JP2016535684A - 工具把持装置 - Google Patents
工具把持装置 Download PDFInfo
- Publication number
- JP2016535684A JP2016535684A JP2016526774A JP2016526774A JP2016535684A JP 2016535684 A JP2016535684 A JP 2016535684A JP 2016526774 A JP2016526774 A JP 2016526774A JP 2016526774 A JP2016526774 A JP 2016526774A JP 2016535684 A JP2016535684 A JP 2016535684A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- gripping device
- fastener
- shaft
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
- B23Q2003/155411—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper pivotable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155421—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving independently from each other
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155432—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about different axes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S483/00—Tool changing
- Y10S483/902—Tool grippers
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
Abstract
Description
Claims (23)
- コレット内への長い軸を有する長形工具を装填するための工具把持装置であって、工具をクランプ軸に沿って締め付けるための工具締め具、および前記把持装置をロボットアームに取付けるための取付け装置を備え、前記工具締め具は前記取付け装置に対して自由回転のために取り付けられる工具把持装置。
- 前記工具締め具の回転は、20〜300マイクロメートルの円弧の範囲内で制限される請求項1記載の工具把持装置。
- 前記工具締め具の回転は、回転円弧のそれぞれの端で形成される機械的止め具によって制限される請求項2記載の工具把持装置。
- 前記工具締め具の回転軸は、前記工具把持装置の操作位置内の前記クランプ軸上に位置される請求項1ないし3いずれか1項記載の工具把持装置。
- 前記工具締め具の回転軸は、前記工具把持装置の操作位置内の前記クランプ軸上に垂直にある請求項4記載の工具把持装置。
- 前記工具締め具の回転軸は、前記クランプ軸から水平に偏る請求項4記載の工具把持装置。
- 前記工具締め具は、軸の周りに前記取付け装置に対して自由回転のために取付けられ、当該軸は偏っているが、前記工具締め具で締め付けられる長形工具のクランプ軸に実質的水平である請求項1ないし6いずれか1項記載の工具把持装置。
- 前記工具締め具の回転軸は、工具締め具が工具を締めた時に前方または後方の位置である請求項1ないし7いずれか1項記載の工具把持装置。
- 前記工具締め具は、回転するシャフトに固定され、かつ前記シャフトとともに回転可能である請求項1ないし8いずれか1項記載の工具把持装置。
- 前記工具締め具は、シャフトに回転可能に取付けられる請求項1ないし8いずれか1項記載の工具把持装置。
- 前記把持装置は、一対の締め具を備える請求項1ないし10いずれか1項記載の工具把持装置。
- 前記一対の工具締め具は、回転可能であるそれぞれの工具締め具の周りの単一の主軸の周りに対称的に配置され、それによって前記主軸は前記クランプ軸と実質的に平行である請求項11記載の工具把持装置。
- 前記把持装置は、3つ以上の工具締め具を備える請求項11記載の工具把持装置。
- エンドエフェクタに接続するための基台を備える請求項1ないし13いずれか1項記載の工具把持装置。
- 前記基台から前記工具締め具に延出するアームを備える請求項14記載の工具把持装置。
- 前記工具締め具は、回転のために前記アームに固定される請求項15記載の工具把持装置。
- 前記アームの端は、回転可能なシャフトを備え、かつ前記工具締め具は前記シャフトに固定され、前記シャフトとともに回転する請求項16記載の工具把持装置。
- 前記アームの端は、前記アームに固定されるシャフトを備え、かつ前記工具締め具は前記シャフトの周りに回転可能である請求項17記載の工具把持装置。
- 前記工具締め具を回転位置から定位置に戻すために戻し機構を備える請求項1ないし18いずれか1項記載の工具把持装置。
- 請求項15ないし18いずれか1項に従属される場合、前記戻し機構は前記アームを動作させるバイアス装置を備える請求項19記載の工具把持装置。
- 前記バイアス装置は、前記アームの反対側と噛合う一対のスプリングバイアスプランジャを備え、それによって前記工具締め具の回転がバイアスに対して1つのプランジャを押し下げ、それにより一旦、工具が自由回転になると、前記押し下げられたスプリングプランジャを延出し、前記アームの表面に対して押し、そして前記工具締め具を回転させて定位置に戻す請求項20記載の工具把持装置。
- それぞれのプランジャは前記工具締め具の定位置で十分に延出して前記アームに軸受荷重を加える請求項21記載の工具把持装置。
- 前記アームに加えられる前記軸受荷重は、軽軸受荷重である請求項22記載の工具把持装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2013904217 | 2013-10-31 | ||
AU2013904217A AU2013904217A0 (en) | 2013-10-31 | Tool gripper arrangement | |
PCT/AU2014/001025 WO2015061837A1 (en) | 2013-10-31 | 2014-10-31 | Tool gripper arrangement |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2016535684A true JP2016535684A (ja) | 2016-11-17 |
JP2016535684A5 JP2016535684A5 (ja) | 2020-09-17 |
JP6767262B2 JP6767262B2 (ja) | 2020-10-14 |
Family
ID=53003002
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016526774A Active JP6767262B2 (ja) | 2013-10-31 | 2014-10-31 | 工具把持装置 |
Country Status (8)
Country | Link |
---|---|
US (1) | US9919396B2 (ja) |
EP (1) | EP3062957B1 (ja) |
JP (1) | JP6767262B2 (ja) |
KR (1) | KR102217778B1 (ja) |
CN (1) | CN105792985B (ja) |
PL (1) | PL3062957T3 (ja) |
TW (1) | TW201529220A (ja) |
WO (1) | WO2015061837A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6525737B2 (ja) * | 2015-05-29 | 2019-06-05 | 東芝機械株式会社 | 工作機械 |
CN109648432B (zh) * | 2018-12-29 | 2022-01-25 | 巨轮(广州)智能装备有限公司 | 一种机器人用的电烫斗夹取夹具 |
KR20220132778A (ko) | 2021-03-24 | 2022-10-04 | 주식회사 디엔솔루션즈 | 공작기계의 공작물 반전장치 |
CN113579712B (zh) * | 2021-08-06 | 2022-05-17 | 联想新视界(江苏)设备服务有限公司 | 一种电梯l板搬运锁紧夹具机构 |
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JPH05285766A (ja) * | 1992-04-14 | 1993-11-02 | Fanuc Ltd | 工作機械の自動工具交換装置 |
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JP2010131743A (ja) * | 2008-10-30 | 2010-06-17 | Canon Inc | 力覚センサを内蔵した把持装置 |
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2014
- 2014-10-30 TW TW103137581A patent/TW201529220A/zh unknown
- 2014-10-31 WO PCT/AU2014/001025 patent/WO2015061837A1/en active Application Filing
- 2014-10-31 US US15/032,675 patent/US9919396B2/en active Active
- 2014-10-31 CN CN201480059328.9A patent/CN105792985B/zh active Active
- 2014-10-31 PL PL14858982.3T patent/PL3062957T3/pl unknown
- 2014-10-31 EP EP14858982.3A patent/EP3062957B1/en active Active
- 2014-10-31 KR KR1020167014373A patent/KR102217778B1/ko active IP Right Grant
- 2014-10-31 JP JP2016526774A patent/JP6767262B2/ja active Active
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JPH05285766A (ja) * | 1992-04-14 | 1993-11-02 | Fanuc Ltd | 工作機械の自動工具交換装置 |
JPH0657536U (ja) * | 1993-01-20 | 1994-08-09 | 吉田工業株式会社 | 自動工具交換装置 |
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JP2001150277A (ja) * | 1999-11-29 | 2001-06-05 | Olympus Optical Co Ltd | 工具交換装置 |
JP2003065402A (ja) * | 2001-08-28 | 2003-03-05 | Sumitomo Heavy Ind Ltd | 単純遊星歯車構造 |
JP2010131743A (ja) * | 2008-10-30 | 2010-06-17 | Canon Inc | 力覚センサを内蔵した把持装置 |
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EP3062957A4 (en) | 2017-07-26 |
KR102217778B1 (ko) | 2021-02-19 |
CN105792985A (zh) | 2016-07-20 |
US9919396B2 (en) | 2018-03-20 |
JP6767262B2 (ja) | 2020-10-14 |
US20160263717A1 (en) | 2016-09-15 |
PL3062957T3 (pl) | 2022-09-26 |
CN105792985B (zh) | 2018-03-27 |
KR20160079069A (ko) | 2016-07-05 |
WO2015061837A1 (en) | 2015-05-07 |
EP3062957B1 (en) | 2022-05-11 |
EP3062957A1 (en) | 2016-09-07 |
TW201529220A (zh) | 2015-08-01 |
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