JP6137112B2 - Transport device - Google Patents

Description

  The present invention relates to a transport apparatus capable of transporting a plurality of carts collectively.

  There are cases where a plurality of packages are carried together on a wheeled carriage. Such carts have been transported manually by workers between, for example, work spaces where trucks are taken out or loaded from trucks. However, it is difficult for the worker to push the carriage and move a long distance, which places a heavy burden on the worker and raises work efficiency. Therefore, Patent Document 1 describes the technology as a conveyor system that transports a cart without depending on human power. This conveyor system includes a plurality of belt conveyor units arranged along the conveying direction of the carriage. Further, the belt conveyor is provided with an engaging portion that engages with the wheel of the carriage, and the carriage can be reliably conveyed by the engagement between the engaging portion and the wheel. .

JP 2013-237537 A

  However, when transporting a cart using a belt conveyor, in order to match the floor surface for manually transporting the cart with the transport surface of the belt conveyor, a deep and large space for accommodating the return portion of the belt conveyor and the motor. It is necessary to dig a pit on the floor.

  This invention is made | formed in view of the said subject, and it aims at provision of the conveying apparatus which can convey a trolley | bogie at the same height as a floor surface, or substantially the same height, without providing a deep and big pit.

  In order to achieve the above object, a transport device according to the present invention is a transport device that transports a plurality of carriages with wheels in a row in a forward direction in a transport direction along the alignment direction, and intersects the transport direction. A first clamping part and a second clamping part respectively disposed on both sides of the carriage in the width direction, and a clamping drive means for clamping the carriage with a narrow interval between the first clamping part and the second clamping part And a reciprocating drive means for reciprocally moving the first nipping portion and the second nipping portion in the transport direction, and when the nipping device moves forward The reciprocating drive means and the sandwiching drive means are controlled so as to sandwich the cart, and the reciprocating drive means and the sandwiching drive means so as to release the carriage when the clamping device moves backward. Control means for controlling It is characterized in that.

  According to this, a deep and large pit is provided on the floor surface by reciprocating the holding device arranged on the side in the width direction of the carriage and holding the carriage from the side when the holding device moves forward. It is possible to transport a plurality of carts at once without any problems.

  Furthermore, the third clamping unit, the fourth clamping unit, the third clamping unit, and the fourth clamping unit that are arranged at the opposite end of the clamping device and are respectively arranged on both sides of the carriage in the width direction. A holding / clamping drive unit that sandwiches the cart with a small gap between the unit and a carry-in / clamping device that reciprocates integrally with the clamping device by the reciprocating drive unit, and the control unit includes the carry-in / clamping drive It may be one that controls the means.

  According to this, the carriage can be carried into the transport device without the operator being particularly aware of the timing of the reciprocating movement of the clamping device, and the work efficiency can be improved.

  Furthermore, it comprises carrying-in detection means for detecting that a part of the carriage is carried in within the stroke of the carrying-in and holding device, and when the carrying-in detection means detects loading of the carriage, the control means The loading / nipping driving means is controlled so as to clamp the carriage when the loading / holding apparatus moves forward, and the loading / nipping driving means is released so as to release the carriage when the loading / holding apparatus moves backward. It can be controlled.

  According to this, it is possible to suppress the worker from carrying the carriage deep into the transport device, and to prevent the worker from entering the holding device or the stroke of the loading and holding device.

  Further, the clamping drive means may include an air actuator.

  According to this, even when the shape and surface state of the carriage are different from each other, the carriage can be clamped in a flexible manner corresponding to these differences.

  It should be noted that executing a program for causing a computer to execute each process included in the transport apparatus also corresponds to the implementation of the present invention. Of course, implementing the recording medium in which the program is recorded also corresponds to the implementation of the present invention.

  According to the present invention, it is possible to provide a transport device that can transport a plurality of carts in a lump with a simple structure without providing deep and large pits.

FIG. 1 is a perspective view showing a state where a plurality of carriages arranged in a row are being conveyed by a conveying device. FIG. 2 is a perspective view showing the transport device. FIG. 3 is a perspective view showing the carriage from below. FIG. 4 is a plan view showing the transport device from above with a part of the transport device omitted. FIG. 5 is a block diagram showing each functional part of the control means together with the mechanism part. FIG. 6 is a plan view showing the transport state of the carriage by the transport device from above. FIG. 7 is a plan view showing the next transport state of the carriage by the transport device from above. FIG. 8 is a plan view showing the next transport state of the carriage by the transport device from above. FIG. 9 is a plan view showing the next transport state of the carriage by the transport device from above. FIG. 10 is a plan view showing the next transport state of the carriage by the transport device from above. FIG. 11 is a plan view showing the transport state from above when the carriage is not detected by the carry-in detection means. FIG. 12 is a plan view showing the next transport state from above when the carriage is not detected by the carry-in detection means. FIG. 13 is a plan view showing a transport apparatus according to another embodiment from above.

  Next, an embodiment of a transfer device according to the present invention will be described with reference to the drawings. In addition, the following embodiment is only what showed an example of the conveying apparatus which concerns on this invention. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.

  FIG. 1 is a perspective view showing a state where a plurality of carriages arranged in a row are being conveyed by a conveying device.

  FIG. 2 is a perspective view showing the transport device.

  As shown in these drawings, the transport device 100 is a device that transports the carriages 200 arranged in a row in the forward direction in the transport direction (Y-axis direction in the drawing) along the alignment direction, and reciprocates with the clamping device 101. The driving means 102 and the control means 104 (not shown in FIGS. 1 and 2) are provided. In the case of the present embodiment, the transport device 100 also includes a carry-in sandwiching device 103 and a carry-in detection unit 105.

  FIG. 3 is a perspective view showing the carriage from below.

  As shown in the figure, the carriage 200 has a main body 201 and a free wheel 202 attached to the lower portion of the main body 201, and is capable of finishing a luggage or the like inward of the main body 201. In the case of this embodiment, the cart 200 is a so-called basket cart. The cart 200 not only means an empty cart, but the cart 200 is a combination of the cart and the luggage accommodated in the cart. Specifically, the cart, which is the cart 200, has a net-like member erected from the periphery of a rectangular base. In the case of the present embodiment, the bogie 200 is provided with the free wheel 202 attached to two places where the lower four corners of the rectangular main body 201 are arranged, and the other two places are provided with non-turning wheels.

  The free wheel 202 is a member called a so-called free caster, and includes a wheel 221, a radial bearing 222, and a thrust bearing 223. In the free wheel 202, a radial bearing 222 is attached to the main body 201 via a thrust bearing 223, and the wheel 221 is attached to the radial bearing 222. The free wheel 202 includes a rolling stopper 224 that can pinch the rolling of the wheels 221.

  In addition, the cart 200 may be all configured as a free wheel 202, or may be a wheel that does not turn.

  As shown in FIGS. 1 and 2, the clamping device 101 is a device that contacts the side surface portions of the plurality of carriages 200 arranged in a row and clamps the plurality of carriages 200 collectively. The clamping device 101 includes a first clamping unit 111, a second clamping unit 112, and a first clamping unit that are respectively disposed on both sides of the carriage 200 in the width direction (X-axis direction in the drawing) that is a direction that intersects the transport direction. Nipping driving means 119 (see FIG. 5) is provided to narrow the distance between the first clamping unit 111 and the second clamping unit 112 in the width direction.

  FIG. 4 is a plan view showing the transport device from above with a part of the transport device omitted.

  The first clamping unit 111 is narrower in distance from the second clamping unit 112 and can be widened. The movable unit 113 can be widened, and the fixed unit 115 fixed to the floor or the like can be moved in the transport direction (Y axis in the figure). And a support portion 114 that is slidably mounted in the direction) and holds the movable portion 113 in a fixed manner.

  In the case of the present embodiment, the movable portion 113 is a member extending in the transport direction (Y-axis direction in the drawing), and is collectively attached to the side surface portions of a plurality of (in the case of the present embodiment, five) carts 200. It is a member that contacts. Specifically, for example, the movable portion 113 is a long and narrow bag-like airbag, and by introducing compressed air inward to inflate the airbag, the distance between the movable portion 113 and the second sandwiching portion 112 is reduced. The space between the second sandwiching portion 112 and the second sandwiching portion 112 can be widened by contacting the portion and drawing the air from the airbag to deflate the airbag.

  In the case of the present embodiment, air is introduced into the airbag to narrow the interval between the first clamping unit 111 and the second clamping unit 112, and the baggage is clamped, and the device that introduces air into the airbag is clamped and driven It functions as the means 119.

  In this way, by bringing the airbag into contact with the side surface portion of the carriage 200, it is possible to flexibly support the reverse movement of the carriage 200 even when the shape of the side surface portion of the carriage 200 is individually different. It becomes. In addition, even when the carriage protrudes from the carriage 200, it is possible to respond flexibly.

  Note that the movable portion 113 may include a contact member that is harder than the airbag at the portion that contacts the carriage 200. The contact member is a plate-like member made of, for example, resin or metal.

  Furthermore, the movable part 113 may be provided with an exit / retreat member that retracts toward and away from the second clamping part 112. For example, the withdrawing / withdrawing member is a plate-like member extending in the transport direction, and the distance between the second sandwiching portion 112 is changed by withdrawing / withdrawing from the support portion 114 by the sandwiching drive means 119 such as an actuator. It doesn't matter.

  The support portion 114 is a portion that fixedly supports the movable portion 113 and is slidably held with respect to the fixed portion 115. In the case of the present embodiment, the support portion 114 is attached in a bridging manner between the plurality of fixing portions 115 that are fixed to the floor surface and arranged side by side in the transport direction, and is disposed so as to extend in the transport direction.

  The 2nd clamping part 112 is a part which conveys the trolley | bogie 200 by reciprocating in the conveyance direction while holding | maintaining the trolley | bogie 200 with the 1st clamping part 111. In the case of the present embodiment, the second clamping unit 112 has the same structure as the first clamping unit 111 and is arranged symmetrically with respect to the carriage 200 to be transported.

  Note that the second sandwiching portion 112 may not include the movable portion 113. This is because the distance between the first clamping unit 111 and the second clamping unit 112 can be changed only by the operation of the movable unit 113 of the first clamping unit 111.

  Moreover, although the clamping apparatus 101 demonstrated as what clamps the several trolley | bogie 200 collectively, the clamping apparatus 101 is divided | segmented into a conveyance direction, each part is operate | moved separately, and the trolley | bogie 200 is clamped and conveyed. It doesn't matter.

  The reciprocating drive means 102 is a device that reciprocates the first clamping unit 111 and the second clamping unit 112 in the transport direction. In the case of the present embodiment, the reciprocating drive means 102 is an air actuator provided with an air cylinder 121 provided for each of the first clamping part 111 and the second clamping part 112, and one end is fixed to the floor surface. The other end portion is fixed to the support portion 114.

  The air cylinder 121 can reciprocate the piston by the pressure of air, and the stroke of the piston is within a range of not less than one-third and not more than half of the length of the carriage 200 to be conveyed in the conveying direction. It can be set.

  Note that the reciprocating drive means 102 is not limited to an air actuator. For example, a device that reciprocally moves the clamping device 101 using a solenoid or the like, or a device that reciprocates the clamping device 101 by combining a motor and a link mechanism may be used.

  The carry-in sandwiching device 103 is disposed at the opposite end (loading-side end) of the sandwiching device 101, and a third sandwiching portion 131 and a fourth sandwiching portion 132 that are respectively disposed on both sides of the carriage 200 in the width direction. And a carry-in and sandwiching drive means 139 (see FIG. 5) for sandwiching the carriage 200 with a narrow interval between the third sandwiching part 131 and the fourth sandwiching part 132, and being integrated with the sandwiching apparatus 101 by the reciprocating drive means 102. It is a device that reciprocates.

  In the case of the present embodiment, the carry-in sandwiching device 103 has the same function and mechanism as the sandwiching device 101, and the length in the transport direction is one third or more of the length of the cart 200, and the length of the cart 200. The following are set. Further, the support portion 114 of the carry-in / holding device 103 is integrated with the sandwiching device 101, and the carry-in / holding device 103 is also reciprocated by the reciprocating drive means 102.

  The carry-in detection unit 105 is a device that detects that a part of the carriage 200 is carried in the stroke by the reciprocating drive unit 102 of the carry-in / holding device 103. For example, the carry-in detection means 105 can be exemplified by a photoelectric sensor.

  The control means 104 is, for example, a computer that implements each processing unit by executing a program, and the first clamping unit 111 and the second clamping unit 112 of the clamping device 101 move forward (in the positive direction in the Y-axis direction in the figure). The reciprocating driving means 102 and the clamping driving means 119 are controlled so that the carriage 200 is clamped when the carriage 200 is moved, and the first clamping part 111 and the second clamping part 112 of the clamping apparatus 101 are moved backward (Y in the figure). This is a device that controls the reciprocating drive means 102 and the clamping drive means 119 so as to release the clamping of the carriage 200 when moving in the negative axial direction).

  Further, in the case of the present embodiment, when the carry-in detection means 105 detects the carry-in of the carriage 200, the control means 104 carries the carry-in / nip drive means so as to hold the carriage 200 when the carry-in / holding apparatus 103 moves forward. 139 is controlled, and the carry-in / nip drive means 139 is controlled so as to release the holding of the carriage 200 when the carry-in / holding device 103 moves backward.

  FIG. 5 is a block diagram showing each functional part of the control means together with the mechanism part.

  As shown in the figure, the control unit 104 includes a timing adjustment unit 141, a nipping drive unit control unit 142, and a reciprocating drive unit control unit 143. Further, in the case of the present embodiment, the control means 104 also includes a carry-in / holding device controller 144.

  The timing adjustment unit 141 is a processing unit that adjusts the operation timing of the nipping drive unit 119 and the operation timing of the reciprocation drive unit 102 via the nipping drive unit control unit 142 and the reciprocation drive unit control unit 143. Furthermore, when the carry-in detection means 105 detects the carry-in of the carriage 200, the timing adjustment part 141 adjusts the timings of the reciprocating drive means control part 143 and the carry-in / holding-device control part 144. Specifically, for example, the timing adjustment unit 141 carries in so as to pinch the carriage 200 only when the carry-in detection unit 105 detects the carry-in of the carriage 200 and the carry-in holding apparatus 103 moves forward with the holding apparatus 101. The nipping drive means 139 is controlled. In other cases, the carry-in / nipping drive means 139 is controlled so as to release the holding of the carriage 200 regardless of the reciprocating movement of the carry-in / holding device 103.

  The sandwiching drive means control unit 142 is a processing unit that controls the sandwiching apparatus 101 based on information from the timing adjustment unit 141. In addition, the sandwiching drive unit control unit 142 performs processing for returning information indicating the state of the sandwiching device 101 to the timing adjustment unit 141.

  The reciprocating drive means control unit 143 is a processing unit that controls the reciprocating drive means 102 based on information from the timing adjustment unit 141. The reciprocating drive means control unit 143 also performs a process of returning information indicating the state of the reciprocating drive means 102 (that is, the state of the clamping device 101) to the timing adjustment unit 141.

  The carry-in / holding device control unit 144 is a processing unit that controls the carry-in / nipping drive unit 139 based on information from the timing adjustment unit 141. Note that the carry-in / holding-device control unit 144 may perform a process of returning information indicating the state of the carry-in / nipping drive unit 139 to the timing adjusting unit 141.

  Next, a control method of the transport device and a transport method of the carriage by the control of the transport device will be described.

  As shown in FIG. 6, the operator carries the carriage 200 into the carry-in clamping device 103 to a position where the carry-in detection means 105 can detect the carriage 200. The carry-in detection means 105 that has detected the carriage 200 transmits carry-in information indicating that the carriage 200 has been detected to the timing adjustment unit 141.

  The timing adjustment unit 141 that has acquired the carry-in information and has acquired the return completion information indicating that the backward movement of the holding device 101 and the carry-in and holding device 103 has been completed from the reciprocating drive means control unit 143 is shown in FIG. As shown in the figure, the carry-in / holding drive controller 139 is operated by the carry-in / holding device control unit 144 so that the carriage 200 is held by the carry-in / holding device 103.

  Further, when the timing adjustment unit 141 acquires the backward movement completion information regardless of the presence / absence of the carry-in information, the clamping driving unit control unit 142 operates the clamping driving unit 119 to clamp the carriage 200 by the clamping device 101.

  Next, a state in which the cart 200 is collectively held by the first clamping unit 111 and the second clamping unit 112 and the cart 200 carried by the third clamping unit 131 and the fourth clamping unit 132 is held. In this case, the sandwiching drive means control unit 142 transmits sandwiching information indicating that the sandwiching device 101 has finished sandwiching the carriage 200, and the carry-in sandwiching device control unit 144 causes the carry-in sandwiching device 103 to sandwich the carriage 200. Carry-in holding information indicating completion is transmitted. The timing adjustment unit 141 that has acquired the sandwiching information and the carry-in sandwich information transmits to the reciprocating drive means control unit 143 forward information indicating that the sandwiching device 101 and the carry-in sandwich device 103 are forwarded.

  When the reciprocating drive means control unit 143 acquires the forward movement information sent from the timing adjustment unit 141, as shown in FIG. 8, the reciprocating drive means 102 controls the reciprocating drive means 102 to move the holding device 101 and the carry-in holding device 103 forward. (Moving in the transport direction). In this state, the carriage 200 is held in the width direction (X-axis direction in the drawing) intersecting the transport direction (Y-axis direction in the drawing) by the holding device 101 and the carry-in holding device 103. And the cart 200 is conveyed by one stroke with the forward movement of the carry-in / holding device 103.

  When the forward movement of the clamping apparatus 101 and the carry-in clamping apparatus 103 is completed, the reciprocating drive means control unit 143 transmits forward movement completion information indicating that the forward movement is completed. The timing adjustment unit 141 that has acquired the forward movement completion information transmits the nipping release information to the nipping drive means control unit 142 and the carry-in nipping device control unit 144.

  When the pinch drive means control unit 142 and the carry-in pinch device control unit 144 acquire the pinch release information sent from the timing adjustment unit 141, as shown in FIG. 9, the pinch device 101 and the carry-in pinch device 103 are changed. Each is controlled to release the clamping. The sandwiching drive means control unit 142 and the carry-in sandwiching device control unit 144 transmit sandwiching release information indicating that the sandwiching device 101 and the carry-in sandwiching device 103 have completed the sandwiching release of the carriage 200. The timing adjustment unit 141 that has acquired the nipping release information transmits reciprocating information indicating that the nipping device 101 and the carry-in nipping device 103 are to be moved back to the reciprocating drive means control unit 143.

  When the reciprocating drive means control unit 143 acquires the backward movement information sent from the timing adjustment section 141, as shown in FIG. 10, the reciprocating drive means 102 controls the reciprocating drive means 102 to move the clamping device 101 backward (reverse direction in the transport direction). Move). In this state, since the carriage 200 is not sandwiched, the position is maintained.

  When the backward movement of the clamping device 101 is completed, the reciprocating drive means control unit 143 transmits backward movement completion information indicating that the backward movement is completed. The timing adjustment unit 141 that has acquired the backward movement completion information transmits nipping information indicating that the carriage 200 is to be nipped to the nipping drive means control unit 142. In addition, when the carry-in information is acquired, the timing adjustment unit 141 causes the carry-in / holding device control unit 144 to operate the carry-in / hold-in driving unit 139 so that the carriage 200 is sandwiched by the carry-in / holding device 103. On the other hand, when the carry-in information is not acquired, the timing adjustment unit 141 performs control so that the carry-in holding device 103 does not hold the carriage 200. Thereby, it is possible to easily carry the carriage 200 into the transport device 100 regardless of the position of the sandwiching device 101 and the carry-in sandwiching device 103 in the reciprocating motion.

  As described above, in the clamping device 101, the carriage 200 can be conveyed in the positive direction of the conveyance direction by repeating the processes of clamping, forward movement, clamping release, and backward movement. Further, in the carry-in / holding device 103, while the carry-in detection means 105 detects the carriage 200, the carriage 200 is conveyed in the positive direction of the conveyance direction by repeating the forward movement, the nipping cancellation, and the backward movement process. And can be delivered to the clamping device 101. On the other hand, as shown in FIGS. 11 and 12, while the carry-in detection means 105 does not detect the carriage 200, the holding device 101 keeps the holding release state and repeats the forward and backward movement steps so that the holding device 101 It is possible to receive the carriage 200 at any time while conveying the carriage 200.

  According to the transport device 100 and the control method (transport method) of the transport device of the above embodiment, the carts 200 arranged in a line with a simple configuration can be transported sequentially in the forward direction of the transport direction. In addition, since the carriage 200 can be conveyed simply by repeating the pinching, forward movement, nipping release, and reverse movement steps of the clamping device 101 disposed on the side of the carriage 200 to be conveyed, the floor 200 is deep and large. It is possible to install the transfer device 100 without digging pits. Further, only one carriage 200 can be transported, and even when the distance between the carriages 200 is wide, the carriage 200 can be sequentially transported by repeating a series of steps of the transport apparatus 100 even if the distance is not equal.

  In addition, this invention is not limited to the said embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.

  For example, the transport apparatus 100 may not include the carry-in / clamping apparatus 103. Further, as shown in FIG. 13, a carry-in guide 106 may be provided. Thereby, it is possible to accurately arrange the cart 200 that has been manually transported to the transport device 100 in the clamping device 101 (the carry-in clamping device 103) in the width direction.

  Further, at least one of the first clamping unit 111 and the second clamping unit 112 may be divided into a plurality in the transport direction. Specifically, for example, at least one of the first clamping unit 111 and the second clamping unit 112 is divided into lengths corresponding to the length of the carriage 200 in the conveyance direction, and clamping is controlled for each divided unit. It doesn't matter as much as possible. According to this, since any one or a plurality of carts 200 can be transported, it is possible to adjust (for example, front-pack) the intervals between the carts 200 arranged in the transport direction.

  The present invention can be used when the carriage is automatically conveyed from the first area to the second area.

DESCRIPTION OF SYMBOLS 100 Conveyance apparatus 101 Clamping apparatus 102 Reciprocating drive means 103 Carrying-in clamping apparatus 104 Control means 105 Carry-in detection means 106 Carry-in guide 111 First clamping part 112 Second clamping part 113 Movable part 114 Supporting part 115 Fixing part 119 Clamping driving means 121 Air cylinder 131 Third clamping part 132 Fourth clamping part 139 Carrying and clamping driving means 141 Timing adjusting part 142 Clamping driving means control part 143 Reciprocating driving means control part 144 Carrying and clamping apparatus control part 200 Carriage 201 Main body 202 Free wheel 221 Wheel 222 Radial bearing 223 Thrust bearing 224 Rolling stopper

Claims (3)

A transport device that transports a plurality of carts with wheels in a forward direction in a transport direction along a direction aligned in a row,
The cart with the first clamping unit and the second clamping unit arranged on both sides of the cart in the width direction intersecting the transport direction, and the gap between the first clamping unit and the second clamping unit being reduced. A clamping device capable of clamping a plurality of the carts at once,
Reciprocating drive means for reciprocating the first clamping part and the second clamping part in the conveying direction;
The reciprocating drive means and the clamping drive means are controlled so as to clamp the carriage when the clamping apparatus moves forward, and the reciprocation is performed so that the carriage is released when the clamping apparatus moves backward. Control means for controlling the drive means and the clamping drive means ;
A third clamping unit, a fourth clamping unit, a third clamping unit, and a fourth clamping unit, which are arranged at opposite ends of the clamping device and are respectively arranged on both sides of the carriage in the width direction; A carry-in / holding drive unit that sandwiches the cart with a small interval, and a carry-in / holding device that reciprocates integrally with the holding device by the reciprocating drive unit,
The transport unit is a transport device that controls the carry- in / nipping drive unit . further,
A carry-in detection means for detecting that a part of the carriage has been carried in the stroke of the carry-in / holding device;
When the carry-in detection means detects that the carriage is carried in, the control means controls the carry-in sandwich drive means so as to sandwich the carriage when the carry-in sandwich apparatus moves forward, and the carry-in sandwich apparatus There conveying device according to claim 1 for controlling the carry clamping drive means so as to release the holding of the bogie when backward. The clamping drive means conveying apparatus according to claim 1 or 2 comprising an air actuator.

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