Telescopic pressing and grabbing two-dimensional platform and machining equipment
By adding fastening holes and fasteners to the telescopic gripping 2D platform, the problem of low accuracy caused by large Z-axis vibration was solved, achieving higher motion accuracy and machining quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN DYNAMIKWELL TECH
- Filing Date
- 2025-05-07
- Publication Date
- 2026-04-21
AI Technical Summary
The existing telescopic gripping 2D platform experiences large vibration amplitude along the Z-axis under high-acceleration operation, resulting in low Z-axis accuracy and affecting the quality of processed products.
By opening a first fastening hole on the side of the first moving part away from the first linear drive part, opening a second fastening hole on the second base, and passing the first fastener through the two holes in sequence, the second base is fastened to the first moving part, thereby enhancing installation stability and reducing vibration amplitude.
This effectively reduces the vibration amplitude of the second linear motion mechanism under high acceleration, improves motion accuracy, and thus enhances the processing quality of the product.
Smart Images
Figure CN224143983U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of linear motor module technology, and in particular to a telescopic gripping two-dimensional platform and processing equipment. Background Technology
[0002] The telescopic gripping 2D platform is constructed from two linear motor modules assembled in a vertical cross shape. One linear motor module serves as the X-axis, and the other as the Z-axis. The base of the Z-axis is vertically fixed to the sliding plate of the X-axis, and the two modules are joined together in a cross shape. Based on the direction of motion, left-right movement of the X-axis is telescopic, and up-down movement of the Z-axis is gripping, thereby enabling the workpiece to achieve 2D planar coordinate positioning in the XZ direction. It is widely used in telescopic lifting motion positioning systems for equipment in various industries.
[0003] However, existing telescopic gripping 2D platforms experience large vibration amplitudes along the Z-axis under high-acceleration operation, resulting in low Z-axis accuracy and consequently affecting the quality of the processed products. Utility Model Content
[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a telescopic gripping two-dimensional platform to solve the problem that the large vibration amplitude of the Z-axis of the telescopic gripping two-dimensional platform in the prior art leads to low Z-axis accuracy, which in turn affects the quality of the processed product.
[0005] To solve the above-mentioned technical problems, this application provides:
[0006] A telescopic gripping two-dimensional platform, comprising:
[0007] The first linear motion mechanism includes a first base, a first linear drive and a first movable component. The first linear drive is disposed on the first base, and the first movable component is connected to the output end of the first linear drive and is slidably connected to the first base.
[0008] The second linear motion mechanism intersects the first linear motion mechanism in a cross shape. The second linear motion mechanism includes a second base, a second linear drive, and a second moving member. The second base is disposed on the first moving member, and the second linear drive is disposed on the second base. The second moving member is connected to the output end of the second linear drive and is slidably connected to the second base.
[0009] The first fastener has a first fastening hole on the side of the first moving member away from the first linear drive member, and the second base has a second fastening hole. The first fastener passes through the second fastening hole and the first fastening hole in sequence to fasten the second base to the first moving member.
[0010] In addition, the telescopic gripping two-dimensional platform according to this application may also have the following additional technical features:
[0011] In some embodiments of this application, multiple first fastening holes and multiple second fastening holes are provided, and the multiple first fastening holes and multiple second fastening holes are spaced apart along the movement direction of the first moving member and the movement direction of the second moving member.
[0012] In some embodiments of this application, the number of the second fastening hole and the first fastener is not less than four.
[0013] In some embodiments of this application, the telescopic gripping two-dimensional platform further includes a second fastener, and the second linear motion mechanism further includes a connecting reinforcement member. The connecting reinforcement member is fixedly connected to the second base. The first moving member has a third fastening hole on the side away from the base, and the connecting reinforcement member has a fourth fastening hole. The second fastener passes through the fourth fastening hole and the third fastening hole in sequence to fasten the connecting reinforcement member to the first moving member.
[0014] In some embodiments of this application, the telescopic gripping two-dimensional platform further includes a third fastener, the second base has a fifth fastening hole, the connecting reinforcement has a sixth fastening hole, and the third fastener passes through the sixth fastening hole and the fifth fastening hole in sequence to fasten the connecting reinforcement to the second base.
[0015] In some embodiments of this application, the connecting reinforcement is welded to or integrally formed with the second base.
[0016] In some embodiments of this application, at least two fourth fastening holes and two second fasteners are provided, and the fourth fastening holes and the second fasteners are spaced apart along the movement direction of the first moving member.
[0017] In some embodiments of this application, the connecting reinforcement includes a first connecting portion and two second connecting portions. The two second connecting portions are respectively connected to two opposite sides of the first connecting portion along the movement direction of the first moving member. The two second connecting portions are respectively fixedly connected to two opposite sides of the second base along the movement direction of the first moving member. The first connecting portion is provided with the fourth fastening hole.
[0018] In some embodiments of this application, the connecting reinforcement further includes a third connecting portion, which is connected to the first connecting portion and the two second connecting portions respectively, and is fixedly connected to the second base.
[0019] Secondly, this application also provides a processing device, including the telescopic gripping two-dimensional platform described in any of the above embodiments.
[0020] Compared to existing technologies, the beneficial effects of this application are:
[0021] This application proposes a telescopic gripping two-dimensional platform, comprising a first linear motion mechanism, a second linear motion mechanism, and a first fastener. The first linear motion mechanism includes a first base, a first linear drive, and a first movable component. The second linear motion mechanism includes a second base, a second linear drive, and a second movable component. The first linear drive is mounted on the first base, and the first movable component is connected to the output end of the first linear drive and slidably connected to the first base. This allows the first movable component to automatically and synchronously slide back and forth on the first base along a first direction, following the output end of the first linear drive. Simultaneously, the second base is mounted on the first movable component, and the second linear drive is mounted on the second base. The second movable component is connected to the output end of the second linear drive and slidably connected to the second base. This allows the second linear motion mechanism as a whole to move synchronously along the first direction with the first movable component, and also allows the second movable component to automatically and synchronously slide back and forth on the second base along a second direction, following the output end of the second linear drive, thereby realizing the telescopic and lifting functions of the second movable component.
[0022] By providing a first fastening hole on the side of the first moving member away from the first linear drive member, and a second fastening hole on the second base, and by passing the first fastener through the second fastening hole and the first fastening hole in sequence, the second base is securely mounted on the first moving member by the first fastener. This allows the second linear motion mechanism to move synchronously and stably along the first direction with the first moving member via the second base. This effectively reduces the vibration amplitude of the second linear motion mechanism relative to the first linear motion mechanism under high acceleration, improves the motion accuracy of the second linear motion mechanism, and thus helps to improve the processing quality of the product. Attached Figure Description
[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0024] Figure 1 This application shows a perspective view of a telescopic gripping two-dimensional platform in some embodiments.
[0025] Figure 2This application shows a perspective view of the telescopic gripping two-dimensional platform in some embodiments.
[0026] Figure 3 A perspective view of the telescopic gripping two-dimensional platform in some embodiments of this application, omitting the first and second bases, is shown.
[0027] Explanation of key component symbols:
[0028] 100-Telescopic clamping two-dimensional platform;
[0029] 110 - First linear motion mechanism; 111 - First base; 112 - First linear drive component; 113 - First moving component; 1131 - First fastening hole; 1132 - Third fastening hole;
[0030] 120 - Second linear motion mechanism; 121 - Second base; 1211 - Second fastening hole; 122 - Second linear drive component; 123 - Second moving component; 124 - Connecting reinforcement component; 1241 - First connecting part; 12411 - Fourth fastening hole; 1242 - Second connecting part; 12421 - Sixth fastening hole; 1243 - Third connecting part;
[0031] 130 - Second fastener;
[0032] 140 - Third fastener. Detailed Implementation
[0033] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0034] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0036] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0037] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0038] like Figure 1 As shown, an embodiment of this application provides a telescopic gripping two-dimensional platform 100, mainly used in processing equipment. The telescopic gripping two-dimensional platform 100 includes a first linear motion mechanism 110, a second linear motion mechanism 120, and a first fastener.
[0039] See also Figure 2 and Figure 3The first linear motion mechanism 110 includes a first base 111, a first linear drive 112, and a first moving member 113. The first linear drive 112 is disposed on the first base 111, and the first moving member 113 is connected to the output end of the first linear drive 112 and slidably connected to the first base 111. The second linear motion mechanism 120 intersects the first linear motion mechanism 110. The second linear motion mechanism 120 includes a second base 121, a second linear drive 122, and a second moving member 123. The second base 121 is disposed on the first moving member 113, the second linear drive 122 is disposed on the second base 121, and the second moving member 123 is connected to the output end of the second linear drive 122 and slidably connected to the second base 121.
[0040] The first fastener has a first fastening hole 1131 on the side of the first moving member 113 away from the first linear drive member 112, and the second base 121 has a second fastening hole 1211. The first fastener passes through the second fastening hole 1211 and the first fastening hole 1131 in sequence, so that the second base 121 is fastened to the first moving member 113.
[0041] The telescopic gripping two-dimensional platform 100 provided in the embodiments of this application includes a first linear motion mechanism 110, a second linear motion mechanism 120, and a first fastener. The first linear motion mechanism 110 includes a first base 111, a first linear drive member 112, and a first moving member 113. The second linear motion mechanism 120 includes a second base 121, a second linear drive member 122, and a second moving member 123. The first linear drive member 112 is disposed on the first base 111. The first moving member 113 is connected to the output end of the first linear drive member 112 and is slidably connected to the first base 111. This allows the first moving member 113 to automatically and synchronously slide back and forth on the first base 111 along a first direction, following the output end of the first linear drive member 112. Meanwhile, the second base 121 is disposed on the first moving member 113, the second linear drive member 122 is disposed on the second base 121, and the second moving member 123 is connected to the output end of the second linear drive member 122 and slidably connected to the second base 121. This enables the second linear motion mechanism 120 to move synchronously along the first direction with the first moving member 113, and also enables the second moving member 123 to automatically and synchronously slide back and forth on the second base 121 along the second direction with the output end of the second linear drive member 122, thereby realizing the extension and lifting functions of the second moving member 123.
[0042] By providing a first fastening hole 1131 on the side of the first moving member 113 away from the first linear drive member 112, and a second fastening hole 1211 on the second base 121, and by passing the first fastener through the second fastening hole 1211 and the first fastening hole 1131 in sequence, the second base 121 is securely mounted on the first moving member 113 by the first fastener. This allows the second linear motion mechanism 120 to move synchronously and stably along the first direction with the first moving member 113 via the second base 121. This effectively reduces the vibration amplitude of the second linear motion mechanism 120 relative to the first linear motion mechanism 110 under high acceleration, improves the motion accuracy of the second linear motion mechanism 120, and thus helps to improve the processing quality of the product.
[0043] For example, the first fastener can be a fastening screw. The fixed ends of both the first linear drive 112 and the second linear drive 122 can be linear motor movers, and the output ends of both are magnetic tracks. When the linear motor mover is energized, its internal coil generates a magnetic field, which drives the magnetic track to move linearly relative to the linear motor mover. In other embodiments, both the first linear drive 112 and the second linear drive 122 can also be linear push rod motors, cylinders, or hydraulic cylinders.
[0044] Both the first base 111 and the second base 121 are provided with slide rails that are slidably connected to the moving parts. The first linear drive 112 is integrally formed with the first base 111 by potting, and the first moving part 113 is integrally formed with the output end of the first linear drive 112 by potting. The second linear drive 122 is integrally formed with the second base 121 by potting, and the second moving part 123 is integrally formed with the output end of the second linear drive 122 by potting.
[0045] like Figure 1 As shown, in one embodiment of this application, multiple first fastening holes 1131 and multiple second fastening holes 1211 are provided, and the multiple first fastening holes 1131 and multiple second fastening holes 1211 are spaced apart along the movement direction of the first moving member 113 and the movement direction of the second moving member 123.
[0046] In this embodiment, by setting the number of both the first fastening hole 1131 and the second fastening hole 1211 to multiple, and by arranging the multiple first fastening holes 1131 and the multiple second fastening holes 1211 at intervals along the movement direction of the first moving member 113 and the movement direction of the second moving member 123, the second base 121 can be installed on the first moving member 113 by multiple first fasteners, which further improves the installation stability of the second base 121 and the first moving member 113, thereby further reducing the overall vibration amplitude of the second linear motion mechanism 120.
[0047] like Figure 1 As shown, in the above embodiments of this application, the number of the second fastening hole 1211 and the first fastener is not less than four.
[0048] In this embodiment, by setting the number of the second fastening hole 1211 and the number of the first fasteners to be no less than four, the second base 121 can be installed on the first moving part 113 by at least four first fasteners, so as to ensure the installation stability of the second base 121.
[0049] For example, the number of the second fastening hole 1211 and the number of the first fastener can be four, six, etc., and the specific design can be made according to actual needs. They will not be listed here.
[0050] like Figure 1 and Figure 2 As shown, in one embodiment of this application, the telescopic gripping two-dimensional platform 100 further includes a second fastener 130, and the second linear motion mechanism 120 further includes a connecting reinforcement 124. The connecting reinforcement 124 is fixedly connected to the second base 121. The first moving member 113 has a third fastening hole 1132 on the side away from the base, and the connecting reinforcement 124 has a fourth fastening hole 12411. The second fastener 130 passes through the fourth fastening hole 12411 and the third fastening hole 1132 in sequence, so that the connecting reinforcement 124 is fastened to the first moving member 113.
[0051] In this embodiment, by providing a connecting reinforcement 124 fixedly connected to the second base 121, a third fastening hole 1132 is opened on the side of the first moving member 113 away from the base, a fourth fastening hole 12411 is opened on the connecting reinforcement 124, and the second fastener 130 is passed through the fourth fastening hole 12411 and the third fastening hole 1132 in sequence, so that the connecting reinforcement 124 is fastened to the first moving member 113, thereby making the second base 121 firmly connected to the first moving member 113 through the connecting reinforcement 124 and the second fastener 130, further improving the installation stability of the second base 121 and the first moving member 113, thereby further reducing the overall vibration amplitude of the second linear motion mechanism 120.
[0052] For example, the second fastener 130 may be a fastening screw.
[0053] like Figure 1 and Figure 2As shown in the above embodiments of this application, the telescopic gripping two-dimensional platform 100 further includes a third fastener 140. The second base 121 has a fifth fastening hole, and the connecting reinforcement 124 has a sixth fastening hole 12421. The third fastener 140 passes through the sixth fastening hole 12421 and the fifth fastening hole in sequence, so that the connecting reinforcement 124 is securely connected to the second base 121. Thus, the connecting reinforcement 124 is firmly connected to the second base 121 through the third fastener 140, thereby making the second base 121 firmly connected to the first moving member 113 through the connecting reinforcement 124.
[0054] For example, the third fastener 140 can fasten the screw.
[0055] In the above embodiments of this application, the connecting reinforcement 124 is welded to or integrally formed with the second base 121. Therefore, by welding or integrally forming the connecting reinforcement 124 with the second base 121, the installation step between the connecting reinforcement 124 and the second base 121 can be eliminated, thereby improving installation efficiency.
[0056] like Figure 1 and Figure 2 As shown in the above embodiments of this application, at least two fourth fastening holes 12411 and two second fasteners 130 are provided, and the fourth fastening holes 12411 and the second fasteners 130 are spaced apart along the movement direction of the first moving member 113.
[0057] In this embodiment, by setting the number of the fourth fastening hole 12411 and the second fastener 130 to at least two, and by arranging the fourth fastening hole 12411 and the second fastener 130 at intervals along the movement direction of the first moving member 113, the connecting reinforcement 124 can be installed on the first moving member 113 by at least two second fasteners 130, thereby ensuring the installation stability of the connecting reinforcement 124 and thus ensuring the installation stability of the second base 121.
[0058] For example, the number of the fourth fastening hole 12411 and the second fastener 130 can be two, three, four, etc., and can be designed according to actual needs. They will not be listed here.
[0059] like Figure 1 and Figure 2As shown in the above embodiments of this application, the connecting reinforcement 124 includes a first connecting portion 1241 and two second connecting portions 1242. The two second connecting portions 1242 are respectively connected to two opposite sides of the first connecting portion 1241 along the movement direction of the first moving member 113. The two second connecting portions 1242 are respectively fixedly connected to two opposite sides of the second base 121 along the movement direction of the first moving member 113. The first connecting portion 1241 is provided with the fourth fastening hole 12411.
[0060] In this embodiment, by connecting two second connecting portions 1242 to opposite sides of the first connecting portion 1241 along the movement direction of the first moving member 113, and fixing the two second connecting portions 1242 to opposite sides of the second base 121 along the movement direction of the first moving member 113, the fixing connection can be achieved by fastening, welding, or integral molding. This allows the first connecting portion 1241 to be fixedly connected to the second base 121 via the two second connecting portions 1242, thereby further improving the connection stability and reliability between the connecting reinforcement 124 and the second base 121. Simultaneously, by providing a fourth fastening hole 12411 on the first connecting portion 1241, the first connecting portion 1241 is fastened to the first moving member 113 via the second fastener 130, thus achieving a fastening connection between the connecting reinforcement 124 and the first moving member 113.
[0061] For example, the connection between the two second connecting parts 1242 and the first connecting part 1241 can be integrally formed or welded.
[0062] like Figure 1 and Figure 2 As shown in the above embodiments of this application, the connecting reinforcement 124 further includes a third connecting part 1243, which is connected to the first connecting part 1241 and the two second connecting parts 1242 respectively, and is fixedly connected to the second base 121.
[0063] In this embodiment, by connecting the third connecting part 1243 to the first connecting part 1241 and the two second connecting parts 1242 respectively, and fixing the third connecting part 1243 to the second base 121, the fixing connection can be fastened, welded or integrally formed. This allows the connecting reinforcement 124 to be fixedly connected to the second base 121 through the third connecting part 1243, thereby further improving the connection stability and reliability between the connecting reinforcement 124 and the second base 121.
[0064] For example, the connection between the third connecting part 1243, the first connecting part 1241 and the two second connecting parts 1242 can be integrally formed or welded.
[0065] This application also provides a processing device, including the telescopic gripping two-dimensional platform 100 described in the above embodiments.
[0066] The processing equipment has the telescopic pressing and gripping two-dimensional platform 100 in any of the above embodiments, and therefore has all the beneficial effects of the telescopic pressing and gripping two-dimensional platform 100, which will not be described in detail here.
[0067] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0068] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.
Claims
1. A telescopic pressure grab two-dimensional platform, characterized in that, include: The first linear motion mechanism includes a first base, a first linear drive and a first movable component. The first linear drive is disposed on the first base, and the first movable component is connected to the output end of the first linear drive and is slidably connected to the first base. The second linear motion mechanism intersects the first linear motion mechanism in a cross shape. The second linear motion mechanism includes a second base, a second linear drive, and a second moving member. The second base is disposed on the first moving member, and the second linear drive is disposed on the second base. The second moving member is connected to the output end of the second linear drive and is slidably connected to the second base. The first fastener has a first fastening hole on the side of the first moving member away from the first linear drive member, and the second base has a second fastening hole. The first fastener passes through the second fastening hole and the first fastening hole in sequence to fasten the second base to the first moving member.
2. The telescoping pressure gripper two-dimensional platform of claim 1, wherein, Both the first fastening hole and the second fastening hole are provided in multiples, and the multiple first fastening holes and the multiple second fastening holes are arranged at intervals along the movement direction of the first moving member and the movement direction of the second moving member.
3. The telescoping pressure grab two-dimensional platform of claim 2, wherein, The number of the second fastening hole and the first fastener is not less than four.
4. The telescoping pressure grab two-dimensional platform of claim 1, wherein, The telescopic gripping two-dimensional platform also includes a second fastener, and the second linear motion mechanism also includes a connecting reinforcement. The connecting reinforcement is fixedly connected to the second base. The first moving member has a third fastening hole on the side away from the base, and the connecting reinforcement has a fourth fastening hole. The second fastener passes through the fourth fastening hole and the third fastening hole in sequence to fasten the connecting reinforcement to the first moving member.
5. The telescoping pressure grab two-dimensional platform of claim 4, wherein, The telescopic gripping two-dimensional platform also includes a third fastener, the second base has a fifth fastening hole, the connecting reinforcement has a sixth fastening hole, and the third fastener passes through the sixth fastening hole and the fifth fastening hole in sequence to fasten the connecting reinforcement to the second base.
6. The telescoping pressure grab two-dimensional platform of claim 4, wherein, The connecting reinforcement is welded to or integrally formed with the second base.
7. The telescoping pressure grab two-dimensional platform of claim 4, wherein, Both the fourth fastening hole and the second fastener are provided in at least two forms, and both the fourth fastening hole and the second fastener are spaced apart along the movement direction of the first moving member.
8. The telescoping pressure grab two-dimensional platform of claim 4, wherein, The connecting reinforcement includes a first connecting part and two second connecting parts. The two second connecting parts are respectively connected to two opposite sides of the first connecting part along the movement direction of the first moving part. The two second connecting parts are respectively fixedly connected to two opposite sides of the second base along the movement direction of the first moving part. The first connecting part is provided with the fourth fastening hole.
9. The telescoping pressure grab two-dimensional platform of claim 8, wherein, The connecting reinforcement also includes a third connecting part, which is connected to the first connecting part and the two second connecting parts respectively, and is fixedly connected to the second base.
10. A processing apparatus characterized by comprising: The telescopic gripping two-dimensional platform includes any one of claims 1 to 9.