CN111374121A - Separated liquid nitrogen storage system and control method thereof - Google Patents
Separated liquid nitrogen storage system and control method thereof Download PDFInfo
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- CN111374121A CN111374121A CN201811638234.3A CN201811638234A CN111374121A CN 111374121 A CN111374121 A CN 111374121A CN 201811638234 A CN201811638234 A CN 201811638234A CN 111374121 A CN111374121 A CN 111374121A
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- liquid nitrogen
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- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 title claims abstract description 282
- 239000007788 liquid Substances 0.000 title claims abstract description 141
- 229910052757 nitrogen Inorganic materials 0.000 title claims abstract description 141
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 238000005057 refrigeration Methods 0.000 claims description 16
- 230000007306 turnover Effects 0.000 claims description 12
- 238000004321 preservation Methods 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000012620 biological material Substances 0.000 description 4
- 230000008020 evaporation Effects 0.000 description 4
- 238000001704 evaporation Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 229920001821 foam rubber Polymers 0.000 description 2
- 230000008092 positive effect Effects 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 210000000130 stem cell Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
- A01N1/00—Preservation of bodies of humans or animals, or parts thereof
- A01N1/02—Preservation of living parts
- A01N1/0236—Mechanical aspects
- A01N1/0242—Apparatuses, i.e. devices used in the process of preservation of living parts, such as pumps, refrigeration devices or any other devices featuring moving parts and/or temperature controlling components
- A01N1/0252—Temperature controlling refrigerating apparatus, i.e. devices used to actively control the temperature of a designated internal volume, e.g. refrigerators, freeze-drying apparatus or liquid nitrogen baths
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- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Dentistry (AREA)
- General Health & Medical Sciences (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a separated liquid nitrogen storage system and a control method thereof. The disconnect-type liquid nitrogen storage system includes: the liquid nitrogen storage tank comprises a plurality of liquid nitrogen tanks, wherein liquid nitrogen is arranged in each liquid nitrogen tank, the liquid nitrogen tanks are also provided with access ports for accessing articles, and tank covers capable of being opened and closed are arranged on the access ports; the automatic access mechanism is used for opening and closing the tank cover and extending into the liquid nitrogen tank through the access opening to access articles; and the moving mechanism is used for driving the automatic storing and taking mechanism to move to the appointed liquid nitrogen tank. The multiple liquid nitrogen tanks share one set of access mechanism, so that the manufacturing cost is reduced.
Description
Technical Field
The invention relates to the technical field of liquid nitrogen storage, in particular to a separated liquid nitrogen storage system and a control method thereof.
Background
At present, a liquid nitrogen tank is mainly used for storing biological materials such as blood, stem cells and the like at low temperature in the field of medical instruments, and generally comprises a tank body and a tray arranged in the tank body, wherein liquid nitrogen is filled in the tank body, and the biological materials are placed on the tray and are placed in the tank body in an environment below-190 ℃ so as to realize long-term reliable storage of the biological materials. In order to facilitate the access of biological materials, an automatic access device is generally disposed on a liquid nitrogen tank, for example, chinese patent application No. 201510007489.X discloses an automatic access liquid nitrogen freezing tank, a robot is disposed on a tank body, and a tray is taken out from the tank body by the robot, or an external tray is put into the tank body by the robot. However, since each liquid nitrogen tank needs to be provided with a set of mechanical arms, the manufacturing cost is high. How to design a liquid nitrogen storage system with low manufacturing cost is the technical problem to be solved by the invention.
Disclosure of Invention
The invention provides a separated liquid nitrogen storage system and a control method thereof, which realize that a plurality of liquid nitrogen tanks share one set of access mechanism so as to reduce the manufacturing cost.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a split liquid nitrogen storage system comprising: the liquid nitrogen storage tank comprises a plurality of liquid nitrogen tanks, wherein liquid nitrogen is arranged in each liquid nitrogen tank, the liquid nitrogen tanks are also provided with access ports for accessing articles, and tank covers capable of being opened and closed are arranged on the access ports; the automatic access mechanism is used for opening and closing the tank cover and extending into the liquid nitrogen tank through the access opening to access articles; and the moving mechanism is used for driving the automatic storing and taking mechanism to move to the appointed liquid nitrogen tank.
Furthermore, a rotatable storage rack is arranged inside each liquid nitrogen tank, and a driving piece for driving the storage rack to rotate is arranged outside each liquid nitrogen tank; and a plurality of storage stations are arranged on the storage rack around the axis, and the storage rack rotates to switch the corresponding storage stations to move below the access opening.
Further, the storage frame is in through the rotatable setting of pivot in the liquid nitrogen container, the driving piece includes adiabatic connecting axle and rotation wheel, the one end of adiabatic connecting axle stretches into inside the liquid nitrogen container with the pivot is connected, the other end of adiabatic connecting axle is located the liquid nitrogen container outside is connected rotate the wheel, on the liquid nitrogen container or still be provided with the actuating mechanism who is used for the drive to rotate the wheel on the moving mechanism.
Furthermore, the moving mechanism comprises a power moving module and a mounting platform, the mounting platform is arranged on the power moving module, and the automatic storing and taking mechanism is arranged on the mounting platform.
Further, the power moving module is an AGV; or the power moving module is a three-dimensional moving platform; or the power moving module comprises a guide rail arranged in a hanging mode and a lifting platform movably arranged on the guide rail.
Further, be provided with the refrigeration recess on the mounting platform, the refrigeration recess is used for holding the liquid nitrogen, still be provided with the heat preservation lid of switch on the refrigeration recess.
Further, be provided with the turnover bucket that can carry the removal on the mounting platform, be used for holding the liquid nitrogen in the turnover bucket, still be provided with the heat preservation lid of switch on the turnover bucket.
Furthermore, the automatic access mechanism comprises a lifting manipulator and a cover opening and closing manipulator which are arranged on the mounting platform, the lifting manipulator is used for stretching into the access opening to access articles, and the cover opening and closing manipulator is used for opening and closing the cover.
Further, the automatic storing and taking mechanism further comprises a multi-shaft manipulator, and the multi-shaft manipulator is used for clamping the articles stored in or taken from the liquid nitrogen tank or the articles to be placed in the liquid nitrogen tank.
The invention also provides a control method of the separated liquid nitrogen storage system, which comprises the following steps: the moving mechanism drives the automatic storing and taking mechanism to move to a designated liquid nitrogen tank, the automatic storing and taking mechanism opens the tank cover of the liquid nitrogen tank firstly, and then the tank cover is covered on the liquid nitrogen tank after storing and taking operation.
Compared with the prior art, the invention has the advantages and positive effects that: the automatic access mechanism is driven to move among the liquid nitrogen tanks by the moving mechanism, the automatic access mechanism is moved to the appointed liquid nitrogen tank according to operation requirements, and the automatic access mechanism automatically completes the operations of opening and closing the tank cover and accessing articles, so that the access operation of the plurality of liquid nitrogen tanks can be realized by one set of automatic access mechanism, corresponding mechanical hands do not need to be correspondingly configured for each liquid nitrogen tank, and the manufacturing cost is effectively reduced; simultaneously, the cover that the liquid nitrogen container disposed can open and close automatically through automatic access mechanism, when in actual use, only need open its cover to the liquid nitrogen container that needs the operation, and the cover of other liquid nitrogen containers is in the closed condition all the time, reduces the evaporation capacity of liquid nitrogen, more is favorable to reducing use cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a state reference diagram illustrating the use of an embodiment of the split liquid nitrogen storage system of the present invention;
FIG. 2 is a reference diagram of a liquid nitrogen tank in an operating state in an embodiment of a split liquid nitrogen storage system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-2, the separated liquid nitrogen storage system of the present embodiment includes: the device comprises a plurality of liquid nitrogen tanks 1, an automatic storing and taking mechanism 2 and a moving mechanism 3; liquid nitrogen is arranged in each liquid nitrogen tank 1, an access port 11 for accessing articles is further arranged on each liquid nitrogen tank 1, and a tank cover 12 capable of being opened and closed is arranged on each access port 11; the automatic access mechanism 2 is used for opening and closing the tank cover 12 and extending into the liquid nitrogen tank 1 through the access port 11 to access articles; the moving mechanism 3 is used for driving the automatic storing and taking mechanism 2 to move to the appointed liquid nitrogen tank 1.
Specifically, dispose a plurality of liquid nitrogen container 1 in the disconnect-type liquid nitrogen storage system of this embodiment, wherein, the mode that holds the liquid nitrogen in liquid nitrogen container 1 does not do the restriction, and be used for accessing article on the liquid nitrogen container 1 and be provided with the cover 12 of switch on the access opening 11, when needs are to this liquid nitrogen container 1 carry out the thing operation of access, then move this liquid nitrogen container 1 department with automatic access mechanism 2 through moving mechanism 3, automatic access mechanism 2 will open automatically cover 12 on this liquid nitrogen container 1, then stretch into the inside of this liquid nitrogen container 1 through access opening 11 and accomplish the thing operation of access, and after automatic access mechanism 2 removed from access opening 11, can also realize the cover 11 of automatic shutdown liquid nitrogen container 1, it is extravagant to avoid inside liquid nitrogen evaporation.
For the automatic access mechanism 2 and the moving mechanism 3, the automatic access mechanism 2 can complete the access of the articles in the liquid nitrogen tank 1 and the opening and closing of the tank cover 12 as required, and the moving mechanism 3 can automatically plan the moving line and drive the automatic access mechanism 2 to accurately move to the designated liquid nitrogen tank 1. The representation entities of the automatic access mechanism 2 and the moving mechanism 3 have various forms, which are described in detail as follows:
the moving mechanism 3 comprises a power moving module 32 and a mounting platform 31, the mounting platform 31 is arranged on the power moving module 32, and the automatic access mechanism 2 is arranged on the mounting platform 31. Specifically, the moving mechanism 3 is configured with a mounting platform 31 for mounting the automatic accessing mechanism 2, and the power moving module 32 can automatically plan a route and drive the automatic accessing mechanism 2 on the mounting platform 31 to move, wherein the power moving module 32 has a power drive for moving by itself, and its representation entity can be: the power moving module 32 is an AGV trolley which can run along a specified guiding path; or, the power moving module 32 is a three-dimensional moving platform, and the three-dimensional moving platform can accurately drive the automatic storing and taking mechanism 2 to move to a specified position; or, the power moving module 32 comprises a guide rail arranged in a hanging manner and a lifting platform movably arranged on the guide rail, and the lifting platform can move along the guide rail at the top of the liquid nitrogen tank 1 and drive the automatic storing and taking mechanism 2 to move up and down. Preferably, because the article that the liquid nitrogen container 1 was saved has higher requirement to the temperature, in order to reduce and cause article damage because the temperature risees and surpasss the setting value in the access process, be provided with refrigeration recess 33 on the mounting platform 31, refrigeration recess 33 is used for holding liquid nitrogen, but still be provided with switch's heat preservation lid (not mark) on refrigeration recess 33, specifically, can keep in and carry out low temperature heat preservation in refrigeration recess 33 to the article that takes out from liquid nitrogen container 1, simultaneously, because article are carried out low temperature heat preservation by the liquid nitrogen in refrigeration recess 33, can realize operating on mounting platform 31 the article that takes out from liquid nitrogen container 1, in order to simplify the later stage operation process, preferably, the bottom of refrigeration recess 33 still sets up the foam-rubber cushion, the porous material of foam-rubber cushion can effectually slow down the evaporation rate of liquid nitrogen, in order to prolong the refrigeration time of refrigeration recess 33, meanwhile, the spongy cushion can prevent the liquid nitrogen from splashing when the liquid nitrogen is filled into the refrigeration groove 33. In addition, be provided with the turnover bucket 34 that can carry the removal on mounting platform 31, be used for holding the liquid nitrogen in the turnover bucket 34, still be provided with the heat preservation lid of switch on the turnover bucket 34, it is concrete, to the article that will save from the outside, then can have enough to meet the need the transportation through turnover bucket 34, and turnover bucket 34 puts the mounting platform 31 on the back, can improve the convenience of use through automatic access mechanism 2 automatic completion heat preservation lid open with treat that the getting of storage article is put.
In addition, the automatic access mechanism 2 may include an elevating robot 21 and a lid opening and closing robot 22, which are disposed on the mounting platform 31, wherein the elevating robot 21 is configured to extend into the access opening 11 to access an article, and the lid opening and closing robot 22 is configured to open and close the can lid 12. Preferably, the automated storage and retrieval mechanism 2 further includes a multi-axis robot 23 for gripping an article stored in or retrieved from the liquid nitrogen tank 1 or an article to be put into the liquid nitrogen tank 1. Specifically, the automatic access mechanism 2 can automatically open the tank cover 12 on the liquid nitrogen tank 1 through the cover opening and closing manipulator 22, and after the tank cover 12 is opened, the automatic access mechanism can extend into the liquid nitrogen tank 1 through the lifting manipulator 21 to perform access operation; and when the operation treatment is needed for the articles in the refrigeration groove 33 or the turnover bucket 34, the operation treatment can be completed through the multi-shaft manipulator 23. The embodiment does not limit the specific structural forms of the lifting manipulator 21, the cover opening and closing manipulator 22 and the multi-axis manipulator 23, and in the actual use process, specific configuration can be performed according to the field requirements.
Further, in order to facilitate the access of articles, a rotatable storage rack (not shown) is arranged inside each liquid nitrogen tank 1, and a driving member (not shown) for driving the storage rack to rotate is arranged outside each liquid nitrogen tank 1; a plurality of storage stations are arranged on the storage rack around the axis, and the storage rack rotates to switch the corresponding storage stations to move below the access opening 11. Specifically, because liquid nitrogen container 1 is barrel type structure usually, for convenient and fast through automatic access mechanism 2 access article, then set up access opening 11 in one side of the top partial periphery of liquid nitrogen container 1, and article are placed through rotatable storage rack in liquid nitrogen container 1 inside, according to the access requirement, the driving piece will drive the storage rack and rotate so that the below of access opening 11 is removed to corresponding storage station to automatic access mechanism 2 access article. Wherein, the rotatable setting of storage frame through the pivot is in liquid nitrogen container 1, the driving piece includes adiabatic connecting axle (not shown) and rotates wheel (not shown), the one end of adiabatic connecting axle stretches into 1 inside of liquid nitrogen container with the pivot is connected, the other end of adiabatic connecting axle is located 1 outside of liquid nitrogen container is connected rotate the wheel, 1 go up or still be provided with the actuating mechanism who is used for the drive to rotate the wheel on the moving mechanism 3 of liquid nitrogen container.
The invention also provides a control method of the separated liquid nitrogen storage system, which comprises the following steps: the moving mechanism drives the automatic storing and taking mechanism to move to a designated liquid nitrogen tank, the automatic storing and taking mechanism opens the tank cover of the liquid nitrogen tank firstly, and then the tank cover is covered on the liquid nitrogen tank after storing and taking operation. Specifically, after the moving mechanism receives the instruction, the automatic access mechanism can be driven to move to the designated liquid nitrogen tank, the tank cover is automatically opened through the automatic access mechanism to complete access operation, and after the access operation is finished, the automatic access mechanism automatically closes the tank cover to meet the requirement of completing the access operation on the plurality of liquid nitrogen tanks through one set of moving mechanism and the automatic access mechanism.
Compared with the prior art, the invention has the advantages and positive effects that: the automatic access mechanism is driven to move among the liquid nitrogen tanks by the moving mechanism, the automatic access mechanism is moved to the appointed liquid nitrogen tank according to operation requirements, and the automatic access mechanism automatically completes the operations of opening and closing the tank cover and accessing articles, so that the access operation of the plurality of liquid nitrogen tanks can be realized by one set of automatic access mechanism, corresponding mechanical hands do not need to be correspondingly configured for each liquid nitrogen tank, and the manufacturing cost is effectively reduced; simultaneously, the cover that the liquid nitrogen container disposed can open and close automatically through automatic access mechanism, when in actual use, only need open its cover to the liquid nitrogen container that needs the operation, and the cover of other liquid nitrogen containers is in the closed condition all the time, reduces the evaporation capacity of liquid nitrogen, more is favorable to reducing use cost.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A split liquid nitrogen storage system, comprising:
the liquid nitrogen storage tank comprises a plurality of liquid nitrogen tanks, wherein liquid nitrogen is arranged in each liquid nitrogen tank, the liquid nitrogen tanks are also provided with access ports for accessing articles, and tank covers capable of being opened and closed are arranged on the access ports;
the automatic access mechanism is used for opening and closing the tank cover and extending into the liquid nitrogen tank through the access opening to access articles;
and the moving mechanism is used for driving the automatic storing and taking mechanism to move to the appointed liquid nitrogen tank.
2. The split liquid nitrogen storage system according to claim 1, wherein each liquid nitrogen tank is internally provided with a rotatable storage rack, and the outside of the liquid nitrogen tank is provided with a driving member for driving the storage rack to rotate; and a plurality of storage stations are arranged on the storage rack around the axis, and the storage rack rotates to switch the corresponding storage stations to move below the access opening.
3. The separated liquid nitrogen storage system according to claim 2, wherein the storage rack is rotatably disposed in the liquid nitrogen tank through a rotating shaft, the driving member includes a heat-insulating connecting shaft and a rotating wheel, one end of the heat-insulating connecting shaft extends into the liquid nitrogen tank and is connected with the rotating shaft, the other end of the heat-insulating connecting shaft is located outside the liquid nitrogen tank and is connected with the rotating wheel, and a driving mechanism for driving the rotating wheel is further disposed on the liquid nitrogen tank or the moving mechanism.
4. The split liquid nitrogen storage system of claim 1, wherein the moving mechanism comprises a powered moving module and a mounting platform, the mounting platform being disposed on the powered moving module, the automated access mechanism being disposed on the mounting platform.
5. The split liquid nitrogen storage system of claim 4, wherein the powered moving module is an AGV; or the power moving module is a three-dimensional moving platform; or the power moving module comprises a guide rail arranged in a hanging mode and a lifting platform movably arranged on the guide rail.
6. The split type liquid nitrogen storage system as claimed in claim 4, wherein a refrigeration groove is arranged on the mounting platform, the refrigeration groove is used for containing liquid nitrogen, and a switchable heat preservation cover is further arranged on the refrigeration groove.
7. The separated liquid nitrogen storage system of claim 4, wherein a transportable and movable turnover bucket is arranged on the mounting platform, the turnover bucket is used for containing liquid nitrogen, and an openable and closable heat preservation cover is further arranged on the turnover bucket.
8. The split liquid nitrogen storage system according to claim 4, wherein the automatic access mechanism comprises a lifting manipulator and a cover opening and closing manipulator which are arranged on the mounting platform, the lifting manipulator is used for extending into the access opening to access an article, and the cover opening and closing manipulator is used for opening and closing the tank cover.
9. The split liquid nitrogen storage system according to claim 4, wherein the automated accessing mechanism further comprises a multi-axis robot for gripping an item accessed from or to be placed into the liquid nitrogen tank.
10. A method of controlling a split liquid nitrogen storage system as claimed in any one of claims 1 to 9, comprising: the moving mechanism drives the automatic storing and taking mechanism to move to a designated liquid nitrogen tank, the automatic storing and taking mechanism opens the tank cover of the liquid nitrogen tank firstly, and then the tank cover is covered on the liquid nitrogen tank after storing and taking operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811638234.3A CN111374121A (en) | 2018-12-29 | 2018-12-29 | Separated liquid nitrogen storage system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811638234.3A CN111374121A (en) | 2018-12-29 | 2018-12-29 | Separated liquid nitrogen storage system and control method thereof |
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| Publication Number | Publication Date |
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| CN111374121A true CN111374121A (en) | 2020-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811638234.3A Pending CN111374121A (en) | 2018-12-29 | 2018-12-29 | Separated liquid nitrogen storage system and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023279781A1 (en) * | 2021-07-08 | 2023-01-12 | 上海原能细胞生物低温设备有限公司 | Intelligent storage system for sample repository |
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- 2018-12-29 CN CN201811638234.3A patent/CN111374121A/en active Pending
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