CN114227239A - Split charging production line for satellite manufacturing - Google Patents

Abstract

The invention provides a split charging production line for satellite manufacturing, and belongs to the technical field of satellite manufacturing equipment. The method solves the problems of low manufacturing efficiency and difficult guarantee of product quality in the existing satellite manufacturing mode. This sub-packaging production line that satellite was made includes the lower track that the level set up and at least two be used for fixed cabin board and drive the device that shifts that the cabin board overturns, each device that shifts all is located the lateral part of lower track and sets gradually along the length direction of lower track, be equipped with on the lower track and follow its length direction round trip movement's material fetching mechanical arm, it can snatch spare part and place spare part on the cabin board to get the material mechanical arm, this sub-packaging production line still includes the equipment mechanical arm that can snatch the fastener and carry out the fastening to spare part on the cabin board. The invention can greatly improve the efficiency and the quality of satellite assembly.

Description

Split charging production line for satellite manufacturing

Technical Field

The invention belongs to the technical field of satellite manufacturing equipment, and relates to a split charging production line for satellite manufacturing.

Background

The artificial satellite is an unmanned spacecraft which runs around the earth space orbit and is mainly used in various fields of scientific exploration and research, weather forecast, land resource investigation, land utilization, area planning, communication, tracking, navigation and the like.

For example, as disclosed in chinese patent document, a deck type satellite configuration and an assembling method thereof (application No. 201811352223.9), a satellite structure generally includes a plurality of decks such as ± X plates, ± Y plates, and ± Z plates, and when the satellite is assembled, it is generally necessary to assemble satellite components on each deck, then assemble each deck assembled with the satellite components together with partition plates, sun wings, and other components to form a whole satellite, and then perform detection of each index on the whole satellite. At present, the process of assembling the satellite generally adopts a single-piece production mode, and the assembly of the deck boards and the satellite parts and the assembly of all the deck boards are completed on an assembly platform in a manual mode. However, in the conventional assembly mode, the satellite deck plate is large, and the assembly process needs to well protect the deck plate, so that the manual assembly mode has high working strength and low efficiency, and has strong requirements on experience of assembly personnel, so that the stability of the assembly quality cannot be ensured.

Disclosure of Invention

The invention aims to provide a sub-packaging production line for satellite manufacturing aiming at the problems in the prior art, and the sub-packaging production line provided by the invention is used for solving the problems that the existing satellite manufacturing mode is low in manufacturing efficiency and difficult in product quality guarantee.

The purpose of the invention can be realized by the following technical scheme: the utility model provides a satellite manufacturing's partial shipment production line, its characterized in that, this partial shipment production line include the lower track that the level set up and at least two be used for fixed cabin board and drive the device that shifts that the cabin board overturns, each device that shifts all is located the lateral part of lower track and sets gradually along the length direction of lower track, be equipped with on the lower track and follow its length direction round trip movement's of ability material fetching mechanical arm, it can snatch spare part and place spare part on the cabin board to get the material mechanical arm, the partial shipment production line still includes the equipment mechanical arm that can snatch the fastener and carry out the fastening to spare part on the cabin board.

The sub-assembly production line is used for assembling satellite parts on the cabin plate, particularly, in the working process, the cabin plate is fixed on the position changing device, then the material taking mechanical arm grabs the satellite parts and places the satellite parts on the cabin plate, then the mechanical arm grabs the fastening piece, and then the satellite parts are fastened on the cabin plate through the fastening piece. And repeating the work until the assembly of all the satellite parts on the cabin plate is completed, and finishing the work of the sub-packaging production line. And transferring the assembled cabin plates to a combination production line to carry out butt joint assembly on the cabin plates, and finally forming the whole star.

In this sub-assembly production line, drive the cabin board through the device that shifts and overturn for the cabin board can carry out the equipment of satellite spare part with the angle of difference, and then makes the equipment convenient, and promotes the quality of equipment and the efficiency of equipment. Meanwhile, the split production line is provided with a plurality of displacement devices to form a plurality of assembly stations, and in the process of assembling the mechanical arms for assembly, the material taking mechanical arms can synchronously move back and forth along the lower rail to feed each station, so that the mechanical arms are matched with the material taking mechanical arms in a cooperation manner, the split production line can simultaneously carry out assembly of different deck boards, and the assembly efficiency is greatly improved.

In foretell satellite manufacturing's partial shipment production line, every device that shifts all includes two the relative machine of shifting that sets up along the length direction of lower track, and the centre gripping has the frame between two machine of shifting, and two machine of shifting can drive the frame in step and overturn and reciprocate, still be equipped with the inside casing that is used for the fixed cabin board of placing in the frame. For the satellite, the requirement on the assembling precision is very high, and the design enables the cabin plate to be turned over and adjusted in the vertical position in the assembling process, so that the degree of freedom is high, the mechanical arm can be transferred and assembled more conveniently, and the assembling efficiency and the assembling quality are improved. And, come common centre gripping frame through two relative positioners that set up to drive the deck plate and overturn and reciprocate, can guarantee that deck plate upset and the stability of reciprocating in-process deck plate are high, have further guaranteed the precision of equipment. In addition, the cabin plate is fixed through the inner frame, in the process of butt joint assembly between the cabin plate and the cabin plate at the combination station in the later period, the mechanical arm can realize movement and assembly of the cabin plate through grabbing the inner frame, the conditions that the cabin plate is abraded and deformed and the product precision is reduced due to the fact that the cabin plate is directly grabbed are avoided, and the product quality is further guaranteed.

In the above-mentioned sub-assembly production line for satellite manufacturing, the number of the displacement devices is four, two displacement devices near one end of the lower track are first displacement devices, two displacement devices near the other end of the lower track are second displacement devices, a first upper track is arranged above the two first displacement devices, a second upper track is arranged above the two second displacement devices, and an assembly mechanical arm is arranged on each of the first upper track and the second upper track. The four position changing devices are arranged to form four stations, the design enables the sub-assembly production line to assemble different deck boards respectively, if the four position changing devices are used for assembling a-Z board, a partition board, plus or minus Z boards, plus or minus Y boards and plus or minus X boards respectively, the assembling of each deck board can be carried out synchronously, and therefore the assembling efficiency is greatly improved. Of course, in the actual manufacturing process, the cabin plate assembled by each station can be flexibly adjusted according to the production requirement.

In addition, in this sub-packaging production line, the equipment arm not only need get the screw, to the screw rubber coating, screw up, screw point is glued, but also needs to detect work such as discernment, therefore the work that the equipment arm is responsible for is more than the arm of material taking, and it is also longer to accomplish a round of work required time. Therefore, the assembly mechanical arms are respectively arranged on the first upper rail and the second upper rail, so that the production line forms a structure that a single-material taking mechanical arm is matched with a double-assembly mechanical arm, each assembly mechanical arm only needs to be responsible for assembly of two stations, and the material taking mechanical arm is responsible for feeding work of four stations, and the mode can achieve optimal working efficiency and further guarantee assembly efficiency. In addition, the arrangement of a single material taking mechanical arm can also reduce the equipment cost and the space occupied by the equipment.

In the sub-assembly production line for satellite manufacturing, the two first displacement devices and the two second displacement devices are respectively provided with a gluing device for gluing screws, and one side of each gluing device, which is back to the lower rail, is also provided with a screw disk placing rack for placing screw disks. The screw plate placing frame is used for placing screw plates, the screw plates belong to the prior art, and screws with different sizes exist in the screw plates. This design makes the operation that the screw was got to equipment arm ability quick realization, gets the screw of required size moreover after, can carry out the rubber coating of screw fast, then moves to and fastens satellite parts on the cabin board, and then promotes the packaging efficiency of product.

In foretell satellite manufacturing's partial shipment production line, the rubber coating device includes the frame, be equipped with in the frame and carry out the roating seat that rotates and the play packing element that the bottom has out the jiao kou, be equipped with circular recess on the roating seat, the head is kept away from to screw pole portion one end can stretch into and fix a position in circular recess and make the screw be located go out under the jiao kou. During the rubber coating, the equipment arm can control its screw of centre gripping to support and press at circular recess internal rotation, the fastening that goes out the mouth of gluing outflow is glued and is fallen to the screw on, circular recess can play the positioning action, make the difficult emergence offset of screw when the rubber coating, the accuracy of rubber coating position has been guaranteed, and simultaneously, the screw supports to press the rotation and carries out the rubber coating on circular recess, make the rubber coating on screw surface more even, unnecessary glue solution breaks away from the screw surface under gravity and centrifugal force effect, make the rubber coating high quality, can the greatly reduced defective percentage.

In the above-mentioned sub-packaging production line for satellite manufacturing, a plurality of rotating seats are provided on the frame, each rotating seat is sequentially provided on the mounting seat along the moving direction of the mounting seat, and the diameters of the circular grooves provided on the rotating seats are different from each other. The circular recess of different bores can be used for the screw of different specifications to support to press rotatoryly, can improve the commonality of rubber coating device, and the mount pad can remove to make to support the roating seat that has the screw and remove the below of going out the packing element, and the play jiao kou of being convenient for going out the packing element carries out the rubber coating to the screw surface to improve rubber coating's degree of automation, work efficiency and rubber coating quality of screw.

In the sub-assembly production line for satellite manufacturing, one side of each gluing device, which is back to the lower rail, is provided with two screw disc placing frames. Because the assembly of different cabin boards generally needs to use the screws of different specifications, so set up two screw dish racks respectively at the lateral part of every rubber coating device, every screw dish rack corresponds a device that shifts to satisfy efficient equipment demand.

In the sub-packaging production line manufactured by the satellite, four tray placing frames for placing the workpiece tray are arranged on one side of the lower track back to the displacement device. The workpiece tray is used for placing satellite parts. Through setting up four tray racks, every tray rack corresponds a device that shifts, places the satellite spare part that the device that shifts will be used that corresponds on every tray promptly to be convenient for get the material arm and carry out quick, accurate snatching, and then promote the efficiency of equipment.

In the partial shipment production line that foretell satellite was made, be equipped with the supporting seat that can overturn and reciprocate on the machine of shifting, be equipped with two centre gripping manipulators that are used for the centre gripping frame on the supporting seat, it still is equipped with the supporting part that can support to the frame to lie in between two centre gripping manipulators on the supporting seat. Set up two centre gripping manipulators on every machine of shifting, consequently the frame receives the centre gripping of four centre gripping manipulators, and the support of plus supporting part simultaneously for frame and cabin board are at the in-process that removes and overturn, and stability is high, promotes the quality of equipment.

In foretell satellite manufacturing's partial shipment production line, frame and inside casing are the rectangle frame form, be equipped with two bar locating plates that are parallel to each other in the frame, the distance between two bar locating plates can be adjusted, the relative both sides limit of inside casing is fixed a position respectively on two bar locating plates, still is equipped with the clamping piece that can press from both sides tight inside casing on every bar locating plate respectively. The two opposite side edges of the inner frame are respectively positioned on the two strip-shaped positioning plates, and the inner frame is positioned stably under the action of the clamping piece, so that the assembling quality is ensured. In addition, the dimensions and specifications of the inner frame are matched to the deck boards, i.e. different deck boards for different inner frames. Because the distance between two bar locating plates can be adjusted, consequently can be through adjusting the distance between two bar locating plates for the frame can satisfy the installation of not unidimensional inside casing.

Compared with the prior art, the split charging production line for satellite manufacturing has the following advantages:

1. in this sub-assembly production line, drive the cabin board through the device that shifts and overturn and reciprocate for the cabin board can carry out the equipment of satellite spare part with the angle of difference, and then makes the equipment convenient, and promotes the quality of equipment and the efficiency of equipment.

2. The sub-packaging production line is provided with a plurality of displacement devices to form a plurality of assembly stations, the material taking mechanical arm can synchronously move back and forth along a lower rail in the process of assembling the mechanical arm for loading each station, and the assembly mechanical arm and the material taking mechanical arm are matched in a cooperation mode, so that the sub-packaging production line can simultaneously carry out assembly work on different cabin boards, and further the assembly efficiency is greatly improved.

Drawings

Fig. 1 is a schematic perspective view of the sub-assembly line.

FIG. 2 is a schematic view of the present distribution line.

Fig. 3 is a schematic perspective view of the displacement device.

FIG. 4 is a schematic view of the connection of the inner frame, the deck plate and the strip positioning plate.

Fig. 5 is a schematic perspective view of the glue application device.

In the figure, 1, lower track; 2. a displacement device; 21. a first displacement device; 22. a second displacement device; 2a, a positioner; 2a1, a support seat; 2a2, a gripper robot; 2a3, a support; 2b, an outer frame; 2b1, a strip-shaped positioning plate; 2b2, clamp; 2c, an inner frame; 2c1, a lap part; 3. a material taking mechanical arm; 4. assembling the mechanical arm; 5. a gluing device; 51. a frame; 52. a rotating base; 53. discharging the rubber cylinder; 531. a circular groove; 54. a mounting seat; 6. a screw disk; 7. a screw plate placing frame; 8. a tray placing frame; 9. a first upper rail; 10. a second upper rail; 11. a deck plate.

Detailed Description

The following is a specific embodiment of the present invention and is further described with reference to the accompanying drawings, but the present invention is not limited to this embodiment.

As shown in fig. 1 and 2, the sub-assembly production line for manufacturing the satellite includes a lower rail 1 horizontally disposed, and four displacement devices 2 for fixing a deck plate 11 and driving the deck plate 11 to turn, wherein the four displacement devices 2 are all located at a side portion of the lower rail 1 and are sequentially disposed along a length direction of the lower rail 1. Four position changing devices 2 are arranged to form four stations, and the four position changing devices 2 are respectively used for assembling a-Z plate, a partition plate, a +/-Z plate, a +/-Y plate and a +/-X plate. Of course, in the actual manufacturing process, the deck boards 11 assembled at each station can be flexibly adjusted according to the production needs. In addition, the number of the displacement devices 2 can be adjusted according to actual production requirements, such as two, three, five, six, etc.

Further, as shown in fig. 1 and 2, a material taking mechanical arm 3 capable of moving back and forth along the length direction of the lower rail 1 is arranged on the lower rail 1, and the material taking mechanical arm 3 can grab the parts and place the parts on the deck 11. Among the four displacement devices 2, two displacement devices 2 near one end of the lower rail 1 are first displacement devices 21, two displacement devices 2 near the other end of the lower rail 1 are second displacement devices 22, a first upper rail 9 is arranged above the two first displacement devices 21, a second upper rail 10 is arranged above the two second displacement devices 22, an assembling mechanical arm 4 is respectively arranged on the first upper rail 9 and the second upper rail 10, the assembling mechanical arm 4 can grab a fastener to fasten parts on the deck plate 11, and the fastener is a screw generally. One side of the lower track 1 back to the displacement device 2 is provided with four tray placing frames 8 for placing workpiece trays, and the workpiece trays are used for placing satellite parts. Through setting up four tray rack 8, every tray rack 8 corresponds a device 2 that shifts, places the satellite spare part that the device 2 will use that shifts that corresponds on every tray promptly to be convenient for get material arm 3 and carry out quick, accurate snatching. The gluing devices 5 for gluing the screws are respectively arranged between the two first displacement devices 21 and between the two second displacement devices 22, and two screw disk placing frames 7 for placing the screw disks 6 are further arranged on one side, back to the lower rail 1, of each gluing device 5. The screw plate placing rack 7 is used for placing screw plates 6, the screw plates 6 belong to the prior art, and the screw plates 6 are used for placing screws with different sizes.

As shown in fig. 3, each displacement device 2 includes two displacement machines 2a disposed oppositely along the length direction of the lower rail 1, a support seat 2a1 capable of turning and moving up and down is disposed on the displacement machine 2a, two clamping manipulators 2a2 for clamping the outer frame 2b are disposed on the support seat 2a1, and a support part 2a3 capable of supporting the outer frame 2b is further disposed between the two clamping manipulators 2a2 on the support seat 2a 1. Set up two centre gripping manipulators 2a2 on every machine 2a that shifts, consequently frame 2b receives the centre gripping of four centre gripping manipulators 2a2, and plus the support of supporting part 2a3 simultaneously for frame 2b and deck plate 11 are at the in-process that removes and overturn, and stability is high, promotes the quality of equipment. An inner frame 2c for fixedly placing the deck plate 11 is also arranged in the outer frame 2 b. Specifically, as shown in fig. 4, the outer frame 2b and the inner frame 2c are both rectangular frames, two strip-shaped positioning plates 2b1 parallel to each other are arranged in the outer frame 2b, each strip-shaped positioning plate 2b1 is provided with two protruding columns, two opposite side edges of the inner frame 2c are respectively provided with two abutting portions 2c1, the abutting portions 2c1 are provided with inner holes, the abutting portion 2c1 of the inner frame 2c abuts against the strip-shaped positioning plate 2b1, and the protruding columns are inserted into the inner holes of the abutting portions 2c1, so that the positioning of the inner frame 2c is realized; meanwhile, each strip-shaped positioning plate 2b1 is further provided with a clamping element 2b2 capable of clamping the inner frame 2c, the clamping element 2b2 can directly press the inner frame 2c by adopting a push rod of an air cylinder, or the air cylinder in the prior art is matched with a connecting rod structure, and the air cylinder drives a press pin on the connecting rod structure to move up and down, so that the inner frame 2c is clamped. In addition, the distance between the two strip-shaped positioning plates 2b1 can be adjusted, so that the outer frame 2b can meet the installation requirements of the inner frames 2c with different sizes by adjusting the distance between the two strip-shaped positioning plates 2b 1.

As shown in fig. 5, the glue spreading device 5 includes a frame 51, a glue outlet 53 having a glue outlet at the bottom and a horizontally movable mounting seat 54 are provided on the frame 51, six rotatable rotary seats 52 are sequentially provided on the mounting seat 54 along the moving direction of the mounting seat 54, each rotary seat 52 is provided with a circular groove 531, the diameters of the circular grooves 531 on the rotary seats 52 are different from each other, and one end of a screw rod portion far from the head portion can extend into and be positioned in the circular groove 531 and make the screw be positioned right below the glue outlet. During the rubber coating, it supports to press on circular recess 531 to assemble arm 4 can control its screw rotation of centre gripping, the fastening that goes out the mouth of gluing outflow is glued and is fallen to the screw, circular recess 531 can play the positioning action, make the screw be difficult for taking place the offset when the rubber coating, the accuracy of rubber coating position has been guaranteed, and simultaneously, the screw supports to press the rotation and carries out the rubber coating on circular recess 531, make the rubber coating on screw surface more even, unnecessary glue solution breaks away from the screw surface under gravity and centrifugal force effect, make the rubber coating high quality, can greatly reduced defective percentage. The circular grooves 531 with different calibers can be used for pressing and rotating screws with different specifications, the universality of the gluing device 5 can be improved, the mounting seat 54 can be moved to enable the rotating seat 52 pressed with the screws to move to the lower part of the glue outlet cylinder 53, the glue outlet of the glue outlet cylinder 53 is convenient for gluing the surfaces of the screws, and therefore the automation degree, the working efficiency and the gluing quality of the gluing of the screws are improved.

The sub-assembly production line is used for assembling satellite parts on the cabin plate 11, particularly, in the working process, the cabin plate 11 is fixed in the inner frame 2c, then the inner frame 2c and the outer frame 2b are connected and installed, and then the outer frame 2b is installed on the position changing device 2. Of course, the outer frame 2b may be installed on the displacement device 2, then the inner frame 2c and the deck plate 11 are installed, the material taking mechanical arm 3 picks the satellite parts from the workpiece tray and places the satellite parts on the deck plate 11, the assembling mechanical arm 4 picks the fastening pieces from the screw plate 6, then the fastening pieces are moved to the gluing device 5 for surface gluing, and after the gluing is completed, the fastening pieces which have completed the gluing are moved to the satellite parts to be installed to fix the satellite parts. The operation is thus cycled until all the satellite components are fixed to the deck plate 11, and the work of the sub-assembly line is finished. The assembled deck boards 11 are transferred to a multi-production line to be butt-jointed and assembled with each other, and finally the whole star is formed.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Although 1, lower track is used more herein; 2. a displacement device; 21. a first displacement device; 22. a second displacement device; 2a, a positioner; 2a1, a support seat; 2a2, a gripper robot; 2a3, a support; 2b, an outer frame; 2b1, a strip-shaped positioning plate; 2b2, clamp; 2c, an inner frame; 2c1, a lap part; 3. a material taking mechanical arm; 4. assembling the mechanical arm; 5. a gluing device; 51. a frame; 52. a rotating base; 53. discharging the rubber cylinder; 531. a circular groove; 54. a mounting seat; 6. a screw disk; 7. a screw plate placing frame; 8. a tray placing frame; 9. a first upper rail; 10. a second upper rail; 11. deck, etc., but does not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

Claims (10)

1. The utility model provides a satellite manufacturing's partial shipment production line, its characterized in that, this partial shipment production line includes lower track (1) that the level set up and at least two be used for fixed deck plate and drive deck plate shift device (2) that the upset was carried out, and each shift device (2) all are located the lateral part of lower track (1) and set gradually along the length direction of lower track (1), be equipped with on track (1) down and follow its length direction round trip movement get material arm (3), get material arm (3) and can snatch spare part and place spare part on the deck plate, this partial shipment production line still includes can snatch assembly arm (4) that the fastener carries out the fastening to spare part on the deck plate.

2. The satellite manufacturing sub-assembly production line according to claim 1, wherein each displacement device (2) comprises two displacement machines (2a) which are oppositely arranged along the length direction of the lower rail (1), an outer frame (2b) is clamped between the two displacement machines (2a), the two displacement machines (2a) can synchronously drive the outer frame (2b) to turn over and move up and down, and an inner frame (2c) for fixedly placing a cabin plate is further arranged in the outer frame (2 b).

3. The satellite manufacturing sub-assembly line according to claim 1, wherein the number of the displacement devices (2) is four, two displacement devices (2) near one end of the lower track (1) are first displacement devices (21), two displacement devices (2) near the other end of the lower track (1) are second displacement devices (22), a first upper track (9) is arranged above the two first displacement devices (21), a second upper track (10) is arranged above the two second displacement devices (22), and an assembly robot (4) is arranged on each of the first upper track (9) and the second upper track (10).

4. The satellite production line according to claim 2, wherein gluing devices (5) for gluing screws are respectively arranged between the two first displacement devices (21) and between the two second displacement devices (22), and a screw plate placing rack (7) for placing a screw plate (6) is further arranged on one side of each gluing device (5) facing away from the lower rail (1).

5. The satellite production line according to claim 4, wherein the gluing device (5) comprises a frame (51), the frame (51) is provided with a rotary base (52) capable of rotating and a glue outlet cylinder (53) having a glue outlet at the bottom, the rotary base (52) is provided with a circular groove (531), and one end of the screw rod part, which is far away from the head part, can extend into and be positioned in the circular groove (531) and enable the screw to be positioned right below the glue outlet.

6. The satellite production line according to claim 5, wherein the rack (51) is provided with a plurality of horizontally movable mounting seats (54), the number of the rotating seats (52) is multiple, each rotating seat (52) is sequentially arranged on the mounting seat (54) along the moving direction of the mounting seat (54), each rotating seat (52) is provided with the circular groove (531), and the diameters of the circular grooves (531) on the rotating seats (52) are different from each other.

7. The satellite production line according to claim 4, 5 or 6, wherein each gluing device (5) is provided, on its side facing away from the lower rail (1), with two respective screw disk holders (7) as described above.

8. The satellite manufacturing racking line according to any one of claims 1 to 6, wherein four tray holding racks (8) for holding work trays are provided on a side of said lower rail (1) facing away from said indexing device (2).

9. The satellite manufacturing sub-assembly production line according to claim 2, wherein the positioner (2a) is provided with a support base (2a1) capable of turning and moving up and down, the support base (2a1) is provided with two clamping manipulators (2a2) for clamping the outer frame (2b), and the support base (2a1) is provided with a support part (2a3) capable of supporting the outer frame (2b) between the two clamping manipulators (2a 2).

10. The satellite production line according to claim 9, wherein the outer frame (2b) and the inner frame (2c) are both rectangular frames, two parallel strip positioning plates (2b1) are arranged in the outer frame (2b), the distance between the two strip positioning plates (2b1) can be adjusted, two opposite sides of the inner frame (2c) are respectively positioned on the two strip positioning plates (2b1), and each strip positioning plate (2b1) is further provided with a clamping member (2b2) capable of clamping the inner frame (2 c).

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