CN108609144B - Buoyancy adjusting pump system of kilometer-level underwater glider - Google Patents
Buoyancy adjusting pump system of kilometer-level underwater glider Download PDFInfo
- Publication number
- CN108609144B CN108609144B CN201810434013.8A CN201810434013A CN108609144B CN 108609144 B CN108609144 B CN 108609144B CN 201810434013 A CN201810434013 A CN 201810434013A CN 108609144 B CN108609144 B CN 108609144B
- Authority
- CN
- China
- Prior art keywords
- piston
- pump system
- underwater glider
- kilometer
- motor
- 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
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000001105 regulatory effect Effects 0.000 claims abstract description 10
- 239000003921 oil Substances 0.000 claims description 12
- 239000010720 hydraulic oil Substances 0.000 claims description 11
- 239000013535 sea water Substances 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000010729 system oil Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B35/00—Piston pumps specially adapted for elastic fluids and characterised by the driving means to their working members, or by combination with, or adaptation to, specific driving engines or motors, not otherwise provided for
- F04B35/04—Piston pumps specially adapted for elastic fluids and characterised by the driving means to their working members, or by combination with, or adaptation to, specific driving engines or motors, not otherwise provided for the means being electric
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Reciprocating Pumps (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kilometer-level buoyancy regulating pump system of an underwater glider, which comprises a piston cylinder barrel and a transmission supporting barrel, wherein the piston cylinder barrel and the transmission supporting barrel are sequentially arranged in a cabin body from front to back in the longitudinal direction; a piston transmission mechanism is arranged in the transmission supporting cylinder. The invention is suitable for kilometer-level underwater gliders, and has the advantages of large discharge capacity, high speed, strong maneuverability and simple structure.
Description
Technical Field
The invention relates to a buoyancy adjusting device of an underwater robot, in particular to a buoyancy adjusting pump system of an underwater glider.
Background
The underwater glider is a novel underwater carrier which is driven by buoyancy, adjusts the sailing posture by utilizing the movement of an internal weight and moves in a zigzag section in a water body by means of the lifting force of a wing plate, can continuously sail in the water body for several months and cruises for thousands of kilometers, greatly expands the field of view of people for observing and touching the ocean, and provides a new technical means for the research of ocean science.
The underwater glider changes the net buoyancy of the machine body relative to the surrounding seawater through the periodical oil suction and oil discharge actions of the built-in buoyancy regulating pump system, and realizes the floating and submerging movements of the underwater glider in the water body. The buoyancy regulating pump system is a core component of the underwater glider running in the water body for a long time, and is formed by connecting a hydraulic oil pipe and a valve part by adopting a miniature axial plunger pump at present aiming at the kilometer-level underwater glider buoyancy regulating pump system.
Disclosure of Invention
The invention provides a buoyancy regulating pump system of an underwater glider, which is suitable for kilometer-level underwater gliders, has large discharge capacity, high speed, strong maneuverability and simple structure and solves the technical problems existing in the prior art.
The invention adopts the technical proposal for solving the technical problems in the prior art that: the buoyancy regulating pump system of the kilometer-level underwater glider comprises a piston cylinder barrel and a transmission supporting barrel which are sequentially arranged in a cabin body from front to back in the longitudinal direction, wherein the piston cylinder barrel is provided with a front end opening communicated with the outside, the rear end of the piston cylinder barrel is fixedly connected with the transmission supporting barrel, a corrugated telescopic pipe and a piston which are coaxially arranged in the piston cylinder barrel are arranged in the front of the piston, the corrugated telescopic pipe and the piston are arranged in an isolated manner, the front end opening communicated with the outside is arranged on the corrugated telescopic pipe, the front end opening of the corrugated telescopic pipe is fixed on the front end opening of the piston cylinder barrel in a sealing manner, the rear end of the corrugated telescopic pipe is provided with a back cover, and the piston cylinder barrel, the corrugated telescopic pipe and the piston form a bellows type oil bag which is filled with hydraulic oil; the driving support cylinder is internally provided with a motor, a screw rod, a screw nut and a piston push rod, the piston push rod is fixedly connected with the screw nut and the piston respectively, the screw nut is in threaded connection with the screw rod, the screw rod is driven by the motor, and an anti-rotation structure is arranged on the piston push rod.
The piston adopts a Gelai ring as a sealing ring.
The piston is provided with a front guide belt and a rear guide belt.
And a displacement sensor is arranged on the piston push rod.
The power output end of the motor is connected with the screw rod through a coupler, and the coupler is provided with a centering structure.
The end of the screw rod, which is close to the motor, is supported by a thrust bearing and a deep groove ball bearing.
The motor is a direct current hollow cup gear motor.
The screw rod is a ball screw rod.
The invention has the advantages and positive effects that: compared with the traditional high-pressure buoyancy pump based on the miniature plunger pump structure, the invention has the advantages of large oil discharge volume, short oil discharge and oil suction time, no air lock phenomenon in the working process, no need of a primary booster pump, and simpler structure. Adopt the bellows type oil pocket of ball screw pair transmission, circulation operating time is shorter, can show the flexibility and the mobility that improve the glider under water motion in the water, the pump system structure of bigger discharge capacity simultaneously can improve the ability of glider under water to the load marine environment for the ability of adaptation sea water density variation is stronger. The structure is simpler, the complex serial connection of the high-pressure pipe is not needed, and the problem of residual redundant gas in the high-pressure pipe is solved. The Glauber ring sealing piston and the double-guide mechanism are matched with the pump body structure of the bellows type oil bag, so that the buoyancy pump structure can adopt a smaller volume to complete the circulating work of larger displacement, meanwhile, the stability is higher in the forward and backward movement process of the piston, the coaxiality of the piston and the piston cylinder is better, and the sealing effect is obviously improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the present invention in an oil drain state;
fig. 3 is a schematic view of the present invention in an oil-absorbing state.
In the figure: 101. a piston cylinder; 102. a transmission support cylinder; 103. corrugated telescopic pipe; 104. a piston; 105. a piston push rod; 106. a screw rod; 107. a nut; 108. a thrust bearing; 109. deep groove ball bearings; 110. a coupling; 111. a motor; 112. a guide belt; 113. a Gelai circle; 114. a displacement sensor; 200. and a cabin body.
Detailed Description
For a further understanding of the invention, its features and advantages, reference is now made to the following examples, which are illustrated in the accompanying drawings in which:
Referring to fig. 1 to 3, a buoyancy regulating pump system of a kilometer-level underwater glider comprises a piston cylinder 101 and a transmission supporting cylinder 102 which are sequentially arranged in a cabin 200 from front to back in the longitudinal direction, wherein the piston cylinder 101 is provided with a front end opening communicated with the outside, the rear end of the piston cylinder 101 is fixedly connected with the transmission supporting cylinder 102, a corrugated expansion pipe 103 and a piston 104 which are coaxially arranged in the piston cylinder 101 are arranged in the piston cylinder 101, the corrugated expansion pipe 103 is arranged in front of the piston 104, the corrugated expansion pipe 103 is arranged in an isolated manner, the front end opening of the corrugated expansion pipe 103 is provided with a front end opening communicated with the outside, the front end opening of the corrugated expansion pipe 103 is fixed on the front end opening of the piston cylinder 101 in a sealing manner, the rear end of the corrugated expansion pipe 103 is provided with a bottom sealing manner, and the piston cylinder 101 forms a bellows type oil bag, and the bellows type oil bag is filled with hydraulic oil; the motor 111, the screw rod 106, the screw 107 and the piston push rod 105 are installed in the transmission supporting cylinder 102, the piston push rod 105 is fixedly connected with the screw 107 and the piston 104 respectively, the screw 107 is in threaded connection with the screw rod 106, the screw rod 106 is driven by the motor 111, and an anti-rotation structure is arranged on the piston push rod 105.
In this embodiment, the piston 104 uses the gray ring 113 as a sealing ring, so that it has a large pressure-resistant range. The piston 104 is provided with a front guide belt 112 and a rear guide belt 112, and the two guide belts 112 are respectively arranged in front of and behind the gray ring 113 and are used for ensuring the coaxiality of the piston 104 and the piston cylinder 101 in the front-rear movement process. A displacement sensor 114 is mounted on the piston push rod 105 to facilitate adjustment of the control of the pumping system oil suction and discharge. The power output end of the motor 111 is connected with the screw rod 106 through a coupler 110, and the coupler 110 is provided with a centering structure, so that the different shafts of the screw rod and the motor output shaft caused by machining errors can be compensated. The end of the screw rod 106, which is close to the motor, is supported by a thrust bearing 108 and a deep groove ball bearing 109 so as to ensure that the screw rod does not move in the axial direction. The motor 111 is a direct current hollow cup gear motor, and has high efficiency and light weight. The screw rod 106 is a ball screw rod, and has high transmission efficiency and stable and reliable working performance.
The working principle of the invention is as follows:
The buoyancy regulating pump system is arranged in the underwater glider cabin 200, only the corrugated telescopic pipe 103 is in contact with the external seawater, the pressure of the external seawater is transmitted to the piston 104 through hydraulic oil, the thrust of the piston 104 is transmitted to the external seawater through hydraulic oil, and the corrugated telescopic pipe 103 performs telescopic deformation and energy exchange under the mixed action of the forward and backward movement of the piston 104 and the external seawater pressure.
The specific process is as follows:
When the underwater glider is in a deep water area and needs to float upwards, the corrugated telescopic pipe 103 is in an unfolding state, the net buoyancy of the underwater glider is negative buoyancy, at the moment, the direct current hollow cup speed reducing motor rotates, power is transmitted to the piston 104 through the coupler 110, the screw rod 106, the screw nut 107 and the piston push rod 105, the piston 104 uniformly transmits the power to the corrugated telescopic pipe through hydraulic oil, the piston 104 continuously moves forwards in the piston cylinder 101 under the pushing of the direct current hollow cup speed reducing motor, the corrugated telescopic pipe 103 is forced to compress under the pressure of the hydraulic oil until the piston 104 reaches a preset position, and the tail brake of the direct current hollow cup speed reducing motor brakes, so that the piston is prevented from moving reversely under the action of the hydraulic force of sea water. The volume of the corrugated telescopic pipe 103 is continuously reduced in the advancing process of the piston 104, the displacement of the underwater glider is continuously increased, the net buoyancy is gradually increased from negative buoyancy to zero and then to positive buoyancy until the net buoyancy of the underwater glider reaches the maximum positive buoyancy, and the underwater glider floats upwards.
When the underwater glider needs to submerge on the water surface, the corrugated expansion pipe 103 is in a compressed state, the underwater glider is in positive buoyancy, at the moment, the direct current hollow cup speed reducing motor rotates, power is transmitted to the piston 104 through the coupler 110, the screw rod 106, the nut 107 and the piston push rod 105, the piston 104 uniformly transmits the power to the corrugated expansion pipe 103 through hydraulic oil, the piston 104 continuously moves backwards in the piston cylinder 101 under the pushing of the direct current hollow cup speed reducing motor, the corrugated expansion pipe 103 continuously expands along with the movement of the piston 104 until the piston 104 reaches a preset position, and the corrugated expansion pipe 103 is completely expanded to brake a brake at the tail of the direct current hollow cup speed reducing motor. The volume of the corrugated telescopic pipe 103 is continuously increased in the process of the backward movement of the piston, the drainage of the underwater glider is continuously reduced, the net buoyancy is gradually reduced from positive buoyancy to zero and then to negative buoyancy until the net buoyancy of the underwater glider reaches the maximum negative buoyancy, and the underwater glider is submerged.
The bellows 103 reciprocates back and forth under the action of the piston 104, and the bellows 103 moves forward to contract the seawater in the discharge pipe, and moves backward to expand the seawater in the discharge pipe, which is the same as the principle of air discharge and air suction of the bellows.
The probe of the displacement sensor 114 moves along with the piston push rod 105, so that the displacement of the piston 104 can be obtained in real time, and further the suction and drainage of the pump system can be regulated.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the appended claims, which are within the scope of the present invention.
Claims (5)
1. The buoyancy regulating pump system of the kilometer-level underwater glider is characterized by comprising a piston cylinder and a transmission supporting cylinder which are sequentially arranged in a cabin body from front to back in the longitudinal direction, wherein the piston cylinder is provided with a front end opening communicated with the outside, the rear end of the piston cylinder is fixedly connected with the transmission supporting cylinder, a corrugated expansion pipe and a piston which are coaxially arranged with the piston cylinder are arranged in the piston cylinder, the corrugated expansion pipe is arranged in front of the piston and is arranged in an isolated manner, the front end opening communicated with the outside is arranged on the corrugated expansion pipe, the front end opening of the corrugated expansion pipe is fixed on the front end opening of the piston cylinder in a sealing manner, the rear end of the corrugated expansion pipe is provided with a back cover, and the piston cylinder, the corrugated expansion pipe and the piston form a bellows type oil bag which is filled with hydraulic oil;
The driving support cylinder is internally provided with a motor, a screw rod, a screw nut and a piston push rod, the piston push rod is fixedly connected with the screw nut and the piston respectively, the screw nut is in threaded connection with the screw rod, the screw rod is driven by the motor, and an anti-rotation structure is arranged on the piston push rod; a displacement sensor is arranged on the piston push rod;
when the system works, the thrust of the piston is transmitted to the external sea water through the hydraulic oil through the corrugated telescopic pipe, and the corrugated telescopic pipe performs telescopic deformation and energy exchange under the mixed action of the piston and the hydraulic oil which synchronously move and the external sea water pressure;
The piston adopts a Gelai ring as a sealing ring;
the piston is provided with a front guide belt and a rear guide belt, and the two guide belts are respectively arranged in front of and behind the Gelai ring.
2. The kilometer-scale underwater glider buoyancy adjustment pump system according to claim 1, wherein the power output end of the motor is connected with the screw rod through a coupling, and the coupling is provided with a centering structure.
3. The kilometer scale underwater glider buoyancy adjustment pump system of claim 1, wherein the end of the screw adjacent the motor is supported by a thrust bearing and a deep groove ball bearing.
4. The kilometer scale underwater glider buoyancy adjustment pump system of claim 1, wherein the motor is a dc coreless gear motor.
5. The kilometer scale underwater glider buoyancy adjustment pump system of claim 1, wherein the screw is a ball screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810434013.8A CN108609144B (en) | 2018-05-08 | 2018-05-08 | Buoyancy adjusting pump system of kilometer-level underwater glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810434013.8A CN108609144B (en) | 2018-05-08 | 2018-05-08 | Buoyancy adjusting pump system of kilometer-level underwater glider |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108609144A CN108609144A (en) | 2018-10-02 |
| CN108609144B true CN108609144B (en) | 2024-07-05 |
Family
ID=63662242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810434013.8A Active CN108609144B (en) | 2018-05-08 | 2018-05-08 | Buoyancy adjusting pump system of kilometer-level underwater glider |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108609144B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110953138A (en) * | 2019-11-19 | 2020-04-03 | 张金强 | Hydraulic air compressor for raising water level by using waterwheel |
| CN112429186A (en) * | 2020-11-30 | 2021-03-02 | 华中科技大学鄂州工业技术研究院 | Buoyancy adjusting device |
| CN114987724B (en) * | 2022-05-30 | 2024-02-27 | 杭州电子科技大学 | Single-plunger type buoyancy adjusting device and use method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105730656A (en) * | 2016-01-13 | 2016-07-06 | 中国计量学院 | Drainage type buoyancy regulating device |
| CN208198792U (en) * | 2018-05-08 | 2018-12-07 | 国家海洋技术中心 | Km grade underwater glider floatage adjusts pumping system |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100640291B1 (en) * | 2004-10-29 | 2006-12-05 | 한국해양수산개발원 | Device of changing buoyancy and machine of gathering environmental informations under water using the device |
| CN102367063B (en) * | 2011-08-24 | 2013-11-06 | 天津大学 | Bellow fuel tank |
| CN102501955A (en) * | 2011-08-24 | 2012-06-20 | 天津大学 | Buoyancy driving device of deep-sea underwater glider |
| KR101175235B1 (en) * | 2012-06-15 | 2012-08-21 | 한국해양연구원 | Buoyancy control apparatus having pressure equalizer and underwater glider using the same and buoyancy control method using the pressure equalizing |
| US20140042744A1 (en) * | 2012-08-13 | 2014-02-13 | Arvind A. Daya | Accurate bouyancy control in pools,lakes and ocean and maintain frequency generating electrical power |
| WO2014105004A1 (en) * | 2012-12-27 | 2014-07-03 | Daya Arvind A | Accurate buoyancy control in pools, lakes and oceans and to maintain frequency to generate clean ac electrical power |
| CN103350749B (en) * | 2013-07-11 | 2015-07-08 | 中国船舶重工集团公司第七○二研究所 | Energy-saving type residual buoyancy driving device utilizing spring to store energy |
| CN103587665B (en) * | 2013-11-15 | 2015-12-09 | 华中科技大学 | A kind of buoyancy regulating device of deep sea glider and method |
| CN205059972U (en) * | 2015-07-22 | 2016-03-02 | 上海交通大学 | But buoyancy adjustment of glider under water mechanism of accurate control |
| CN206466127U (en) * | 2016-12-23 | 2017-09-05 | 中国船舶重工集团公司第七一五研究所 | Minitype high voltage profile buoy regulating mechanism of buoyancy |
| CN107010189A (en) * | 2017-04-14 | 2017-08-04 | 辛光红 | A kind of underwater hiding-machine buoyancy regulating device |
| CN107933858A (en) * | 2017-12-15 | 2018-04-20 | 江苏科技大学 | A kind of two-way ballast underwater glider |
-
2018
- 2018-05-08 CN CN201810434013.8A patent/CN108609144B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105730656A (en) * | 2016-01-13 | 2016-07-06 | 中国计量学院 | Drainage type buoyancy regulating device |
| CN208198792U (en) * | 2018-05-08 | 2018-12-07 | 国家海洋技术中心 | Km grade underwater glider floatage adjusts pumping system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108609144A (en) | 2018-10-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108609144B (en) | Buoyancy adjusting pump system of kilometer-level underwater glider | |
| US8397658B1 (en) | Buoyancy control systems and methods for submersible objects | |
| CN102079375B (en) | Bidirectional oil discharge type buoyancy regulating device for underwater robot | |
| CN111749934B (en) | Be applied to multiplexing hydraulic circuit of ocean difference in temperature energy driven glider under water | |
| CN110435861B (en) | Hydrofoil device for realizing multi-navigation state and low-energy-consumption navigation of marine unmanned aircraft | |
| CN103350749B (en) | Energy-saving type residual buoyancy driving device utilizing spring to store energy | |
| CN110641665A (en) | Hierarchical buoyancy driven heavy-load underwater vehicle | |
| CN1876485A (en) | Underwater gliding detector | |
| CN109578347B (en) | Deep sea buoy hydraulic system | |
| RU164034U1 (en) | AUTONOMOUS UNDERTAKEN UNDERABILABLE PLANNING TYPE | |
| CN114604397B (en) | Ocean temperature difference energy storage localized section shuttle unmanned platform | |
| CN105298730B (en) | Utilize the removable aircraft sea landing platform of wave-energy power generation | |
| CN102180243B (en) | Driving device for buoyancy regulating mechanism of underwater glider | |
| CN113059968A (en) | Small-size amphibious exploration robot of sea and land | |
| CN2934066Y (en) | Submerged gliding detector | |
| CN113306690A (en) | Buoyancy adjusting system for assisting oil supply by utilizing ocean temperature difference energy | |
| CN108313245B (en) | Driving system for buoyancy adjustment seawater plunger pump of full-sea-depth submersible | |
| CN202080424U (en) | Driving device of an underwater aerodone buoyancy adjusting mechanism | |
| CN214356599U (en) | Miniature low-power-consumption ultrahigh-pressure buoyancy adjusting device for underwater robot | |
| CN208198792U (en) | Km grade underwater glider floatage adjusts pumping system | |
| CN110053742B (en) | Self-adaptive multifunctional double-body underwater glider | |
| CN114044115B (en) | Flexible buoyancy adjusting method and device | |
| CN213981037U (en) | Buoyancy auxiliary transmission module and buoyancy auxiliary transmission system | |
| CN218431683U (en) | Electric drive piston type buoyancy adjusting device for underwater robot | |
| CN211223814U (en) | Variable volume buoyancy regulating system controlled by seawater pump |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |