Seed clamping jaw and manipulator
By designing a seed jaw including a drive device, a clamping assembly and a prototyping member, the problem of difficulty in stably picking irregularly shaped seeds in the prior art is solved, and efficient and accurate clamping and picking of seeds are achieved.
Patent Information
- Application Number
- CN202411270632.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-11
- Publication Date
- 2025-02-14
AI Technical Summary
The prior art is difficult to stably pick up seeds with irregular shapes because the suction nozzle of the suction cup has a small contact area with the outer surface of the seed and cannot be effectively clamped.
A seed jaw is designed including a drive device, a clamping assembly and a profiling member. The clamping components are driven to be close to or away from each other by a driving device, and a profiling member is installed on the clamping member, and the seeds are stably clamped by the profiling portion of the profiling member.
The stable pickup of irregularly shaped seeds is achieved, and the efficiency and accuracy of seed sorting, screening and recycling are improved.
Smart Images
Figure CN119427407A_ABST
Abstract
Description
Technical Field
[0001] The present application discloses a field of agricultural production technology, and in particular, a seed clamp and a manipulator. Background Art
[0002] Seeds are the foundation of agriculture. Efficient, fast and accurate seed sorting is the core. The robot is combined with the suction cup function to absorb the seeds through the suction nozzle of the suction cup, and then sort, screen and recycle the seeds.
[0003] However, for seeds with irregular shapes, since the contact area between the suction nozzle of the suction cup and the surface of the seed is small, the seeds cannot be stably picked up by relying solely on the adsorption function of the suction cup. The above problems need to be solved urgently. Summary of the invention
[0004] A technical problem to be solved by the present application is to stably pick up irregularly shaped seeds.
[0005] In order to solve the above technical problems, the embodiment disclosed in the present application provides a seed clamp including a driving device, a clamping assembly and a contoured member;
[0006] The driving device includes a driving end, and the clamping assembly includes a first clamping member and a second clamping member. The clamping assembly is drivingly connected to the driving end of the driving device so that the first clamping member and the second clamping member are moved closer to or farther from each other. There are two profiling members, which are respectively assembled on the first clamping member and the second clamping member and are arranged opposite to each other.
[0007] The profiling member is provided with a profiling portion, which is formed on the end surface of the profiling member and is an arc-shaped portion concave inwardly of the profiling member.
[0008] In some embodiments, the profiling member has a first end surface and a second end surface, the profiling member is detachably connected to the first clamping member and the second clamping member by using the first end surface, and the profiling portion is formed on the second end surface;
[0009] The middle part of the profiling part is close to the first end surface, the two end parts of the profiling part are away from the first end surface, and the middle part and the two end parts of the profiling part are connected by arc surface transition.
[0010] In some embodiments, the profiling member is provided with a through slot, the through slot passes through the profiling member, and two ends of the through slot are respectively connected to the profiling portion and the first end surface.
[0011] In some embodiments, the through groove is divided into a first section and a second section, at least a portion of the first section is located in the contoured portion, one end of the second section is connected to the first section, and the other end of the second section extends to the first end face, and the area of the radial cross-section of the first section is greater than the area of the radial cross-section of the second section.
[0012] In some embodiments, an air passage is disposed inside the shaped member, the air passage passes through the shaped member and is communicated with the first section of the through groove.
[0013] In some embodiments, an annular cavity is provided inside the profiling member, the annular cavity is arranged in the first section of the through groove, and the airway is connected to the annular cavity. A plurality of air holes are provided on the groove wall of the first section of the through groove to communicate with the annular cavity.
[0014] In some embodiments, there are two through slots, which are spaced apart on the contoured member, and the axes of the two through slots are parallel and located at the same level.
[0015] In some embodiments, the first clamping member is provided with a first limiting hole, the second clamping member is provided with a second limiting hole, and the first limiting hole and the second limiting hole are coaxially arranged, and the aperture of the first limiting hole is larger than the aperture of the second limiting hole;
[0016] It also includes a limiting shaft rod, a first end of which enters the first limiting hole and extends toward the second limiting hole.
[0017] In some embodiments, a nut is provided near the second end of the limiting shaft rod, a threaded structure is provided at the portion near the second end of the limiting shaft rod, a reducing structure is provided at the first end of the limiting shaft rod, and the reducing structure is arranged along the length direction of the limiting shaft rod, thereby reducing the axial diameter of the second end of the limiting shaft rod.
[0018] In some embodiments, a manipulator includes the seed gripper mentioned in the above embodiments, the seed gripper includes: a driving device, a clamping assembly and a contoured member;
[0019] The driving device includes a driving end, the clamping assembly includes a first clamping member and a second clamping member, the clamping assembly is drivingly connected to the driving end of the driving device so that the first clamping member and the second clamping member are moved closer to or farther from each other; the two profiling members are respectively assembled on the first clamping member and the second clamping member and are arranged opposite to each other;
[0020] The profiling member is provided with a profiling portion, which is formed on the end surface of the profiling member and is an arc-shaped portion concave inwardly of the profiling member.
[0021] Through the above technical scheme, the present application discloses a seed clamp, including a driving device, which drives the first clamping member and the second clamping member to move closer to or away from each other, and respectively provides a contouring member on the first clamping member and the second clamping member, and utilizes the contouring part on the contouring member to perform contouring and stable clamping of the seed. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the embodiments disclosed in the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments disclosed in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0023] Figure 1 It is a schematic diagram of the structure of the seed clamp disclosed in the embodiment disclosed in this application;
[0024] Figure 2 It is a structural schematic diagram of a profiling member of a seed clamp disclosed in an embodiment of the present application;
[0025] Figure 3 It is a schematic diagram of the structure of the upper profiling part of a profiling member disclosed in the embodiment disclosed in the present application;
[0026] Figure 4 It is a schematic structural diagram of another upper profiling portion of a profiling member disclosed in the embodiment disclosed in the present application;
[0027] Figure 5 It is a schematic diagram of the internal structure of the profiling member of the seed clamping claw disclosed in the embodiment disclosed in the present application;
[0028] Figure 6 It is a schematic diagram of the limiting shaft structure of the seed clamp disclosed in the embodiment disclosed in this application.
[0029] Description of reference numerals:
[0030] 100, driving device; 200, first clamping member; 210, first limiting hole; 300, second clamping member; 310, second limiting hole; 400, contour member; 410, contour portion; 420, first end face; 430, second end face; 440, through groove; 441, first section; 442, second section; 443, air hole; 500, airway; 600, annular cavity; 700, limiting shaft rod; 710, nut; 720, cutting structure. DETAILED DESCRIPTION
[0031] The following is a further detailed description of the embodiments disclosed in the present application in conjunction with the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to exemplarily illustrate the principles disclosed in the present application, but cannot be used to limit the scope of the present application. The present application can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
[0032] The present application discloses and provides these embodiments in order to make the present application disclosed thoroughly and completely, and to fully express the scope disclosed in the present application to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the parts and steps, the composition of the materials, the numerical expressions and the numerical values set forth in these embodiments should be interpreted as being merely exemplary, and not as limiting.
[0033] It should be noted that, in the description disclosed in this application, unless otherwise specified, the meaning of "multiple" is greater than or equal to two; the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the orientation or positional relationship, are only for the convenience of describing the disclosure of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the disclosure of this application. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.
[0034] In addition, the words "first", "second" and similar words used in the disclosure of this application do not indicate any order, quantity or importance, but are only used to distinguish different parts. "Vertical" does not mean vertical in the strict sense, but is within the tolerance range. "Parallel" does not mean parallel in the strict sense, but is within the tolerance range. "Include" or "comprising" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of also including other elements.
[0035] It should also be noted that in the description disclosed in this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the disclosure of this application can be understood according to the specific circumstances. When a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.
[0036] All terms used in this application disclosure have the same meanings as those understood by those of ordinary skill in the art to which this application disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as those in general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.
[0037] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.
[0038] The existing manipulator is combined with the suction cup function, and the seeds are sucked by the suction cup nozzle, and then the seeds are sorted, screened and recycled. Since the shape of seeds is irregular and the outer contour of seeds is mostly round or oval, the contact area between the suction cup nozzle and the surface of seeds is small, and the seeds cannot be stably picked up by relying solely on the suction function of the suction cup.
[0039] In this regard, the present application proposes a seed clamp, comprising a driving device, a first clamping member and a second clamping member. The driving device is used to drive the first clamping member and the second clamping member to move closer to or farther from each other, and a profiling member is provided on the first clamping member and the second clamping member respectively, and the profiling part on the profiling member is used to profilingly and stably clamp the seed.
[0040] like Figure 1-6 As shown, the present application discloses a seed clamp, comprising: a driving device 100, a clamping assembly and a contoured member 400;
[0041] The driving device 100 includes a driving end, and the clamping assembly includes a first clamping member 200 and a second clamping member 300. The clamping assembly is drivingly connected to the driving end of the driving device 100 so that the first clamping member 200 and the second clamping member 300 are moved closer to or farther from each other; the profiling member 400, the two profiling members 400 are respectively assembled on the first clamping member 200 and the second clamping member 300 and are arranged opposite to each other;
[0042] The profiling member 400 is provided with a profiling portion 410 . The profiling portion 410 is formed on the end surface of the profiling member 400 . The profiling portion 410 is an arc-shaped portion concave toward the profiling member 400 .
[0043] Specifically, the driving device 100 may be a pneumatic driving device 100, or an electric driving device 100. Taking the driving device 100 as an electric driving device 100 as an example, the power source is a servo motor, the driving end is the rotating shaft of the servo motor, the rotating shaft is fixedly connected with a gear, two racks are arranged in parallel on opposite sides of the gear, and the two racks are respectively meshed with the gear, and the two racks also have a first clamping member 200 and a second clamping member 300, respectively, and the first clamping member 200 and the second clamping member 300 are moved closer to or away from each other by the forward or reverse rotation of the servo motor.
[0044] The first clamping member 200 and the second clamping member 300 have opposite and parallel end faces, on which a profiling member 400 is installed. The first end face 420 of the profiling member 400 is connected to the clamping member, and the second end face 430 opposite to the first end face 420 is formed with a profiling portion 410. The middle section of the profiling portion 410 is concave toward the profiling member 400 to form a concave space. The concave space formed by the two profiling portions 410 is adapted to the contour of the seed. When the first clamping member 200 and the second clamping member 300 are close to each other, the profiling portion 410 can clamp irregularly shaped seeds in the space.
[0045] The contoured member 400 may be made of polytetrafluoroethylene or silicone, which is soft, flexible and elastic and can provide protection for the seeds to avoid scratching the seed coat during the clamping process.
[0046] It is understandable that the driving device 100 is also equipped with a guide component, which can be a guide rail or a slide groove. The first clamping member 200 and the second clamping member 300 are assembled in the guide rail or the slide groove, and can move relative to each other smoothly, and reduce friction and wear. A connecting member is also included to connect the clamping assembly and the driving device 100. The guide component and the connecting member are well known to those skilled in the art, and their specific structures are not described in detail.
[0047] In some embodiments, the profiling member 400 has a first end face 420 and a second end face 430, the first end face 420 is detachably connected to the first clamping member 200 or the second clamping member 300, and the profiling portion 410 is formed on the second end face 430; the middle portion of the profiling portion 410 approaches the first end face 420, and the two end portions of the profiling portion 410 move away from the first end face 420, and the middle portion and the two end portions of the profiling portion 410 are connected by a circular arc surface.
[0048] Specifically, the profiling member 400 can be connected to the first clamping member 200 and the second clamping member 300 by magnetic attraction, bolt connection, or plug connection. The end faces of the first clamping member 200 and the second clamping member 300 are provided with plug holes, and the first end face 420 of the profiling member 400 is provided with an insertion block, which is plugged into the insertion hole by the insertion block. The detachable connection method facilitates the rapid replacement of profiling members 400 of different sizes and specifications, so that it can be used to clamp seeds of different varieties, sizes, and contours.
[0049] The ends of the two sides of the profiling portion 410 are higher and the middle part is lower, forming a U-shaped structure, and an arc surface is used for transition between the middle part and the ends on both sides to avoid sharp ends on the contact surface with the seeds, thereby damaging the seeds.
[0050] In some embodiments, the profiling member 400 defines a through slot 440 , which passes through the profiling member 400 , and two ends of the through slot 440 are respectively connected to the profiling portion 410 and the first end surface 420 .
[0051] Specifically, in order to facilitate the installation of the profiling member 400 and the clamping assembly, a through groove 440 is transversely opened on the profiling member 400, one end of the through groove 440 passes through the profiling portion 410, and the other end passes through the first end face 420 of the profiling member 400. A bolt can be screwed into the through groove 440, and the end faces of the first clamping member 200 and the second clamping member 300 are connected.
[0052] In some embodiments, the through groove 440 is divided into a first section 441 and a second section 442, at least a portion of the first section 441 is located in the contoured portion 410, one end of the second section 442 is connected to the first section 441, and the other end of the second section 442 extends to the first end face 420, and the area of the radial cross section of the first section 441 is greater than the area of the radial cross section of the second section 442.
[0053] Specifically, the through groove 440 is a circular stepped groove, which is divided into a first section 441 and a second section 442 which are connected in sequence. The first section 441 is located in the profiling portion 410, and the second section 442 extends toward the second end face 430 of the profiling member 400, and the first section 441 and the second section 442 are coaxially arranged. Due to the different radial cross-sectional areas of the two sections, a step surface is formed at the junction of the first section 441 and the second section 442. The step surface is an inclined surface, and the step surface is gradually inclined from the outer peripheral side to the axial direction. A countersunk bolt is screwed into the first section 441 so that the countersunk bolt rests on the inclined surface, which can limit and fix the profiling member 400 to prevent the profiling member 400 from shaking and affecting the clamping stability.
[0054] In some embodiments, an air passage 500 is disposed inside the contoured member 400 . The air passage 500 passes through the contoured member 400 and is communicated with the first section 441 of the through slot 440 .
[0055] Specifically, an air pump can be added to the driving device 100. The air pump has an air hose, which is sealed and connected to the airway 500. When the air pump is started, negative pressure is generated in the first section 441 of the through groove 440. Since the first section 441 is arranged in the profiling part 410, the seeds are adsorbed by the negative pressure and are close to the profiling part 410, so that the seeds are positioned and then clamped by the clamping assembly to improve the picking efficiency. At this time, the first clamping member 200 and the second clamping member 300 have both adsorption and clamping functions. Not only can the seeds be picked up quickly, but the seeds can also be stably clamped with the help of the profiling member 400.
[0056] In some embodiments, an annular cavity 600 is provided inside the contoured member 400 , the annular cavity 600 is arranged in the first section 441 of the through groove 440 , and the air passage 500 is connected with the annular cavity 600 . A plurality of air holes 443 are provided on the groove wall of the first section 441 of the through groove 440 and are connected with the annular cavity 600 .
[0057] Specifically, the annular cavity 600 wraps the first end of the through groove 440, and the annular cavity 600 is an annular cavity. The air channel 500 is connected to the annular cavity 600. When the air pump is in suction mode, the annular cavity 600 forms a negative pressure cavity. On the groove wall of the first section 441, a plurality of air holes 443 are provided to communicate with the annular cavity 600. The plurality of air holes 443 are evenly spaced along the circumferential direction on the groove wall. Since the first section 441 is located in the profiling part 410, at this time, a negative pressure is formed in the profiling part 410, which can adsorb the seeds to be picked up. Improve the picking efficiency. And the seeds can be continuously adsorbed during the clamping process, improving the stability of picking up seeds.
[0058] In some embodiments, there are two through slots 440 , which are spaced apart on the contoured member 400 , and the axes of the two through slots 440 are parallel and located at the same level.
[0059] Specifically, in order to further improve the stability of the installation of the profiling member 400 and the clamping assembly, two through grooves 440 are provided, and countersunk bolts can be screwed into the two through grooves 440 respectively, so as to improve the stability of the profiling member 400 during operation, and during long-term use, the profiling member 400 will not be deflected and misaligned due to the loosening of one of the countersunk bolts, thereby affecting production.
[0060] In some embodiments, the first clamping member 200 is provided with a first limiting hole 210, the second clamping member 300 is provided with a second limiting hole 310, and the first limiting hole 210 and the second limiting hole 310 are coaxially arranged, and the aperture of the first limiting hole 210 is larger than the aperture of the second limiting hole 310;
[0061] The limiting shaft rod 700 is also included, and a first end of the limiting shaft rod 700 enters from the first limiting hole 210 and extends toward the second limiting hole 310 .
[0062] Specifically, in order to prevent the seeds from being over-squeezed when the first clamping member 200 and the second clamping member 300 approach each other, the first end of the limiting shaft 700 is inserted into the first limiting hole 210 and abuts against the second limiting hole 310 .
[0063] In some embodiments, a nut 710 is provided near the second end of the limiting shaft 700, a threaded structure is provided at the portion near the second end of the limiting shaft 700, a cutting structure 720 is provided at the first end of the limiting shaft 700, and the cutting structure 720 is arranged along the length direction of the limiting shaft 700, thereby reducing the axial diameter of the second end of the limiting shaft 700.
[0064] Specifically, the limiting shaft 700 is pressed against the side wall of the first clamping member 200 through the nut 710 at the second end, and is threadedly connected to the internal thread of the first limiting hole 210 by a threaded structure. The nut 710 can be rotated to adjust the extension length of the first end to the second limiting hole 310.
[0065] Among them, the cutting structure 720 is arranged at the first end of the limiting shaft rod 700, so that the limiting shaft rod 700 forms a stepped shaft rod, and the shaft diameter of the first end is smaller than the shaft diameter of the second end, so that the first end enters the second limiting hole 310. Since the cutting structure 720 forms the limiting shaft rod 700 into a stepped shaft, a stepped end face is formed at any position between the first end and the second end, and the stepped end face faces one side of the first end. When the first clamping member 200 and the second clamping member 300 approach each other to pick up seeds, the first end of the limiting shaft rod 700 enters the second limiting hole 310 and continues to extend until the stepped end face abuts against the inner side wall of the second clamping member 300, thereby preventing the first clamping member 200 and the second clamping member 300 from over-clamping and damaging the seeds.
[0066] In some embodiments, a robot is provided, the robot is equipped with a seed gripper, the seed gripper comprises: a driving device 100, a clamping assembly and a contoured member 400;
[0067] The driving device 100 includes a driving end, and the clamping assembly includes a first clamping member 200 and a second clamping member 300. The clamping assembly is drivingly connected to the driving end of the driving device 100 so that the first clamping member 200 and the second clamping member 300 are moved closer to or farther from each other. The two profiling members 400 are respectively assembled on the first clamping member 200 and the second clamping member 300 and are arranged opposite to each other;
[0068] The profiling member 400 is provided with a profiling portion 410 . The profiling portion 410 is formed on the end surface of the profiling member 400 . The profiling portion 410 is an arc-shaped portion concave toward the profiling member 400 .
[0069] So far, the various embodiments disclosed in the present application have been described in detail. In order to avoid obscuring the concept disclosed in the present application, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.
[0070] Although some specific embodiments disclosed in the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are only for illustration, and are not intended to limit the scope disclosed in the present application. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit disclosed in the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments may be combined in any manner.
Claims
1. A seed clamp, characterized in that: include: A driving device (100), the driving device (100) comprising a driving end; A clamping assembly, the clamping assembly comprising a first clamping member (200) and a second clamping member (300), the clamping assembly being drivingly connected to a driving end of the driving device (100) so that the first clamping member (200) and the second clamping member (300) are moved closer to or farther from each other; and, A contour piece (400), wherein two contour pieces (400) are respectively assembled on the first clamping piece (200) and the second clamping piece (300) and are arranged opposite to each other; The profiling member (400) is provided with a profiling portion (410), the profiling portion (410) is formed on the end surface of the profiling member (400), and the profiling portion (410) is an arc-shaped portion concave toward the profiling member (400).
2. The seed clamp according to claim 1, characterized in that: The profiling member (400) has a first end surface (420) and a second end surface (430), the profiling member (400) is detachably connected to the first clamping member (200) and the second clamping member (300) by means of the first end surface (420), and the profiling portion (410) is formed on the second end surface (430); The middle portion of the profiling portion (410) approaches the first end surface (420), the two end portions of the profiling portion (410) move away from the first end surface (420), and the middle portion and the two end portions of the profiling portion (410) are connected by arc surfaces.
3. The seed clamp according to claim 2, characterized in that: The profiling member (400) is provided with a through slot (440), the through slot (440) runs through the profiling member (400), and the two ends of the through slot (440) are respectively connected to the profiling portion (410) and the first end surface (420).
4. The seed clamp according to claim 3, characterized in that: The through groove (440) is divided into a first section (441) and a second section (442); at least a portion of the first section (441) is located in the contoured portion (410); one end of the second section (442) is connected to the first section (441); the other end of the second section (442) extends to the first end surface (420); and the area of the radial cross section of the first section (441) is greater than the area of the radial cross section of the second section (442).
5. The seed clamp according to claim 4, characterized in that: An air passage (500) is arranged inside the profiling member (400), and the air passage (500) passes through the profiling member (400) and is communicated with the first section (441) of the through groove (440).
6. The seed clamp according to claim 5, characterized in that: An annular cavity (600) is provided inside the profiling member (400), the annular cavity (600) is arranged in the first section (441) of the through groove (440), and the air channel (500) is communicated with the annular cavity (600), and a plurality of air holes (443) are provided on the groove wall of the first section (441) of the through groove (440) and are communicated with the annular cavity (600).
7. The seed clamp according to claim 6, characterized in that: There are two through grooves (440) which are arranged on the contoured member (400) at intervals, and the axes of the two through grooves (440) are parallel and located at the same horizontal height.
8. The seed clamp according to claim 1, characterized in that: The first clamping member (200) is provided with a first limiting hole (210), the second clamping member (300) is provided with a second limiting hole (310), and the first limiting hole (210) and the second limiting hole (310) are coaxially arranged, and the aperture of the first limiting hole (210) is larger than the aperture of the second limiting hole (310); It also includes a limiting shaft rod (700), wherein a first end of the limiting shaft rod (700) enters from the first limiting hole (210) and extends toward the second limiting hole (310).
9. The seed clamp according to claim 8, characterized in that: A nut (710) is provided near the second end of the limiting shaft rod (700), and a threaded structure is provided at the portion near the second end of the limiting shaft rod (700). A reduction structure (720) is provided at the first end of the limiting shaft rod (700), and the reduction structure (720) is arranged along the length direction of the limiting shaft rod (700), thereby reducing the shaft diameter of the second end of the limiting shaft rod (700).
10. A robot, characterized in that: The invention comprises the seed clamping claw as described in any one of claims 1 to 9.