CN101954844B - Triphibian omnibearing moving mechanism - Google Patents
Triphibian omnibearing moving mechanism Download PDFInfo
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- CN101954844B CN101954844B CN2009100125415A CN200910012541A CN101954844B CN 101954844 B CN101954844 B CN 101954844B CN 2009100125415 A CN2009100125415 A CN 2009100125415A CN 200910012541 A CN200910012541 A CN 200910012541A CN 101954844 B CN101954844 B CN 101954844B
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Abstract
The invention relates to a triphibian omnibearing moving mechanism, and belongs to the technical field of moving robot engineering. The triphibian omnibearing moving mechanism comprises a box body, four groups of wheel trains and driving mechanisms arranged relative to each wheel train, wherein each driving mechanism comprises a motor, a transmission mechanism and a clutch mechanism which are arranged in the box body and a helicopter rotor mechanism arranged at the top end of the box body; the motor is connected with the transmission mechanism; the output end of the transmission mechanism is respectively connected with the wheel trains and the helicopter rotor mechanism; the clutch mechanism connected with an electromagnet is arranged on the transmission mechanism, and a power supply is connected to the electromagnet; and during operation, the clutch mechanism is matched with the wheel train connecting end of the transmission mechanism or the connecting end of the helicopter rotor mechanism. The triphibian omnibearing moving mechanism has the strong adaptability. Different forms of power output is selected correspondingly according to different environments in which the triphibian omnibearing moving mechanism is positioned in the using process, so that the mechanism can adapt to the wider environment and can be used within the larger range. By the triphibian omnibearing moving mechanism, motion output can be converted into air from ground and water surfaces or converted into the ground and the water surfaces from the air conveniently through regulation.
Description
Technical field
The invention belongs to mobile robot's field of engineering technology, specifically is a kind of land, water and air that are used to survey three omni-directional moving mechanisms of dwelling.
Background technology
At present, the instrument that can under the three kinds of environment in land, water and air, use in the world all is to occur with the form of automobile, comprises that Splash that Switzerland car manufactures Rinspeed released in March, 2006 is first item land, water and air three sport cars of dwelling; Famous inventor, the aeroplanist's Alexandria of Russia. than add restrain dwell in the land, water and air three of invention in 2008 machine " evolutions " its to adopt carbon fibre and Kevlar fabric be raw material, ten minutes lightly, weight is merely 60 kilograms.Its shell is processed by high-intensity special material, and is very firm.
More common omni-directional moving mechanism has air suspend type, ball crawler type, wheeled etc.It is wheeled or the like that wheeled omni-directional moving mechanism can be divided into ball wheel driving type, four-wheel steering formula, Mecanum again.Ball wheel (ball wheel) drive-type omni-directional moving mechanism is to be succeeded in developing by the logical big people such as mountain more of Japan's electricity.It is made up of a rolling ball body, one group of support rollers and one group of driven roller, and wherein support rollers is fixed on the chassis, and driven roller is fixed on one can be on the support that ball centre is rotated.Driven roller on each ball wheel makes the ball wheel rotate around the normal on plane that driven roller constitutes by a motor-driven, can freely rotate around vertical axis simultaneously.The propulsive effort of wheel is the friction force of roller and wheel, makes the propulsive effort of wheel and speed be restricted, and this also is the shortcoming of ball wheel.Simultaneously, some dusts that wheel adsorbs in the ground surface process can influence the friction force between the two in the contact point accumulation of wheel and roller, make wheel slip.
Four-wheel steering formula travel mechanism possible in theory, but all need complicated steering hardware because each is taken turns, also few people's employing in the reality.It is of a great variety to be applied to actual omnidirectional's wheel at present, and pattern is different mostly for making up omnidirectional's wheel.Combination omnidirectional wheel is generally by a plurality of wheel combination, and is synthetic through moving, and reaches the effect of omnidirectional moving.Main type is taken turns by combination omnidirectional has Mecanum wheel, Switzerland's wheel, quadrature directional wheel, omnidirectional's dish etc., is applied in different occasions respectively according to functional characteristics.But Mecanum wheel also has some intrinsic shortcomings, and is relatively more difficult like design and processing; Be only applicable to the comparison flat ground surface, and can produce inevitably vibration in the walking process; Load-carrying capacity is not strong.
Summary of the invention
In order to solve the technical matters of above-mentioned existence, the present invention provides a kind of land, water and air omni-directional moving mechanism.It can carry out comprehensive moving freely under the three kinds of different environment in land, water and air.The maneuverability of mechanism own has certain load-carrying capacity.
Technical scheme of the present invention is:
The driver train that the present invention includes casing, four groups of trains and be provided with respect to each train; It is characterized in that: described driver train comprises the rotor mechanism of going straight up to that places motor, transmission device, the engaging and disengaging gear in the casing and place the casing top; Motor is connected with transmission device; The mouth of transmission device connects train respectively and goes straight up to rotor mechanism, and the engaging and disengaging gear that is connected with electromagnet is installed on the transmission device, is connected with power supply on the electromagnet; During work, the train coupling end of engaging and disengaging gear and transmission device or go straight up to the rotor mechanism coupling end and be connected.
Engaging and disengaging gear of the present invention comprises matrix, end cap, stop pin, spring, shift fork and pull bar; Said matrix is big trochal disc in the middle of being, both sides are the small trochal disc structure, and along the axis hole that has the band keyway on its axis; In the matrix both sides along each evenly is provided with at least two mounting holes on the small trochal disc circumference; The end cap that is equipped with spring, stop pin in each mounting hole and matches with stop pin, shift fork one end is connected with pull bar on being installed in casing, and an end is plugged on the matrix big trochal disc.Described shift fork is the forked type structure that an end has U type opening, the arcuate structure of an end face of its forked type for matching with the matrix small trochal disc.
Described transmission device comprises that transmission shaft, first transmission replace axle, second transmission to replace axle, flange, bevel drive system, straight gear transmission system and output shaft; With go straight up to rotor mechanism bonded assembly output axle head the straight gear transmission system be installed; Bevel gear wheel replaces axle mounting on transmission shaft through first transmission; Be installed in the small Spur gear endoporus with the anchor shaft of its ingear bevel pinion; Flange replaces axle mounting in an end of transmission shaft through second transmission, and second transmission replaces axle to be connected with train, and the transmission shaft other end is connected with motor.On the transmission shaft between described flange and bevel gear wheel, be provided with long key, match with the keyway of engaging and disengaging gear matrix upper shaft hole.All have the circular hole that matches with engaging and disengaging gear both sides stop pin on the bevel gear wheel that said bevel drive is and the circumference of flange.
The described rotor mechanism of going straight up to comprises rotor pedestal, axially articulated joint, permanent seat and at least two screw propellers; The rotor pedestal is fixed on the casing; Be provided with permanent seat at its top end face; Evenly be connected with screw propeller along the permanent seat circumference through the screw propeller articulated joint, on permanent seat, be connected with the axial articulated joint that the output shaft with transmission device is connected.Described screw propeller articulated joint comprises vertical articulated joint and horizontally hinged head; Vertical articulated joint is " ten " font structure; Horizontally hinged cross section is " Y " type structure that an end has " U " type mouth, and symmetry has the hole that is connected and cooperates with vertical articulated joint on the biside plate of U type opening.
Described train comprises wheel hub and at least 6 paddle-roller groups, and every group roller and paddle one end link together through fixed pin shaft, and the blade other end entad is evenly distributed on the circumference of hub.The difference that the axis of said roller and the distance between hub axis deduct the hub radius gained is greater than 10mm.
Beneficial effect of the present invention is following:
Comformability of the present invention is strong.Its structure is mainly by transmission device, engaging and disengaging gear, train with go straight up to rotor mechanism four parts and form; In use the multi-form takeoff output of varying environment corresponding selection at place according to the present invention makes mechanism can adapt to environment and use widely in the larger context like this.
Engaging and disengaging gear of the present invention and transmission device are connected through key; It can be moved axially along the transmission shaft of transmission device; And engaging and disengaging gear be provided with respectively with the flange that exports the train end to export the bevel gear wheel of the going straight up to rotor mechanism bonded assembly structure that matches to; When needs change motion output of the present invention into sky by ground, water turn, when perhaps being transformed into ground, the water surface, can making motor transmission shaft be connected to train through engaging and disengaging gear and perhaps go straight up to rotor mechanism by sky.On engaging and disengaging gear, be provided with the pull bar that can move along casing, pull bar one end bonded assembly shift fork is plugged on the matrix of engaging and disengaging gear, and the other end connects electromagnet, the motion of pull bar and matrix through the magnet control engaging and disengaging gear.Owing on the engaging and disengaging gear elastic compression device that is made up of stop pin and spring is installed; Avoided the transmission in engaging and disengaging gear and the transmission device to replace the rigidity friction between the axle; Reduced the wearing and tearing of engaging and disengaging gear, made the engaging and disengaging gear among the present invention use more smooth and easy simultaneously.
Transmission device of the present invention is bevel drive system and the straight gear transmission system through which is provided with on the one hand, transfers the horizontal axis motion to perpendicular movement, to the present invention rising power is provided; Replace axle to be connected through second transmission on the transmission shaft on the other hand, give train transmission of power with train.
Description of drawings
Fig. 1 is a contour structures scheme drawing of the present invention.
Fig. 2 removes the structural representation of housing plate for Fig. 1.
Fig. 3 cuts open scheme drawing for the side of Fig. 1.
Fig. 4 is engaging and disengaging gear scheme drawing among the present invention, and stop pin wherein is 6.
The schematic side view that Fig. 5 installs for Fig. 4, wherein stop pin is 4.
Fig. 6 is the cross-sectional schematic of Fig. 4.
Fig. 7 is transmission device scheme drawing among the present invention.
Fig. 8 goes straight up to the rotor mechanism cross-sectional schematic among Fig. 1.
Fig. 9 is a wheel train structure scheme drawing of the present invention.
Figure 10 removes the structural representation of wheel hub side plate for Fig. 9.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further explain.
Embodiment 1: as shown in Figure 1; The driver train that the present invention includes casing 29, four groups of trains 1 and be provided with respect to each train 1, four groups of trains 1 are symmetrically distributed in the both sides of casing 29, and are as shown in Figure 2; It is described that respectively to organize driving mechanism structure identical; Include motor 5, transmission device 3, engaging and disengaging gear 2 and go straight up to rotor mechanism 4, wherein motor 5, transmission device 3, engaging and disengaging gear 2 place in the casing 29, go straight up to rotor mechanism 4 and place casing 29 tops; Motor 5 is connected with transmission device 3; The mouth of transmission device 3 connects train 1 respectively and goes straight up to rotor mechanism 4, and the engaging and disengaging gear 2 that is connected with electromagnet 6 is installed on the transmission device 3, and electromagnet 6 is connected with casing 29 interior storage battery or high energy efficiency batteries; During work, train 1 coupling end of engaging and disengaging gear 2 and transmission device 3 or go straight up to rotor mechanism 4 coupling ends and be connected.
Like Fig. 3---shown in Figure 6, engaging and disengaging gear 2 comprises matrix 24, end cap 25, stop pin 26, spring 34, shift fork 27 and pull bar 28; As shown in Figure 5, said matrix 24 is big trochal disc in the middle of being, both sides are the small trochal disc structure, and along the axis hole that has band keyway 23 on its axis, along each evenly is provided with at least two mounting holes 35 on the small trochal disc circumference, this example is established 4 mounting holes 35 in matrix 24 both sides; End cap 25 as shown in Figure 6, as to be equipped with pressure spring 34, stop pin 26 in each mounting hole 35 and to match with stop pin 26, end cap 25 is limited in stop pin 26 in the mounting hole 35 of matrix 24; Like Fig. 4, shown in Figure 5, shift fork 27 is the forked type structure that an end has U type opening, the arcuate structure of an end face of its forked type for matching with matrix 24 small trochal discs; Shift fork 27 1 ends are connected with the pull bar 28 that is installed in through linear bearing on the casing 29, and an end is plugged on matrix 24 big trochal discs, and pull bar 28 can move along casing 29.
As shown in Figure 7; Transmission device 3 comprises that transmission shaft 36, first transmission replace axle 22, second transmission to replace axle 18, flange 17, bevel drive system, straight gear transmission system and output shaft 19; With go straight up to rotor mechanism 4 bonded assembly output shafts 19 ends the straight gear transmission system be installed; The bevel gear wheel 16 of bevel drive system replaces axle 22 to be installed on the transmission shaft 36 through first transmission; Be installed in small Spur gear 20 endoporus with the anchor shaft of its ingear bevel pinion 21, flange 17 replaces axle 18 to be installed on an end of transmission shaft 36 through second transmission, and second transmission replaces axle 18 to be connected with train 1; Transmission shaft 36 other ends are connected with motor 5 through coupler 12, two transmissions replacement spool all through bearing installation on transmission shaft 36.
Like Fig. 2---shown in Figure 7, engaging and disengaging gear 2 is installed in two transmissions and replaces on the transmission shaft 36 between the axle, and this section transmission shaft 36 is provided with long key, matches with the keyway 23 of engaging and disengaging gear 2 matrixes 24 upper shaft holes.On the circumference of the bevel gear wheel 16 of bevel drive system and flange 17, all have the circular hole that matches with engaging and disengaging gear 2 both sides stop pins 26, in the working process, be connected with bevel gear wheel 16 or flange 17 in the transmission device 3 through stop pin 26.Control the connection location between engaging and disengaging gear 2 and the transmission device 3 through the position of electromagnet 6 control pull rod 28, thus control drive mechanism 3 be with train 1 UNICOM or with go straight up to rotor mechanism 4 UNICOMs.
Like Fig. 1, shown in Figure 8; Go straight up to rotor mechanism 4 and be installed on the loam cake 30 on casing 29 tops, comprise rotor pedestal 8, axially articulated joint 14, permanent seat 31 and 4 screw propellers 7, rotor pedestal 8 is fixed on the casing 29; Be provided with permanent seat 31 at its top end face; Evenly be connected with screw propeller 7 along permanent seat 31 circumference through the screw propeller articulated joint, on permanent seat 31, be connected with the axial articulated joint 14 that the output shaft 19 with transmission device 3 is connected, make output shaft 19 drive permanent seats 31 and rotate.Described axial articulated joint 14 is common articulated joint, can make screw propeller 7 have certain deflection angle.As shown in Figure 8; Described screw propeller articulated joint 14 comprise vertical articulated joint 33 with horizontally hinged 32; Vertical articulated joint 33 is " ten " font structure; Horizontally hinged 32 cross section is " Y " type structure that an end has " U " type mouth, and symmetry has the hole that is connected and cooperates with vertical articulated joint 33 on the biside plate of U type opening.Power is delivered to through transmission device 3 and goes straight up to rotor mechanism 4, and its screw blade 7 is rotatablely moved, and produces lift and makes the present invention's certain height that flies up.
Like Fig. 9, shown in Figure 10, described train 1 replaces on the axle 18 through second transmission that bearing, back-up ring are installed in transmission device 3.It comprises wheel hub 11 wheel hubs and 6 paddle-roller groups; Every group roller 9 links together through fixed pin shaft 13 with paddle 10 1 ends; And blade 10 other ends entad are evenly distributed on wheel hub 11 circumference, are installed in through the rachis on the blade 10 on the biside plate of wheel hub 11, and the axis of roller 9 belongs to planar processes to vertical with paddle 10; And an angle is arranged between the axis of wheel hub 11; The size of this angle is adjusted according to the motor horsepower output, and this angle of this example is 45 °, and travel mechanism of the present invention is equated to forward and backward, left and right moving velocity; The difference that the axis of said roller and the distance between hub axis deduct the hub radius gained is greater than 10mm.
The present invention on ground, the motion of the water surface mainly relies on train 1 upper roller 9 and paddle 10 to move, and can control sense of motion of the present invention and speed through sense of motion and the speed of controlling four trains 1.At ground motion is to rely on resultant direction and the size of the friction force that control roller 9 and ground produces that the present invention is moved to all directions, then is that the direction of the current antagonistic force that produces through control paddle 10 is controlled the present invention's motion to all directions on the water surface with big or small in water surface motion.
The present invention has two corresponding to the power transmission line of each motor 5: one is to pass through coupler 12 outputting powers to transmission device 3 by motor 5; Output power through transmission shaft 36; Be connected with flange 17 through engaging and disengaging gear 2; Replace axle 18, the second transmissions replacement axle 18 to drive the train 1 of installing on it to second transmission transmission of power and rotate, this power transmission line is suitable for the moving situation of the present invention on the ground or the water surface.Another is to pass through coupler 12 outputting powers to transmission device 3 by motor 5; The bevel gear wheel 16 of transmission device 3 cooperates transmission with bevel pinion 21; Change the direction of motor 5 output movements; To move and change on the vertical direction from horizontal direction, the fortune merit of bevel pinion 21 outputs is gone straight up in the rotor mechanism 4 outputing to after the rotating speed change upwards through small Spur gear 20 and large straight gear 15; Thereby make rotor blade 7 rotations that lift required for the present invention is provided, this power transmission line is applicable to the moving situation among the present invention on high.
Above-mentioned two power transmission lines are by engaging and disengaging gear 2 controls; Be specially: when electromagnet 6 resets (no power); The stop pin 26 of engaging and disengaging gear 2 is connected with corresponding aperture on the flange 17; Break away from the corresponding aperture on the bevel gear wheel 16, motor 5 mouths are connected with train 1, the present invention is gone in ground or water.When electromagnet 6 energising, the stop pin 26 of engaging and disengaging gear 2 breaks away from corresponding aperture on the flange 17, is connected with corresponding aperture on the bevel gear wheel 16, makes motor output end and goes straight up to rotor mechanism 4 and be connected, and the present invention can aloft be flown.
Embodiment 2: this routine structure is identical with embodiment 1 structure; Different is: described engaging and disengaging gear 2 matrixes 24 both sides are equipped with 4 holes along each evenly is provided with the end cap mounting hole 35 that is provided with spring, stop pin in 2 and matches with stop pin on the small trochal disc circumference on the flange 17 of corresponding bonded assembly transmission device 3 with it and the bevel gear wheel 16.Said screw propeller of going straight up on the rotor mechanism 4 is 4.The wheel hub of described train 1 is provided with 8 paddles-roller group.
Embodiment 3: this routine structure is identical with embodiment 1 structure; Different is: described engaging and disengaging gear 2 matrixes 24 both sides are equipped with 2 holes along each evenly is provided with the end cap mounting hole 35 that is provided with spring, stop pin in 6 and matches with stop pin on the small trochal disc circumference on the flange 17 of corresponding bonded assembly transmission device 3 with it and the bevel gear wheel 16.Said screw propeller of going straight up on the rotor mechanism 4 is 6.The wheel hub of described train 1 is provided with 10 paddles-roller group.
Claims (9)
1. land, water and air three omni-directional moving mechanism of dwelling; Comprise casing, four groups of trains and the driver train that is provided with respect to each train; It is characterized in that: described driver train comprises the rotor mechanism of going straight up to that places motor, transmission device, the engaging and disengaging gear in the casing and place the casing top, and motor is connected with transmission device, and the mouth of transmission device connects train respectively and goes straight up to rotor mechanism; The engaging and disengaging gear that is connected with electromagnet is installed on the transmission device, is connected with power supply on the electromagnet; During work, the train coupling end of engaging and disengaging gear and transmission device or go straight up to the rotor mechanism coupling end and be connected; Described engaging and disengaging gear comprises matrix, end cap, stop pin, spring, shift fork and pull bar; Said matrix is big trochal disc in the middle of being, both sides are the small trochal disc structure, and along the axis hole that has the band keyway on its axis; In the matrix both sides along each evenly is provided with at least two mounting holes on the small trochal disc circumference; The end cap that is equipped with spring, stop pin in each mounting hole and matches with stop pin, shift fork one end is connected with pull bar on being installed in casing, and an end is plugged on the matrix big trochal disc.
2. according to the described land, water and air three of the claim 1 with all strength displacement actuation mechanism of dwelling, it is characterized in that: described shift fork is the forked type structure that an end has U type opening, the arcuate structure of an end face of its forked type for matching with the matrix small trochal disc.
3. according to the described land, water and air three of claim 1 omni-directional moving mechanism of dwelling; It is characterized in that: described transmission device comprises that transmission shaft, first transmission replace axle, second transmission to replace axle, flange, bevel drive system, straight gear transmission system and output shaft; With go straight up to rotor mechanism bonded assembly output axle head the straight gear transmission system be installed; Bevel gear wheel replaces axle mounting on transmission shaft through first transmission, is installed in the small Spur gear endoporus with the anchor shaft of its ingear bevel pinion, and flange replaces axle mounting in an end of transmission shaft through second transmission; Second transmission replaces axle to be connected with train, and the transmission shaft other end is connected with motor.
4. according to the described land, water and air three of claim 3 omni-directional moving mechanism of dwelling, it is characterized in that: on the transmission shaft between described flange and bevel gear wheel, be provided with long key, match with the keyway of engaging and disengaging gear matrix upper shaft hole.
5. according to the described land, water and air three of claim 3 omni-directional moving mechanism of dwelling, it is characterized in that: all have the circular hole that matches with engaging and disengaging gear both sides stop pin on the bevel gear wheel of said bevel drive system and the circumference of flange.
6. according to the described land, water and air three of claim 1 omni-directional moving mechanism of dwelling; It is characterized in that: the described rotor mechanism of going straight up to comprises rotor pedestal, axially articulated joint, permanent seat and at least two screw propellers; The rotor pedestal is fixed on the casing; Be provided with permanent seat at its top end face, evenly be connected with screw propeller through the screw propeller articulated joint, on permanent seat, be connected with the axial articulated joint that the output shaft with transmission device is connected along the permanent seat circumference.
7. according to the described land, water and air three of claim 6 omni-directional moving mechanism of dwelling; It is characterized in that: described screw propeller articulated joint comprises vertical articulated joint and horizontally hinged head; Vertical articulated joint is " ten " font structure; Horizontally hinged cross section is " Y " type structure that an end has " U " type mouth, and symmetry has the hole that is connected and cooperates with vertical articulated joint on the biside plate of U type opening.
8. according to the described land, water and air three of claim 1 omni-directional moving mechanism of dwelling; It is characterized in that: described train comprises wheel hub and at least 6 paddle-roller groups; Every group roller and paddle one end link together through fixed pin shaft, and the blade other end entad is evenly distributed on the circumference of hub.
9. according to the described land, water and air three of claim 8 omni-directional moving mechanism of dwelling, it is characterized in that: the difference that the axis of said roller and the distance between hub axis deduct the hub radius gained is greater than 10mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100125415A CN101954844B (en) | 2009-07-15 | 2009-07-15 | Triphibian omnibearing moving mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100125415A CN101954844B (en) | 2009-07-15 | 2009-07-15 | Triphibian omnibearing moving mechanism |
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| CN101954844A CN101954844A (en) | 2011-01-26 |
| CN101954844B true CN101954844B (en) | 2012-07-25 |
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| CN2009100125415A Expired - Fee Related CN101954844B (en) | 2009-07-15 | 2009-07-15 | Triphibian omnibearing moving mechanism |
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| WO2020113746A1 (en) * | 2018-12-03 | 2020-06-11 | 江洪 | Amphibious flying electric vehicle |
| CN109501590A (en) * | 2018-12-12 | 2019-03-22 | 三汽车制造有限公司 | Genesis analysis formula wheel undercarriage and unmanned platform truck |
| CN111347407B (en) * | 2018-12-21 | 2023-04-07 | 沈阳新松机器人自动化股份有限公司 | Robot head motion |
| AU2019441822B2 (en) * | 2019-11-29 | 2021-11-18 | Zhen Gang KER | Land and aerial transportation vehicle and powertrain thereof |
| CN114475117A (en) * | 2022-03-21 | 2022-05-13 | 常州伊迈斯动力科技有限公司 | Aerocar and running state switching method thereof |
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| CN101954844A (en) | 2011-01-26 |
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