CN105397807B - Robot zero point correction device, robot zero point correction system and calibration method - Google Patents
Robot zero point correction device, robot zero point correction system and calibration method Download PDFInfo
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- CN105397807B CN105397807B CN201510974828.1A CN201510974828A CN105397807B CN 105397807 B CN105397807 B CN 105397807B CN 201510974828 A CN201510974828 A CN 201510974828A CN 105397807 B CN105397807 B CN 105397807B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of robot zero point correction device, robot zero point correction system and calibration method, robot zero point correction device includes：Sensing element (1), the sensing element (1) have sensing cavity and enter the opening of the sensing cavity for robot (4), and the medial surface of the sensing cavity has position sensor matrix；For being connected with the calibration site of the robot (4), for the locating piece (2) of position sensor matrix detection；For the mobile base (3) being moved to the robot (4) in the induction cavity body.Robot zero point correction device provided by the invention, only need to calibrating a robot, with reference to sensing element, locating piece and mobile base, you can the robot of model of the same race is calibrated automatically, avoid it is artificial calibrate successively cumbersome, improve calibration efficiency and precision；Calibrating installation is simple in construction, can carry out dead-center position calibration to polytype robot, improve versatility.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot zero point correction device, robot zero point school
Barebone and calibration method.
Background technology
At present, industrial robot is used widely as a kind of standard device in the whole world.It is actual in industrial robot
In, in order to reduce the error in practical operation, robot precision needs suitable method or system and carries out calibration raising.
The manipulator motion of industrial robot needs origin coordinates and terminal point coordinate determination fortune in three dimensions
Dynamic rail mark, so as to carry out trajectory planning.After trajectory planning, by moving control module for controlling, drive the action of robot real
Apply module.Mechanical arm can be moved to a never teaching in working space by the position for the target that robot is worked with posture
The point crossed, is referred to as calculated a little.The precision for reaching calculating point is the positioning precision of mechanical arm.The positioning precision of mechanical arm is by weight
The influence of multiple precision, while also influenceed by parameters precision in Robot kinematics equations.D-H(Denavit-
Hartenberg, matrix) error in parameter will cause the calculation error of joint angle in inverse kinematics equation.Therefore, it is mechanical
The positioning precision of arm is generally poor, and changes quite big.
In the practical application of industrial robot, the high-precision application environment of many needs can be related to, such as microelectronics,
Medical treatment, Precision Machining etc..In these cases, the calibration to industrial robot positioning precision is even more important.On the one hand, it is necessary to
Make further improve to industrial robot precision using calibration technique；On the other hand, it is necessary to industrial machine to R ＆ D design
People is operated the coherent detection of precision, to quantify the reliability and stability of industrial robot work.
The zero point correction method of robot mainly has three kinds of modes.The first, is done using three-coordinates measuring machine or laser
Interferometer carries out coordinate setting, and the then calculating by carrying out more intensive to equation in coordinates and calibration equation carries out dead-center position
Calibration, the precision of measurement is higher, but measurement process is relatively complicated, inefficient, and the detection process of different model is different, leads to
It is not high with property；Second, each joint carry out zero position design, add fastening screw calibrated, this method precision compared with
It is low；The third, by high-precision sensor on robot body, then carries out the demarcation of zero point, this method is easily installed, set
Meter, but sensor is more accurate, error can be introduced in installation process causes dead-center position inaccurate.
Therefore, calibration efficiency and precision how are improved, improves versatility, being that those skilled in the art is urgently to be resolved hurrily asks
Topic.
The content of the invention
In view of this, the invention provides a kind of robot zero point correction device, calibration efficiency and precision are improved, is improved logical
The property used.The invention also discloses a kind of robot zero point correction system and robot with above-mentioned robot zero point correction device
Zero point correction method.
To achieve the above object, the present invention provides following technical scheme：
A kind of robot zero point correction device, it is characterised in that including：
Sensing element, the sensing element have sensing cavity and enter the opening of the sensing cavity, institute for robot
The medial surface for stating sensing cavity has position sensor matrix；
For being connected with the calibration site of the robot, for the locating piece of position sensor matrix detection；
For the mobile base that the robot is moved in the induction cavity body.
Preferably, in above-mentioned robot zero point correction device, the sensing element includes four sensor boards；
Respectively：For the first sensor plate and the 4th sensor board of the both sides for being arranged at to-be-detected machine people, for setting
The second sensor plate at the top of to-be-detected machine people is placed in, the 3rd sensor plate of the front side for being arranged at to-be-detected machine people.
Preferably, in above-mentioned robot zero point correction device, sensor board described in the position sensor Matrix cover
Medial surface.
Preferably, in above-mentioned robot zero point correction device, the bottom of the sensing element has horizontally disposed support
Plate.
Preferably, in above-mentioned robot zero point correction device, in addition to it is used for the locating piece and the robot
The connecting pin of calibration site connection.
Present invention also offers a kind of robot zero point correction system, including robot, in addition to any one institute as described above
The robot zero point correction device stated.
Preferably, in above-mentioned robot zero point correction system, the robot includes the base for passing sequentially through axis joint connection
Seat, first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod and end flange.
Preferably, in above-mentioned robot zero point correction system, the quantity of the locating piece is four, is respectively arranged at institute
State the first locating piece on first connecting rod, the second locating piece being arranged on the second connecting rod, be arranged at the third connecting rod
On the 3rd locating piece and be arranged at the 4th locating piece of the end flange.
Present invention also offers a kind of robot zero point correction method, using robot zero point correction dress as described above
Put；Including step：
1) calibration data is set；
2) robot to be calibrated is installed in mobile base, locating piece is installed on its calibrating position, and be moved to
In induction cavity body；
3) calibration site of the robot is detected and data acquisition；
4) gathered data and the calibration data are contrasted, Record Comparison result；
5) micro-displacement adjustment is carried out to robot, subsequently into step 3) cycle detection, after cycle detection pre-determined number, entered
Enter in next step；
6) gathered data will be chosen with gathered data described in one group of the difference minimum of the calibration data as zero point school
Quasi- data；
7) joint rotation angle of the robot is calculated according to the zero point correction data, and by the joint rotation angles
Degree is preserved into the controller of robot, the deviation angle as the dead-center position of robot.
Preferably, in above-mentioned robot zero point correction method, the step 1) is specially：
11) calibrated robot is installed in mobile base, locating piece is installed on its calibrating position, and be moved to
In induction cavity body；
12) data acquisition is carried out to the calibration site of the robot and is recorded as the calibration data.
Preferably, in above-mentioned robot zero point correction method, in the step 5), robot is carried out according to comparing result
Micro-displacement adjusts.
It can be seen from the above technical scheme that robot zero point correction device provided by the invention, in robot zero point
In calibration process, now by calibrated robot as in mobile base, the calibration site of robot connects locating piece；Robot
It is moved to mobile base by the opening of sensing element in its induction cavity body, the position sensor of the medial surface by sensing cavity
The position of matrix detection locating piece is simultaneously recorded as calibration data.Calibrated robot is then log out, by robot to be calibrated
As in mobile base, the calibration site of robot to be calibrated connects locating piece；Robot is moved to sensing with mobile base
In cavity, the position of the position sensor matrix detection locating piece of the medial surface by sensing cavity is simultaneously compared with calibration data
Compared with according to comparative result regulation robot, zero point of the selection gathered data minimum with calibration data difference as the robot
Calibration data, and the joint rotation angle of robot is calculated, the deviation angle as robot dead-center position.The present invention provides
Robot zero point correction device, it is only necessary to calibrate a robot, with reference to sensing element, locating piece and mobile base, you can
The robot of model of the same race is calibrated automatically, avoid it is artificial calibrate successively cumbersome, improve calibration efficiency and precision；
Calibrating installation is simple in construction, can carry out dead-center position calibration to polytype robot, improve versatility.
Present invention also offers a kind of robot zero point correction system and machine with above-mentioned robot zero point correction device
Device people's zero point correction method.Because above-mentioned robot zero point correction device has above-mentioned technique effect, there is above-mentioned robot zero
The robot zero point correction system and robot zero point correction method of point calibrating installation should also have same technique effect, herein
No longer it is discussed in detail.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of robot zero point correction system provided in an embodiment of the present invention；
Fig. 2 is the structural representation of sensing element provided in an embodiment of the present invention；
Fig. 3 is the structural representation of robot provided in an embodiment of the present invention and locating piece；
Fig. 4 is the first structure schematic diagram of robot provided in an embodiment of the present invention；
Fig. 5 is the second structural representation of robot provided in an embodiment of the present invention.
Embodiment
The invention discloses a kind of robot zero point correction device, improves calibration efficiency and precision, use range are wide.This hair
It is bright to also disclose a kind of robot zero point correction system and robot zero point correction with above-mentioned robot zero point correction device
Method.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1 and Fig. 2 are refer to, Fig. 1 is the structural representation of robot zero point correction system provided in an embodiment of the present invention；
Fig. 2 is the structural representation of sensing element provided in an embodiment of the present invention.
The embodiments of the invention provide a kind of robot zero point correction device, including sensing element 1, locating piece 2 and movement
Base 3.Sensing element 1 has sensing cavity and enters the opening of sensing cavity for robot 4, and the medial surface for sensing cavity has
Position sensor matrix；Locating piece 2 is used to be connected with the calibration site of robot 4, position sensor matrix detection locating piece 2
Position；Mobile base 3 is used to robot 4 being moved in induction cavity body.
Robot zero point correction device provided in an embodiment of the present invention, during robot zero point correction, now by school
As in mobile base 3, the calibration site of robot 4 connects locating piece 2 for accurate robot；Robot is with mobile base 3 by passing
The opening of sense part 1 is moved in its induction cavity body, and positioning is detected by sensing the position sensor matrix of medial surface of cavity
The position of block 2 is simultaneously recorded as calibration data.Calibrated robot is then log out, by robot to be calibrated as mobile base
On 3, the calibration site connection locating piece 2 of robot 4 to be calibrated；Robot is moved in induction cavity body with mobile base 3, is led to
Cross the position of the position sensor matrix detection locating piece 2 of the medial surface of sensing cavity and compared with calibration data, according to
Comparative result adjusts robot 4, chooses zero point correction number of the gathered data minimum with calibration data difference as the robot 4
According to, and the joint rotation angle of robot 4 is calculated, the deviation angle as robot dead-center position.The embodiment of the present invention carries
The robot zero point correction device of confession, it is only necessary to calibrating a robot 4, with reference to sensing element 1, locating piece 2 and mobile base
3, you can the robot 4 of model of the same race is calibrated automatically, avoid it is artificial calibrate successively cumbersome, improve calibration efficiency
And precision；Calibrating installation is simple in construction, can carry out dead-center position calibration to polytype robot 4, improve versatility.
In the present embodiment, sensing element 1 includes four sensor boards；Respectively：For being arranged at to-be-detected machine people's
The sensor board 14 of first sensor plate 11 and the 4th of both sides, the second sensor plate at the top for being arranged at to-be-detected machine people
12, the 3rd sensor plate 13 of the front side for being arranged at to-be-detected machine people.That is, sensing element 1 is rectangular configuration, only bottom surface and
Face on rear side of towards robot is vacant, and the two faces can be as the opening for entering sensing cavity for robot 4.It is preferred that
Ground, due to bottom surface down, be not easy to robot 4 and pass in and out, it is therefore preferable that using sensing element 1 towards the face on rear side of robot as
Opening, and the chamber encircled a city by first sensor plate 11, second sensor plate 12, the sensor board 14 of 3rd sensor plate 13 and the 4th
Body is as sensing cavity.By above-mentioned setting, the setting of sensing element 1 is facilitated, it is only necessary to pass first sensor plate 11, second
Sensor plate 12, the sensor board 14 of 3rd sensor plate 13 and the 4th are mutually connected vertically.
In order to further improve degree easy to detect and extensive degree, the inner side of position sensor Matrix cover sensor board
Face.Position sensor matrix can also be made to be located at the part of the medial surface of sensor board, if position sensor matrix is positioned at sensing
Center or the upper right corner of the medial surface of device plate etc..
As shown in Fig. 2 the bottom of sensing element 1 has horizontally disposed supporting plate 15.In detection process, sensing element
1 as on work-yard, and supporting plate 15 is horizontally disposed, it is ensured that and the stability of sensing element 1, avoid sensing element 1 and rock,
Further increase calibration accuracy.
Robot zero point correction device provided in an embodiment of the present invention also includes being used for the calibration by locating piece 2 and robot
The connecting pin 5 of position connection.That is, locating piece 2 is connected by connecting pin 5 with the calibration site of robot so that locating piece 2 is accurate
The calibration site of robot is arranged at, further increases calibration accuracy.
The embodiment of the present invention additionally provides a kind of robot zero point correction system, including robot 4, in addition to appoints as described above
A kind of robot zero point correction device.Because above-mentioned robot zero point correction device has above-mentioned technique effect, there is above-mentioned machine
The robot zero point correction system of device people's zero point correction device should also have same technique effect, no longer tire out one by one state herein.
As shown in Fig. 3, Fig. 4 and Fig. 5, robot 4 is six-joint robot.It includes the pedestal for passing sequentially through axis joint connection
40th, first connecting rod 41, second connecting rod 42, third connecting rod 43, fourth link 44, the 5th connecting rod 45 and end flange 46.That is, pedestal
40 with first connecting rod 41, first connecting rod 41 and second connecting rod 42, second connecting rod 42 and third connecting rod 43, third connecting rod 43 and the 4th
Connected between connecting rod 44, the connecting rod 45 of fourth link 44 and the 5th and the 5th connecting rod 45 and end flange 46 by axis joint.It is logical
Cross and robot 4 is arranged to the most commonly used six-joint robot, facilitate use.It is of course also possible to robot 4 is arranged to five
Axle robot or four axle robots etc., are not particularly limited herein.
In the present embodiment, the quantity of locating piece 2 is four, the first locating piece being respectively arranged on first connecting rod 41
21st, the second locating piece 22 for being arranged on second connecting rod 42, the 3rd locating piece 23 being arranged on third connecting rod 43 and it is arranged at
4th locating piece 24 of end flange 46.Because fourth link 44 and the 5th connecting rod 45 are smaller, therefore, locating piece 2 is not provided with, only
First connecting rod 41, second connecting rod 42, third connecting rod 43 and end flange 46 are calibrated, while calibration accuracy is ensured,
Reduce parts.Five or six locating pieces 2 can also be set, in order to further improve calibration accuracy.It is of course also possible to
Setting is less than four locating pieces 2, e.g., only sets a locating piece 2, is reached by position of the running fix block 2 in robot 4
Detection to multiple calibrating positions in robot 4.
The embodiment of the present invention additionally provides a kind of robot zero point correction method, application any robot zero point as described above
Calibrating installation；Including step：
S1：Calibration data is set；Input and robot to be calibrated in the position sensor matrix of sensing element 1 in advance
The calibration data of the robot 4 of 4 models of the same race, the calibration data are the data of the dead-center position of robot 4.
S2：Robot 4 to be calibrated is installed in mobile base 3, locating piece 2 is installed on its calibrating position, and move
Move to induction cavity body；Wherein, position of the mobile base 3 in induction cavity body is fixed.
S3：Data acquisition is carried out to the calibration site of robot 4；Locating piece 2 is detected by position sensor matrix, and then
Reach the detection of the calibration site to robot 4.
S4：Gathered data and calibration data are contrasted, Record Comparison result；According to the data of collection with setting before
Calibration data contrasted, the two difference result as a comparison.
S5：Micro-displacement adjustment is carried out to robot, subsequently into step S3 cycle detections, after cycle detection pre-determined number,
Into in next step.It is one-time detection by step 3- step 4- steps 5 so that cycle detection pre-determined number is 10 times as an example, carries out micro-
Step S3 is entered back into after tune, after circulating 10 step 3- step 4- steps 5, into next step.It is understood that cycle detection
Pre-determined number is not particularly limited herein depending on actual demand.
S6：Using one group of minimum gathered data of the difference for choosing gathered data and calibration data as zero point correction data.
So that cycle detection pre-determined number is 10 times as an example, it is necessary to draw comparing result 10 times in 10 detection process, wherein, according to right
Depending on result, one group of the difference minimum of selection gathered data and calibration data, zero point correction data are arranged to.
S7：Preserved according to the joint rotation angle of zero point correction data computer device people, and by joint rotation angle to machine
In the controller of device people, the deviation angle as the dead-center position of robot.
Robot zero point correction method provided in an embodiment of the present invention, avoid it is artificial calibrate successively cumbersome, improve
Calibration efficiency and precision；Calibrating installation is simple in construction, can carry out dead-center position calibration to polytype robot 4, use model
Enclose wide.
Further, step S1 is specially：
S11：Calibrated robot 4 is installed in mobile base 3, locating piece 2 is installed on its calibrating position, and move
Move to induction cavity body；
S12：Data acquisition is carried out to the calibration site of robot 4 and is recorded as calibration data.
I.e., it is only necessary to be foundation with the robot 4 to calibrating a robot 4, set calibration data.Effectively increase school
The accuracy of quasi- data.Robot to be detected can also be adjusted in detection process, and then draws calibration data, herein no longer
It is discussed in detail.
Further, in step S5, micro-displacement adjustment is carried out to robot according to comparing result.Treated by comparing result
The robot of detection carries out micro-displacement adjustment so that gathered data further increases calibration accuracy closer to calibration data.Its
In, micro-displacement adjustment reaches Adjustment effect according to the joint angles of regulation robot.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (11)
- A kind of 1. robot zero point correction device, it is characterised in that including：Sensing element (1), the sensing element (1) have sensing cavity and enter opening for the sensing cavity for robot (4) Mouthful, the medial surface of the sensing cavity has position sensor matrix；For being connected with the calibration site of the robot (4), for the locating piece (2) of position sensor matrix detection；For the mobile base (3) being moved to the robot (4) in the induction cavity body.
- 2. robot zero point correction device as claimed in claim 1, it is characterised in that the sensing element (1) includes four Sensor board；Respectively：For the first sensor plate (11) and the 4th sensor board (14) of the both sides for being arranged at to-be-detected machine people, use Second sensor plate (12) in the top for being arranged at to-be-detected machine people, passed for being arranged at the 3rd of front side the of to-be-detected machine people the Sensor plate (13).
- 3. robot zero point correction device as claimed in claim 2, it is characterised in that the position sensor Matrix cover institute State the medial surface of sensor board.
- 4. robot zero point correction device as claimed in claim 1, it is characterised in that the bottom tool of the sensing element (1) There is horizontally disposed supporting plate (15).
- 5. robot zero point correction device as claimed in claim 1, it is characterised in that also include being used for the locating piece (2) connecting pin (5) being connected with the calibration site of the robot.
- 6. a kind of robot zero point correction system, including robot (4), it is characterised in that also include as claim 1-5 is any Robot zero point correction device described in.
- 7. robot zero point correction system as claimed in claim 6, it is characterised in that the robot (4) includes leading to successively Cross the pedestal (40) of axis joint connection, first connecting rod (41), second connecting rod (42), third connecting rod (43), fourth link (44), the Five connecting rods (45) and end flange (46).
- 8. robot zero point correction system as claimed in claim 7, it is characterised in that the quantity of the locating piece (2) is four It is individual, the first locating piece (21) for being respectively arranged on the first connecting rod (41), it is arranged on the second connecting rod (42) Second locating piece (22), the 3rd locating piece (23) being arranged on the third connecting rod (43) and it is arranged at the end flange (46) the 4th locating piece (24).
- A kind of 9. robot zero point correction method, it is characterised in that robot zero of the application as described in claim any one of 1-5 Point calibrating installation；Including step：1) calibration data is set；2) robot (4) to be calibrated is installed in mobile base (3), locating piece (2) is installed on its calibrating position, and move Move to induction cavity body；3) calibration site of the robot (4) is detected and data acquisition；4) gathered data and the calibration data are contrasted, Record Comparison result；5) micro-displacement adjustment is carried out to robot, subsequently into step 3) cycle detection, after cycle detection pre-determined number, under One step；6) gathered data will be chosen with gathered data described in one group of the difference minimum of the calibration data as zero point correction number According to；7) joint rotation angle of the robot is calculated according to the zero point correction data, and the joint rotation angle is protected Deposit into the controller of robot, the deviation angle as the dead-center position of robot.
- 10. robot zero point correction method as claimed in claim 9, it is characterised in that the step 1) is specially：11) calibrated robot (4) is installed in mobile base (3), locating piece (2) is installed on its calibrating position, and It is moved in induction cavity body；12) data acquisition is carried out to the calibration site of the robot (4) and is recorded as the calibration data.
- 11. the robot zero point correction method as described in claim 9 or 10, it is characterised in that in the step 5), according to right Micro-displacement adjustment is carried out to robot than result.
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| CN110181511A (en) * | 2019-05-22 | 2019-08-30 | 上海展湾信息科技有限公司 | Robot zero point loss detection and the method and system for assisting zero point correction |
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| CN107718049B (en) * | 2017-11-10 | 2022-02-15 | 尊道（上海）自动化设备有限公司 | Detection mechanism and detection method for deviation of working position of manipulator |
| JP6823024B2 (en) | 2018-09-11 | 2021-01-27 | ファナック株式会社 | Robot calibration system and calibration method |
| CN111113490B (en) * | 2019-12-31 | 2021-11-23 | 深圳市远弗科技有限公司 | Large-scale customized automatic calibration system and method for visual robot |
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| CN110181511A (en) * | 2019-05-22 | 2019-08-30 | 上海展湾信息科技有限公司 | Robot zero point loss detection and the method and system for assisting zero point correction |
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