygon compensation" means according to the invention in particular a compensation or compensation of the polygon effect of the sprockets due to changing transport speed or the changing transport path of the transport element in such a way that the transport speed or the transport of a clocked movement of the transport element at least Sections of the transport system is constant or substantially constant, where working positions or stations are provided.

In a development of the invention, the transport system is designed for example in such a way that
the at least two sprockets are of identical design, at least with regard to the number of entrainment areas,
or
that the number of entrainment areas of the sprockets is even, ie an integer multiple of two, the sprockets are formed, for example, in eight parts with eight entrainment areas,
or
that the transport pallets are clocked or moved step by step on the movement path,
or
that working positions are formed at the movement path,
or
in that, based on the transport direction, the compensation curve following the transport pallet outlet of the respective sprocket has such a course that a distance between this compensation curve and the pitch circle in the direction of rotation of the sprocket increases with increasing angular distance from the sprocket Transport pallet spout of the sprocket increases, namely according to an S-shaped curve whose pitch is greater at the beginning and at the end than in a central region,
or
in that, relative to the transport direction, the compensating curve preceding the transport pallet inlet of the respective sprocket has such a course that a distance between this compensating curve and the pitch circle increases counter to the direction of rotation of the sprocket with increasing angular distance from the transport pallet inlet of the sprocket, corresponding to an S-shaped course whose pitch is greater at the beginning and at the end than in a central area,
or
that the compensation curves on the transport pallet outlet of the sprockets and also the compensation curves on the transport pallet inlet of the sprockets are identical,
or
that on at least one sprocket, preferably on all sprockets, the compensation curve at the transport pallet outlet of the respective sprocket and the compensation curve on the transport pallet inlet of the respective sprocket range only to a common plane which is oriented perpendicular to the trajectory of the transport pallets includes the axis of the respective sprocket,
or
the compensation curve on the transport pallet inlet of each sprocket is mirror-symmetrical with respect to the compensation curve of the transport pallet outlet, relative to a plane enclosing the axis of the respective sprocket, for example with respect to a center plane of the transport system,
or
the trajectory of the transport pallets comprises, in addition to the first, preferably rectilinear sections extending between the sprockets, second arcuate sections each between a transport pallet entrance and a transport pallet outlet of the sprocket and third and fourth curved sections on which the balancing curves are formed;
or
that the third sections are each provided between a transport pallet outlet of a sprocket (4, 5) and a transport pallet inlet of a first section and the fourth sections each between a transport pallet outlet of a first section and the transport pallet inlet of a sprocket, or
that the length of the third and fourth sections corresponds in each case to a pitch of the sprockets or to the distance between two chain joints of the transport element,
or
the transport pallet inlets and the transport pallet outlets of the first sections each have a radial distance from the axis of the respective sprocket which is larger by an amount or offset than the radius of the pitch circle of this sprocket,
or
in that the sprockets are spaced apart with their axes in a first axial direction, in which also the first sections extend, and in that the transport pallet inlet and the transport pallet outlet of the first sections respectively in or on a plane oriented perpendicular to the first axial direction and enclosing the axis of a sprocket are arranged
or
that the compensation curves on the transport pallet outlet of the sprockets and the compensation curves on the transport pallet inlet of the sprockets are identical, but with the compensation curve on Transportpaletteneinlauf each sprocket based on an axis of the respective sprocket enclosing plane, for example, based on a median plane between the transport pallet inlet and the transport pallet spout or for example, based on a center plane of the transport system mirror symmetrical to the compensation curve of Transportpalettenauslaufs is executed, or that at least two sprockets, the compensation curve on Transportpalettenauslauf each sprocket is mirror symmetrical to the compensation curve of Transportpaletteneinlaufs the other sprocket, based on a median plane perpendicular is oriented to a connecting line between the axes of the sprockets, said Me Rkmale can be used individually or in any combination.

Further developments, advantages and applications of the invention will become apparent from the following description of exemplary embodiments and from the figures. In this case, all described and / or illustrated features alone or in any combination are fundamentally the subject of the invention, regardless of their summary in the claims or their dependency. Also, the content of the claims is made an integral part of the description.

• 1 in vereinfachter perspektivischer Darstellung das Transportelement gemäß der Erfindung zur Verwendung bei einer Montage- und/oder Fertigungsmaschine;
• 2 und 3 jeweils in sehr vereinfachter schematischer Darstellung und in Draufsicht das Transportelement der 1;
• 4 in perspektivischer Darstellung zwei gelenkig miteinander verbundene Transportpaletten des Transportsystems der 1-3;
• 5 einen Vertikalschnitt des Transportsystems auf einer Teillänge zwischen den Kettenrädern des Transportsystems;
• 6-9 jeweils den Verlauf von Ausgleichskurven am Transportpaletteneinlauf und Transportpalettenauslauf der Kettenräder, und zwar im Vergleich zu einer Kreisbahn um die Achse des jeweiligen Kettenrades;
• 10 in Abhängigkeit von einem Winkelabstand α bzw. β der Abstand Δ zwischen der jeweiligen Ausgleichskurve und einem Teilkreis des Kettenrades;
• 11 und 12 Darstellungen zur Erläuterung der Ermittlung des Verlaufs einer Ausgleichskurve als Folge von Schnittpunkten zweier Kreise.

The invention will be explained in more detail below with reference to the figures of an embodiment. Show it:

• 1 in a simplified perspective view of the transport element according to the invention for use in an assembly and / or production machine;
• 2 and 3 in each case in a very simplified schematic representation and in plan view the transport element of 1 ;
• 4 in perspective view two articulated transport pallets of the transport system of the 1-3 ;
• 5 a vertical section of the transport system over a partial length between the sprockets of the transport system;
• 6-9 in each case the course of compensation curves on the transport pallet inlet and transport pallet outlet of the sprockets, in comparison to a circular path about the axis of the respective sprocket;
• 10 depending on an angular distance α or β, the distance Δ between the respective compensation curve and a pitch circle of the sprocket;
• 11 and 12 Representations explaining the determination of the course of a compensation curve as a result of intersections of two circles.

For better understanding in the figures, the mutually perpendicular coordinate or spatial axes X, Y and Z are indicated, of which in the illustrated embodiment, the X-axis and Y-axis define a horizontal or substantially horizontal XY plane and of which the Z axis is oriented perpendicular to this XY plane.

In the figures, 1 is a transport system of a treatment machine not otherwise shown, for example in the form of an assembly and / or production machine. The transport system 1 comprises a hinge or chain-like transport element 2 (Chain strand) with a variety of transport pallets 3 which are hingedly connected to one another in the manner of a chain of links, to form a closed loop forming transport element 2 , which via two in the horizontal direction, ie in the direction of the X-axis spaced apart sprockets 4 and 5 is guided. The two sprockets 4 and 5 of which the sprocket 4 directly, ie gearless by a drive 6 , preferably driven by a torque motor, are with their axes 4.1 respectively. 5.1 in the vertical direction or substantially in the vertical direction, ie oriented parallel to the Z-axis in a machine frame 7 stored. The of the transport element 2 formed loop is thus arranged in a horizontal or substantially horizontal plane, ie in the XY plane. The transport pallets 3 are each with a recording 3.1 provided, for the inclusion of objects 9 (eg workpieces or other products), which with the circulating transport element 2 in the transport direction A to be moved. The transport system 1 is in the illustrated embodiment mirror-symmetrical to a median plane EM1 formed the two axes 4.1 and 5.1 as well as oriented perpendicular to the XY plane.

In the illustrated embodiment, the sprocket 4 through the drive 6 at the for the 2 and 3 selected representation driven counterclockwise according to the arrow B. Accordingly, the freely rotatably mounted on the machine frame 7 and serving as a reversing sprocket runs 5 counterclockwise according to the arrow C around. In the illustrated embodiment, the two sprockets 4 and 5 designed identically, in each case as eight-piece sprockets, so that they each have eight sprocket engagement or entrainment areas or recordings 8th have, as driving areas for the chain links of the transport element 2 act on a circular path or pitch circle 8.1 around the axis 4.1 respectively. 5.1 of the respective sprocket 4 respectively. 5 circulate. The scope of each sprocket 4 respectively. 5 open pocket-like recesses 8th each form a "sprocket tooth" and have a pitch equal to the chain link length KL the chain links of the transport element 2 is equal to the length of each transport pallet 3 or the axial distance between two in the transport direction A successive chain joints 23.

When the drive is switched on 6 the transport pallets are moving 3 thus in the transport direction A on a in the figures generally designated 10, the closed loop of the transport element 2 corresponding trajectory, the first two circular arc sections 11 and 12 of which the section 11 between the transport pallet inlet 11.1 and the transport pallet outlet 11.2 of the sprocket 4 and the section 12 between the transport pallet inlet 12.1 and the transport pallet outlet 12.2 of the sprocket 5 is formed.

The trajectory 10 further includes two rectilinear sections 13 and 14 , each in the X-axis between the two sprockets 4 and 5 extend, but in the direction of the Y-axis a distance Δ have from each other, which is greater than twice the radius of the pitch circle 8.1 . d .H. every section 13 and 14 has in the direction of the Y-axis of one of the axes 4.1 and 5.1 enclosing XZ plane or midplane, respectively EM1 a distance Δ that's about the offset d is greater than the radius of the pitch circle 8.1.

The transport pallet inlet 13.1 of the section 13 and the transport pallet outlet 14.2 of the section 14 are located in one the axis 4.1 including the horizontal YZ plane labeled E4. The transport pallet spout can be found in the same way 13.2 of the section 13 and the transport pallet inlet 14.1 of the section 14 in one the axis 5.1 enclosing YZ plane labeled E5. In the area of this the axis 4.1 respectively. 5.1 inclusive levels E4 and E5 there is also the offset d ,

Transport pallet inlet 11.1 or 12.1 and transport pallet outlet 11.2 respectively. 12.2 This means the angular position of the rotational movement of the respective sprocket 4 and 5, at the respective transport pallet 3 from the sprocket 4 respectively. 5 fully positively detected or from the positive connection with the sprocket 4 respectively. 5 comes free again. In the illustrated embodiment, the transport pallet inlets 11.1 and 12.1 are each in the direction of rotation B respectively. C at 45 ° to the axis 4.1 of the respective sprocket 4 respectively. 5 enclosing level E4 and E5, respectively, such that the transport pallet inlets 11.1 and 12.1 each in the direction of rotation B respectively. C follow this level. Analogously, the transport pallet outlets 11.2 and 12.2 with respect to the axis 4.1 respectively. 5.1 inclusive level E4 respectively. E5 offset by 45 °, but in such a way that the relevant Transportpalettenauslauf 11.2 . 12.2 in the direction of rotation B respectively. C in front of the plane E4 respectively. E5 located.

The trajectory 10 still includes sections 15 - 18 , of which the section 15 between the transport pallet outlet 11.2 and the transport pallet inlet 13.1, the section 16 between the transport pallet outlet 13.2 and the transport pallet inlet 12.1 , the section 17 between the transport pallet outlet 12.2 and the transport pallet inlet 14.1 and the section 18 between the transport pallet outlet 14.2 and the transport pallet inlet 11.1 extend. The sections 15 - 18 are at least in terms of the horizontal guide (in the XY plane) or the radial guide (relative to the respective axis 4.1 and 5.1 ) of the transport pallets 3 designed in the manner described in more detail below, that during circulation of the chain-like transport element 2 not only a complete compensation of the polygon effect (polygon compensation) is achieved, but above all, it is ensured that each rotation step of the sprockets 4 and 5 a linear proportional movement step of the transport pallets 3 especially on the sections 13 and 14 causes and also this movement step of the transport pallets 3 on both sections 13 and 14 Although opposite, but identical in terms of size, ie in so far a synchronization of the movement of the transport element 2 and the transport pallets 3 on both sections 13 and 14 is present. This makes it possible, inter alia, at both sections 13 and 14 provide the transport system 1 working positions or stations, which then at a simple control effort at the same time to each one object 9 perform several operations such that between two temporally successive machining operations arranged at the relevant work position or station workpiece with its transport pallet 3 a movement step or stroke in the transport direction A is moved on with high accuracy.

The sections 15 and 17 are with regard to the course of the transport pallet guide 21 . 22 for the transport pallets 3 basically identical and rich each only up to the level E4 or E5 , But more detail is the section 16 and its transport pallet guide with respect to the axles 4.1 and 5.1 enclosing mid-plane EM1 mirror-symmetrical to the section 17 and its transport pallet guide executed. Likewise, the section 18 and its transport pallet guide with respect to the median plane EM1 mirror-symmetrical to section 15 and its transport pallet guide 21 . 22 educated.

The transport pallets have more detail 3 each guide elements 19 and 20 on, of which the guide elements 19 for guidance in the Z-axis, ie in the illustrated embodiment for vertical guidance of the transport pallets 3 on a transport pallet guide 21 and of which the guide elements 20 outside the sections 11 and 12 for guidance in the XY plane, ie in the illustrated embodiment for horizontal guidance of the transport pallets 3 serve on transport pallet guides 22. How the particular 4 can be seen, are the guide elements 20 arranged in pairs, namely freely rotatable on chain joints 23, each of which the transport pallets 3 form interconnecting chain link and parallel to the axes 4.1 and 5.1 are oriented. The guide elements 20 are in the illustrated embodiment, respectively at the two ends of the respective transport pallet 3 provided and form the in the sprocket engagement or entrainment areas 8th the sprockets 4 and 5 engaging driver elements of the transport element 2 ,

Preferably, the transport pallet guide extends 21 also in the field of sprockets 4 and 5. These are then each designed in two parts, with an upper and a lower sprocket element, which the sprocket engagement or entrainment areas 8th having. Between these two sprocket elements then runs the transport pallet guide 21 ,

At the sections 15 and 17 is the transport pallet guide 22 designed so that the rollers 20 and with it the axes 23 or chain joints on a compensation curve 24 move according to the 6 and 7 with increasing angular distance α (in the direction of rotation B respectively. C around the axis 4.1 respectively. 5.1 ) from the transport pallet outlet 11.2 or 12.2 radially to the axis 4.1 respectively. 5.1 an increasing distance Δ from the circle 8.1 has, as in the 6 and 7 is shown, in which with R the radius of the pitch circle 8.1 . d .H. the center distance is designated, that between the axle 4.1 respectively. 5.1 and the hinge point or hinge pin 23 between two transport pallets 3 exists when this chain link 23 on the section 11 or 12 of the orbit 10 located. With r24 is there the radial distance of the compensation curve 24 from the axis 4.1 respectively. 5.1 designated.

The of special dimensions of the transport system 1 independent fundamental course of Δ depending on the angular distance α is from the 10 seen. As shown there, the distance points Δ with increasing angular distance α first a steep descent, then a flattened course and then again a steep rise, which then at an angular distance a, the pitch of the sprocket engagement or entrainment areas 8th or chain link length KL corresponds and in the illustrated embodiment is 45 °, in the transport pallet guide 22 of the section 13 respectively. 14 passes. The maximum value of the distance Δ is equal to the offset d , The angular distance α Zero is thus present when the respective sprocket engagement or entrainment area 8th at the transport pallet outlet 11.2 respectively. 12.2 located, and the angle α = 45 ° when the recess in question is the plane E4 respectively. E5 has reached.

Relative to one plane, the bisector of the rotational movement of the sprocket 4 and 5 between the transport pallet inlet 11.1 and the transport pallet outlet 11.2 or between the transport pallet inlet 12.1 and the transport pallet spout 12.2 which is oriented perpendicular to the XY plane is the course of the compensation curves 24a at the sections 16 and 18 mirror-symmetrical to the compensation curves 24 educated. Furthermore, in the illustrated embodiment, the compensation curve 24 at the transport pallet outlet 11.2 respectively. 12.2 every sprocket 4 respectively. 5 mirror-symmetrical to the compensation curve 24a of the transport pallet inlet 11.1 respectively. 12.1 the other sprocket 5 respectively. 4 is executed, with respect to a median plane EM2 which includes the Y-axis and the Z-axis and perpendicular to a connecting line between the axes 4.1 and 5.1 the sprockets 4 and 5 is oriented. The course of the compensation curves 24a the sections 16 and 18 is in the 8th and 9 shown. For the compensation curves 24a results in a course of the distance Δ that the course of this distance Δ in the compensation curves 24 corresponds, however, as a function of an angular distance β (contrary to the direction of rotation B respectively. C around the axis 4.1 respectively. 5.1 ) from the transport pallet inlet 11.1 respectively. 12.1 ,

An advantageous embodiment of the transport system according to the invention 1 with eight-member sprockets 4 and 5 is formed as follows: Chain link length KL 80 units Diameter of the pitch circle 8.1 about 209 units Distance between the sections 13 and 14 of the Center plane EM1 each about 107.5 units Offset d about 3 - 4 units, One unit is preferably 1 mm.

In this embodiment of the transport system according to the invention 1 is per degree of rotation angle change of the sprockets 4 and 5 the transport element 1 moved by 80 units / 45 = 1.7777 units. Furthermore, results for the compensation curve 24 of the section 15 from the following Table 1 shows the optimum course depending on the angular distance a: Table 1 Angular distance α Px value Py value 0 73.910 73.910 5 67.653 80.311 10 60.589 86.023 15 52.922 91.022 20 44.814 95.312 25 36.398 98.920 30 27.774 101.888 35 19.016 104.266 40 10.181 106.115 45 1,304 107.500

Where Px is the position value in the X-axis and Py is the position value in the Y-axis, with respect to a coordinate system, its zero point with the axis 4.1 coincides.

The 10 is the course of the distance Δ between the compensation curve 24 and the pitch circle 8.1 in units, depending on the angular distance α in the direction of rotation B of the sprocket 4 , wherein a unit is again preferably 1mm. As mentioned, points Δ depending on the angular distance α the approximately S-shaped course, with a steeper increase between the angular distance α is equal to zero and an angular distance a, which is about 25% to 27% of the angular or pitch distance between two sprocket engagement or entrainment areas or recesses 8th equivalent. The achieved intermediate value of Δ then increases with increasing angular distance α only delayed until finally at an angular distance a, which is approximately 65% to 70% of the angular or pitch distance between two sprocket engagement or entrainment areas 8th corresponds, a renewed steep rise Δ with increasing angle of rotation α he follows.

The presentation of the 10 and Table 1 apply analogously to the compensation curve 24 of the section 17 the trajectory 10 , but according to the following table 2 with opposite sign of the position values Px and Py: Table 2 Angular distance α Px value Py value 0 -73.910 -73.910 5 -67.653 -80.311 10 -60.589 -86.023 15 -52.922 -91.022 20 -44.814 -95.312 25 -36.398 -98.920 30 -27.774 -101.888 35 -19.016 -104.266 40 -10.181 -106.115 45 -1.304 -107.500

The aforesaid position values Px and Py refer in turn to a coordinate system which includes the X-axis and the Y-axis and whose zero points coincide with the axis 5.1 as a function of the angular distance α from the transport pallet outlet 12.2 in the direction of rotation C , where the angular distance α at the transport pallet outlet 12.2 equal to zero and at the transport pallet inlet 14.1 equal to the angular or pitch distance between two sprocket engagement or entrainment areas 8.

The compensation curve 24a of the section 16 is defined by the position values Px and Py given in Table 3 below. Table 3 Angular distance β Px value Py value 0 -73.910 73.910 5 -67.653 80.311 10 -60.589 86.023 15 -52.922 91.022 20 -44.814 95.312 25 -36.398 98.920 30 -27.774 101.888 35 -19.016 104.266 40 -10.181 106.115 45 -1.304 107.500

The aforesaid position values Px and Py in turn refer to a coordinate system which includes the X-axis and the Y-axis and whose zero points coincide with the axis 5.1 as a function of an angular distance β from the transport pallet inlet 12.1, counter to the direction of rotation C , where the angular distance β at the transport pallet inlet 12.1 equal to zero and at the transport pallet outlet 13.2 is equal to the angular or pitch distance between two sprocket engagement or entrainment areas 8

The compensation curve 24a of the section 18 is analogous to the compensation curve 24a of Section 16, but in accordance with Table 4 below with the opposite sign of the position values Px and Py: Table 4 Angular distance β Px value Py value 0 73.910 -73.910 5 67.653 -80.311 10 60.589 -86.023 15 52.922 -91.022 20 44.814 -95.312 25 36.398 -98.920 30 27.774 -101.888 35 19.016 -104.266 40 10.181 -106.115 45 1,304 -107.500

The aforesaid position values Px and Py refer in turn to a coordinate system which includes the X-axis and the Y-axis and whose zero points coincide with the axis 5.1 as a function of the angular distance β from the transport pallet inlet 11.1, counter to the direction of rotation B , where the angular distance β at the transport pallet inlet 11.1 is equal to zero and the transport pallet outlet 14.2 equal to the angular or pitch spacing between two sprocket engagement or entrainment areas 8

At both compensation curves 24a thus results in a course for the distance Δ between the compensation curve 24a and the circle 8.1 , which is the representation of 10 corresponds, however, depending on the angular distance β ,

The S-shaped course of the difference Δ between the compensation curve 24 respectively. 24a and the circle 8.1 , on which the sprocket engaging or driving portions or recesses 8 move, but regardless of specific dimensions of the transport system but typical for the compensation curves 24 and 24a of the transport system according to the invention 1 or for the course of the guides of the sections 15-18, each between the rectilinear sections 14 and 15 and the sprockets 4 and 5 or the local Transportpaletteneinläufen 11.1 . 12.1 and Transportpalettenausläufen 11.2, 12.2 are provided. Furthermore, the compensation curves 24 and 24a are in any case designed such that the compensation curve 24 . 24a in no case the circle 8.1 cuts, ie the distance Δ between the compensation curve 24, 24a and the pitch circle 8.1 Zero or greater than zero.

Due to the typical S-shaped course of the compensation curves 24 and 24a is not just a linear proportional movement of the transport pallets 3 depending on the angle of rotation of the sprockets 4 and 5 especially on the sections 13 and 14 the trajectory 10 achieved, but also achieved that each rotation step of the sprockets 4 and 5 respectively the same movement step of the transport pallets 3 on the sections 13 and 14 generated.

From the figures it can be seen that the compensation curves 24 . 24a on the at least two sprockets 4 . 5 each completely within an angular range ( α . β ) extending between the transport pallet inlet 11.1 . 12.1 and one the axis 4.1, 5.1 of the respective sprocket 4 . 5 inclusive level E4 . E5 or between the transport pallet outlet 11.2 . 12.2 and this the axle 4.1 . 5.1 of the respective sprocket 4 . 5 inclusive level E4 . E5 extends, wherein the angle range is a maximum of 45 °.

$$\begin{array}{cc}{y}_1\left(\alpha \right)=R\text{sin}\left(\alpha +90°-2\cdot \frac{360°}{n}\right)& y_2\left(\alpha \right)=R+d\end{array}$$

In general, the compensation curves can be 24 and 24a each represent by a sequence of intersections of two circles whose radius is equal to the chain link length KL is and whose center is dependent on the angular distance α respectively. β from the transport pallet inlet 11.1 respectively. 12.1 and transport pallet spout 11.2 respectively. 12.2 as shown in Figs. 11 and 12 for the compensation curve 24 is indicated on the transport pallet outlet 11.2. For the determination of the compensation curve 24 at the transport pallet outlet 11.2 applies: $$\begin{array}{cc}{x}_1\left(\alpha \right)=R\text{cos}\left(\alpha +90°-2\cdot \frac{360°}{n}\right)& x_2\left(\alpha \right)=x_0-\frac{KL}{\raisebox{1ex}{$360°$}\!\left/ \!\raisebox{-1ex}{$n$}\right.}\end{array}\cdot \alpha$$

$$\begin{array}{cc}{y}_1\left(\alpha \right)=R\text{sin}\left(\alpha +90°-2\cdot \frac{360°}{n}\right)& y_2\left(\alpha \right)=R+d\end{array}$$

Here is: $$x_0=R\text{cos}\left(90°-\frac{360°}{n}\right)-\sqrt{K{L}^2-{\left(R+d-R\text{sin}\left(90°-\frac{360°}{n}\right)\right)}^2}$$

With x ₁ and y ₁ are the coordinates of the center of a circle and x ₂ and y ₂ denotes the coordinates of the center of the other circle, and with respect to the coordinate system, which is the x-axis and the perpendicular thereto y- Axis and its zero point with the axis 4.1 of the sprocket 4 coincides. The positive direction of the x-axis extends at the for the 3 selected representation to the left, ie to the sprocket 5 opposite side. The angular distance α is the distance from the transport pallet outlet 11.2 in the direction of rotation B of the sprocket 4 , The angular distance α is therefore equal to zero at the transport pallet outlet 11.2 and is at the transition to the section 13 the orbit of movement 10 equal to the pitch between two engagement or entrainment areas 8th of the sprocket 4 in the direction of rotation B follow one another. Furthermore, R are the radius of the pitch circle 8.1 , n the pitch of the sprocket 4 . KL the chain link length and d the offset, ie the maximum value of the distance Δ ,

Between the radius R and the chain link length KL the following relationship also exists: $$R=\frac{\mathrm{<figure-callout\; id="2"\; label="K\; L"\; filenames="DE102015107113B4\_0014.png,DE102015107113B4\_0015.png"\; state="\{\{state\}\}">K\; </figure-callout>}L}{2\text{sin}\left(\frac{180}{n}\right)}$$

For the coordinates x and y of the respective intersection of the two circles and thus for the course of the compensation curve 24 thus results: $$\left(\begin{array}{l}x\left(\alpha \right)\\ y\left(\alpha \right)\end{array}\right)=\left(\begin{array}{l}{x}_1\\ y_1\end{array}\right)+\frac{1}{2}\left[\left(\begin{array}{l}{x}_2\\ y_2\end{array}\right)-\left(\begin{array}{l}{x}_1\\ y_1\end{array}\right)\right]+{\left(\begin{array}{c}{y}_2-y_1\\ -\left(x_2-x_1\right)\end{array}\right)}^0\cdot \sqrt{K{L}^2-{\left[\frac{1}{2}\Vert \left(\begin{array}{l}{x}_2-x_1\\ y_2-y_1\end{array}\right)\Vert \right]}^2}$$

der normierte Vektor zu x und ||·|| die euklidische Vektornorm.Here are: ${\overline{x}}^0=\frac{\overline{x}}{\Vert \overline{x}\Vert }$

the normalized vector too x and || · || the Euclidean vector standard.

From the above coordinates x and y of the intersections of the two circles can then also the course of the difference Δ depending on the angular distance α be determined: $$\mathrm{\Delta }=\text{r}\left(\mathrm{\alpha }\right)-\text{R}$$

Here is: $$r\left(\alpha \right)=\sqrt{x{\left(\alpha \right)}^2+y{\left(\alpha \right)}^2}$$

Because the compensation curves 24 and 24a , as already described above, each mirror-symmetrical to the center planes EM1 and EM2 can be executed, from the determined in the manner described above, the course of the compensation curve 24 at the transport pallet outlet 11.2 also the other compensation curves 24 and 24a be determined.

The invention has been described above by means of exemplary embodiments. It is understood that numerous changes and modifications are possible without thereby departing from the inventive concept underlying the invention.

LIST OF REFERENCE NUMBERS

1

transport system

2

Chain-like transport element

3

pallet

3.1

admission

4, 5

Sprocket

4.1, 5.1

Axle of the sprocket

6

Drive (torque motor)

7

machine frame

8th

Sprocket engagement or entrainment area

8.1

Pitch circle of the recesses 8

9

object

10

Trajectory of the transport pallets 3

11

circular portion of the trajectory 10

11.1

Pallet infeed

11.2

Pallet outlet

12

circular portion of the trajectory 10

12.1

Pallet infeed

12.2

Pallet outlet

13

straight section of the trajectory 10

13.1

Pallet infeed

13.2

Pallet outlet

14

straight section of the trajectory 10

15

Section of the trajectory 10

16

Section of the trajectory 10

17

Section of the trajectory 10

18

Section of the trajectory 10

19, 20

Guide elements on the transport pallets 3

21, 22

Pallet management

23

chain link

24, 24a

regression curve

A

Transport direction of the transport pallets 3

B

Direction of rotation of the sprockets 4 and 5

C

Direction of rotation of the sprockets 4 and 5

EM1, EM2

midplane

E4, E5

level

KL

Chain link length

d

offset

R

Radius of the pitch circle 8th .1

r24

Radial distance of the compensation curve 24

R 24a

radial distance of the compensation curve 24a

Δ

Distance between compensation curve 24 / 24a and partial circle 8th .1

α

angular distance

β

angular distance

Claims (17)

Transport system (1) for treatment machines, in particular in the form of assembly and / or production machines, with a transport element (2), which consists of a plurality of chain links on chain links (23) hingedly interconnected transport pallets (3) and an in closed loop forms, which is guided over at least two sprockets (4, 5) and driven by at least one drive (6) in a transport direction (A), preferably clocked driven, wherein at the sprockets (4, 5) in each case in a predetermined Spacing or pitch angle sprocket engagement or entrainment areas (8) are provided, which move in circumferential sprockets (4, 5) on a respective pitch circle (8.1) and with between the transport pallets (3) formed entrainment areas (20) cooperate with transport pallet guides (21, 22) for guiding between the transport pallets (3) arranged transport pallet side Führungselem ducks (19, 20) in such a way that the chain hinges (23) are guided on a closed movement path (10) enclosing the sprockets (4, 5) and first sections (13, 14) between the sprockets (4, 5), wherein the transport pallet guides (21, 22) relative to the transport direction (A) in front of a Transportpaletteneinlauf (11.1, 12.1) and after a Transportpalettenauslauf (11.2, 12.2) of the at least two sprockets (4, 5) radially to the axis (4.1, 5.1) Sprockets (4, 5) have a curve corresponding to a compensation curve (24, 24a), characterized in that the course of the compensation curves (24, 24a) is selected so that the movement of the Transport pallets (3) on the first portions (13, 14) is linearly proportional to the rotation angle of the sprockets (4, 5), and that each rotation step of the sprockets (4, 5) the same movement step of the transport pallets (3) on the first portions (13 , 14). Transport system (1) to Claim 1 , characterized in that the compensation curves (24, 24a) on the at least two sprockets (4, 5) in each case completely within an angular range (α, β) extending between the Transportpaletteneinlauf (11.2, 12.2) and the axis (4.1 , 5.1) of the respective sprocket (4, 5) enclosing plane (E4, E5) or between the Transportpalettenauslauf (11.1, 12.1) and this the axis (4.1, 5.1) of the respective sprocket (4, 5) enclosing plane ( E4, E5), wherein the angular range is a maximum of 45 °. Transport system (1) to Claim 1 or 2 , characterized in that the compensation curves (24, 24a) on the at least two sprockets (4, 5) in each case completely within an angular range (α, β) extending between the Transportpaletteneinlauf (11.2, 12.2) and the axis (4.1 , 5.1) of the respective sprocket (4, 5) enclosing plane (E4, E5) or between the Transportpalettenauslauf (11.1, 12.1) and this the axis (4.1, 5.1) of the respective sprocket (4, 5) enclosing plane ( E4, E5), wherein the angular range is at most 45 °, and / or that the course of the compensation curves (24, 24a) is selected so that the movement of the transport pallets (3) on the first sections (13, 14) linearly proportional to the rotation angle of the sprockets (4, 5), and that each rotation step of the sprockets (4, 5) generates the same moving step of the transport pallets (3) on the first sections (13, 14). Transport system (1) according to one of the preceding claims, characterized in that the total length of each compensation curve (24) is equal to the pitch of the engagement or entrainment areas (8) and equal to the chain link length (KL) of the transport element (2), based Transport direction (A) on the Transportpalettenauslauf (11.2, 12.2) of the respective sprocket (4, 5) following compensation curve (24) has such a profile that a distance (Δ) between this compensation curve (24) and the pitch circle (8.1) in Direction of rotation (B, C) of the sprocket (4, 5) with increasing angular distance (α) from the Transportpalettenauslauf (11.2, 12.2) increases, corresponding to an S-shaped curve whose pitch at the beginning and at the end of the compensation curve (24) is greater than in a central region, and that with respect to the transport direction (A) the compensation pallet (2, 2) preceding the transport pallet inlet (11.1, 12.1) of the respective sprocket (4, 5) 4a) has a profile such that a distance (Δ) between this compensation curve (24a) and the pitch circle (8.1) counter to the direction of rotation (B, C) of the sprocket (4, 5) with increasing angular distance (β) from the Transportpaletteneinlauf ( 11.1, 12.1) increases, corresponding to an S-shaped course whose pitch at the beginning and at the end of the compensation curve (24a) is greater than in a central region. Transport system (1) according to one of the preceding claims, characterized in that adjoins the end of the respective compensation curve (24, 24a) of the preferably rectilinear first portion (13, 14) of the movement path (10). Transport system (1) according to one of the preceding claims, characterized in that the compensation curves (24) on the transport pallet outlet (11.2, 12.2) of the sprockets (4, 5) and also the compensation curves (24a) on the transport pallet inlet (11.1, 12.1) of the sprockets ( 4, 5) are formed identically, but the compensation curve (24a) on the transport pallet inlet (11.1, 12.1) of each sprocket (4, 5) based on a axis (4.1, 5.1) of the respective sprocket (4, 5) enclosing plane, For example, based on a median plane (EM1) between the transport pallet inlet (11.1, 12.1) and the transport pallet outlet (11.2, 12.2) or, for example relative to a median plane (EM1) of the transport system mirror-symmetrical to the compensation curve (24) of the transport pallet outlet (11.2, 12.2) executed is. Transport system (1) according to one of the preceding claims, characterized in that with two sprockets (4, 5) the compensation curve (24) on the transport pallet outlet (11.2, 12.2) of each sprocket (4, 5) mirror-symmetrical to the compensation curve (24a) of the transport pallet inlet (11.1, 12.1) of the respective other sprocket (5, 4) is executed, with respect to a center plane (EM2), which is oriented perpendicular to a connecting line between the axles (4.1, 5.1) of the sprockets (4, 5). Transport system (1) according to one of the preceding claims, characterized in that the movement path (10) of the transport pallets (3) in addition to the first, preferably rectilinear and between the sprockets (4, 5) extending portions (13, 14) second, arcuate sections (11, 12) each between a transport pallet inlet (11.1, 12.1) and a transport pallet outlet (11.2, 12.2) of the sprocket (4, 5) and third and fourth curved portions (15-18) on which the compensation curves (24, 24a) are formed and of which the third portions (15, 17) each between a Transport pallet outlet (11.2, 12.2) of a chain wheel (4, 5) and a transport pallet inlet (13.1, 14.1) of a first section (13, 14) and the fourth sections (16, 18) each between a Transportpalettenauslauf (13.2, 14.2) of a first section (13, 14) and the transport pallet inlet (11.1, 12.1) of a chain wheel (4, 5) are provided. Transport system (1) to Claim 8 characterized in that the length of the third and fourth sections (15, 18) respectively corresponds to a pitch of the sprockets (4, 5) or the distance between two chain hinges (23) of the transport element (2), and / or that the transport pallet inlets (13.1, 14.1) and the transport pallet outlets (13.2, 14.2) of the first sections (13, 14) each have a radial distance from the axis (4.1, 5.1) of the sprocket (4, 5) which is larger by an amount or offset (d) as the radius (R) of the pitch circle (8.1) of this sprocket (4, 5). Transport system (1) according to one of the preceding claims, characterized in that the sprockets (4, 5) with their axes (4.1, 5.1) in a first axial direction (X-axis) are spaced from each other, in which also the first sections ( 13, 14), and that the transport pallet inlet (13.1, 14.1) and the transport pallet outlet (13.2, 14.2) of the first sections (13, 14) each oriented in a direction perpendicular to the first axis (X-axis), the axis (4.1, 5.1) of a sprocket (4, 5) enclosing plane (E4, E5) are arranged. Transport system (1) according to one of the preceding claims, characterized in that the at least two sprockets (4, 5) are identical. Transport system (1) according to one of the preceding claims, characterized in that on at least one sprocket (4, 5), preferably on all sprockets (4, 5), the compensation curve (24) on the transport pallet outlet (11.2, 12.2) of the respective sprocket ( 4, 5) and the compensation curve (24a) on the transport pallet inlet (11.1, 12.1) of the respective chain wheel (4, 5) extend to or only to a common plane (E4, E5) perpendicular to the movement path (10) of the transport pallets (FIG. 3) is oriented and in which also the axis (4.1, 5.1) of the respective sprocket (4, 5) is arranged. Transport system (1) according to one of the preceding claims, characterized in that the compensation curve (24) on the transport pallet outlet (11.2) of one sprocket (4) is defined by intersections of two circles whose radius is equal to the chain link length (KL) and their centers depending on an angular distance α from the transport pallet outlet (11.2) shift as follows: $$\begin{array}{cc}{x}_1\left(\alpha \right)=R\text{cos}\left(\alpha +90°-2\cdot \frac{360°}{n}\right)& x_2\left(\alpha \right)=x_0-\frac{KL}{\raisebox{1ex}{$360°$}\!\left/ \!\raisebox{-1ex}{$n$}\right.}\end{array}\cdot \alpha$$

$$\begin{array}{cc}{y}_1\left(\alpha \right)=R\text{sin}\left(\alpha +90°-2\cdot \frac{360°}{n}\right)& y_2\left(\alpha \right)=R+d\end{array}$$

in which $$x_0=R\text{cos}\left(90°-\frac{360°}{n}\right)-\sqrt{K{L}^2-{\left(R+d-R\text{sin}\left(90°-\frac{360°}{n}\right)\right)}^2}$$

where x ₁ and y _{1 are} the center of one circle and x ₂ and y _{2 are} the center of the other circle in a coordinate system including a first axis (x-axis) and a second axis (y-axis) perpendicular thereto whose zero point coincides with the axis (4.1) of the one sprocket (4), wherein angular distance α from the transport pallet outlet (11.2) in the assumed direction of rotation (B) of a sprocket (4) specified and at the Transportpalettenauslauf (11.2) equal to zero and at the transition to a first portion (13) of the movement path (10) is equal to the pitch between two sprocket engagement or entrainment areas (8), and wherein R is the radius of the pitch circle (8.1) of the sprocket (4). Transport system (1) to Claim 13 , characterized in that the compensation curve (24) on the transport pallet outlet (11.2) of the one sprocket (4) in the coordinate system is determined by the coordinates x and y, as follows: $$\left(\begin{array}{l}x\left(\alpha \right)\\ y\left(\alpha \right)\end{array}\right)=\left(\begin{array}{l}{x}_1\\ y_1\end{array}\right)+\frac{1}{2}\left[\left(\begin{array}{l}{x}_2\\ y_2\end{array}\right)-\left(\begin{array}{l}{x}_1\\ y_1\end{array}\right)\right]+{\left(\begin{array}{c}{y}_2-y_1\\ -\left(x_2-x_1\right)\end{array}\right)}^0\cdot \sqrt{K{L}^2-{\left[\frac{1}{2}\Vert \left(\begin{array}{l}{x}_2-x_1\\ y_2-y_1\end{array}\right)\Vert \right]}^2}$$

Here are: ${\overline{x}}^0=\frac{\overline{x}}{\Vert \overline{x}\Vert }$

the normalized vector too x and ∥ · ∥ the Euclidean vector standard. Transport system (1) according to one of the preceding claims, characterized in that, in the case of eight-member sprockets (4, 5), it is furthermore designed as follows: Chain link length KL 80 units Diameter of the pitch circle (8.1) of the sprockets (4, 5) 209 units Distance of the first sections (13, 14) from one the axis (4.1, 5.1) of the sprockets enclosing center plane EM1 107.5 units wherein one unit is preferably 1 mm. Transport system (1) to Claim 15 , characterized in that in an assumed direction of rotation (B, C) of the sprockets (4, 5) the compensation curve (24) on Transportpalettenauslauf (11.2) of a sprocket (4) has a course according to the following Table 1 Table 1 Angular distance α Px value Py value 0 73.910 73.910 5 67.653 80.311 10 60.589 86.023 15 52.922 91.022 20 44.814 95.312 25 36.398 98.920 30 27.774 101.888 35 19.016 104.266 40 10.181 106.115 45 1,304 107.500 that in the assumed direction of rotation (B, C) of the sprockets (4, 5) the compensation curve (24) on the transport pallet outlet (11.2) of the other sprocket (5) has a course according to the following Table 2 Angular distance α Px value Py value 0 -73.910 -73.910 5 -67.653 -80.311 10 -60.589 -86.023 15 -52.922 -91.022 20 -44.814 -95.312 25 -36.398 -98.920 30 -27.774 -101.888 35 -19.016 -104.266 40 -10.181 -106.115 45 1,304 -107.500 wherein the position values Px and Py indicated in Tables 1 and 2 refer to a coordinate system including the first axis direction (X axis) and a second axis direction (Y axis) perpendicular thereto, whose zero point coincides with the axis (4.1, 5.1). coincides, and in dependence on an angular distance α from the Transportpalettenauslauf (11.2, 12.2) in the assumed direction of rotation (B, C) of the sprocket (4,5) are given, wherein the angular distance α at the transport pallet outlet equal to zero and at the transition to a the first portion (13, 14) of the movement path (10) is equal to the pitch between two sprocket engagement or entrainment areas (8) that continue in the assumed direction of rotation (B, C), the compensation curve (24a) on the transport pallet inlet (12.1) of other sprocket (5) has a curve according to Table 3 below Table 3 Angular distance β Px value Py value 0 -73.910 73.910 5 -67.653 80.311 10 -60.589 86.023 15 -52.922 91.022 20 -44.814 95.312 25 -36.398 98.920 30 -27.774 101.888 35 -19.016 104.266 40 -10.181 106.115 45 -1.304 107.500 and that in the assumed direction of rotation (B, C) the compensation curve (24a) on the transport pallet inlet (11.1) of the one sprocket (4) has a course according to the following Table 4, Table 4 Angular distance β Px value Py value 0 73.910 -73.910 5 67.653 -80.311 10 60.589 -86.023 15 -52.922 -91.022 20 44.814 -95.312 25 36.398 -98.920 30 27.774 -101.888 35 19.016 -104.266 40 10.181 -106.115 45 1,304 -107.500 wherein the position values Px and Py indicated in Tables 3 and 4 relate to a coordinate system including the first axis direction (X axis) and the second axis direction (Y axis) whose zero point coincides with the axis (4.1, 5.1), and in an opposite direction of rotation of the transport pallet inlet (11.1, 12.1) in one of the assumed direction of rotation (B, C) are given, wherein the angular distance β at the transport pallet inlet (11.1, 12.1) is zero and at the transition to a first section ( 13, 14) of the orbit (10) is equal to the pitch between two engagement or entrainment areas (8). Treatment machine, such as assembly and / or production machine, with a transport system (1) with transport pallets (3) for receiving products or objects (9), wherein the transport pallets (3) moves on a self-contained path of movement (10), preferably clocked are moved, and at the movement path (10) workstations are provided, characterized in that the transport system (1) is designed according to one of the preceding claims.

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