CN105383586A - Composite mobile robot with wheel-track legs - Google Patents
Composite mobile robot with wheel-track legs Download PDFInfo
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- CN105383586A CN105383586A CN201510819928.7A CN201510819928A CN105383586A CN 105383586 A CN105383586 A CN 105383586A CN 201510819928 A CN201510819928 A CN 201510819928A CN 105383586 A CN105383586 A CN 105383586A
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- vehicle frame
- wheel
- crawler belt
- supporting leg
- crawler
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention provides a composite mobile robot with wheel-track legs. The composite mobile robot comprises a frame, track arms, support legs and a wheeled elevating mechanism, wherein the track arms are connected with the frame through an inner shaft and an outer shaft, the four sets of the track arms are symmetrically distributed at four corners of the frame; the support legs are connected with the frame through a support leg transmission shaft, and the two support legs are symmetrically distributed in front of and behind the frame; the wheeled elevating mechanism is connected with the frame through a connecting plate, and is arranged at the middle part of the frame. According to the composite mobile robot disclosed by the invention, motors are used for driving the track arms, the support legs and the wheeled elevating mechanism to move, so that the robot has different postures, the composite motion manner of wheels, tracks and legs is realized, and the obstacle surmounting capacity is greatly improved.
Description
Technical field
The present invention relates to a kind of device of mobile robot field, particularly, relate to a kind of crawler leg composite movable robot.
Background technology
Along with the development of society and the progress of science and technology, the intelligence degree of robot is more and more higher, and the use under complex environment also gets more and more.Mobile robot as the important branch of in robotics, in investigation, make an inspection tour, warning, clearance to get rid of the danger etc. dangerous with harsh environment in have a wide range of applications.But still have many problems to need to solve in actual applications, concerning mobile robot, in unstructured moving grids, permanent existence and stable operation are huge tests, particularly when robot cannot avoiding obstacles or complex-terrain, but when will cross over or adapt to complex environment, obstacle climbing ability just seems more important concerning robot.
Wheeled robot have structure simple, control convenient, the advantage such as flexible of moving, but its landform adaptive capacity is general, and obstacle climbing ability is limited, cannot cross over the obstacle such as gully, step.Legged mobile robot is that Tui Shi mechanism can meet special requirement according to bionics principle design, and accommodative ability of environment comparatively by force, but also exists the shortcomings such as mechanism is various, control is complicated, move slowly, manufacture is difficult.Caterpillar type robot has better obstacle climbing ability relative to wheeled robot, the adaptive capacity of stronger environment, relative legged mobile robot has more succinct mechanism and better stability, but crawler frame robot mechanism weight is large, energy consumption is high, operating efficiency is low, it is difficult in maintenance to assemble.Above-mentioned three basic structures combines by compound machine people, forms wheel leg type, wheel shoe formula, wheel shoe leg formula etc.
Search pertinent literature known, also have a lot about the research of ground mobile robot in recent years, SHrimp six-wheel mobile robot is taken turns in a six of such as Lausanne, SUI federal Institute of Technology development, the TITAN-VIII walking robot of Tokyo polytechnical university and the caterpillar type robot PackBot etc. of iRobot company of the U.S., but these robots all can not embody the advantage of crawler leg composite movable robot well, still defectiveness on locomitivity, obstacle climbing ability and alerting ability.
China Patent No.: 201210126986.8, denomination of invention " crawler leg composite movable robot ", its basic structure is made up of two main crawler belts, two front swing arm crawler belts, two rear-swing arm crawler belts and car bodies; The two ends of described front swing arm crawler belt and rear-swing arm crawler belt to be flexibly connected with car body and main crawler belt respectively by crawler belt axle and to form parallelogram transmission device and the both sides being placed in car body; Crawler belt axle and the actuating device of described rear-swing arm crawler belt are in transmission connection; And the rotation of forward and backward swing arm track frame is realized by transmission of power.
The actuating unit of foregoing invention is all be made up of crawler belt, complex structure, weight is large, whole robot is too heavy in motion process again, and the switching of mode of motion is all the motion based on parallelogram sturcutre, when running into complex-terrain, patten transformation is comparatively simple, does not have proper ratcheting mechanism and Tui Shi mechanism, thus just really cannot embody flexible, the changeable advantage of simple and easy, the light and handy and leg formula motion of wheel type movement.
Summary of the invention
For deficiency of the prior art, the invention provides a kind of crawler leg composite movable robot, there is the advantage of wheeled, crawler type and legged mobile robot, can crawler leg composite motion be carried out, locomitivity, obstacle climbing ability and alerting ability have very large lifting, is applicable to multiple occasion.
For realizing above object, a kind of crawler leg composite movable robot provided by the invention, comprises vehicle frame, crawler belt arm, supporting leg, wheeled lifting mechanism four part, wherein:
Described crawler belt arm at least four cover, four cover crawler belt arms are symmetrically distributed in the corner of vehicle frame, and four cover crawler belt arms are connected with vehicle frame with outer shaft respectively by interior axle; Interior axle and outer shaft are positioned at same axis, are symmetrically distributed in the corner of vehicle frame according to the mode that interior outer shaft is nested;
Described supporting leg at least two, supporting leg is symmetrically distributed in the front and back of vehicle frame, and supporting leg is connected with vehicle frame respectively by the supporting leg transmission shaft in vehicle frame;
Described wheeled lifting mechanism is arranged in the middle part of vehicle frame, and wheeled lifting mechanism is connected with vehicle frame by connecting panel;
Described vehicle frame is as the carrier of crawler belt arm, supporting leg, wheeled lifting mechanism; Described vehicle frame comprises main body of vehicle frame, stepping motor, railroad, four DC machine, two planet-gear speed reducing motors, two Worm reduction motors, two supporting leg transmission shafts, wherein: stepping motor to be fixed on main body of vehicle frame and to be connected with wheeled lifting mechanism, stepping motor is used for driving wheel-type lifting mechanism and carries out rising and descending motion; Railroad is connected with stepping motor, and railroad is used for playing directional tagging when wheeled lifting mechanism rising and descending motion; Four DC machine are symmetrically distributed in the corner of vehicle frame and overlap crawler belt arm respectively by interior axle and four and be connected, and rotate for driving four cover crawler belt arms; Two planet-gear speed reducing motors are arranged on main body of vehicle frame, and two supporting leg transmission shafts are connected with two planet-gear speed reducing motors, and two planet-gear speed reducing motors are for driving two supporting leg transmission shafts; Two Worm reduction motors to be arranged on main body of vehicle frame and to be positioned at the inner side of two planet-gear speed reducing motors, two Worm reduction motors are connected with the crawler belt arm of both sides by outer shaft, for transmitting motion to four crawler belt arms, four crawler belt arms are driven to swing;
Motor in described vehicle frame drives crawler belt arm, supporting leg and wheeled lifting mechanism to move respectively, makes described robot have different attitude, realizes wheel, shoe, leg composite motion, promotes the obstacle climbing ability of described robot.
Preferably, described main body of vehicle frame adopts two long aluminum corner braces to be arranged in parallel formation, stepping motor is fixed on the middle part of two long aluminum corner braces and is connected with wheeled lifting mechanism, two planet-gear speed reducing motors are arranged on the forward and backward position of two long aluminum corner braces respectively, and two Worm reduction motors are one in front and one in back fixed on two long aluminum corner braces centres respectively and are positioned at the inner side of two planet-gear speed reducing motors.
Preferably, often overlap described crawler belt arm and include two pieces of caterpillar blocks, drive wheel, three flower wheels, crawler belt, tightening devices, wherein: two pieces of caterpillar blocks are the quadrilateral structure of vertical direction symmetry; Three flower wheels are fixed between two pieces of caterpillar blocks by bearing and axle; Crawler belt wraps a drive wheel and three flower wheels; Tightening device is fixed between two pieces of caterpillar blocks, for regulating the distance of drive wheel and diagonal angle flower wheel to reach the effect of tensioned tracks.
More preferably, DC machine in vehicle frame is connected and fixed by interior axle and drive wheel, and DC machine is rotated and driven drive wheel to move, and transmission of power is given three flower wheels by crawler belt by drive wheel, crawler belt smooth rotation, thus the crawler type mode of motion realizing described robot.
Preferably, supporting leg described in every bar includes two pieces of stay bearing plates and a driven support wheel, wherein: driven support wheel is installed in the middle of two pieces of stay bearing plates; Two pieces of stay bearing plates are connected on the supporting leg transmission shaft in vehicle frame, thus realize the connection of supporting leg and vehicle frame.
More preferably, the motion of former and later two planet-gear speed reducing motors in vehicle frame drives two supporting leg transmission shaft motions respectively, the stay bearing plate be connected with supporting leg transmission shaft and driven support wheel move thereupon, thus the driving realized two supporting legs, and then realize the leg formula mode of motion of described robot.
Preferably, described wheeled lifting mechanism comprises connecting panel, wheel driver, two wheels, two cardan wheels, and wherein: connecting panel is fixed on main body of vehicle frame, the stepping motor in vehicle frame is fixed on connecting panel; Both sides, the front and back connecting sliding rail device of wheel driver is to realize the guiding of up-and-down movement smoothly, and the left and right sides of wheel driver connects two wheels, for driving two wheel movement; Two cardan wheel symmetries are arranged on the bottom of wheeled lifting mechanism, and form symmetrical quadrilateral structure with two wheels.
More preferably, road conditions more at ordinary times, respectively crawler belt arm and supporting leg are lifted respectively by the motion of the Worm reduction motor of two in vehicle frame and former and later two planet-gear speed reducing motors, stepping motor in vehicle frame rotates and makes wheeled lifting mechanism drop to a suitable position, utilize wheel driver to drive two wheel movement, coordinate two cardan wheels to realize the wheel type movement pattern of described robot.
Compared with prior art, the present invention has following beneficial effect:
Crawler leg composite movable robot of the present invention is by combining wheeled, crawler type and leg formula mode of motion, overcome pure wheeled adaptation to the ground ability general, obstacle climbing ability is limited, pure caterpillar type robot speed is slow, power consumption is large and pure legged mobile robot mechanism is various, it is complicated to control, the shortcoming such as slow of moving, robot is enable to realize crawler leg composite motion, both the landform comformability having kept this robot very high and crossing ability, its moving velocity faster can be ensured again, locomitivity, obstacle climbing ability and alerting ability improve a lot.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the integral structure schematic diagram of the present invention one preferred embodiment;
Wherein: vehicle frame 1, crawler belt arm 2, supporting leg 3, wheeled lifting mechanism 4, stepping motor 5, planet-gear speed reducing motor 6, Worm reduction motor 7, railroad 8, long aluminum corner brace 9, supporting leg transmission shaft 10, caterpillar block 11, drive wheel 12, flower wheel 13, crawler belt 14, tightening device 15, stay bearing plate 16, driven support wheel 17, connecting panel 18, wheel driver 19, wheel 20, cardan wheel 21.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, a kind of crawler leg composite movable robot, comprising: vehicle frame 1, crawler belt arm 2, supporting leg 3, wheeled lifting mechanism 4, wherein: described vehicle frame 1 is as the carrier of crawler belt arm 2, supporting leg 3, wheeled lifting mechanism 4; The described crawler belt arm 2 of four covers is symmetrically distributed in the corner of vehicle frame 1, and crawler belt arm 2 is connected with vehicle frame 1 with outer shaft by interior axle; Article two, described supporting leg 3 is symmetrically distributed in the front and back of vehicle frame 1, and supporting leg 3 is connected with vehicle frame 1 by supporting leg transmission shaft 10; Described wheeled lifting mechanism 4 is arranged in the middle part of vehicle frame 1, and wheeled lifting mechanism 4 is connected with vehicle frame 1 by connecting panel 18;
Moved by motor-driven caterpillar tracks arm 2, supporting leg 3 and wheeled lifting mechanism 4, make robot have different attitude, realize wheel and carry out leg composite motion, obstacle climbing ability has very large lifting.
In one embodiment, described vehicle frame 1 comprises stepping motor 5, two planet-gear speed reducing motors 6, two Worm reduction motors 7, the long aluminum corner brace of railroad 8, two 9, two supporting leg transmission shafts 10 and four DC machine, wherein:
Two long aluminum corner braces 9 are arranged in parallel and form the main body of vehicle frame 1; Stepping motor 5 is fixed in the middle part of vehicle frame 1, carries out rising and descending motion for driving wheel-type lifting mechanism 4; Railroad 8 is connected with stepping motor 5, for rising at wheeled lifting mechanism 4 and playing directional tagging when descending motion; Two planet-gear speed reducing motors 6 are arranged on the front and back position of two long aluminum corner braces 9 respectively, and two supporting leg transmission shafts, 10 respectively with two planet-gear speed reducing motors 6 are connected, and two planet-gear speed reducing motors 6 are for driving two supporting leg transmission shafts 10 respectively; Two Worm reduction motors 7 are one in front and one in back clipped in two long aluminum corner braces 9 centres and interfix, two Worm reduction motors 7 are connected with the crawler belt arm 2 of both sides, front and back respectively by outer shaft, for transmitting motion to four crawler belt arms 2, four crawler belt arms 2 are driven to swing; Four DC machine are symmetrically distributed in the corner of vehicle frame 1 and overlap crawler belt arm 2 respectively by interior axle and four and be connected, and rotate for driving four cover crawler belt arms 2.
In one embodiment, often overlap described crawler belt arm 2 and include two pieces of caterpillar blocks 11, drive wheel 12, three flower wheels 13, crawler belt 14, tightening devices 15, wherein: two pieces of caterpillar blocks 11 are the quadrilateral structure of vertical direction symmetry; Three flower wheels 13 are fixed between two pieces of caterpillar blocks 11 by bearing and axle; Tightening device 15 is bolted between two pieces of caterpillar blocks 11, for regulating the distance of drive wheel 12 and diagonal angle flower wheel 13 to reach the effect of tensioned tracks 14; Crawler belt 14 wraps drive wheel 12 and three flower wheels 13; DC machine is rotated and is driven drive wheel 12 to move, and the power of drive wheel 12 passes to three flower wheels 13 by crawler belt 14, crawler belt 14 smooth rotation, thus the crawler type mode of motion that can realize robot.
In one embodiment, supporting leg 3 described in every bar includes two pieces of stay bearing plates 16 and a driven support wheel 17, wherein: driven support wheel 17 is fixed in the middle of two pieces of stay bearing plates 16; Two pieces of stay bearing plates 16 are connected on the supporting leg transmission shaft 10 in vehicle frame 1; Two planet-gear speed reducing motors 6 move through supporting leg transmission shaft 10 by transmission of power on two supporting legs 3, thus realize driving to two supporting legs 3, and then realize the leg formula mode of motion of robot.
In one embodiment, described wheeled lifting mechanism 4 comprises connecting panel 18, wheel driver 19, two wheels 20, two cardan wheels 21, wherein: wheeled lifting mechanism 4 is connected with vehicle frame 1 by connecting panel 18; Stepping motor 5 in vehicle frame 1 is fixed on connecting panel 18; Both sides, the front and back connecting sliding rail device 8 of wheel driver 19 is to realize the guiding of up-and-down movement smoothly, and the left and right sides of wheel driver 19 connects two wheels 20, moves for driving two wheels 20; Two cardan wheel 21 symmetries are arranged on the bottom of wheeled lifting mechanism 4, and form symmetrical quadrilateral structure with two wheels 20; Stepping motor 5 rotates and makes wheeled lifting mechanism 4 drop to a suitable position, utilizes wheel driver 19 to drive two wheels 20 to move, and coordinates two cardan wheels 21 to realize the wheel type movement pattern of robot.
In one embodiment, the switching of wheeled, crawler type and leg formula mode of motion can be realized by the motion of described wheeled lifting mechanism 4, the rotation of described crawler belt arm 2 and the swing of described supporting leg 3, realize wheel, shoe, leg combined motion, robot is improved a lot on locomitivity, obstacle climbing ability and alerting ability; Specific implementation is:
When road conditions better, Land leveling time, respectively crawler belt arm 2 and supporting leg 3 are lifted respectively by the motion of two Worm reduction motors and former and later two planet-gear speed reducing motors 6, stepping motor 5 on vehicle frame 1 rotates and makes wheeled lifting mechanism 4 drop to a suitable position, utilize the wheel driver 19 on wheeled lifting mechanism 4 to drive two wheels 20 to move, and coordinate two cardan wheels 21 to realize the wheel type movement pattern of described robot;
When road conditions are poor, Uneven road time, by stepping motor 5, wheeled lifting mechanism 4 is risen, utilize the motion of former and later two planet-gear speed reducing motors 6 in vehicle frame 1 to lift two supporting legs 3 respectively simultaneously, then being distributed in the forward and backward Worm reduction motor of vehicle frame 17 can make crawler belt arm 2 swing to correct position, the DC machine being distributed in vehicle frame 1 four jiaos then can drive crawler belt arm 2 to rotate, thus realizes the crawler type motion of described robot;
When road surface is rugged or have larger obstacle, crawler belt arm 2 lifts by the Worm reduction motor 7 that vehicle frame 1 can be utilized forward and backward, utilize stepping motor 5 to be risen by wheeled lifting mechanism 4 simultaneously, drive two supporting legs 3 to move and obstacle detouring by former and later two planet-gear speed reducing motors 6 of vehicle frame 1, thus realize the leg formula mode of motion of described robot.
The present invention structurally includes ratcheting mechanism, crawler type mechanism and Tui Shi mechanism, structurally well arranged, weight is less, simple efficient in control, reliable and stable in performance, can according to different situations, switch different mode of motioies, realize wheeled, crawler type, leg formula and composite sport pattern advantage.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (8)
1. a crawler leg composite movable robot, is characterized in that, comprises vehicle frame, crawler belt arm, supporting leg and wheeled lifting mechanism, wherein:
Described crawler belt arm at least four cover, four cover crawler belt arms are symmetrically distributed in the corner of vehicle frame, and four cover crawler belt arms are connected with vehicle frame with outer shaft respectively by interior axle; Interior axle and outer shaft are positioned at same axis, are symmetrically distributed in the corner of vehicle frame according to the mode that interior outer shaft is nested;
Described supporting leg at least two, supporting leg is symmetrically distributed in the front and back of vehicle frame, and supporting leg is connected with vehicle frame respectively by the supporting leg transmission shaft in vehicle frame;
Described wheeled lifting mechanism is arranged in the middle part of vehicle frame, and wheeled lifting mechanism is connected with vehicle frame by connecting panel;
Described vehicle frame is as the carrier of crawler belt arm, supporting leg, wheeled lifting mechanism; Described vehicle frame comprises main body of vehicle frame, stepping motor, railroad, four DC machine, two planet-gear speed reducing motors, two Worm reduction motors, two supporting leg transmission shafts, wherein: stepping motor to be fixed on main body of vehicle frame and to be connected with wheeled lifting mechanism, stepping motor is used for driving wheel-type lifting mechanism and carries out rising and descending motion; Railroad is connected with stepping motor, and railroad is used for playing directional tagging when wheeled lifting mechanism rising and descending motion; Four DC machine are symmetrically distributed in the corner of vehicle frame and overlap crawler belt arm respectively by interior axle and four and be connected, and rotate for driving four cover crawler belt arms; Two planet-gear speed reducing motors are arranged on main body of vehicle frame, and two supporting leg transmission shafts are connected with two planet-gear speed reducing motors, and two planet-gear speed reducing motors are for driving two supporting leg transmission shafts; Two Worm reduction motors to be arranged on main body of vehicle frame and to be positioned at the inner side of two planet-gear speed reducing motors, two Worm reduction motors are connected with the crawler belt arm of both sides by outer shaft, for transmitting motion to four crawler belt arms, four crawler belt arms are driven to swing;
Motor in described vehicle frame drives crawler belt arm, supporting leg and wheeled lifting mechanism to move respectively, makes described robot have different attitude, realizes wheel, shoe, leg composite motion, promotes the obstacle climbing ability of described robot.
2. a kind of crawler leg composite movable robot according to claim 1, it is characterized in that, described main body of vehicle frame adopts two long aluminum corner braces to be arranged in parallel formation, stepping motor is fixed on the middle part of two long aluminum corner braces and is connected with wheeled lifting mechanism, two planet-gear speed reducing motors are arranged on the forward and backward position of two long aluminum corner braces respectively, and two Worm reduction motors are one in front and one in back fixed on two long aluminum corner braces centres respectively and are positioned at the inner side of two planet-gear speed reducing motors.
3. described a kind of crawler leg composite movable robot according to claim 1, it is characterized in that, often overlap described crawler belt arm and include two pieces of caterpillar blocks, drive wheel, three flower wheels, crawler belt, tightening devices, wherein: two pieces of caterpillar blocks are the quadrilateral structure of vertical direction symmetry; Three flower wheels are fixed between two pieces of caterpillar blocks by bearing and axle; Crawler belt wraps a drive wheel and three flower wheels; Tightening device is fixed between two pieces of caterpillar blocks, for regulating the distance of drive wheel and diagonal angle flower wheel to reach the effect of tensioned tracks.
4. described a kind of crawler leg composite movable robot according to claim 3, it is characterized in that, DC machine in vehicle frame is connected and fixed by interior axle and drive wheel, DC machine is rotated and is driven drive wheel to move, transmission of power is given three flower wheels by crawler belt by drive wheel, crawler belt smooth rotation, thus the crawler type mode of motion realizing described robot.
5. a kind of crawler leg composite movable robot according to claim 1, is characterized in that, supporting leg described in every bar includes two pieces of stay bearing plates and a driven support wheel, wherein: driven support wheel is installed in the middle of two pieces of stay bearing plates; Two pieces of stay bearing plates are connected on the supporting leg transmission shaft in vehicle frame, thus realize the connection of supporting leg and vehicle frame.
6. a kind of crawler leg composite movable robot according to claim 5, it is characterized in that, the motion of former and later two planet-gear speed reducing motors in vehicle frame drives two supporting leg transmission shaft motions respectively, the stay bearing plate be connected with supporting leg transmission shaft and driven support wheel move thereupon, thus the driving realized two supporting legs, and then realize the leg formula mode of motion of described robot.
7. a kind of crawler leg composite movable robot according to any one of claim 1-6, it is characterized in that, described wheeled lifting mechanism comprises connecting panel, wheel driver, two wheels, two cardan wheels, wherein: connecting panel is fixed on main body of vehicle frame, the stepping motor in vehicle frame is fixed on connecting panel; Both sides, the front and back connecting sliding rail device of wheel driver is to realize the guiding of up-and-down movement smoothly, and the left and right sides of wheel driver connects two wheels, for driving two wheel movement; Two cardan wheel symmetries are arranged on the bottom of wheeled lifting mechanism, and form symmetrical quadrilateral structure with two wheels.
8. a kind of crawler leg composite movable robot according to claim 7, it is characterized in that, road conditions more at ordinary times, by the motion of the Worm reduction motor of two in vehicle frame and two planet-gear speed reducing motors, crawler belt arm and supporting leg are lifted respectively, stepping motor in vehicle frame rotates and makes wheeled lifting mechanism drop to a suitable position, utilize wheel driver to drive two wheel movement, coordinate two cardan wheels to realize the wheel type movement pattern of described robot.
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