JP2019001580A - Workpiece end control device and control method - Google Patents

Abstract

To provide a workpiece end control device capable of precisely correcting position deviation in conveying a sheet-like workpiece along a predetermined route.SOLUTION: A workpiece end control device 1 for moving a workpiece W so that a workpiece end of the workpiece W advances along a predetermined route in conveying the workpiece W includes a pair of rollers 4, 9 for conveying the workpiece W in a feeding direction, a spline shaft 11b for holding at east one of a pair of the rollers 4, 9, a driving source 8 for rotating the rollers 4, 9 by rotating the spline shaft 11b to endow the workpiece W with a driving force in a feeding direction, a movable frame 5 for axially supporting the spline shaft 11b via a spline bearing 11a so as to be rotatable and integrally moving the rollers 4, 9 in a direction orthogonal to the feeding direction, and a control part for calculating an amount of a position deviation from a reference of the workpiece end based on a detected value obtained by detecting the workpiece end by detection means 7 to calculate a moving amount of the movable frame 5, and the movable frame 5 is controlled and driven by the control part to correct the workpiece end so as to advance along a predetermined route.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a workpiece end control device and a control method for controlling the position of a workpiece end of a workpiece so as to convey a sheet-like workpiece along a predetermined path. More specifically, the present invention relates to a workpiece end control device and a control method for controlling the position of a workpiece end of the workpiece so as to convey a workpiece such as a curved sheet material along a predetermined path.

  Conventionally, there is a situation in which sewing of a fabric or the like is basically performed by a skilled worker by feeding the fabric while adjusting the shape of the end of the fabric and correcting the deviation. In particular, curved sewing has a problem that it cannot be accurately performed unless it is a skilled worker. However, with the aging of workers, it is becoming difficult to pass on the technology.

  Therefore, as a correction for such a deviation of the edge of the fabric, when the fabric is sewn with a sewing machine, the displacement of the edge of the fabric fed to the needle drop position is corrected so as to be substantially parallel to the edge. A fabric edge control device that stably forms seams is known (for example, Patent Document 1).

  The cloth edge control device of Patent Document 1 includes a pair of rollers that rotate while pinching the cloth before the needle drop position from above and below, and applying a moving force in a direction substantially orthogonal to the feed direction to the cloth, and the needle drop position. And a means for detecting a positional deviation of the edge of the fabric with respect to a predetermined feeding path set on the basis of the needle drop position, and a roller rotating in response to this detection to correct the positional deviation. And a control unit for controlling.

  The pair of rollers are configured to have an umbrella shape spreading toward the downstream side in the feeding direction of the fabric.

JP-A-6-142376

  By the way, the fabric edge control device of Patent Document 1 corrects the positional deviation of the edge of the fabric at the time of sewing of the fabric. Although the cloth is fed from the diameter portion to the diameter-expanded portion, there is a problem that the resistance is not small, and the movement in the feeding direction becomes a resistance and the correction of the positional deviation cannot be performed with high accuracy. That is, since the feeding direction of the fabric is orthogonal to the misalignment correction direction, movement in the feeding direction is hindered when the fabric is sandwiched between the pair of rollers.

  Further, since the fabric is sandwiched between the umbrella-shaped gear-shaped rollers, there is a problem that the fabric is deformed or misaligned depending on the material of the fabric. Furthermore, since the fabric is clamped by the umbrella-type roller, the clamping area is small, the fabric driving force in the correction direction orthogonal to the feeding direction cannot be obtained sufficiently, and the positional deviation correction of the fabric edge cannot be performed with high accuracy. There is also a problem.

  Further, since the fabric edge control device of Patent Document 1 directly corrects the displacement with the pair of rollers with respect to the displacement state of the fabric edge detected by the optical sensor, when sewing a long fabric. There is a problem that the correction overshoots and the fabric moves zigzag.

  Therefore, the present invention provides a workpiece end control device that smoothly corrects the positional deviation of the workpiece edge of various sheet materials and does not affect the feeding direction, and has a high accuracy of the workpiece edge without causing overshoot. An object of the present invention is to provide a workpiece end control device capable of controlling.

The invention according to claim 1 is a workpiece end control device for moving the workpiece so that the workpiece end of the workpiece is along the predetermined path when the sheet-like workpiece is conveyed along the predetermined path.
A pair of rollers that sandwich the workpiece and convey the workpiece in the feeding direction;
A spline shaft that holds at least one of the pair of rollers;
A drive source for rotating the pair of rollers by rotating the spline shaft and applying a propulsive force in the feed direction to the workpiece;
A moving frame that rotatably supports the spline bearing of the spline shaft and moves the pair of rollers integrally in a direction orthogonal to the feed direction;
Detecting means provided on the predetermined path for detecting the workpiece end;
A control unit that calculates a displacement amount from a reference of the workpiece end based on a detection value detected by the detection unit and calculates a movement amount of the moving frame based on the displacement amount;
With
The workpiece end control device adopts a configuration that corrects the workpiece end along a predetermined path by driving the moving frame based on a movement amount calculated by the control unit.

Invention of Claim 2 is the workpiece end control apparatus which moves the said workpiece | work so that the workpiece | work end of the said workpiece | work may follow the said predetermined path | route, when conveying a sheet-like workpiece | work along a predetermined path | route,
A table provided along the predetermined path;
A roller for holding the workpiece between the table and conveying the workpiece in a feeding direction;
A spline shaft for holding the roller;
A drive source for rotating the roller by rotating the spline shaft and applying a propulsive force in the feed direction to the workpiece;
A moving frame that rotatably supports the spline bearing of the spline shaft and moves the roller integrally in a direction perpendicular to the feed direction;
Detecting means provided on the predetermined path for detecting the workpiece end;
A control unit that calculates a displacement amount from a reference of the workpiece end based on a detection value detected by the detection unit and calculates a movement amount of the moving frame based on the displacement amount;
With
The workpiece end control device adopts a configuration that corrects the workpiece end along a predetermined path by driving the moving frame based on a movement amount calculated by the control unit.

According to a third aspect of the present invention, in the first or second aspect of the present invention, a lateral displacement amount of the workpiece end from a preset reference position is detected at a predetermined interval.
The control unit is a workpiece end control device that employs a configuration that calculates a deviation of a positional deviation amount in the predetermined section and calculates a movement amount of the moving frame by integral control based on the deviation.

The invention according to claim 4 is a workpiece end control method for moving the workpiece so that the workpiece end of the workpiece follows the predetermined path when the sheet-like workpiece is conveyed along the predetermined path.
A moving frame is provided that feeds the workpiece by rotation of a roller and conveys the workpiece in the predetermined direction and supports the roller so that the roller can move in a direction orthogonal to the conveying direction.
Conveying the work in the predetermined path direction, detecting a work end of the work with a detecting means on the predetermined path;
Based on the detection value detected by the detection means, the amount of displacement of the workpiece end from the reference is calculated, and the amount of movement of the moving frame is calculated based on the amount of displacement.
A workpiece end control method adopting a configuration in which the workpiece end is corrected to follow a predetermined path by driving the moving frame based on a movement amount calculated by the control unit.

  According to the first aspect of the present invention, the pair of rollers for transporting the workpiece in the feeding direction is configured to be rotatable and movable in a direction orthogonal to the feeding direction, so that an unreasonable resistance is given to the feeding direction of the workpiece. Without moving the workpiece, the workpiece can be moved in the direction orthogonal to the feeding direction.

  In addition, since the workpiece is clamped by the pair of rollers, the workpiece clamping area can be widened, and the correction of the displacement of the workpiece end can be reliably performed, so that the displacement correction can be performed quickly and accurately. Further, since the pair of rollers is not used as a gear, the work is not misaligned or deformed.

  According to the second and fourth aspects of the present invention, the roller for conveying the workpiece in the feeding direction is configured to be rotatable and movable in a direction orthogonal to the feeding direction, so that an unreasonable resistance is given to the feeding direction of the workpiece. Without moving the workpiece, the workpiece can be moved in the direction orthogonal to the feeding direction.

  Further, since the workpiece is fed by the rotation of the roller, the workpiece clamping area can be increased, and the correction of the displacement of the workpiece end can be reliably performed, so that the displacement correction can be performed quickly and accurately. Furthermore, since the roller is not used as a gear, the workpiece is not misaligned or deformed.

  According to the invention of claim 3, since the deviation of the deviation amount in the misalignment direction is calculated by the integral control and correction is performed, overshoot occurs when the misalignment correction of the workpiece end, and the workpiece end travels zigzag. Can be prevented. Thereby, it is possible to correct the positional deviation of the workpiece end with high accuracy.

These are the front views of the workpiece | work end control apparatus of this invention. These are the AA direction arrow directional views of FIG. These are top views of the workpiece | work end control apparatus of this invention. These are the perspective views of the workpiece | work end control apparatus of this invention. (A) And (b) is explanatory drawing of position shift correction in the workpiece | work end control apparatus of this invention. (C) And (d) is explanatory drawing of position shift correction in the workpiece | work end control apparatus of this invention. These are expanded explanatory drawings explaining the detection state of the workpiece | work end in the detection means in the workpiece | work end control apparatus of this invention. These are the schematic plan views showing the state which mounted the workpiece end control apparatus which concerns on another embodiment of this invention in the sewing machine. These are the BB direction schematic arrow sectional drawing of FIG.

  The details of one embodiment of the present invention will be described below with reference to FIGS.

  The workpiece end control device 1 of the present invention includes a support plate 3 erected on the machine frame 2 along the feed direction of the workpiece W, a transport roller 4 pivotally supported by the support plate 3, and the transport roller 4. Are moved in a direction perpendicular to the feed direction of the workpiece W, a pair of the conveying roller 4 and a pinch roller 9 that is movable together with the moving frame 5 and supported by the support plate 3. , A motor 6 that drives the moving frame 5, a sensor 7 that detects a workpiece end Wa of the workpiece W, a motor 8 that rotationally drives the conveying roller 4, the moving frame 5, the motor 6, and the sensor 7. And a control unit 10 for controlling the motor 8 and the like.

  The workpiece W is not particularly limited, but is a sheet-like member that can be applied to, for example, a tape, paper, a fiber material, rubber, leather, a resin material, and the like, and is particularly preferably applicable to a fiber fabric used for sewing.

  The machine frame 2 is composed of two struts provided at an interval along the axial direction of the transport roller 4, and the rectangular support along the feed direction of the workpiece W on the machine frame 2. A plate 3 is erected.

  The transport roller 4 is rotatably supported on the left side of the front surface of the support plate 3 via a spline bearing 11a. A spline shaft 11b is rotatably supported on the spline bearing 11a on the rear side of the spline bearing 11a via the support frame 3, and a drive gear 18 is fitted on the spline shaft 11b. The spline bearing 11a can be preferably a rotary ball spline that rotatably supports the spline shaft 11b.

  The rear end of the spline shaft 11b is pivotally supported by the moving frame 5, and a top plate 5a extends from the upper portion of the moving frame 5 to the vicinity of the front conveying roller 4. The rear side of the conveying roller 4 of the spline shaft 11b is pivotally supported by a support frame 24 provided downward near the front end of the top plate 5a.

  The moving frame 5 is provided with a support plate 5b facing downward, and a guide 20 is provided on the support plate 5b. The guide shaft 20 a of the guide 20 has a front end fixed to the support plate 3 and the other end fixed to a fixed frame 23. A motor 6 is provided at the rear end of the fixed frame 23. A nut member 21 is fixed to the support plate 5b, and a ball screw 22 is screwed to the nut member 21.

  The front end of the ball screw 22 is pivotally supported by the support plate 3, and the other end is connected to the motor 6 via the nut member 21. Therefore, when the motor 6 is rotated forward and backward, the nut member 21 moves back and forth, and accordingly, the moving frame 5 moves back and forth. When the moving frame 5 moves, the spline shaft 11b moves back and forth, and the transport roller 4 moves back and forth.

  Near the upper end of the support plate 3, struts 12, 12 are provided orthogonal to the feed direction of the workpiece W, and a table 13 serving as a transport path for the workpiece W is provided on the struts 12, 12. The table 13 is partly divided at the upper part of the conveying roller 4, and the pinch roller 9 is provided above the divided cut portion of the table 13 so as to face the conveying roller 4.

  A support frame 14 is erected at the center upper portion of the support plate 3, and a shaft 15 is pivotally supported behind the support frame 14. A driving pulley 16 is fitted on the shaft 15, and the shaft of the motor 8 is connected to the rear end portion of the shaft 15. A driven pulley 17 is pivotally supported on the right rear surface of the support plate 3.

  A timing belt 19 is stretched around the drive gear 18, the driven pulley 16 and the driven pulley 17. When the motor 8 is driven, the timing belt 19 rotates, and the transport roller 4 rotates (clockwise in the drawing) so as to be in the feed direction of the workpiece W.

  The pinch roller 9 is rotatably supported on a shaft 9 a, and one end of the shaft 9 a is fixed to the swing member 25. The swing member 25 is pivotally supported near the upper end of the support frame 24 so as to be swingable. The shaft 9a is suspended by a spring 26 provided below the front end of the top plate 5a, and is urged downward by the spring 26. Therefore, the pinch roller 9 is pressed against the transport roller 4 by the urging force of the spring 26, and when the transport roller 4 rotates, the pinch roller 9 is driven to rotate. Further, the workpiece W sandwiched between the pinch roller 9 and the transport roller 4 is transported by the rotation of the transport roller 4 and the pinch roller 9. In addition, since the pinch roller 9 is biased by a spring, even if the thickness of the workpiece W changes, a conveying force can be applied to the workpiece W and the displacement can be corrected accurately. . Further, the biasing force of the spring can be appropriately changed as long as the workpiece W can be held and conveyed. In addition, various types of cylinders, motors, and the like can be used as long as a force capable of holding and conveying the workpiece W can be applied.

  A sensor 7 as a detecting means for detecting the workpiece end Wa is provided at an upper portion in the feeding direction of the conveying roller 4. The sensor 7 is supported by a sensor frame 7 a supported by the support plate 3. The sensor 7 is preferably an optical sensor such as a phototube, but is not limited as long as it can detect the workpiece end Wa. In this embodiment, a phototube is used, and the work piece is detected by detecting the amount of light between a reflector 27 (see FIGS. 5 to 7) provided at a position on the table 13 facing the phototube. The workpiece end Wa is detected from the amount of light blocked by the end Wa. The light amount is detected by, for example, a voltage value of the amount of light blocked at the end of the workpiece W.

  The sensor 7 is connected to a control unit 10, and the control unit 10 is further connected to the motor 6 and the motor 8. Therefore, the information on the end portion of the workpiece W detected by the sensor 7 is sent to the control unit 10, and the control unit 10 controls the motor 6 and the motor 8 based on the calculated data. It has become.

  The above is the configuration according to the embodiment of the present invention. Next, the work end control method in the work end control apparatus 1 of the present invention will be described below.

  5 (a) and 5 (b) are explanatory diagrams of misalignment correction in the workpiece end control device 1 of the present invention. FIG. 5A is an explanatory diagram of a state in which the sensor 7 detects a part of the workpiece end Wa of the workpiece W, and the workpiece W is continuously conveyed in the direction of the arrow shown in the drawing. In the present embodiment, a photoelectric tube is used as the sensor 7. In the above state, the amount of light to be detected changes according to the area where the detection area 28 of the sensor 7 is blocked, and the sensor 7 detects the amount of light as, for example, the amount of change in the voltage value, and the control unit 10 Is transmitted.

  FIG. 5B shows a state in which the workpiece W has progressed and the workpiece end Wa has deviated from the detection region 28. At this time, the amount of light detected by the sensor 7 is maximized. Although details will be described later, the motor 6 and the motor 8 are controlled according to a control signal from the control unit 10 so that the position of the workpiece W is corrected in the direction of the arrow shown in the figure. It should be noted that the displacement amount of the workpiece W is exaggerated for easy understanding.

  FIGS. 6C and 6D are explanatory views showing a state in which the workpiece W is displaced in the opposite direction to FIG. FIG. 6C shows a state in which the sensor 7 detects a part of the workpiece end Wa as in FIG.

  FIG. 6D shows a state in which the workpiece W is moving and the entire detection region 28 is blocked, that is, the detection region 28 is covered with the workpiece W. It should be noted that the displacement amount of the workpiece W is exaggerated for easy understanding. At this time, the motor 6 and the motor 8 are controlled in accordance with a control signal from the control unit 10, and the position of the workpiece W is corrected in the direction of the arrow shown in the drawing.

  FIG. 7 is an enlarged view showing a detection state of the workpiece end Wa by the sensor 7. The detection area 28 is circular in the present embodiment, and the detection area 28 is set, for example, to the outside on the + and the inside on the − with the center line 30 parallel to the transport direction passing through the detection center 29 interposed therebetween. .

  In the drawing, a state where the workpiece W is displaced inward, that is, a state where the workpiece W is displaced in the negative direction is shown. At this time, the sensor 7 detects from the light amount value that the workpiece W tends to shift in the negative direction. This detection is continuously performed, and the control unit 10 determines whether the tendency of the positional deviation of the workpiece end Wa is in the + direction or the − direction according to the progress of the workpiece W. Then, the tendency of the positional deviation of the workpiece end Wa is determined by the control unit 10 from a predetermined data amount, the correction amount of the positional deviation is calculated by PI control (integral control), and a control signal is sent to the motor 6 and the motor 8. To send. The detection data of the control and the correction interval of the control depend on the resolution of the sensor 7, but the selection of the resolution may be appropriately selected according to the conveyance speed of the workpiece W.

  For example, when the negative voltage value is continuous, the positional deviation correction is performed in the + direction from the integrated value. When the positive voltage value is continuous, the positional deviation correction is performed in the negative direction. to correct. Since this correction amount is performed by PI control, the correction amount is too large, and the reaction does not overshoot and the zigzag correction does not occur.

  By the above control, the transport roller 4 transports the workpiece W, and the movable frame 5 is controlled, so that the positional deviation of the workpiece W is corrected in a predetermined direction. Yes.

  Next, another embodiment in which the workpiece end control device is mounted on the sewing machine will be described with reference to FIGS.

  FIG. 8 is a schematic plan view in which the workpiece end control device 37 is mounted on the sewing machine 38. FIG. 9 is a schematic cross-sectional view taken along the line BB in FIG. Note that the same reference numerals are used for members similar to those described above.

  In the present embodiment, the conveyance roller 36 is provided so as to face the table 31 of the sewing machine 38, and the workpiece W is sandwiched between the conveyance roller 36 and the table 31 with an appropriate force. Although not shown, the transport roller 36 rotates in the direction of transporting the workpiece W via the spline shaft 11b, the spline bearing 11a, and the moving frame 5 as in the workpiece end control device 1, and the workpiece The movement in the direction orthogonal to the conveyance direction of W is free. That is, the difference from the workpiece end control device 1 is that the workpiece W is not conveyed while being sandwiched between the rollers opposed to the conveying roller 36, but between the plate-like member such as a table. It is the point which conveyed by pinching.

  A sensor 7 is provided in front of the transport roller 36 (right direction in the drawing), and a reflector 27 is provided on the table 31 of the sewing machine 38 below the sensor 7. A sewing needle 34 of the sewing machine 38 is positioned in front of the transport roller, and a work presser 33 that presses the work W around the sewing machine needle 34 is supported by a shaft 35. A plurality of feed dogs 32 are provided below the workpiece presser 33, the workpiece W is sandwiched between the feed dog 32 and the workpiece presser 33, and the feed dog 32 is driven by an appropriate drive source (not shown). Thus, the workpiece W is conveyed.

  The workpiece end Wa is detected by the sensor 7 in the conveyed workpiece W, the amount of positional deviation correction of the workpiece W is determined by the control unit 10 (not shown), and the workpiece end Wa is corrected by the conveyance roller 36. The positional deviation correction is performed in the same manner as described above, and sewing is performed at a required position when the workpiece W corrected for positional deviation passes immediately below the sewing needle 34. The workpiece W may be embroidered on a single piece, or a plurality of pieces may be overlapped and sewn. It is also possible to supply one or a plurality of stacked workpieces W while correcting misalignment, supply another workpiece W on the misaligned workpiece W, and sew these workpieces W together.

  As described above, if the positional deviation correction of the workpiece W is performed immediately before the sewing with the sewing machine 38, the sewing can be performed while maintaining the accuracy of the positional deviation correction. Can be done. Even when it is other than sewing, when the sheet-like workpiece W is subjected to another work, a systematic misalignment correction can be similarly performed.

  The above is one embodiment of the present invention, but appropriate modifications can be made within the scope of the present invention. For example, in the present embodiment, the number of sensors is one. However, a plurality of sensors can be used as necessary. The sensors are arranged in the front and rear along the transport direction, or a plurality of sensors are arranged in a direction orthogonal to the transport direction. It is also possible to provide individual sensors. In addition, although a photoelectric tube is used as a sensor, various sensors can be used as long as the workpiece end can be detected.

  Further, in the present embodiment, the workpiece subjected to the positional deviation correction is used for sewing. However, for example, the workpiece is used for superimposing the sheet-like workpieces, or the positional deviation correction is performed on the sheet-like workpieces. Marking or processing may be performed.

W Work Wa Work end 1 Work end control device 2 Machine frame 3 Support plate 4 Conveying roller 5 Moving frame 5a Top plate 5b Support plate 6 Motor 7 Sensor 7a Sensor frame 8 Motor 9 Pinch roller 10 Controller 11a Spline bearing 11b Spline shaft 12 Post 13 Table 14 Support frame 15 Shaft 16 Drive pulley 17 Drive pulley 18 Drive gear 19 Timing belt 20 Guide 20a Guide shaft 21 Nut member 22 Ball screw 23 Fixed frame 24 Support frame 25 Oscillating member 26 Spring 27 Reflecting plate 28 Detection area 29 Detection Center 30 Center line 31 Table 32 Feed dog 33 Work clamp 34 Sewing needle 35 Shaft 36 Conveying roller 37 Work end control device 38 Sewing machine

Claims (4)

In the workpiece end control device that moves the workpiece so that the workpiece end of the workpiece follows the predetermined path when the sheet-shaped workpiece is conveyed along the predetermined path,
A pair of rollers that sandwich the workpiece and convey the workpiece in the feeding direction;
A spline shaft that holds at least one of the pair of rollers;
A drive source for rotating the pair of rollers by rotating the spline shaft and applying a propulsive force in the feed direction to the workpiece;
A moving frame that rotatably supports the spline bearing of the spline shaft and moves the pair of rollers integrally in a direction orthogonal to the feed direction;
Detecting means provided on the predetermined path for detecting the workpiece end;
A control unit that calculates a displacement amount from a reference of the workpiece end based on a detection value detected by the detection unit and calculates a movement amount of the moving frame based on the displacement amount;
With
A workpiece end control device that corrects the workpiece end along a predetermined path by driving the moving frame based on a movement amount calculated by the control unit. In the workpiece end control device that moves the workpiece so that the workpiece end of the workpiece follows the predetermined path when the sheet-shaped workpiece is conveyed along the predetermined path,
A table provided along the predetermined path;
A roller for holding the workpiece between the table and conveying the workpiece in a feeding direction;
A spline shaft for holding the roller;
A drive source for rotating the roller by rotating the spline shaft and applying a propulsive force in the feed direction to the workpiece;
A moving frame that rotatably supports the spline bearing of the spline shaft and moves the roller integrally in a direction perpendicular to the feed direction;
Detecting means provided on the predetermined path for detecting the workpiece end;
A control unit that calculates a displacement amount from a reference of the workpiece end based on a detection value detected by the detection unit and calculates a movement amount of the moving frame based on the displacement amount;
With
A workpiece end control device that corrects the workpiece end along a predetermined path by driving the moving frame based on a movement amount calculated by the control unit. The detection means detects a positional deviation amount in the left-right direction of the workpiece end from a preset reference position at a predetermined interval,
3. The control unit according to claim 1, wherein the control unit calculates a deviation of the positional deviation amount in the predetermined section, and calculates the movement amount of the moving frame by integral control based on the deviation. The workpiece end control device described in 1. In the workpiece end control method of moving the workpiece so that the workpiece end of the workpiece follows the predetermined path when transporting the sheet-shaped workpiece along the predetermined path,
A moving frame is provided that feeds the workpiece by rotation of a roller and conveys the workpiece in the predetermined direction and supports the roller so that the roller can move in a direction orthogonal to the conveying direction.
Conveying the work in the predetermined path direction, detecting a work end of the work with a detecting means on the predetermined path;
Based on the detection value detected by the detection means, the amount of displacement of the workpiece end from the reference is calculated, and the amount of movement of the moving frame is calculated based on the amount of displacement.
A workpiece edge control method, wherein the workpiece edge is corrected to follow a predetermined path by driving the movement frame based on a movement amount calculated by the controller.

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