CN209064333U - A kind of deformable Underwater Docking Device - Google Patents
A kind of deformable Underwater Docking Device Download PDFInfo
- Publication number
- CN209064333U CN209064333U CN201821970217.5U CN201821970217U CN209064333U CN 209064333 U CN209064333 U CN 209064333U CN 201821970217 U CN201821970217 U CN 201821970217U CN 209064333 U CN209064333 U CN 209064333U
- Authority
- CN
- China
- Prior art keywords
- docking
- support rod
- auv
- underwater
- cage case
- 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.)
- Active
Links
Abstract
The utility model relates to AUV underwater mating technical fields, specifically a kind of deformable Underwater Docking Device, including docking mechanism, clamp system and to slotting mechanism, the docking mechanism includes docking cage case, guide housing and extension spring, wherein guide housing includes support rod and cover, multiple support rods are equipped on cover, and each support rod passes through extension spring and connect with the docking cage case, the docking cage box back is equipped with support rod shaft, and the support rod shaft encloses polygon by multistage short axle, each support rod correspondence is articulated in a short axle, clamp system and to slotting mechanism be set to docking cage case on.The utility model after AUV is docked successfully guide housing by conical automatic accomodation at cylindrical shape; guide housing Automatic-expanding is in cone when AUV outbound execution task; not only the dive of deep-sea base station is floated very convenient; also the course line resistance to dynamic base station can be effectively reduced, and can realize that AUV is held tightly and underwater plug connector is to slotting automatically after AUV is docked successfully.
Description
Technical field
The utility model relates to AUV underwater mating technical field, specifically a kind of deformable Underwater Docking Device.
Background technique
Currently employed AUV needs surface mother ship to support when carrying out deep-sea detecting, and AUV is needed back and forth between the water surface and deep-sea
It takes considerable time, greatly reduces detection efficient, although having carried out AUV underwater mating technical research both at home and abroad, in depth
Sea application or blank.AUV with the docking mechanism on the base station of deep-sea by connecting, it can be achieved that the resident and intermittent sight in the deep-sea AUV
It surveys, can reduce the expense expenditure of lash ship to avoid AUV in the water surface and the deep-sea round-trip energy and time loss, improve detection effect
Rate reduces detection cost, improves the long-term space-time observing capacity at deep-sea.
AUV Underwater Docking Device has many patterns at present, to sum up can be divided into three classes: (1) circular cone guide housing adds cage case
Formula device；(2) fixed rope, bar class device；(3) located type docking facilities.Added in these three types of docking facilities with circular cone guide housing
Cage chamber installation uses most, and structure is simple, docking success rate is high, and has protective effect to AUV after docking successfully, but huge
Big circular cone guide housing is very inconvenient with the dive of deep-sea base station, floating, docks if it is with dynamic base station, can also make the navigation of base station
Resistance greatly increases.
Utility model content
The purpose of this utility model is to provide a kind of deformable Underwater Docking Device, after AUV is docked successfully guide housing by
Conical automatic accomodation is at cylindrical shape, and guide housing Automatic-expanding is conical when AUV outbound execution task, and not only dive is floated non-
It is often convenient, the ship resistance of dynamic base station can also be effectively reduced.
The purpose of this utility model is achieved through the following technical solutions:
A kind of deformable Underwater Docking Device, including docking mechanism, clamp system and to slotting mechanism, the docking mechanism packet
Docking cage case, guide housing and extension spring are included, wherein guide housing includes support rod and cover, and multiple supports are equipped on cover
Bar, and each support rod passes through extension spring and connect with the docking cage case, the docking cage box back turns equipped with support rod
Axis, and the support rod shaft encloses polygon by multistage short axle, each support rod correspondence is articulated in a short axle, clamps
Mechanism and to slotting mechanism be set to docking cage case on.
The cover outer surface is equipped with multiple support rod sets, and each support rod set is respectively fitted on corresponding support rod.
Link block is equipped on the support rod, equipped with spring anchor block on the docking cage case, on each support rod
Link block pass through an extension spring and docking cage case on corresponding spring anchor block be connected.
The docking cage case front end is equipped with location switch, and the location switch issues signal by the triggering of the front end AUV.
The clamp system includes fixed block, gripping block, screw slide component and driving motor, two screw slide components
Driving motor two sides are divided into, and the output shaft of the driving motor two sides connects with the lead screw in the screw slide component of two sides respectively
It connects, nut sleeve is equipped in the slide unit in the screw slide component and is loaded on lead screw, and on the slide unit of each screw slide component
It is installed with fixed block, the fixed block is equipped with gripping block.
The gripping block is connected by shrinking connecting-rod with corresponding fixed block, and is arranged with bullet on the shrinking connecting-rod
Spring.
The fixed block is equipped with location switch, and the location switch passes through corresponding gripping block triggering and issues signal.
Described pair of slotting mechanism includes underwater connector, fixed plate, fixed cylinder, mounting flange and electric pushrod, is patched under water
Part, fixed plate, fixed cylinder are successively connected, and fixed cylinder is fixedly arranged on electric pushrod, and the electric pushrod is pacified by mounting flange
Loaded on docking cage case, the fixed plate is equipped with location switch, and the location switch is touched by the underwater connector on AUV
Hair issues signal.
The location switch includes shell, end axis, end cover, proximity sensor and watertight socket, described shell one end
Equipped with moveable end axis, end axis one end stretches in the shell and is equipped with sensor block, the other end be placed in shell it is outer and
Equipped with briquetting, it is equipped with compressed spring in the end axle sleeve, end cover is equipped in shell, proximity sensor is installed in described close
Sealing end covers, and is set in the housing the end cover far from end axis side, in the shell far from the end axis one
End is equipped with watertight socket.
The guide housing outer end face is equipped with underwater luminaire, is equipped with ultra-short baseline on the upside of the docking cage case.
The advantages of the utility model and good effect are as follows:
1, guide housing by conical automatic accomodation at cylindrical shape, appoint by outbound execute of AUV after the utility model AUV is docked successfully
Guide housing Automatic-expanding is in cone when business, and not only dive is floated very convenient, and the resistance of the navigation to dynamic base station can also be effectively reduced
Power.
2, the utility model is equipped with clamp system and to slotting mechanism, and the utility model is equipped in docking cage case front end and opens in place
Close, simultaneously clamp on mechanism and location switch also be provided with to slotting mechanism, can be realized automatically after AUV dock successfully AUV holding with
Underwater connector is to slotting.
Detailed description of the invention
Fig. 1 is the schematic three dimensional views before the utility model docking；
Fig. 2 is the schematic three dimensional views after the utility model docking；
Fig. 3 is the docking mechanism schematic diagram in Fig. 1；
Fig. 4 is the left-hand view of Fig. 3；
Fig. 5 is the A-A cross-sectional view of Fig. 4；
Fig. 6 is amplification diagram at the I of Fig. 5；
Fig. 7 is the cover schematic three dimensional views of guide housing in Fig. 3；
Fig. 8 is amplification diagram at the II of Fig. 7；
Fig. 9 is the clamp system schematic diagram in Fig. 1；
Figure 10 is amplification diagram at the III of Fig. 9；
Figure 11 is the shrinking connecting-rod structural schematic diagram in Figure 10；
Figure 12 is in Fig. 1 to slotting structural scheme of mechanism；
Figure 13 is the location switch structure principle chart of the utility model；
Figure 14 is the underwater luminaire arrangement schematic diagram of the utility model.
Wherein, 1 is docking mechanism, and 101 be docking cage case, and 102 be guide housing, and 103 be extension spring, and 104 be support rod,
105 be cover, and 106 be link block, and 107 is support rod set, and 108 be support rod shaft, and 2 be clamp system, and 201 be fixed block,
202 be gripping block, and 203 be buffer rubber gasket, and 204 be screw slide component, and 205 be driving motor, and 206 be shaft coupling, and 207 are
Spring, 208 be shrinking connecting-rod, and 3 is are underwater connector to slotting mechanism, 301, and 302 be fixed plate, and 303 be fixed cylinder, and 304 are
Mounting flange, 305 be electric pushrod, and 4 be location switch, and 401 be briquetting, and 402 be compressed spring, and 403 be sensor block, and 404 are
Connecting flange, 405 be end axis, and 406 be end cover, and 407 be proximity sensor, and 408 be watertight socket, and 409 be O-ring I,
410 be O-ring II, and 5 be ultra-short baseline, and 6 be ultra-short baseline fixing piece, and 7 be underwater luminaire.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Fig. 1~14, the utility model includes docking mechanism 1, clamp system 2 and to slotting mechanism 3, such as the institute of Fig. 3~8
Show, the docking mechanism 1 includes docking cage case 101, guide housing 102 and extension spring 103, and wherein guide housing 102 includes support
Bar 104 and cover 105 are circumferentially evenly equipped with multiple support rods 104 on cover 105, and each support rod 104 is logical
Overstretching spring 103 is connect with the docking cage case 101, as shown in figure 5, link block 106 is equipped on the support rod 104,
Spring anchor block is equipped on the docking cage case 101, the link block 106 on each support rod 104 passes through a stretching bullet
Spring 103 is connected with corresponding spring anchor block on docking cage case 101, and in the present embodiment, 105 material of cover is woven dacron,
Multiple support rod sets 107 are equipped in 105 outer surface of cover, and as shown in figures 5-8, each support rod set 107 is respectively fitted over correspondence
Support rod 104 on, to form the guide housing 102,101 rear end of docking cage case is equipped with support rod shaft 108, such as schemes
Shown in 4, the support rod shaft 108 encloses polygon by multistage short axle, as shown in figure 5, each support rod 104 is corresponding hinged
In in a short axle, in the present embodiment, the support rod shaft 108 forms 12 side shapes, the docking cage case 101 by 12 sections of short axles
Front end is equipped with location switch 4.
As shown in Fig. 1~2, the clamp system 2 is set on the docking cage case 101, such as Fig. 9~Figure 11, the clamping
Mechanism 2 includes fixed block 201, gripping block 202, buffer rubber gasket 203, screw slide component 204, driving motor 205, shaft coupling
206, spring 207, shrinking connecting-rod 208 and location switch 4, wherein driving motor 205 be double output shaft electric machines and be fixedly arranged on it is described right
On the bottom plate for connecing cage case 101, two screw slide components 204 are divided into 205 two sides of driving motor, and the driving motor 205
The output shaft of two sides passes through shaft coupling 206 respectively and connect with the lead screw in two sides screw slide component 204, the screw slide group
It is equipped with nut sleeve in slide unit in part 204 to be loaded on lead screw, and the slide unit connects with the bottom plate sliding for docking cage case 101
It connects, the slide unit in the rotation of driving motor 205 i.e. driving two sides screw slide component 204 is mobile, each screw slide component 204
Fixed block 201 is installed on slide unit, the fixed block 201 is equipped with the gripping block 202 with buffer rubber gasket 203, such as Figure 10
Shown, the gripping block 202 is connected by shrinking connecting-rod 208 with corresponding fixed block 201, is covered on the shrinking connecting-rod 208
Equipped with spring 207, in the present embodiment, 208 structure of shrinking connecting-rod is as shown in figure 11, including two plug-in axis
Section, one of shaft part and fixed block 201 are connected, another shaft part and gripping block 202 are connected, in addition as shown in figure 9, described
Fixed block 201 is equipped with location switch 4.The mobile i.e. drive two sides of slide unit when mechanism works, in two sides screw slide component 204
Fixed block 201 is mobile, and then two sides gripping block 202 is driven to open or be closed, and enters the docking cage case to discharge or clamp
101 AUV ontology.
As shown in Fig. 1~2, described pair of slotting mechanism 3 is set to 101 downside of docking cage case, and as shown in figure 12, described pair is inserted
Mechanism 3 includes underwater connector 301, fixed plate 302, fixed cylinder 303, mounting flange 304 and electric pushrod 305, is patched under water
Part 301, fixed plate 302, fixed cylinder 303 are successively connected, and location switch 4, fixed cylinder 303 are equipped in the fixed plate 302
It is fixedly arranged on the line shaft of electric pushrod 305, and the electric pushrod 305 is installed on docking cage case 101 by mounting flange 304
On.When mechanism works, after AUV enters docking cage case 101, electric pushrod 305 pushes underwater connector 301 upwards and on AUV
Underwater connector is carried out to slotting.The underwater connector 301 is commercial products with electric pushrod 305.
Location switch 4 on the location switch 4 of docking 101 front end of cage case, the fixed block 201 of the clamp system 2
And 4 structure of location switch in the fixed plate 302 of described pair of slotting mechanism 3 is identical, as shown in figure 13, the location switch 4 wraps
It includes shell, end axis 405, end cover 406, proximity sensor 407 and watertight socket 408, the hull outside and is equipped with connection method
Orchid 404 is mounted on corresponding component, and described shell one end is equipped with moveable end axis 405, and described 405 one end of end axis stretches to
In the shell and it is equipped with sensor block 403, the other end is placed in outside shell and is equipped with briquetting 401, is arranged on the end axis 405
The compressed spring 402 of reset is equipped with end cover 406 in shell, and O is equipped between the end cover 406 and shell
Shape circle I 409 and O-ring II 410 guarantee sealing, and proximity sensor 407 is installed on the end cover 406, and close sensing
Device 407 is set in the housing the end cover 406 far from 405 side of end axis, in the shell far from the end axis 405 1
End is equipped with watertight socket 408, and the route of the proximity sensor 407 is stretched out via the watertight socket 408.Mechanism work
When, the briquetting 401 and corresponding component of the end axis 405, which offset, realizes that end axis 405 is mobile, when the sensor block 403 of the end axis 405
When into 407 induction range of proximity sensor, the proximity sensor 407 is triggered and outputs signal to control system.
The proximity sensor 407 and watertight socket 408 are commercial products.
Such as Figure 14,102 outer end face of guide housing is equipped with underwater luminaire 7, is equipped with 5 underwater photographs in the present embodiment altogether
Bright lamp 7, wherein 102 outer end face top half of guide housing be equipped with 4 underwater luminaires 7 and circumferentially 30 ° be uniformly distributed,
102 outer end face of guide housing is arranged right below 1 underwater luminaire 7.
As shown in Fig. 1~2, ultra-short baseline fixing piece 6 is equipped on the upside of the docking cage case 101, the ultra-short baseline is fixed
Part 6 is equipped with ultra-short baseline 5.
The working principle of the utility model are as follows:
As shown in Figure 1, AUV is navigated by water by acoustics and optical navigation near the guide housing 2 of the utility model, it is prepared to enter into
Dock cage case 1, guide housing 2 be in unfolded state at this time, as shown in Fig. 2, AUV enter docking cage case 1 during, head meeting
104 end of support rod for bumping against docking mechanism 1 makes support rod 104 rotate to receive cover 105 along support rod shaft 108
It rises, after final AUV is completely into docking cage case 1, guide housing 2 is accommodated cylindrical shape under AUV effect.Enter docking cage in AUV
Will continue to navigate by water after case 1, until the head AUV bump against docking 101 front end of cage case location switch 4, show that AUV has been navigated by water in place,
The location switch 4 for docking 101 front end of cage case at this time, which issues signal, makes AUV stop navigation, simultaneously clamps on the driving motor in mechanism 2
205 starting driving two sides gripping blocks 202 hold AUV tightly, until the location switch 4 on triggering fixed block 201 stops driving motor 205
Only, pinching action is completed, while pushing underwater connector 301 upwards and on AUV the starting of electric pushrod 305 in slotting mechanism 3
Underwater connector carry out to insert, until on AUV underwater connector trigger to the location switch 4 in slotting mechanism 3, to slotting movement
It completes, then AUV starts to upload data and charging, and entire docking is completed.When the outbound execution task of AUV, the support rod 104
Automatic-expanding, which is acted on, in extension spring 103 re-forms cone shape.
Claims (10)
1. a kind of deformable Underwater Docking Device, it is characterised in that: including docking mechanism (1), clamp system (2) and to slotting mechanism
(3), the docking mechanism (1) includes docking cage case (101), guide housing (102) and extension spring (103), wherein guide housing
(102) include support rod (104) and cover (105), be equipped with multiple support rods (104) on cover (105), and each support rod
(104) it is connect by extension spring (103) with the docking cage case (101), the docking cage case (101) rear end is equipped with support
Bar shaft (108), and the support rod shaft (108) encloses polygon, the corresponding hinge of each support rod (104) by multistage short axle
Be connected in a short axle, clamp system (2) and to slotting mechanism (3) be set to docking cage case (101) on.
2. deformable Underwater Docking Device according to claim 1, it is characterised in that: cover (105) outer surface is set
There are multiple support rod sets (107), and each support rod set (107) is respectively fitted on corresponding support rod (104).
3. deformable Underwater Docking Device according to claim 1, it is characterised in that: set on the support rod (104)
There are link block (106), spring anchor block, the link block on each support rod (104) are equipped on the docking cage case (101)
(106) it is connected by an extension spring (103) with corresponding spring anchor block in docking cage case (101).
4. deformable Underwater Docking Device according to claim 1, it is characterised in that: docking cage case (101) front end
Equipped with location switch (4), and the location switch (4) issues signal by the triggering of the front end AUV.
5. deformable Underwater Docking Device according to claim 1, it is characterised in that: the clamp system (2) includes solid
Determine block (201), gripping block (202), screw slide component (204) and driving motor (205), two screw slide components (204)
Be divided into driving motor (205) two sides, and the output shaft of the driving motor (205) two sides respectively with two sides screw slide component
(204) lead screw in connects, and nut sleeve is equipped in the slide unit in the screw slide component (204) and is loaded on lead screw, and is each
It is installed on the slide unit of screw slide component (204) fixed block (201), the fixed block (201) is equipped with gripping block
(202)。
6. deformable Underwater Docking Device according to claim 5, it is characterised in that: the gripping block (202) is by stretching
Contracting connecting rod (208) is connected with corresponding fixed block (201), and spring (207) are arranged on the shrinking connecting-rod (208).
7. deformable Underwater Docking Device according to claim 5, it is characterised in that: the fixed block (201) is equipped with
Location switch (4), and the location switch (4) passes through corresponding gripping block (202) triggering and issues signal.
8. deformable Underwater Docking Device according to claim 1, it is characterised in that: described pair of slotting mechanism (3) includes water
Lower connector (301), fixed plate (302), fixed cylinder (303), mounting flange (304) and electric pushrod (305), underwater connector
(301), fixed plate (302), fixed cylinder (303) are successively connected, and fixed cylinder (303) is fixedly arranged on electric pushrod (305), and described
Electric pushrod (305) is installed in docking cage case (101) by mounting flange (304), and the fixed plate (302) is equipped in place
It switchs (4), and the location switch (4) issues signal by the underwater connector triggering on AUV.
9. according to deformable Underwater Docking Device described in claim 4,7 or 8, it is characterised in that: location switch (4) packet
Shell, end axis (405), end cover (406), proximity sensor (407) and watertight socket (408), described shell one end is included to set
There is moveable end axis (405), described end axis (405) one end stretches in the shell and is equipped with sensor block (403), the other end
It is placed in outside shell and is equipped with briquetting (401), be arranged with compressed spring (402) on the end axis (405), be equipped in shell close
Sealing end lid (406), proximity sensor (407) is installed on the end cover (406), and is set in the housing the sealed end
(406) are covered far from end axis (405) side, are equipped with watertight socket far from described end axis (405) one end in the shell
(408)。
10. deformable Underwater Docking Device according to claim 1, it is characterised in that: guide housing (102) outer end face
It is equipped with underwater luminaire (7), is equipped with ultra-short baseline (5) on the upside of the docking cage case (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821970217.5U CN209064333U (en) | 2018-11-28 | 2018-11-28 | A kind of deformable Underwater Docking Device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821970217.5U CN209064333U (en) | 2018-11-28 | 2018-11-28 | A kind of deformable Underwater Docking Device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209064333U true CN209064333U (en) | 2019-07-05 |
Family
ID=67100603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821970217.5U Active CN209064333U (en) | 2018-11-28 | 2018-11-28 | A kind of deformable Underwater Docking Device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209064333U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562397A (en) * | 2019-08-27 | 2019-12-13 | 珠海云洲智能科技有限公司 | Hanging bracket and distribution and recovery system |
| CN110758690A (en) * | 2019-12-03 | 2020-02-07 | 大连海事大学 | Stable seabed underwater butt joint structure of trim along with ocean current position adjustable |
| GB2591855A (en) * | 2019-11-29 | 2021-08-11 | Univ Jilin | A dynamic base station for AUV recovery |
| CN114132464A (en) * | 2021-11-05 | 2022-03-04 | 中国科学院力学研究所 | Novel AUV (autonomous Underwater vehicle) laying and recycling device |
| CN114475983A (en) * | 2021-12-20 | 2022-05-13 | 宜昌测试技术研究所 | Underwater docking recovery mechanism of underwater vehicle |
-
2018
- 2018-11-28 CN CN201821970217.5U patent/CN209064333U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562397A (en) * | 2019-08-27 | 2019-12-13 | 珠海云洲智能科技有限公司 | Hanging bracket and distribution and recovery system |
| GB2591855A (en) * | 2019-11-29 | 2021-08-11 | Univ Jilin | A dynamic base station for AUV recovery |
| GB2591855B (en) * | 2019-11-29 | 2022-04-27 | Univ Jilin | A dynamic base station for AUV recovery |
| CN110758690A (en) * | 2019-12-03 | 2020-02-07 | 大连海事大学 | Stable seabed underwater butt joint structure of trim along with ocean current position adjustable |
| CN114132464A (en) * | 2021-11-05 | 2022-03-04 | 中国科学院力学研究所 | Novel AUV (autonomous Underwater vehicle) laying and recycling device |
| CN114475983A (en) * | 2021-12-20 | 2022-05-13 | 宜昌测试技术研究所 | Underwater docking recovery mechanism of underwater vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209064333U (en) | A kind of deformable Underwater Docking Device | |
| CN208714010U (en) | A kind of flexible holding device for the crawl of underwater historical relic | |
| CN205469731U (en) | All -round migration underwater robot of four impellers | |
| CN205293033U (en) | Small -size underwater robot | |
| CN111232159A (en) | Deformable underwater butt joint device | |
| CN110682999A (en) | Automatic AUV (autonomous underwater vehicle) laying and recycling device | |
| CN104772753A (en) | Underwater electric mechanical arm | |
| CN202186507U (en) | Device for butting an autonomous underwater traveling device with a submarine observation network | |
| CN205418037U (en) | Buoyancy regulating device | |
| CN208744826U (en) | A kind of automatic manipulator | |
| CN109921233A (en) | A kind of Underwater Docking Device | |
| CN104948883A (en) | Underwater electric double-shaft pan tilt | |
| CN209134480U (en) | A kind of handset bracket | |
| CN108692984B (en) | A kind of underwater robot seawater sampling device | |
| CN208198788U (en) | A kind of underwater holder robot that can vertically monitor and system | |
| CN208466562U (en) | Automatic telescopic material-receiving device | |
| CN102538575B (en) | Automatic bullet assembly system based on magnetic synchronous belt and pneumatic device | |
| CN115489700A (en) | Mother ship suspension type underwater AUV recovery supply station | |
| CN109178918A (en) | Self positive method is returned for robot | |
| CN108974290A (en) | A kind of underwater operation robot video camera damping device | |
| CN210452797U (en) | Clamping mechanism of automatic mechanical arm | |
| CN209274610U (en) | A kind of train water multi-dimensional robot degree positioning water-feeding system | |
| CN114112242A (en) | Natural gas conveying pipeline gas leakage detection device convenient to remove | |
| CN208181363U (en) | A kind of multi-functional long-term in-situ observation system in deep-sea | |
| CN109916667A (en) | One kind using water body sampling device based on biotechnology exploitation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |