CN104308064A - Novel steel rail conveying manipulator - Google Patents
Novel steel rail conveying manipulator Download PDFInfo
- Publication number
- CN104308064A CN104308064A CN201410551452.9A CN201410551452A CN104308064A CN 104308064 A CN104308064 A CN 104308064A CN 201410551452 A CN201410551452 A CN 201410551452A CN 104308064 A CN104308064 A CN 104308064A
- Authority
- CN
- China
- Prior art keywords
- car body
- steel rail
- fixed head
- vertical shift
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
- B21J13/12—Turning means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/14—Ejecting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21K—MAKING FORGED OR PRESSED METAL PRODUCTS, e.g. HORSE-SHOES, RIVETS, BOLTS OR WHEELS
- B21K27/00—Handling devices, e.g. for feeding, aligning, discharging, Cutting-off means; Arrangement thereof
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a novel steel rail conveying manipulator which comprises a transverse vehicle body arranged on the ground, a longitudinal vehicle body, a guide post, a fixed plate and a rotating plate, and the longitudinal vehicle body, the guide post, the fixed plate and the rotating plate are arranged on the transverse vehicle body. By virtue of the transverse movement of the transverse vehicle body, the longitudinal movement of the longitudinal vehicle body and the upward movement of the fixed plate driven by a fixed plate driving device, a heated steel rail is finally positioned in a groove I and a groove II, and then the steel rail is clamped by a clamping mechanism. By virtue of the transverse movement of the transverse vehicle body, the steel rail is conveyed to one side of a pressing machine; then the steel rail is driven to rotate by virtue of a rotating plate driving device; the fixed plate driving device is used for driving the fixed plate to move up and down so as to enable the head end of the steel rail to be aligned with the cavity of a mold; finally by virtue of the longitudinal movement of the longitudinal vehicle body along the transverse vehicle body, the steel rail is inserted into the mold, so that automatic charging during steel rail hot forging molding is realized, the production efficiency is improved, and the manufacturing cost is lowered.
Description
Technical field
The present invention relates to manipulator technical field, be specifically related to a kind of rail conveying mechanical arm.
Background technology
Current rail hot-forging forming mainly by manually carrying out overturning, loading and unloading, there is the problem that production efficiency is low, manufacturing cost is high.
Summary of the invention
The present invention, in order to overcome the deficiency of above technology, provides the Novel steel rail conveying mechanical arm of the high rail forge hot automation loading and unloading of a kind of efficiency.
The present invention overcomes the technical scheme that its technical problem adopts:
This Novel steel rail conveying mechanical arm, comprising:
Be arranged at ground traversing car body, it is by travelling platform body drive relative level ground transverse shifting;
Be arranged at the vertical shift car body on traversing car body, it passes through vertical shift car body drive unit relative to traversing car body lengthwise movement;
Lead, it is vertically installed on vertical shift car body;
Fixed head, it slides up and down and is installed on lead, and drives it to slide up and down along lead by fixed head drive unit;
Swivel plate, its rotation is installed on fixed head, and its rotational axis vertical is in fixed head;
Swivel plate drive unit, it drives swivel plate opposing fixed plate to rotate;
Described fixed head and swivel plate being respectively arranged with the groove I corresponding with rail profile size and groove II, in described groove II, being provided with the clamp system for being fixedly clamped by rail when swivel plate rotates.
Above-mentioned clamp system comprises the oil cylinder I be fixed on swivel plate, be fixed on the movable frame of oil cylinder I piston rod head end, be arranged at respectively the pin shaft II at two ends, movable frame left and right and two be oppositely arranged and bottom by the hinged jaw be installed on swivel plate of bearing pin I, described two jaws are respectively arranged with elongated hole, described two jaws are slidably mounted on respectively by elongated hole in the pin shaft II at two ends, movable frame left and right, when oil cylinder I piston rod is all retracted, described movable frame drives two jaws to open, and the opening size between two jaws is greater than the appearance and size of rail.
Above-mentioned fixed head drive unit comprises the oil cylinder II be vertically fixed on vertical shift car body, and the piston rod head end of described oil cylinder II is connected to fixed head.
The gear I that above-mentioned swivel plate drive unit comprises the hydraulic motor be installed on fixed head, is installed on the gear V on hydraulic motor output shaft and is arranged on swivel plate, described gear V is meshed with I.
Above-mentioned travelling platform body drive comprises rotating and is installed on some wheels I below traversing car body, the reductor I be installed on traversing car body, the motor I being connected to reductor I input, the gear III being installed on reductor I output, the tooth bar I that is horizontally set at the some tracks I on level ground and is horizontally set on level ground, described wheel I is seated on track I and it is along track I rolling, and described gear III is meshed with tooth bar I.
Above-mentioned vertical shift car body drive unit comprises rotation and is installed on some wheels II below vertical shift car body, the reductor II be installed on vertical shift car body, the motor II being connected to reductor II input, the gear IV being installed on reductor II output, longitudinal tooth bar II being installed on the some tracks II on traversing car body and being longitudinally installed on vertical shift car body, described wheel II is seated on track II and it is along track II rolling, and described gear IV is meshed with tooth bar II.
In order to improve the fix tightly soundness of lead, also comprise the lead support be arranged on vertical shift car body, the described top of lead support is connected with the top of lead.
Conveniently detect jaw whether to clamp, also comprise and be fixed on fixed head and lay respectively at two travel switches at the upper and lower two ends of movable frame, when the piston rod of oil cylinder I is all retracted or all stretches out, described movable frame triggers the travel switch of lower end or upper end respectively.
Feeding back to detect the anglec of rotation, also comprising the rotary encoder be fixed on fixed head, the gear II be installed in rotary encoder rotating shaft, described gear II is meshed with gear I.
Feeding back to detect adjustable height, also comprising the displacement transducer be vertically arranged on vertical shift car body, described fixed head is connected to displacement transducer.
The invention has the beneficial effects as follows: by the transverse shifting of traversing car body, vertical shift car body vertically move and fixed head drive unit drives fixed head to move up, the final rail realizing heating is in groove I and groove II, and rail clamps by clamp system afterwards.By the transverse shifting of traversing car body, rail is transported to forcing press side again, drives rail to rotate by swivel plate drive unit afterwards, and move up and down by fixed head drive unit driving fixed head the die cavity making the head end of rail realize aiming at mould.Eventually through the vertical shift of vertical shift car body along traversing car body, rail is inserted in mould, realizes the material loading automation of rail hot-forging forming.After forge hot, then by vertical shift car body vertically move and rail removes by the transverse shifting of traversing car body, rail can be taken out after clamp system unclamps, achieve the automation of blanking, improve production efficiency, reduce manufacturing cost.
Accompanying drawing explanation
Fig. 1 is main TV structure schematic diagram of the present invention;
Fig. 2 is backsight structural representation of the present invention;
Fig. 3 is side elevational cross-section structural representation of the present invention;
Fig. 4 is plan structure schematic diagram of the present invention;
Fig. 5 is jaw portion structure schematic diagram of the present invention;
Fig. 6 is vehicle transverse-moving mechanism structural representation of the present invention;
Fig. 7 is vehicle vertical shift mechanism structure schematic diagram of the present invention;
In figure, 1. hydraulic motor 2. gear I 3. fixed head 4. swivel plate 5. oil cylinder I 6. clamp system 7. oil cylinder II 8. lead 9. rotary encoder 10. displacement transducer 11. travel switch 12. movable frame 13. bearing pin I 14. pin shaft II 15. jaw 16. gear II 17. groove I 18. groove II 19. traversing car body 20. track I 21. wheel I 22. motor I 23. reductor I 24. gear III 25. tooth bar I 26. vertical shift car body 27. wheel II 28. track II 29. motor II 30. reductor II 31. tooth bar II 32. gear IV.
Detailed description of the invention
Below in conjunction with accompanying drawing 1 to accompanying drawing 7, the present invention will be further described.
This Novel steel rail conveying mechanical arm, comprising:
Be arranged at ground traversing car body 19, it is by travelling platform body drive relative level ground transverse shifting; Be arranged at the vertical shift car body 26 on traversing car body 19, it passes through vertical shift car body drive unit relative to the lengthwise movement of traversing car body 19; Lead 8, it is vertically installed on vertical shift car body 26; Fixed head 3, it slides up and down and is installed on lead 8, and drives it to slide up and down along lead 8 by fixed head drive unit; Swivel plate 4, its rotation is installed on fixed head 3, and its rotational axis vertical is in fixed head 3; Swivel plate drive unit, it drives swivel plate 4 opposing fixed plate 3 to rotate; Fixed head 3 and swivel plate 4 being respectively arranged with the groove I 17 corresponding with rail profile size and groove II 18, in groove II 18, being provided with the clamp system 6 for being fixedly clamped by rail when swivel plate 4 rotates.During use, by the transverse shifting of traversing car body 19, vertical shift car body 26 vertically move and fixed head drive unit drives fixed head to move up, the final rail realizing heating is in groove I 17 and groove II 18, and rail clamps by clamp system 6 afterwards.By the transverse shifting of traversing car body 19, rail is transported to forcing press side again, drives rail to rotate by swivel plate drive unit afterwards, and move up and down by fixed head drive unit driving fixed head the die cavity making the head end of rail realize aiming at mould.Eventually through the vertical shift of vertical shift car body 26 along traversing car body 19, rail is inserted in mould, realizes the material loading automation of rail hot-forging forming.After forge hot, then by vertical shift car body 26 vertically move and rail removes by the transverse shifting of traversing car body 19, rail can be taken out after clamp system 6 unclamps, achieve the automation of blanking, improve production efficiency, reduce manufacturing cost.
As shown in Figure 5, clamp system 6 comprises the oil cylinder I 5 be fixed on swivel plate 4, be fixed on the movable frame 12 of oil cylinder I 5 piston rod head end, be arranged at respectively the pin shaft II 14 at movable frame about 12 two ends and two be oppositely arranged and bottom by the hinged jaw 15 be installed on swivel plate 4 of bearing pin I 13, two jaws 15 are respectively arranged with elongated hole, two jaws 15 are slidably mounted on respectively by elongated hole in the pin shaft II 14 at movable frame about 12 two ends, when oil cylinder I 5 piston rod is all retracted, movable frame 12 drives two jaws 15 to open, and the opening size between two jaws 15 is greater than the appearance and size of rail.When oil cylinder I 5 drives movable frame 12 to move up, two jaws 15 are slided along pin shaft II 14 by elongated hole, because two jaw 15 bottoms are fixed on swivel plate 4 by bearing pin I 13 is hinged, therefore the head end of two jaws 15 achieves relative inner side and draws close, rail clamping the most at last.When oil cylinder I 5 drives movable frame 12 to move down, two relative outsides of jaw 15 are opened, and now rail can be taken out from the opening between jaw 15.
As shown in Figure 3, fixed head drive unit can be following structure, and it comprises the oil cylinder II 7 be vertically fixed on vertical shift car body 26, and the piston rod head end of oil cylinder II 7 is connected to fixed head 3.The piston rod of oil cylinder II 7 moves up and down, and it drives fixed head 3 to slide up and down along lead 8.
As shown in Figure 4, swivel plate drive unit can be following structure, it gear I 2 comprising the hydraulic motor 1 be installed on fixed head 3, be installed on the gear V on hydraulic motor 1 output shaft and be arranged on swivel plate 4, and gear V is meshed with I 2.Hydraulic motor 1 rotational driving gear V rotates, and gear V drives swivel plate 4 to rotate by gear I 2, and structure is simple, assembling is easy, and dependability is high.
As shown in Figure 6, travelling platform body drive can be following structure, it comprise rotate be installed on some wheels I 21 below traversing car body 19, the reductor I 23 be installed on traversing car body 19, the motor I 22 being connected to reductor I 23 input, the gear III 24 being installed on reductor I 23 output, the tooth bar I 25 that is horizontally set at the some tracks I 20 on level ground and is horizontally set on level ground, wheel I 21 is seated on track I 20 and it rolls along track I 20, and gear III 24 is meshed with tooth bar I 25.Motor I 22 rotates after reductor I 23 slows down amplification moment of torsion, driven wheel III 24 rotates, because gear III 24 is meshed with tooth bar I 25, therefore traversing car body 19 is by wheel I 21 along track I 20 transverse shifting of horizontally set, achieves traversing object.
As shown in Figure 7, vertical shift car body drive unit can be following structure, it comprises rotation and is installed on some wheels II 27 below vertical shift car body 26, the reductor II 30 be installed on vertical shift car body 26, the motor II 29 being connected to reductor II 30 input, the gear IV 32 being installed on reductor II 30 output, longitudinal tooth bar II 31 being installed on the some tracks II 28 on traversing car body 19 and being longitudinally installed on vertical shift car body 26, wheel II 27 is seated on track II 28 and it rolls along track II 28, and gear IV 32 is meshed with tooth bar II 31.Motor II 29 rotates after reductor II 30 slows down amplification moment of torsion, driven wheel gear IV 32 rotates, because gear IV 32 is meshed with tooth bar II 31, therefore vertical shift car body 26 is vertically moved along horizontally set track II 28 by wheel II 27, achieves the object of vertical shift.
As shown in Figure 3, can also comprise the lead support be arranged on vertical shift car body 26, the top of lead support is connected with the top of lead 8.Be connected and fixed with vertical shift car body 26 bottom lead 8, its top and lead support are connected and fixed, and therefore improve the fix tightly soundness of lead 8, because the stressed situation of lead 8 deformed damaged that causes occurs when preventing fixed head 3 from sliding up and down along lead 8.
As shown in Figure 1, can also comprise and be fixed on fixed head 3 and lay respectively at two travel switches 11 at movable frame about 12 two ends, when the piston rod of oil cylinder I 5 is all retracted or all stretches out, movable frame 12 triggers the travel switch 11 of lower end or upper end respectively.By arranging two travel switches 11, movable frame 12 can be made when top dead-centre or bottom dead centre state, namely state when two jaws 15 are in clamping or releasing orientation produces triggering signal by triggering travel switch 11, trigger signal feedback is in PLC, can guarantee that system learns the state of jaw 15, guarantee that rail clamps by jaw 15 when driving rail turnover, preventing jaw 15 does not have to clamp the unsafe condition generation causing rail to come off when rotated.
As shown in accompanying drawing 1 and accompanying drawing 4, can also comprise the rotary encoder 9 be fixed on fixed head 3, the gear II 16 be installed in rotary encoder 9 rotating shaft, gear II 16 is meshed with gear I 2.When hydraulic motor 1 drives swivel plate 2 to rotate, rotated by gear II 16 rotary encoder 9 that drives synchronous with gear I 2 be meshed, the angle of therefore rotating is measured by rotary encoder 9 in real time, pulse signal is fed back to PLC by rotary encoder 9, after PLC computing, accurately can control to realize stopping after swivel plate 2 turns to predetermined angular, improve the accuracy of control.
As shown in Figure 2, can also comprise the displacement transducer 10 be vertically arranged on vertical shift car body 26, fixed head 3 is connected to displacement transducer 10.When oil cylinder II 7 drives fixed head 3 to move up and down along lead 8, its displacement can by displacement transducer 10, the shift value measured in real time is fed back to PLC by displacement transducer 10, and PLC controls oil cylinder II 7 and to put in place stoppings, achieving the high accuracy control of fixed head 3 movement.
Claims (10)
1. a Novel steel rail conveying mechanical arm, is characterized in that: comprising:
Be arranged at ground traversing car body, it is by travelling platform body drive relative level ground transverse shifting;
Be arranged at the vertical shift car body on traversing car body, it passes through vertical shift car body drive unit relative to traversing car body lengthwise movement;
Lead, it is vertically installed on vertical shift car body;
Fixed head, it slides up and down and is installed on lead, and drives it to slide up and down along lead by fixed head drive unit;
Swivel plate, its rotation is installed on fixed head, and its rotational axis vertical is in fixed head;
Swivel plate drive unit, it drives swivel plate opposing fixed plate to rotate;
Described fixed head and swivel plate being respectively arranged with the groove I corresponding with rail profile size and groove II, in described groove II, being provided with the clamp system for being fixedly clamped by rail when swivel plate rotates.
2. Novel steel rail conveying mechanical arm according to claim 1, it is characterized in that: described clamp system comprises the oil cylinder I be fixed on swivel plate, be fixed on the movable frame of oil cylinder I piston rod head end, be arranged at respectively the pin shaft II at two ends, movable frame left and right and two be oppositely arranged and bottom by the hinged jaw be installed on swivel plate of bearing pin I, described two jaws are respectively arranged with elongated hole, described two jaws are slidably mounted on respectively by elongated hole in the pin shaft II at two ends, movable frame left and right, when oil cylinder I piston rod is all retracted, described movable frame drives two jaws to open, and the opening size between two jaws is greater than the appearance and size of rail.
3. Novel steel rail conveying mechanical arm according to claim 1, is characterized in that: described fixed head drive unit comprises the oil cylinder II be vertically fixed on vertical shift car body, and the piston rod head end of described oil cylinder II is connected to fixed head.
4. Novel steel rail conveying mechanical arm according to claim 1, it is characterized in that: the gear I that described swivel plate drive unit comprises the hydraulic motor be installed on fixed head, is installed on the gear V on hydraulic motor output shaft and is arranged on swivel plate, described gear V is meshed with I.
5. Novel steel rail conveying mechanical arm according to claim 1, it is characterized in that: described travelling platform body drive comprises rotating and is installed on some wheels I below traversing car body, the reductor I be installed on traversing car body, the motor I being connected to reductor I input, the gear III being installed on reductor I output, the tooth bar I that is horizontally set at the some tracks I on level ground and is horizontally set on level ground, described wheel I is seated on track I and it is along track I rolling, and described gear III is meshed with tooth bar I.
6. Novel steel rail conveying mechanical arm according to claim 1, it is characterized in that: described vertical shift car body drive unit comprises rotation and is installed on some wheels II below vertical shift car body, the reductor II be installed on vertical shift car body, the motor II being connected to reductor II input, the gear IV being installed on reductor II output, longitudinal tooth bar II being installed on the some tracks II on traversing car body and being longitudinally installed on vertical shift car body, described wheel II is seated on track II and it is along track II rolling, and described gear IV is meshed with tooth bar II.
7. Novel steel rail conveying mechanical arm as claimed in any of claims 1 to 6, is characterized in that: also comprise the lead support be arranged on vertical shift car body, and the described top of lead support is connected with the top of lead.
8. Novel steel rail conveying mechanical arm according to claim 2, it is characterized in that: also comprise and be fixed on fixed head and lay respectively at two travel switches at the upper and lower two ends of movable frame, when the piston rod of oil cylinder I is all retracted or all stretches out, described movable frame triggers the travel switch of lower end or upper end respectively.
9. Novel steel rail conveying mechanical arm according to claim 4, is characterized in that: also comprise the rotary encoder be fixed on fixed head, the gear II be installed in rotary encoder rotating shaft, and described gear II is meshed with gear I.
10. Novel steel rail conveying mechanical arm according to claim 9, it is characterized in that: also comprise the displacement transducer be vertically arranged on vertical shift car body, described fixed head is connected to displacement transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410551452.9A CN104308064A (en) | 2014-10-17 | 2014-10-17 | Novel steel rail conveying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410551452.9A CN104308064A (en) | 2014-10-17 | 2014-10-17 | Novel steel rail conveying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104308064A true CN104308064A (en) | 2015-01-28 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410551452.9A Pending CN104308064A (en) | 2014-10-17 | 2014-10-17 | Novel steel rail conveying manipulator |
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| Country | Link |
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| CN (1) | CN104308064A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104841835A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Griping manipulator for high-temperature forging pieces |
| CN104841845A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Grabbing manipulator for high-temperature workpieces |
| CN104842350A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Workpiece griping manipulator for high-temperature operation |
| CN105195661A (en) * | 2015-10-15 | 2015-12-30 | 廖彦荣 | Clamping device for forming machine |
| CN108302928A (en) * | 2018-01-26 | 2018-07-20 | 重庆雷钜电子科技有限公司 | Capture thin-wall part manipulator |
| CN108580588A (en) * | 2018-07-05 | 2018-09-28 | 成都莱克冶金机械设备制造有限公司 | Tipper |
| CN109158496A (en) * | 2018-09-27 | 2019-01-08 | 天津市中重科技工程有限公司 | Gatherer before especially big shape steel rolled stock straightener |
| CN109202006A (en) * | 2018-10-11 | 2019-01-15 | 中铁高新工业股份有限公司 | A kind of railway switch rail forging automatic production line |
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| CN204135266U (en) * | 2014-10-17 | 2015-02-04 | 济南奥图自动化工程有限公司 | A kind of Novel steel rail conveying mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104841835A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Griping manipulator for high-temperature forging pieces |
| CN104841845A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Grabbing manipulator for high-temperature workpieces |
| CN104842350A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Workpiece griping manipulator for high-temperature operation |
| CN105195661A (en) * | 2015-10-15 | 2015-12-30 | 廖彦荣 | Clamping device for forming machine |
| CN108302928A (en) * | 2018-01-26 | 2018-07-20 | 重庆雷钜电子科技有限公司 | Capture thin-wall part manipulator |
| CN108580588A (en) * | 2018-07-05 | 2018-09-28 | 成都莱克冶金机械设备制造有限公司 | Tipper |
| CN109158496A (en) * | 2018-09-27 | 2019-01-08 | 天津市中重科技工程有限公司 | Gatherer before especially big shape steel rolled stock straightener |
| CN109202006A (en) * | 2018-10-11 | 2019-01-15 | 中铁高新工业股份有限公司 | A kind of railway switch rail forging automatic production line |
| CN109202006B (en) * | 2018-10-11 | 2023-10-13 | 中铁高新工业股份有限公司 | Full-automatic production line for forging railway turnout steel rail |
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Application publication date: 20150128 |