CN220331317U - Three-dimensional mechanical arm - Google Patents
Three-dimensional mechanical arm Download PDFInfo
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- CN220331317U CN220331317U CN202321982283.5U CN202321982283U CN220331317U CN 220331317 U CN220331317 U CN 220331317U CN 202321982283 U CN202321982283 U CN 202321982283U CN 220331317 U CN220331317 U CN 220331317U
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- 238000009434 installation Methods 0.000 claims description 31
- 230000008859 change Effects 0.000 claims description 4
- 238000003466 welding Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims 5
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 239000003351 stiffener Substances 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003014 reinforcing effect Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The utility model discloses a three-dimensional manipulator which comprises a main body structure, an X-axis structure, a Y-axis structure, a Z-axis structure, a balance structure and a quick-change structure, wherein the main body structure comprises an integral frame, a mounting frame and a main arm, the mounting frame is arranged on the outer surface of the integral frame, the X-axis structure is arranged on the mounting frame, and the Y-axis structure is arranged on the outer surface of the X-axis structure. According to the three-dimensional manipulator disclosed by the utility model, the X-axis motor, the Y-axis motor and the Z-axis motor are controlled to drive the X-axis gear, the Y-axis gear and the Z-axis gear to rotate, and the main arm is driven to perform relative movement by utilizing the meshing between the X-axis gear and the X-axis gear strip, the meshing between the Y-axis gear and the Y-axis gear strip and the meshing between the Z-axis gear and the Z-axis gear strip, so that the material is conveniently transferred.
Description
Technical Field
The utility model belongs to the technical field of manipulators, and particularly relates to a three-dimensional manipulator.
Background
The manipulator, which can simulate some action functions of human hand and arm, is an automatic operation device for grabbing and carrying articles or operating tools according to fixed program, and mainly consists of three parts of an executing mechanism, a driving mechanism and a control system. The machine can replace heavy labor to realize mechanization and automation of production, and is widely applied to the departments of mechanical manufacture, light industry, atomic energy and the like.
The existing manipulator has the defects of simple or complex structure and imperfect functions, cannot well realize high-precision transfer of processed workpieces, has the problems of low production capacity, unstable quality and high rejection rate, and has seriously affected the development of automatic and unmanned production in the processing process. Therefore, we propose a three-dimensional manipulator.
Disclosure of Invention
The utility model aims to provide a three-dimensional manipulator which can effectively solve the problems in the background technology.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:
the utility model discloses a three-dimensional manipulator which comprises a main body structure, an X-axis structure, a Y-axis structure, a Z-axis structure, a balance structure and a quick-change structure, wherein the main body structure comprises an integral frame, a mounting frame and a main arm, the mounting frame is mounted on the outer surface of the integral frame, the X-axis structure is mounted on the mounting frame, the Y-axis structure is mounted on the outer surface of the X-axis structure, the Z-axis structure is mounted on the inner surface of the mounting frame, the balance structure is mounted on the outer surface of the integral frame, the quick-change structure is mounted on the outer surface of the main arm, a plurality of reinforcing rods are mounted on the inner surface of the integral frame, a plurality of supporting columns are mounted on the lower surface of the integral frame, and the X-axis structure comprises the mounting rods and a first frame.
Preferably, the first frame is installed at the installing frame surface, first frame lower surface welding has X axle slider, installing bar surface mounting has X axle slide rail, X axle slider is installed at X axle slide rail surface, X axle slide rail surface and X axle slider internal surface sliding connection, first frame surface mounting has X axle motor, X axle gear is installed to X axle motor output, installing bar surface mounting has X axle gear strip, X axle gear and X axle gear strip meshing.
Preferably, the Y-axis structure comprises a second frame, the second frame is installed at the first frame, a Y-axis sliding block is installed on the lower surface of the second frame, a Y-axis sliding rail is welded on the lower surface of the installation frame, the Y-axis sliding block is installed on the outer surface of the Y-axis sliding rail, the outer surface of the Y-axis sliding rail is in sliding connection with the inner surface of the Y-axis sliding block, a Y-axis motor is installed on the outer surface of the second frame, a Y-axis gear is installed at the output end of the Y-axis motor, a Y-axis gear bar is installed on the outer surface of the installation frame, and the Y-axis gear is meshed with the Y-axis gear bar.
Preferably, the Z-axis structure comprises a third frame and a Z-axis sliding rail, the Z-axis sliding rail is arranged on the outer surface of the integral frame, the third frame is arranged on the outer surface of the installation frame, a Z-axis sliding block is welded on the outer surface of the third frame, the Z-axis sliding block is arranged on the outer surface of the Z-axis sliding rail, the outer surface of the Z-axis sliding rail is in sliding connection with the inner surface of the Z-axis sliding block, a Z-axis motor is arranged on the outer surface of the third frame, a Z-axis gear is arranged at the output end of the Z-axis motor, a Z-axis gear bar is arranged on the outer surface of the integral frame, and the Z-axis gear is meshed with the Z-axis gear bar.
Preferably, the balance structure comprises a fixed frame and a connecting frame, wherein the connecting frame is welded on the outer surface of the integral frame, a connecting block is arranged on the inner surface of the connecting frame, a balance cylinder is arranged on the outer surface of the connecting block, a mounting block is arranged on the outer surface of the balance cylinder, the mounting block is arranged on the outer surface of a mounting rod, the fixed frame is welded on the outer surface of the integral frame, a gas tank is arranged on the outer surface of the fixed frame, a connecting hose is arranged on the outer surface of the gas tank, and the connecting hose is arranged on the inner surface of the balance cylinder.
Preferably, the quick-change structure includes fixed box, installation fixture block and connection fixture block, the installation fixture block is installed at the installation pole surface, connection fixture block is installed at main arm surface, the installation fixture block is connected with connection fixture block, the fixed box is installed at installation pole internal surface, fixed box internal surface installs the cylinder, cylinder external surface installs the positioning sleeve, installation fixture block and connection fixture block internal surface all are provided with the constant head tank, the gomphosis of positioning sleeve surface is at the constant head tank internal surface, through installing the installation fixture block at the installation pole surface to and install connection fixture block at main arm surface, then be connected installation fixture block and connection fixture block, then drive the positioning sleeve through control cylinder and remove, make the gomphosis of positioning sleeve surface at the constant head tank internal surface, thereby fix the position of installation fixture block and connection fixture block, thereby conveniently install the change fast to main arm.
The utility model has the following beneficial effects:
1. according to the utility model, the X-axis motor is controlled to drive the X-axis gear to rotate, the meshing between the X-axis gear and the X-axis gear strip is utilized to push the main arm to reciprocate, the Y-axis motor is controlled to drive the Y-axis gear to rotate, the meshing between the Y-axis gear and the Y-axis gear strip is utilized to drag the main arm to reciprocate relatively, the Z-axis motor is controlled to drive the Z-axis gear to rotate, and the meshing between the Z-axis gear and the Z-axis gear strip is utilized to push the main arm to move up and down, so that materials are convenient to transfer.
2. In the utility model, the balance cylinder is arranged on the outer surface of the integral frame through the connecting frame and the connecting block, and is connected with the mounting rod through the mounting block, so that the balance cylinder can reciprocate up and down along with the Y-axis mechanism and bear the functions of dispersing the weight of the product and the X-axis mechanism.
3. According to the utility model, the installation fixture block is arranged on the outer surface of the installation rod, the connecting fixture block is arranged on the outer surface of the main arm, then the installation fixture block is connected with the connecting fixture block, and then the positioning sleeve is driven to move through the control cylinder, so that the outer surface of the positioning sleeve is embedded on the inner surface of the positioning groove, and the positions of the installation fixture block and the connecting fixture block are fixed, so that the main arm can be conveniently and rapidly installed and replaced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of a three-dimensional manipulator according to the present utility model;
FIG. 2 is a schematic view of the cross-sectional structure A in FIG. 1;
FIG. 3 is a schematic diagram of a three-dimensional manipulator according to the present utility model;
FIG. 4 is a schematic diagram of a three-dimensional manipulator according to the present utility model;
FIG. 5 is a schematic view of the cross-sectional structure B in FIG. 4;
FIG. 6 is a schematic top view of a three-dimensional manipulator according to the present utility model;
FIG. 7 is a schematic view of a three-dimensional manipulator according to the present utility model;
fig. 8 is a schematic cross-sectional view of a quick-change structure of a three-dimensional manipulator according to the present utility model.
In the figure: 1. a main body structure; 2. an X-axis structure; 3. a Y-axis structure; 4. a Z-axis structure; 5. a balance structure; 6. a quick-change structure; 101. an integral frame; 102. a mounting frame; 103. a reinforcing rod; 104. a support column; 105. a master arm; 201. a mounting rod; 202. a first frame; 203. an X-axis sliding rail; 204. an X-axis sliding block; 205. an X-axis gear bar; 206. an X-axis motor; 207. an X-axis gear; 301. a second frame; 302. a Y-axis sliding rail; 303. a Y-axis slider; 304. y-axis gear bars; 305. a Y-axis motor; 306. a Y-axis gear; 401. a third frame; 402. a Z-axis sliding rail; 403. a Z-axis slider; 404. a Z-axis gear bar; 405. a Z-axis motor; 406. a Z-axis gear; 501. a fixed frame; 502. a gas tank; 503. a connecting hose; 504. a connection frame; 505. a balancing cylinder; 506. a mounting block; 507. a connecting block; 601. a fixed box; 602. a cylinder; 603. positioning a sleeve; 604. installing a clamping block; 605. connecting a clamping block; 606. and a positioning groove.
Detailed Description
The utility model is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the utility model easy to understand.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1-8, the three-dimensional manipulator comprises a main body structure 1, an X-axis structure 2, a Y-axis structure 3, a Z-axis structure 4, a balance structure 5 and a quick-change structure 6, wherein the main body structure 1 comprises a whole frame 101, a mounting frame 102 and a main arm 105, the mounting frame 102 is mounted on the outer surface of the whole frame 101, the X-axis structure 2 is mounted on the mounting frame 102, the Y-axis structure 3 is mounted on the outer surface of the X-axis structure 2, the Z-axis structure 4 is mounted on the inner surface of the mounting frame 102, the balance structure 5 is mounted on the outer surface of the whole frame 101, the quick-change structure 6 is mounted on the outer surface of the main arm 105, a plurality of reinforcing rods 103 are mounted on the inner surface of the whole frame 101, a plurality of support columns 104 are mounted on the lower surface of the whole frame 101, and the X-axis structure 2 comprises mounting rods 201 and a first frame 202.
The first frame 202 is installed at the mounting frame 102 surface, the welding of first frame 202 lower surface has X axle slider 204, mounting rod 201 surface mounting has X axle slide rail 203, X axle slider 204 is installed at X axle slide rail 203 surface, X axle slide rail 203 surface and X axle slider 204 internal surface sliding connection, first frame 202 surface mounting has X axle motor 206, X axle motor 206 output installs X axle gear 207, mounting rod 201 surface mounting has X axle gear 205, X axle gear 207 meshes with X axle gear 205.
The Y-axis structure 3 comprises a second frame 301, the second frame 301 is installed on the first frame 202, a Y-axis sliding block 303 is installed on the lower surface of the second frame 301, a Y-axis sliding rail 302 is welded on the lower surface of the installation frame 102, the Y-axis sliding block 303 is installed on the outer surface of the Y-axis sliding rail 302, the outer surface of the Y-axis sliding rail 302 is in sliding connection with the inner surface of the Y-axis sliding block 303, a Y-axis motor 305 is installed on the outer surface of the second frame 301, a Y-axis gear 306 is installed at the output end of the Y-axis motor 305, a Y-axis gear bar 304 is installed on the outer surface of the installation frame 102, and the Y-axis gear 306 is meshed with the Y-axis gear bar 304.
The Z-axis structure 4 comprises a third frame 401 and a Z-axis sliding rail 402, the Z-axis sliding rail 402 is arranged on the outer surface of the integral frame 101, the third frame 401 is arranged on the outer surface of the installation frame 102, a Z-axis sliding block 403 is welded on the outer surface of the third frame 401, the Z-axis sliding block 403 is arranged on the outer surface of the Z-axis sliding rail 402, the outer surface of the Z-axis sliding rail 402 is in sliding connection with the inner surface of the Z-axis sliding block 403, a Z-axis motor 405 is arranged on the outer surface of the third frame 401, a Z-axis gear 406 is arranged at the output end of the Z-axis motor 405, a Z-axis gear bar 404 is arranged on the outer surface of the integral frame 101, and the Z-axis gear 406 is meshed with the Z-axis gear bar 404.
The balance structure 5 comprises a fixed frame 501 and a connecting frame 504, wherein the connecting frame 504 is welded on the outer surface of the integral frame 101, a connecting block 507 is arranged on the inner surface of the connecting frame 504, a balance cylinder 505 is arranged on the outer surface of the connecting block 507, a mounting block 506 is arranged on the outer surface of the balance cylinder 505, the mounting block 506 is arranged on the outer surface of the mounting rod 201, the fixed frame 501 is welded on the outer surface of the integral frame 101, a gas tank 502 is arranged on the outer surface of the fixed frame 501, a connecting hose 503 is arranged on the outer surface of the gas tank 502, the connecting hose 503 is arranged on the inner surface of the balance cylinder 505, the balance cylinder 505 is arranged on the outer surface of the integral frame 101 through the connecting frame 504 and the connecting block 507, and meanwhile, the balance cylinder 505 is connected with the mounting rod 201 through the mounting block 506, so that the balance cylinder 505 can reciprocate up and down along with a Y-axis mechanism and bears the weight of a dispersed product and an X-axis mechanism.
The quick-change structure 6 comprises a fixing box 601, a mounting fixture block 604 and a connecting fixture block 605, wherein the mounting fixture block 604 is arranged on the outer surface of the mounting rod 201, the connecting fixture block 605 is arranged on the outer surface of the main arm 105, the mounting fixture block 604 is connected with the connecting fixture block 605, the fixing box 601 is arranged on the inner surface of the mounting rod 201, an air cylinder 602 is arranged on the inner surface of the fixing box 601, a positioning sleeve 603 is arranged on the outer surface of the air cylinder 602, positioning grooves 606 are formed in the inner surface of the mounting fixture block 604 and the inner surface of the connecting fixture block 605, the outer surface of the positioning sleeve 603 is embedded on the inner surface of the positioning groove 606, the outer surface of the positioning sleeve 603 is arranged on the outer surface of the mounting rod 201 through the mounting fixture block 604, the connecting fixture block 605 is arranged on the outer surface of the main arm 105, then the mounting fixture block 604 is connected with the connecting fixture block 605, and then the positioning sleeve 603 is driven to move through a control air cylinder 602, so that the outer surface of the positioning sleeve 603 is embedded on the inner surface of the positioning groove 606, and the positions of the mounting fixture block 604 and the connecting fixture block 605 are fixed, and the main arm 105 are conveniently and quickly installed and replaced.
It should be noted that, the utility model is a three-dimensional manipulator, through controlling the X-axis motor 206, drive the X-axis gear 207 to rotate, utilize the engagement between the X-axis gear 207 and the X-axis gear bar 205, thereby promote the main arm 105 to reciprocate, simultaneously through controlling the Y-axis motor 305, drive the Y-axis gear 306 to rotate, utilize the engagement between the Y-axis gear 306 and the Y-axis gear bar 304, thereby drag the main arm 105 to reciprocate relatively, simultaneously through controlling the Z-axis motor 405, drive the Z-axis gear 406 to rotate, utilize the engagement between the Z-axis gear 406 and the Z-axis gear bar 404, thereby promote the main arm 105 to make lifting movement, thereby facilitate transferring materials.
The foregoing has shown and described the basic principles and main features of the present utility model and the advantages of the present utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined in the appended claims. The scope of the utility model is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a cubic unit manipulator, includes major structure (1), X axle structure (2), Y axle structure (3), Z axle structure (4), balanced structure (5) and quick change structure (6), its characterized in that: the utility model provides a body structure (1) is including whole frame (101), installing frame (102) and main arm (105), install frame (102) at whole frame (101) surface, install at installing frame (102) X axle construction (2), install at X axle construction (2) surface Y axle construction (3), install at installing frame (102) internal surface Z axle construction (4), balanced structure (5) are installed at whole frame (101) surface, quick change structure (6) are installed at main arm (105) surface, a plurality of stiffener (103) are installed to whole frame (101) internal surface, a plurality of support columns (104) are installed to whole frame (101) lower surface, X axle construction (2) are including installing pole (201) and first frame (202).
2. The three-dimensional manipulator of claim 1, wherein: the X-axis sliding block is characterized in that the first frame (202) is arranged on the outer surface of the mounting frame (102), an X-axis sliding block (204) is welded on the lower surface of the first frame (202), an X-axis sliding rail (203) is arranged on the outer surface of the mounting rod (201), the X-axis sliding block (204) is arranged on the outer surface of the X-axis sliding rail (203), and the outer surface of the X-axis sliding rail (203) is in sliding connection with the inner surface of the X-axis sliding block (204).
3. The three-dimensional manipulator of claim 2, wherein: the X-axis motor (206) is arranged on the outer surface of the first frame (202), an X-axis gear (207) is arranged at the output end of the X-axis motor (206), an X-axis gear strip (205) is arranged on the outer surface of the mounting rod (201), and the X-axis gear (207) is meshed with the X-axis gear strip (205).
4. The three-dimensional manipulator of claim 1, wherein: the Y-axis structure (3) comprises a second frame (301), the second frame (301) is installed on the first frame (202), a Y-axis sliding block (303) is installed on the lower surface of the second frame (301), a Y-axis sliding rail (302) is welded on the lower surface of the installation frame (102), the Y-axis sliding block (303) is installed on the outer surface of the Y-axis sliding rail (302), and the outer surface of the Y-axis sliding rail (302) is in sliding connection with the inner surface of the Y-axis sliding block (303).
5. The three-dimensional manipulator of claim 4, wherein: the Y-axis motor (305) is installed on the outer surface of the second frame (301), a Y-axis gear (306) is installed at the output end of the Y-axis motor (305), a Y-axis gear bar (304) is installed on the outer surface of the installation frame (102), and the Y-axis gear (306) is meshed with the Y-axis gear bar (304).
6. The three-dimensional manipulator of claim 1, wherein: the Z-axis structure (4) comprises a third frame (401) and Z-axis sliding rails (402), the Z-axis sliding rails (402) are arranged on the outer surface of the integral frame (101), the third frame (401) is arranged on the outer surface of the installation frame (102), Z-axis sliding blocks (403) are welded on the outer surface of the third frame (401), the Z-axis sliding blocks (403) are arranged on the outer surface of the Z-axis sliding rails (402), and the outer surface of the Z-axis sliding rails (402) is in sliding connection with the inner surface of the Z-axis sliding blocks (403).
7. The three-dimensional manipulator of claim 6, wherein: the Z-axis motor (405) is arranged on the outer surface of the third frame (401), the Z-axis gear (406) is arranged at the output end of the Z-axis motor (405), the Z-axis gear strip (404) is arranged on the outer surface of the integral frame (101), and the Z-axis gear (406) is meshed with the Z-axis gear strip (404).
8. The three-dimensional manipulator of claim 1, wherein: the balance structure (5) comprises a fixed frame (501) and a connecting frame (504), wherein the connecting frame (504) is welded on the outer surface of the integral frame (101), a connecting block (507) is installed on the inner surface of the connecting frame (504), a balance cylinder (505) is installed on the outer surface of the connecting block (507), and a mounting block (506) is installed on the outer surface of the balance cylinder (505).
9. The three-dimensional manipulator of claim 8, wherein: the installation piece (506) is installed at installation pole (201) surface, fixed frame (501) welding is at whole frame (101) surface, fixed frame (501) surface mounting has gas pitcher (502), gas pitcher (502) surface mounting has coupling hose (503), coupling hose (503) are installed at balance cylinder (505) internal surface.
10. The three-dimensional manipulator of claim 1, wherein: quick change structure (6) are including fixed box (601), installation fixture block (604) and connection fixture block (605), installation fixture block (604) are installed at installation pole (201) surface, connection fixture block (605) are installed at main arm (105) surface, installation fixture block (604) are connected with connection fixture block (605), fixed box (601) are installed at installation pole (201) internal surface, fixed box (601) internal surface installs cylinder (602), cylinder (602) external surface installs positioning sleeve (603), installation fixture block (604) all are provided with constant head tank (606) with connection fixture block (605) internal surface, positioning sleeve (603) surface gomphosis is at constant head tank (606) internal surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321982283.5U CN220331317U (en) | 2023-07-26 | 2023-07-26 | Three-dimensional mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321982283.5U CN220331317U (en) | 2023-07-26 | 2023-07-26 | Three-dimensional mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220331317U true CN220331317U (en) | 2024-01-12 |
Family
ID=89450870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321982283.5U Active CN220331317U (en) | 2023-07-26 | 2023-07-26 | Three-dimensional mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220331317U (en) |
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2023
- 2023-07-26 CN CN202321982283.5U patent/CN220331317U/en active Active
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