CN114274121A - Cam manipulator capable of steering - Google Patents

Abstract

The invention relates to a steerable cam manipulator, comprising a fixed rotating shaft, a steering unit and a clamping mechanism; the steering unit is arranged on the side wall of the fixed rotating shaft; the clamping mechanism is arranged on the side wall of the fixed rotating shaft; the steering The unit includes a lifting mechanism, a sliding mechanism and a rotating mechanism; through the set steering unit, the manipulator rotates the fixed rotating shaft during operation, and drives the No. 1 cam and No. 2 cam on the side wall of the fixed rotating shaft to rotate. When the No. 1 cam rotates, it drives the main cam. The support frame moves up and down. When the No. 2 cam rotates, it will drive the No. 1 sliding rod to slide left and right. When the No. 1 sliding rod moves, the connecting bracket is connected to the main support frame and remains fixed, and the fixed rod will rotate on the inner side wall of the steering shaft to drive the clamping mechanism to rotate. , instead of the manipulator with complex transmission structure, through one output point, the movement in three directions can be realized at the same time, which improves the effect of grasping objects.

Description

A steerable cam manipulator

technical field

The invention relates to the field of clamping machinery, in particular to a steerable cam manipulator.

Background technique

The manipulator is a kind of mechanized equipment that can automatically grasp the workpiece.

The manipulator is the earliest industrialized machinery, and it is also a kind of robot. It can replace manual production automation and is widely used in electronics, metallurgy and machinery manufacturing.

At present, in the automation industry, the cylinder gripper of the manipulator needs to control the directions of X-axis, Y-axis, Z-axis and R-axis, and each axis needs to be equipped with pneumatic or electric components separately to realize single control and joint action, and the structure is relatively complex. The grasping effect is not very good. Therefore, a steerable cam manipulator is proposed to solve the above problems.

SUMMARY OF THE INVENTION

In order to make up for the deficiencies of the prior art and solve the problems that the structure of the existing manipulator's cylinder jaws is complex and the gripping effect is not very good, the present invention provides a steerable cam manipulator.

A first aspect of the present invention is to provide a steerable cam manipulator, comprising: a fixed rotating shaft, a steering unit and a grabbing mechanism; wherein: the steering unit includes a lifting mechanism, a sliding mechanism and a rotating mechanism; the lifting mechanism includes a The No. 1 cam and the main support frame; the fixed rotating shaft passes through the No. 1 cam and drives the No. 1 cam to rotate; when the No. 1 cam rotates, the main support frame is driven by the No. 1 cam to move in the Z-axis direction; the The sliding mechanism includes a secondary support frame, a slide rail in the X-axis direction, a connecting rod, and a No. 2 cam; the slide rail is located between the main support frame and the secondary support frame, and the side of the main support frame facing the No. 2 slide rail is provided with an X-axis The sliding rail is slidably connected in the sliding groove; the auxiliary support frame is fixed on the side wall of the sliding rail; the fixed shaft also passes through the No. 2 cam, and drives the No. 2 cam and the No. 1 cam The No. 1 cam rotates synchronously; when the No. 2 cam rotates, the connecting rod is driven by the No. 2 cam to move in the X-axis direction, the connecting rod drives the auxiliary support frame and the slide rail to move in the X-axis direction, and the slide rail is connected with the main support frame. return spring;

The rotating mechanism includes a connecting bracket, a No. 1 connecting rod, a No. 2 connecting rod and a steering shaft; one end of the connecting bracket is fixed on the side wall of the main support frame, and the other end is hinged to one end of the No. 1 connecting rod; the One end of the No. 2 connecting rod is hinged to the other end of the No. 1 connecting rod; the other end of the No. 2 connecting rod is fixedly connected to the steering shaft; a shaft is inserted into the perforation and is rotatable in the perforation;

Below the fixing part is a clamping mechanism; the grabbing mechanism is connected to the end of the steering shaft passing through the perforated hole or connected to the steering shaft through a connecting assembly;

Between the slide rail and the main support frame, a slide rail return spring is arranged.

The second aspect of the present application is to provide a working mode of a single-drive manipulator (preferably the above-mentioned steerable cam manipulator), preferably a steerable cam manipulator working mode that can simultaneously realize X-axis, Z-axis and R-axis movements, include:

The fixed rotating shaft drives the No. 1 cam and No. 2 cam to rotate synchronously, the No. 1 cam drives the main support frame to move upward in the Z-axis direction, and the No. 2 cam drives the auxiliary support frame to drive the slide rail to overcome the elastic force of the slide rail return spring. The main support frame is provided with a chute in the X-axis direction, the auxiliary support frame is fixedly connected to the slide rail, and the slide rail is slidably connected in the chute, so that the slide rail is driven by the main support frame in the Z-axis direction. At the same time, the slide rail overcomes the elastic force of the return spring and moves in the X-axis direction driven by the auxiliary support frame; the main support frame is fixedly connected to one end of the connecting frame, and the other end of the connecting frame is hinged to one end of the No. 1 connecting rod, and the other end of the No. 1 connecting rod One end is hinged to one end of the No. 2 connecting rod, the other end of the No. 2 connecting rod is hinged to the steering shaft, the end of the slide rail is fixedly installed with a fixed part, the fixed part is provided with a perforation in the Z-axis direction, and the steering shaft passes through the perforation of the fixed part, Connected to the grabbing mechanism; when the slide rail moves in the X-axis direction, it pushes the fixed part to move in the X-axis direction, the connecting frame is fixed, the No. 1 connecting rod and No. 2 connecting rod rotate around their hinged position, and the No. 2 connecting rod drives The steering shaft rotates, and the steering shaft drives the R-axis of the grabbing mechanism to rotate.

Preferably, the lifting mechanism further includes a No. 1 sliding block and a No. 1 sliding rail, wherein the No. 1 sliding block is used to be fixedly installed on other carriers, and the No. 1 sliding rail is fixedly connected to a No. 1 sliding rail of the main support frame facing away from the sliding rail. On the side, the No. 1 slider is provided with a chute in the Z-axis direction toward the No. 1 slide rail, and the No. 1 slide rail is slidably connected in the chute of the No. 1 slider.

Preferably, the main support frame is provided with a wheel or a shaft for contacting the side wall of the No. 1 cam. When the No. 1 cam rotates, the wheel or shaft is driven by the No. 1 cam to move in the Z-axis direction, and drives the main support The frame moves in the Z-axis direction.

Preferably, the connecting rod is installed with a No. 1 push rod for contacting the side wall of the No. 2 cam; when the No. 2 cam rotates, the No. 1 push rod is driven by the No. 2 cam to move in the X-axis direction, thereby driving the connecting rod to move in the X-axis direction. Movement in the X-axis direction.

Preferably, the connecting rod is also equipped with a No. 2 push rod and a positioning rod; the No. 1 push rod is located between the No. 2 push rod and the positioning rod; the positioning rod is used to be fixedly installed on other carriers, and is hinged with the connecting rod; The auxiliary support frame is provided with a strip-shaped hole extending along the Z direction, and the No. 2 rotating rod is movably inserted into the strip-shaped hole of the auxiliary support frame.

Preferably, the connecting rod is composed of two rod bodies, and the two rod bodies form an included angle less than 180 degrees, and the included angle faces the No. 2 cam.

Preferably, the fixed rotating shaft rotates in the opposite direction, the No. 1 cam loses the drive to the main support frame, and the No. 2 cam loses the drive to the connecting rod; under the action of gravity, the main support frame drives the slide rail to move downward in the Z-axis; at the same time The slide rail drives the auxiliary support frame to move downward in the Z-axis; the auxiliary support frame presses the connecting rod in the Z-axis direction, and the return spring of the slide rail between the slide rail and the main support frame is under the action of elastic force, so that the slide rail drives the auxiliary support frame. In the direction of the X axis, it moves away from the grasping mechanism, and the connecting rod is reset under the action of gravity and the auxiliary support frame.

Preferably, the other carrier is a hollow box body, and the box body is provided with a window for the slide rail to extend, and the slide rail extends out of the part of the box body, and the fixing part is installed.

Preferably, the steerable cam manipulator described in the present application may be provided with a drive motor, which drives the rotation of the fixed shaft, or may be temporarily connected to a drive motor during use.

Preferably, the clamping mechanism may be the prior art, and may be a known clamping mechanism or a suction mechanism.

In the present invention, through the set steering unit, when the manipulator is working, it rotates the fixed rotating shaft to drive the No. 1 cam and No. 2 cam on the side wall of the fixed rotating shaft to rotate. When the No. 1 cam rotates, it will drive the main support frame to move up and down. When the No. 1 sliding rod is rotated, it will drive the No. 1 sliding rod to slide left and right. When the No. 1 sliding rod moves, the connecting bracket is connected to the main support frame and remains fixed. The fixed rod will rotate on the inner side wall of the steering shaft to drive the clamping mechanism to rotate, replacing the mechanical arm with complex transmission structure Through one output point, the movement in three directions of X, Z and R axes can be realized at the same time, which improves the effect of grasping objects.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 is a structural schematic diagram of a steerable cam manipulator with a box body;

Fig. 2 is a structural schematic diagram of a steerable cam manipulator in a box;

FIG. 3 is a schematic structural diagram of a steerable cam manipulator in the first direction;

FIG. 4 is a schematic structural diagram of a steerable cam manipulator in the second direction;

FIG. 5 is a schematic diagram of the third direction structure of the steerable cam manipulator.

In the picture: 1. Fixed shaft; 11. Cam No. 1; 12. Main support frame; 13. Slider No. 1; 14. Slide rail No. 1; 15. Fixed box; Rail; 22, connecting rod; 23, No. 1 rotating rod; 24, No. 2 rotating rod; 25, No. 2 cam; 3. Connecting bracket; 31, No. 1 connecting rod; 32, No. 2 connecting rod; 33, Steering shaft ; 4. Clamping mechanism.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to Figure 1-5, a steerable cam manipulator, including a fixed rotating shaft 1, a steering unit and a clamping mechanism. The position of the fixed shaft 1 is fixed.

2-4, the steering unit includes a lifting mechanism, a sliding mechanism and a rotating mechanism; the lifting mechanism is arranged on the side wall of the fixed rotating shaft 1; the sliding mechanism is arranged on the side wall of the lifting mechanism; the rotating mechanism It is arranged on the side wall of the sliding mechanism; the lifting mechanism includes a No. 1 cam 11, a main support frame 12, a No. 1 slider 13 and a No. 1 slide rail 14; the fixed rotating shaft 1 passes through the No. 1 cam 11 and drives a No. 1 cam 11. The rotation of the No. 1 cam 11; the main support frame 12 is connected with a sliding wheel, and the sliding wheel is driven by the No. 1 cam 11 to move up and down when the No. 1 cam 11 rotates; the No. 1 slider 13 is located between the main support frame 12 and all the Between the No. 1 slide rails 14 , the No. 1 slider 13 is fixedly connected to the main support frame 12 and slidably connected to the first chute in the Z-axis direction of the No. 1 slide rail 14 . When working, the whole manipulator relies on the fixed shaft 1 to drive the output end of the rotation. The fixed shaft 1 drives the No. 1 cam 11 to rotate with the fixed shaft 1 at the same time. The side wall of the No. 1 cam 11 slides, because when the No. 1 cam 11 rotates, the side wall rises and falls, thereby driving the sliding wheel and the main support frame 12 connected to the sliding wheel to lift and slide up and down. The main support frame 12 will move along the inner side wall chute of the No. 1 slide rail 14 through the No. 1 slider 13. The No. 1 slide rail 14 is a fixed part and cannot be moved. The main support frame 12 faces the side of the No. 1 slider 13, Connect the No. 2 slide rail 21 to drive the No. 2 slide rail 21 to rise and fall.

As shown in Figures 2-5, the sliding mechanism includes a secondary support frame 2, a No. 2 slide rail 21, a connecting rod 22, a No. 1 push rod 23, a No. 2 push rod 24, a No. 2 cam 25, and a positioning shaft 26; The side of the main support frame 12 facing away from the No. 1 slider 13 is provided with a second chute in the X-axis direction, and the No. 2 slide rail 21 is slidably connected to the second chute of the main support frame 12; A hole is provided at the end for installing one end of the return spring, and the other end of the return spring (not shown in the figure) is installed on the main support frame 12 . The auxiliary support frame 2 is connected to the No. 2 slide rail 21 and moves with the No. 2 slide rail 21. The auxiliary support frame 2 is located between the connecting rod 22 and the No. 2 slide rail 21, and the auxiliary support frame 2 is provided with a Z-axis extension. Window or strip hole 27. The No. 1 push rod 23 , the positioning shaft 26 and the No. 2 push rod 24 are all mounted on the connecting rod 22 , and the No. 1 push rod 23 is located between the positioning shaft 26 and the No. 2 push rod 24 . The No. 1 push rod 23 is driven by the No. 2 cam 25 when the No. 2 cam 25 rotates; the position of the positioning shaft 26 cannot be moved, the bottom of the connecting rod 22 is fixed in position by the positioning shaft 26, and the top is connected to the No. 2 push rod 24 , the No. 2 push rod 24 is inserted into the window or strip hole of the auxiliary support frame 2; . During operation, when the fixed shaft 1 rotates, the No. 2 cam 25 is driven to rotate, and the side wall of the No. 2 cam 25 is in contact with the side wall of the No. 1 push rod 23 to push the No. 1 push rod 23. Because the bottom of the connecting rod 22 passes through the positioning shaft 26, The position is fixed. Under the lever principle, the connecting rod 22 takes the positioning shaft 26 as the center of the circle and makes a fan-shaped movement. It moves in the X-axis direction, and at the same time, it moves in the Z-axis direction along the window or strip hole.

2-4, the rotating mechanism includes a connecting bracket 3, a No. 1 connecting rod 31, a No. 2 connecting rod 32, a steering shaft 33 and a connecting portion 34; one end of the connecting bracket 3 is fixedly connected to the main support frame 12, The other end is hinged to one end of the No. 1 connecting rod 31; one end of the No. 2 connecting rod 32 is hinged to the other end of the No. 1 connecting rod 31; The shaft 33; the connecting part 34 is connected to the end of the No. 2 slide rail 21, and the connecting part is provided with a perforation in the Z-axis direction. The steering shaft 33 is inserted into the perforation and can be rotated in the perforation. After the steering shaft passes through the perforation, the connection grasps Take the institution. When working, the No. 2 slide rail 21 is driven by the auxiliary support frame 2 to move in the X-axis direction. The main support frame 12 is different, and the fixed connecting bracket 3 remains different. The No. 2 slide rail 21 drives the end steering shaft 33 in the X-axis direction. The movement drives the No. 1 connecting rod 31 and No. 2 connecting rod 32 to rotate around the hinge joint. When the No. 2 connecting rod 32 rotates, it drives the steering shaft 33 to rotate, so that the rotating clamping mechanism 4, that is, the R-axis movement, can be realized.

2-5, the connecting rod 22 is composed of two rod bodies, the two rod bodies can be integrally formed or connected and formed, and the two rod bodies form an included angle less than 180 degrees, that is, a ">" shaped structure is formed. The corner is towards the second cam 25.

When the fixed shaft rotates in the opposite direction, the No. 1 cam 11 loses its drive to the main support frame 13, and the No. 2 cam 25 loses its drive to the connecting rod 22; under the action of gravity, the main support frame 13 drives the No. 2 slide rail 21 to move on the Z axis. Downward movement; at the same time, the slide rail drives the auxiliary support frame to move downward in the Z-axis; the auxiliary support frame presses the connecting rod in the Z-axis direction, and under the elastic force of the return spring, the No. 2 slide rail 12 and the auxiliary support frame 2 are in the X-axis. The direction moves away from the grabbing mechanism, and the connecting rod 22 is reset under the action of gravity and the pressure/thrust of the auxiliary support frame 2 .

3, a return spring hole is connected at the end of the second slide rail 21 (the return spring is not shown in the figure), the return spring hole is used to fix one end of the return spring, and the other end of the return spring is connected to the main support frame 12, the auxiliary support frame 2 When the No. 2 slide rail 21 is driven forward, it overcomes the elastic force of the return spring. When the No. 2 slide rail 21 is reset, the No. 2 cam 25 is reset, and the connecting rod 22 no longer exerts external force on the auxiliary support frame 2. The slide rail 21 springs back, and the second slide rail 21 drives the auxiliary support frame 2 and the connecting rod 22 to reset.

In the description of this specification, description with reference to the terms "one embodiment," "example," "specific example," etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one aspect of the present invention. in one embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the description are only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have Various changes and modifications fall within the scope of the claimed invention.

Claims (10)

1. A cam manipulator that can turn to, its characterized in that: the method comprises the following steps: the device comprises a fixed rotating shaft, a steering unit and a grabbing mechanism; wherein: the steering unit comprises a lifting mechanism, a sliding mechanism and a rotating mechanism;

the lifting mechanism comprises a first cam and a main supporting frame; the fixed rotating shaft penetrates through the first cam and drives the first cam to rotate; when the first cam rotates, the main supporting frame is driven by the first cam to move in the Z-axis direction; the sliding mechanism comprises an auxiliary supporting frame, a sliding rail in the X-axis direction, a connecting rod and a second cam; the sliding rail is positioned between the main supporting frame and the auxiliary supporting frame, one side of the main supporting frame, which faces the second sliding rail, is provided with a sliding groove in the X-axis direction, and the sliding rail is connected in the sliding groove in a sliding manner; the auxiliary support frame is fixedly connected to the side wall of the slide rail; (ii) a The fixed shaft also penetrates through the second cam and drives the second cam and the first cam to synchronously rotate; when the second cam rotates, the connecting rod is driven by the second cam to move in the X-axis direction, and the connecting rod drives the auxiliary support frame and the sliding rail to move in the X-axis direction;

the rotating mechanism comprises a connecting bracket, a first connecting rod, a second connecting rod and a steering shaft; one end of the connecting bracket is fixedly connected to the side wall of the main supporting frame, and the other end of the connecting bracket is hinged to one end of the first connecting rod; one end of the second connecting rod is hinged to the other end of the first connecting rod; the other end of the second connecting rod is fixedly connected with the steering shaft; the tail end of the sliding rail is connected with a fixing part, the fixing part is provided with a through hole in the Z-axis direction, and the steering shaft is inserted into the through hole and can rotate in the through hole;

a clamping mechanism is arranged below the fixed part; the grabbing mechanism is connected to one end of the steering shaft penetrating through the through hole or is connected to the steering shaft through a connecting assembly;

and a slide rail reset spring is arranged between the slide rail and the main support frame.

2. A steerable cam manipulator as recited in claim 1, wherein: elevating system still includes a slider and a slide rail, and wherein, a slider is used for fixed mounting on other carriers, and a slide rail fixed connection is in main tributary strut one side of slide rail dorsad, and a slider is equipped with the spout of Z axle direction towards the direction of a slide rail, a slide rail sliding connection be in the spout of a slider.

3. A steerable cam manipulator as recited in claim 1, wherein: the main support frame is provided with a wheel or a shaft which is used for contacting the side wall of the first cam, and when the first cam rotates, the wheel or the shaft is driven by the first cam to move in the Z-axis direction and drive the main support frame to move in the Z-axis direction.

4. A steerable cam manipulator as recited in claim 1, wherein: the connecting rod is provided with a first push rod used for contacting the side wall of the second cam; when the second cam rotates, the first push rod is driven by the second cam to move in the X-axis direction, so that the connecting rod is driven to move in the X-axis direction.

5. A steerable cam manipulator according to claim 4, wherein: the connecting rod comprises two rod bodies, the two rod bodies form an included angle smaller than 180 degrees, and the included angle faces to the second cam.

6. A steerable cam manipulator according to claim 4, wherein: the connecting rod is also provided with a second push rod and a positioning rod; the first push rod is positioned between the second push rod and the positioning rod; the positioning rod is fixedly arranged on other carriers and is hinged with the connecting rod; the auxiliary supporting frame is provided with a strip-shaped hole extending along the Z direction, and the second rotating rod is movably inserted into the strip-shaped hole of the auxiliary supporting frame.

7. A steerable cam manipulator according to claim 1 or 6, wherein: the other carriers are hollow boxes, windows are arranged on the boxes for the sliding rails to extend out, and the parts of the sliding rails extending out of the boxes are provided with the fixing parts.

8. A method of achieving X-axis, Z-axis and R-axis motion of a single drive robot as recited in claim 1, comprising: the method comprises the following steps:

the fixed rotating shaft drives the first cam and the second cam to synchronously rotate, the first cam drives the main support frame to move upwards in the Z-axis direction, and the second cam drives the auxiliary support frame to drive the sliding rail to overcome the elasticity of the sliding rail return spring and move towards the grabbing mechanism in the X-axis direction; the main support frame is provided with a sliding groove in the X-axis direction, the auxiliary support frame is fixedly connected with a sliding rail, and the sliding rail is connected in the sliding groove in a sliding manner, so that the sliding rail moves upwards in the Z-axis direction under the driving of the main support frame, and simultaneously moves in the X-axis direction to the direction of the grabbing mechanism under the driving of the auxiliary support frame to drive the first cam and the second cam to synchronously rotate; the main support frame is provided with a sliding groove in the X-axis direction, the auxiliary support frame is fixedly connected with a sliding rail, and the sliding rail is connected in the sliding groove in a sliding manner, so that the sliding rail moves in the Z-axis direction under the driving of the main support frame and moves in the X-axis direction under the driving of the auxiliary support frame;

the main support frame is fixedly connected with one end of a connecting frame, the other end of the connecting frame is hinged with one end of a first connecting rod, the other end of the first connecting rod is hinged with one end of a second connecting rod, the other end of the second connecting rod is hinged with a steering shaft, a fixing part is fixedly arranged at the tail end of the sliding rail, the fixing part is provided with a through hole in the Z-axis direction, and the steering shaft penetrates through the through hole of the fixing part and is connected to the grabbing mechanism; when the slide rail moves in the X-axis direction, the fixing part is pushed to move in the X-axis direction, the connecting frame is fixed, the first connecting rod and the second connecting rod rotate around the hinged position of the first connecting rod and the second connecting rod, the second connecting rod drives the steering shaft to rotate, and the steering shaft drives the R shaft of the grabbing mechanism to rotate.

9. The method of claim 7, wherein: the connecting rod is provided with a first push rod used for contacting the side wall of the second cam; the connecting rod is also provided with a second push rod and a positioning rod; the first push rod is positioned between the second push rod and the positioning rod; the positioning rod is fixedly arranged on other carriers and is hinged with the connecting rod; the auxiliary support frame is provided with a strip-shaped hole extending along the Z direction, and the second rotating rod is movably inserted into the strip-shaped hole of the auxiliary support frame; when the second cam rotates, the first push rod is driven by the second cam to move in the X-axis direction, so that the connecting rod is driven to move in the X-axis direction;

the connecting rod comprises two rod bodies, the two rod bodies form an included angle smaller than 180 degrees, and the included angle faces to the second cam.

10. The method of claim 9, wherein: the fixed rotating shaft rotates reversely, the first cam loses the drive of the main supporting frame, and the second cam loses the drive of the connecting rod; under the action of gravity, the main support frame drives the slide rail to move downwards in the Z-axis direction; meanwhile, the sliding rail drives the auxiliary support frame to move downwards in the Z-axis direction; the auxiliary support frame presses the connecting rod downwards in the Z-axis direction, and a sliding rail reset spring between the sliding rail and the main support frame is under the action of elastic force, so that the sliding rail drives the auxiliary support frame to move in the X-axis direction away from the grabbing mechanism, and the connecting rod resets under the action of gravity and the auxiliary support frame.

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