CN102490180A - Grabbing mechanical hand, machining system constituted by same and machining method - Google Patents

Grabbing mechanical hand, machining system constituted by same and machining method Download PDF

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Publication number
CN102490180A
CN102490180A CN2011104262298A CN201110426229A CN102490180A CN 102490180 A CN102490180 A CN 102490180A CN 2011104262298 A CN2011104262298 A CN 2011104262298A CN 201110426229 A CN201110426229 A CN 201110426229A CN 102490180 A CN102490180 A CN 102490180A
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CN
China
Prior art keywords
workpiece
station
mechanical arm
finished
locking
Prior art date
Application number
CN2011104262298A
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Chinese (zh)
Inventor
张永佩
肖文成
Original Assignee
山东大陆科技有限公司
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Publication date
Application filed by 山东大陆科技有限公司 filed Critical 山东大陆科技有限公司
Priority to CN2011104262298A priority Critical patent/CN102490180A/en
Publication of CN102490180A publication Critical patent/CN102490180A/en

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Abstract

The invention discloses a grabbing mechanical hand, a machining system constituted by the same and a machining method for completing workpiece machining by adopting the machining system. In a technical scheme adopted by the invention, the grabbing mechanical hand comprises a machine lathe bed and further comprises a guide rail horizontally arranged on the machine lathe bed; at least two mechanical arms are arranged on the guide rail; and each mechanical arm comprises a workpiece locking device and further comprises a first shaft moving mechanism, a second shaft moving mechanism and a third shaft moving mechanism, which are used for driving the workpiece locking device to move. The invention has the beneficial effects that: the grabbing mechanical hand is matched with three machines at four stations for use so as to alternatively complete the machining process of a workpiece and further drive the workpiece to complete corresponding motion and output the workpiece outwards after the workpiece is machined completely, and the grabbing mechanical hand has the advantages of high automation degree, simple structure, convenience in operation, time-saving and labor-saving performances and high efficiency, and is suitable for the automatic machining process of multi-station machines.

Description

A kind of catching robot, system of processing and the processing method formed by this manipulator

Technical field

The present invention relates to the robot engineering technical field, especially relate to a kind of under driven by program, can accomplish the catching robot of automatic relay, the system of processing formed by this catching robot and adopt this system to accomplish the processing method of workpiece processing.

Background technology

Manipulator, the robot base in ancient times who occurs in early days goes up development, and its research starts from mid-term in 20th century, and 1954, the U.S. wore the notion that the Wal has proposed industrial robot, and had applied for patent.In society now, the application of robot more and more widely, type also is more and more, usually as the attachment device of lathe or other machines, like loading and unloading on automatic machine tool or automatic assembly line with transmit workpiece, change cutter etc.Along with the development of industrial automation, manipulator also is widely used in industry now, and referring more particularly to the automatic relay catching robot becomes society's mechanical automation equipment in short supply.200610041307.1 disclose a kind of grab-transposition mechanical arm in number patent application; It comprises grasps seat and grasps head; Grasp seat and have arc-shaped slot with grasping on the head; Grasp the seat bottom and grasp head and be connected, through grasp seat, grasp head move up and down and the rotation of transposition dish cooperates the position conversion that realizes the transposition head, but this kind transposition mechanical arm can only be realized rotational motion and can only realize that both the annular of allocation replaces.

Summary of the invention

The objective of the invention is to overcome the shortcoming that exists in the prior art; A kind of simple in structure, easy to operate, the catching robot that can realize multiple spot transposition through two mechanical arms is provided; This catching robot can with three supporting uses of board; The technical scheme that adopts is: a kind of catching robot, comprise the machine lathe bed, and it is characterized in that: said catching robot also comprises the guide rail that is horizontally set on the said machine lathe bed; Said guide rail is provided with at least two mechanical arms; Said mechanical arm comprises the workpiece locking device; Said mechanical arm comprises that also driving said workpiece locking device does first mobile travel mechanism, second travel mechanism and the 3rd travel mechanism; Said first travel mechanism comprises that move left and right motor, move left and right synchronizing wheel and move left and right be with synchronously, said workpiece locking device through slide block and said move left and right synchronously band be fixed together; Said second travel mechanism comprises the guiding cylinder, and the piston rod end of said guiding cylinder is fixedly connected on the guiding cylinder support, and said guiding cylinder support and said workpiece locking device are fixed together; Said the 3rd travel mechanism comprises and moves up and down motor, moves up and down synchronizing wheel, moves up and down synchronous band and drive the roller bearing leading screw of rotation down at the said synchronizing wheel that moves up and down; Said roller bearing leading screw is connected with the locking nut spiral, and said locking nut and said workpiece locking device are fixed together.

Technical characterictic of the present invention also has: said guide rail is provided with two mechanical arms.

Technical characterictic of the present invention also has: said roller bearing leading screw is four.

Technical characterictic of the present invention also has: said workpiece locking device comprises adjustable support and is installed in the locking cylinder on the adjustable support.

Technical characterictic of the present invention also has: said locking cylinder is four.

Technical characterictic of the present invention also has: said guide rail is a circular guideway, and said circular guideway is two.The system of processing of forming by this catching robot and this system of employing

Technical characterictic of the present invention also has: said system of processing comprises catching robot; Said catching robot comprises mechanical arm A and mechanical arm B; Said system of processing also comprises 3 boards that are positioned at catching robot one side, are arranged in order, and said system of processing also comprises the workpiece transportation manipulator that is used to accomplish workpiece to be processed and the transportation of finished product workpiece.

Technical characterictic of the present invention also has: the workpiece to be processed that comes by said workpiece transportation manipulator transportation, by alternately extracting of catching robot, between different station, move, and outwards export the finished product workpiece through two different platform processing backs respectively.

Technical characterictic of the present invention also has: said board is respectively: No. 1 board is the moulding board, and No. 2 board is two identical typing boards with No. 3 boards.

Technical characterictic of the present invention also has: said catching robot replaces the method for grabbing workpiece and carries out according to following steps:

1) mechanical arm A grasps from the II station and transports the workpiece to be processed I of coming and run to the I station, and this workpiece to be processed I is placed on No. 1 board;

2) treat that No. 1 board machines after, mechanical arm A grasps semi-finished product workpiece I and be placed on the III station from No. 1 board;

3) mechanical arm A runs to the II station and grasps and to transport the workpiece to be processed II of coming and run to the I station subsequently, and this workpiece to be processed II is placed on No. 1 board;

4) mechanical arm B runs to the III station from the IV station and grasps semi-finished product workpiece I and be placed on No. 2 boards, and mechanical arm B turns back to the IV station;

5) mechanical arm B runs to the III station from the IV station, grasps the semi-finished product workpiece II of having been placed by mechanical arm A, and it is grabbed on No. 3 boards, and mechanical arm B turns back to the IV station;

6) mechanical arm A grasps semi-finished product workpiece II from No. 1 board, and semi-finished product workpiece II is placed on the III station, and mechanical arm A moves so repeatedly;

7) mechanical arm B runs to the III station from the IV station and grasps the finished product workpiece I of No. 2 boards and place it on the II station, and mechanical arm B turns back to the IV station, and finished product workpiece I is outwards seen off;

8) mechanical arm B grasps the finished product workpiece II of No. 3 boards and places it on the II station from the IV station, and mechanical arm B turns back to the IV station, and finished product workpiece II is outwards seen off, and mechanical arm B moves so repeatedly.

Beneficial effect of the present invention is: the present invention can be under driven by program on four stations, with three supporting uses of board; Alternately accomplish the process of workpiece; Two mechanical arms drive the workpiece locking device is realized left and right directions, fore-and-aft direction and above-below direction according to actual needs motion; Workpiece is accomplished corresponding motion and outwards output after its completion of processing thereby drive; Advantage with automaticity height, simple in structure, easy to operate, time and labour saving, efficient height is suitable for being used in a plurality of stations machineries automatically in the process.

Description of drawings

Accompanying drawing 1 is the catching robot front view; Accompanying drawing 2 is catching robot vertical views, and accompanying drawing 3 is catching robot left views, and accompanying drawing 4 is catching robot schematic perspective views; Fig. 5 is a workpiece transportation manipulator structural representation, the system of processing structural representation that accompanying drawing 6 is made up of manipulator.Wherein, the 1st, the machine lathe bed, the 2nd, regulate base, the 3rd, regulate universal wheel, the 4th, circular line slideway, the 5th, slide block; 6 I are move left and right motors, and 6 II are to move up and down motor, the 7th, move up and down electric machine support, and 8 I are move left and right synchronizing wheels, and 8 II are to move up and down synchronizing wheel, and 9 I are that move left and right is with synchronously; 9 II are to move up and down synchronous band, the 10th, and rotating shaft, the 11st, guiding cylinder, the 12nd, guiding cylinder support, the 13rd, mechanical arm A, the 14th, mechanical arm B; The 15th, locking cylinder, the 16th, scalable framework, the 17th, roller bearing leading screw, the 18th, locking nut, the 19th, touch display screen; The 20th, piston rod, the 21st, the manipulator support arm, 101 is 180 ° of rotary cylinders, the 102nd, rise and fall guiding cylinder, the 103rd, vacuum generator; The 104th, vacuum cup, the 105th, the vacuum generator fixed support, the 106th, ring flange, 201 is No. 1 boards, 202 is No. 2 boards; 203 is No. 3 boards, the 301st, and I station, the 302nd, II station, the 303rd, III station, the 304th, IV station.

The specific embodiment

Below in conjunction with accompanying drawing, specific embodiments of the invention describes.Present embodiment discloses a kind of catching robot; This kind catching robot has comprised two mechanical arms-mechanical arm A13 and the mechanical arm B 14 that is arranged on the machine lathe bed 1; Each mechanical arm comprises workpiece locking device, first travel mechanism, second travel mechanism and the 3rd travel mechanism, and under first travel mechanism drove, the workpiece locking device was done along the horizontal direction of machine lathe bed 1 and moved; Under second travel mechanism drives; The workpiece locking device is done and is moved forward and backward, and under the 3rd travel mechanism drove, the workpiece locking device was done moving of above-below direction.

The workpiece locking device has comprised scalable framework 16 and has been fixed on the locking cylinder 15 on the scalable framework 16, the miniature locking cylinder of these locking cylinder 15 employings, and number is four.

First travel mechanism comprised move left and right motor 6 I, and move left and right motor 6 I driven rotary axles 10 rotate, and rotating shaft 10 drives move left and right synchronizing wheel 8 I and rotates; Move left and right synchronizing wheel 8 I drive the move left and right that meshes together with it and are with the motion of 9 I synchronously; Be with synchronously in move left and right to be fixed with slide block 5 on 9 I, manipulator support arm 21 is fixed on the slide block 5, like this; When slide block 5 when move left and right is with 9 I on circular line slideway 4, to slide under driving synchronously; Just can drive mechanical arm and do move left and right, totally two of circular line slideways 4 are symmetrical set in the horizontal direction.

Second travel mechanism comprised guiding cylinder 11; In the guiding cylinder 11 piston rod 20 is arranged, the end of piston rod 20 is fixed on the guiding cylinder support 12, and guiding cylinder support 12 is connected with roller bearing leading screw 17; The lower end of guiding cylinder support 12 is fixedly connected with scalable framework 16; Like this, when piston rod 20 is done the motion of stretching out or bouncing back, drive on it fixing scalable framework 16 and do and move forward and backward.

The 3rd travel mechanism comprised and moves up and down motor 6 II, moves up and down synchronizing wheel 8 II and move up and down and be with 9 II synchronously; Move up and down motor 6 II and be installed in and move up and down on the electric machine support 7, move up and down electric machine support 7 and be positioned on the manipulator support arm 21, move up and down motor 6 II and drive and move up and down synchronizing wheel 8 II and rotate; Move up and down synchronizing wheel 8 II and drive 17 rotations of roller bearing leading screw; Roller bearing leading screw 17 is connected with locking nut 18 spirals, and roller bearing leading screw 17 locking nuts 18 move up and down, and locking nut 18 links together with guiding cylinder support 12; Like this, just can drive the workpiece locking device moves up and down.4 roller bearing leading screws 17 are installed on each mechanical arm in the present embodiment.

Regulate base 2 and constituted frame of the present invention jointly,, the universal wheel 3 of adjusting is arranged in the bottom of machine lathe bed 1 for flexible motion with machine lathe bed 1.

In the present embodiment, set gradually 4 stations on this catching robot, two mechanical arms can make things convenient under driven by program, replace grabbing workpiece flexibly, accomplish the transportation of workpiece from the workpiece to be processed to the finished product by catching robot.

In order to cooperate the automation process of completion to workpiece; With supporting workpiece transportation manipulator and three boards of having used of this catching robot; Thereby formed a cover system of processing; Wherein the workpiece transportation manipulator has comprised 180 ° of rotary cylinders 101, rise and fall guiding cylinder 102, vacuum generator 103 and vacuum cup 104, and vacuum generator 103 is fixed on the vacuum generator fixed support 105 with vacuum cup 104, and 180 ° of rotary cylinders 101 link together through ring flange 106 with rise and fall guiding cylinder 102; Under 101 effects of 180 ° of rotary cylinders; The workpiece that vacuum cup 104 is drawn can be accomplished 180 ° of rotations, and rise and fall guiding cylinder 102 drives vacuum generator fixed support 105 and rises or descend, and piles up the variation at any time of height to adapt to workpiece.Three lathes are respectively 201, No. 2 boards 202 of No. 1 board and No. 3 boards 203, and in the actual production, can select No. 1 board 201 is moulding boards, and No. 2 boards 202 and No. 3 boards 203 are two identical typing boards.Like this, catching robot, workpiece transportation manipulator and three boards drive the workpiece reciprocal motion according to following steps under programme-control, realize moulding, typing processing to workpiece to be processed:

1) mechanical arm A13 grasps from II station 302 and transports the workpiece to be processed I of coming by the workpiece transportation manipulator and run to I station 301, and this workpiece to be processed I is placed on No. 1 board 201;

2) treat that No. 1 board 201 machines after, mechanical arm A13 grasps semi-finished product workpiece I and be placed on the III station 303 from No. 1 board 201;

3) mechanical arm A13 runs to II station 302 and grasps and transport the workpiece to be processed II of coming by the workpiece transportation manipulator and run to I station 301 subsequently, and this workpiece to be processed II is placed on No. 1 board 201;

4) mechanical arm B14 runs to III station 303 from IV station 304 and grasps semi-finished product workpiece I and be placed on No. 2 boards 202, and mechanical arm B14 turns back to IV station 304;

5) mechanical arm B14 runs to III station 303 from IV 304 stations, grasps the semi-finished product workpiece II of having been placed by mechanical arm A13, and it is grabbed on No. 3 boards 203, and mechanical arm B14 turns back to IV station 304;

6) mechanical arm A13 grasps semi-finished product workpiece II from No. 1 board 201, and semi-finished product workpiece II is placed on the III station 303, and mechanical arm A13 moves so repeatedly;

7) mechanical arm B14 runs to III station 303 from IV station 304 and grasps the finished product workpiece I of No. 2 boards 202 and place it on the II station 302, and mechanical arm B14 turns back to IV station 304, and finished product workpiece I is outwards seen off by the workpiece transportation manipulator;

8) mechanical arm B14 grasps the finished product workpiece II of No. 3 boards 203 and places it on the II station 302 from IV station 304; Mechanical arm B14 turns back to IV 304 stations; Finished product workpiece II is outwards seen off by the workpiece transportation manipulator, and mechanical arm B14 moves so repeatedly.

Certainly, above-mentioned explanation is not a limitation of the present invention, and the present invention also is not limited only to above-mentioned giving an example, and variation, remodeling, interpolation or replacement that those skilled in the art are made in essential scope of the present invention also belong to protection scope of the present invention.

Claims (10)

1. a catching robot comprises the machine lathe bed, it is characterized in that: said catching robot also comprises the guide rail that is horizontally set on the said machine lathe bed; Said guide rail is provided with at least two mechanical arms; Said mechanical arm comprises the workpiece locking device; Said mechanical arm comprises that also driving said workpiece locking device does first mobile travel mechanism, second travel mechanism and the 3rd travel mechanism; Said first travel mechanism comprises that move left and right motor, move left and right synchronizing wheel and move left and right be with synchronously, said workpiece locking device through slide block and said move left and right synchronously band be fixed together; Said second travel mechanism comprises the guiding cylinder, and the piston rod end of said guiding cylinder is fixedly connected on the guiding cylinder support, and said guiding cylinder support and said workpiece locking device are fixed together; Said the 3rd travel mechanism comprises and moves up and down motor, moves up and down synchronizing wheel, moves up and down synchronous band and drive the roller bearing leading screw of rotation down at the said synchronizing wheel that moves up and down; Said roller bearing leading screw is connected with the locking nut spiral, and said locking nut and said workpiece locking device are fixed together.
2. according to the described catching robot of claim 1, it is characterized in that: said guide rail is provided with two mechanical arms.
3. according to the described catching robot of claim 3, it is characterized in that: said roller bearing leading screw is four.
4. according to claim 1 or 2 described catching robots, it is characterized in that: said workpiece locking device comprises adjustable support and is installed in the locking cylinder on the adjustable support.
5. according to the described catching robot of claim 4, it is characterized in that: said locking cylinder is four.
6. profit requires 1 or 2 described catching robots, it is characterized in that: said guide rail is a circular guideway, and said circular guideway is two.
7. system of processing that adopts the described manipulator of claim 1 to form; It is characterized in that: said system of processing comprises catching robot; Said catching robot comprises mechanical arm A and mechanical arm B; Said system of processing also comprises 3 boards that are positioned at catching robot one side, are arranged in order, and said system of processing also comprises the workpiece transportation manipulator that is used to accomplish workpiece to be processed and the transportation of finished product workpiece.
8. the described system of processing of claim 7 is accomplished the processing method that workpiece is processed; It is characterized in that: the workpiece to be processed that comes by said workpiece transportation manipulator transportation; Alternately grasp by catching robot; Between different station, move, outwards export the finished product workpiece through two different platform processing backs respectively.
9. according to the described processing method of claim 8, it is characterized in that: said board is respectively: No. 1 board is the moulding board, and No. 2 board is two identical typing boards with No. 3 boards.
10. according to the described processing method of claim 8, it is characterized in that: said catching robot replaces the method for grabbing workpiece and carries out according to following steps:
1) mechanical arm A grasps from the II station and transports the workpiece to be processed I of coming and run to the I station, and this workpiece to be processed I is placed on No. 1 board;
2) treat that No. 1 board machines after, mechanical arm A grasps semi-finished product workpiece I and be placed on the III station from No. 1 board;
3) mechanical arm A runs to the II station and grasps and to transport the workpiece to be processed II of coming and run to the I station subsequently, and this workpiece to be processed II is placed on No. 1 board;
4) mechanical arm B runs to the III station from the IV station and grasps semi-finished product workpiece I and be placed on No. 2 boards, and mechanical arm B turns back to the IV station;
5) mechanical arm B runs to the III station from the IV station, grasps the semi-finished product workpiece II of having been placed by mechanical arm A, and it is grabbed on No. 3 boards, and mechanical arm B turns back to the IV station;
6) mechanical arm A grasps semi-finished product workpiece II from No. 1 board, and semi-finished product workpiece II is placed on the III station, and mechanical arm A moves so repeatedly;
7) mechanical arm B runs to the III station from the IV station and grasps the finished product workpiece I of No. 2 boards and place it on the II station, and mechanical arm B turns back to the IV station, and finished product workpiece I is outwards seen off;
8) mechanical arm B grasps the finished product workpiece II of No. 3 boards and places it on the II station from the IV station, and mechanical arm B turns back to the IV station, and finished product workpiece II is outwards seen off, and mechanical arm B moves so repeatedly.
CN2011104262298A 2011-12-19 2011-12-19 Grabbing mechanical hand, machining system constituted by same and machining method CN102490180A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103158009A (en) * 2013-03-16 2013-06-19 丽水立谛科技有限公司 Machining assembly and detection production line
CN103659413A (en) * 2012-09-14 2014-03-26 珠海格力电器股份有限公司 Translational mechanism and transplant mechanical arm with the same
CN107538193A (en) * 2016-06-23 2018-01-05 沈阳新松机器人自动化股份有限公司 A kind of multi-station manipulator system
CN107745933A (en) * 2017-10-27 2018-03-02 肇庆高新区国专科技有限公司 A kind of pcb board transmission mechanism
CN110683340A (en) * 2019-08-13 2020-01-14 东风汽车有限公司 Workpiece holder, workpiece conveying system and workpiece conveying method
CN110683339A (en) * 2019-08-13 2020-01-14 东风汽车有限公司 Clamping assembly and workpiece conveying system

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Publication number Priority date Publication date Assignee Title
GB2225767A (en) * 1988-10-06 1990-06-13 Mohammad Javad Birjandi Manipulator for electromagnetic field detecting coil
CN101745908A (en) * 2008-12-18 2010-06-23 珠海格力电器股份有限公司 Mechanical arm and metal plate stamping device using same
CN201534155U (en) * 2009-07-02 2010-07-28 宜昌英汉超声电气有限公司 Washing machine utilizing mechanical arms to convey parts
CN201658657U (en) * 2009-11-29 2010-12-01 吴旭辉 Locking device of capsule template
CN201720847U (en) * 2010-07-15 2011-01-26 昆山广禾电子科技有限公司 Automatic feeding and unloading manipulator
CN201745768U (en) * 2010-06-24 2011-02-16 江阴纳尔捷机器人有限公司 Packer moving manipulator
CN202011019U (en) * 2011-04-28 2011-10-19 扬州迈极自动化设备有限公司 Turnover-type dual-arm robot
CN202028963U (en) * 2011-04-28 2011-11-09 扬州迈极自动化设备有限公司 Horizontally moving single-arm robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2225767A (en) * 1988-10-06 1990-06-13 Mohammad Javad Birjandi Manipulator for electromagnetic field detecting coil
CN101745908A (en) * 2008-12-18 2010-06-23 珠海格力电器股份有限公司 Mechanical arm and metal plate stamping device using same
CN201534155U (en) * 2009-07-02 2010-07-28 宜昌英汉超声电气有限公司 Washing machine utilizing mechanical arms to convey parts
CN201658657U (en) * 2009-11-29 2010-12-01 吴旭辉 Locking device of capsule template
CN201745768U (en) * 2010-06-24 2011-02-16 江阴纳尔捷机器人有限公司 Packer moving manipulator
CN201720847U (en) * 2010-07-15 2011-01-26 昆山广禾电子科技有限公司 Automatic feeding and unloading manipulator
CN202011019U (en) * 2011-04-28 2011-10-19 扬州迈极自动化设备有限公司 Turnover-type dual-arm robot
CN202028963U (en) * 2011-04-28 2011-11-09 扬州迈极自动化设备有限公司 Horizontally moving single-arm robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103659413A (en) * 2012-09-14 2014-03-26 珠海格力电器股份有限公司 Translational mechanism and transplant mechanical arm with the same
CN103659413B (en) * 2012-09-14 2016-03-23 珠海格力电器股份有限公司 A kind of translation mechanism and there is its transplanting machine hand
CN103158009A (en) * 2013-03-16 2013-06-19 丽水立谛科技有限公司 Machining assembly and detection production line
CN107538193A (en) * 2016-06-23 2018-01-05 沈阳新松机器人自动化股份有限公司 A kind of multi-station manipulator system
CN107745933A (en) * 2017-10-27 2018-03-02 肇庆高新区国专科技有限公司 A kind of pcb board transmission mechanism
CN110683340A (en) * 2019-08-13 2020-01-14 东风汽车有限公司 Workpiece holder, workpiece conveying system and workpiece conveying method
CN110683339A (en) * 2019-08-13 2020-01-14 东风汽车有限公司 Clamping assembly and workpiece conveying system

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