CN107878989B - Automatic reclaimer of storage - Google Patents

Automatic reclaimer of storage Download PDF

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Publication number
CN107878989B
CN107878989B CN201711237834.4A CN201711237834A CN107878989B CN 107878989 B CN107878989 B CN 107878989B CN 201711237834 A CN201711237834 A CN 201711237834A CN 107878989 B CN107878989 B CN 107878989B
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China
Prior art keywords
storage
goods
transfer assembly
material box
clamping
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CN201711237834.4A
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CN107878989A (en
Inventor
方勇
周学军
余佩琪
姚金莲
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Shanghai Noblelift Intelligent Technology Co ltd
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Shanghai Noblelift Intelligent Technology Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0492Storage devices mechanical with cars adapted to travel in storage aisles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention relates to the field of automatic mechanical equipment, in particular to an automatic storage reclaimer. The invention is realized by the following technical scheme: the utility model provides an automatic reclaimer of storage, contains running gear, still contain with running gear is connected storage device, can stretch out the goods device of getting of withdrawal and be used for with the goods that gets the goods device and get shifts to the workbin transfer assembly on the storage device, storage device contains the storage frame that two-layer at least is located different high positions, storage frame contains storage conveyer, the workbin transfer assembly with get goods device and be connected, and can go up and down in vertical direction. The invention aims to provide an automatic storage reclaimer, which comprises an inventory device, and can automatically reclaim and store cargoes, so that the number of cargoes taken by the reclaimer in a single running mode is increased, and the reclaiming and sorting efficiency is increased.

Description

Automatic reclaimer of storage
Technical Field
The invention relates to the field of automatic mechanical equipment, in particular to an automatic storage reclaimer.
Background
Industrial vehicles refer to powered motor vehicles used to carry, push, pull, lift, stack, or stack various cargo. Common industrial vehicles are forklifts, side forklifts, tractors, trucks, fork lifts, and the like. Reclaimer is one of industrial vehicles, and along with the development of electronics business industry and intelligent manufacturing, reclaimer has been widely used in logistics storage field.
In actual work, a goods shelf is arranged in the storage environment, and goods are placed on the goods shelf. The material taking machine uses a mechanical arm to take the goods and put the goods on a tray of the material taking machine, then the goods are moved from a goods shelf to a sorting place to be unloaded, and then the next material taking task is continued. The operation mode reduces the links of manual participation and improves the degree of automation, but has certain technical defects, the self tray area of the reclaimer is small, only one piece of goods can be taken at each time, the goods in the task list are taken out and need to be circulated and moved for many times according to a designated route in a storage environment, the driving energy consumption is high, the time is long, and the efficiency is low.
Disclosure of Invention
The invention aims to provide an automatic storage reclaimer, which comprises an inventory device, and can automatically reclaim and store cargoes, so that the number of cargoes taken by the reclaimer in a single running mode is increased, and the reclaiming and sorting efficiency is increased.
The technical aim of the invention is realized by the following technical scheme: the utility model provides an automatic reclaimer of storage, contains running gear, still contain with running gear is connected storage device, can stretch out the goods device of getting of withdrawal and be used for with the goods that gets the goods device and get shifts to the workbin transfer assembly on the storage device, storage device contains the storage frame that two-layer at least is located different high positions, storage frame contains storage conveyer, the workbin transfer assembly with get goods device and be connected, and can go up and down in vertical direction.
Preferably, the bin transferring assembly comprises a first bin transferring device, a second bin transferring device and a switching device for switching the transferring direction of the goods on the bin transferring assembly, wherein the transferring direction of the first bin transferring device is consistent with the extending direction of the goods taking device, and the second bin transferring device is used for transferring the goods on the bin transferring assembly into the storage device.
Preferably, the bin transfer assembly comprises a floor from which goods are moved onto the storage device.
Preferably, the bottom plate is provided with a bottom plate groove, and the material box transfer assembly further comprises a push plate which can slide along the bottom plate groove and is used for pushing goods to the storage device.
Preferably, the base plate is provided with a universal ball.
Preferably, the picking device at least comprises two sets of front picking device and rear picking device, the rear picking device is closer to the storage device than the front picking device, the front picking device can slide in a direction approaching to and separating from the storage device, and the rear picking device can slide in a vertical direction.
Preferably, the first bin conveyor comprises a plurality of conveying rollers, the second bin conveyor is a plurality of conveying belts, the conveying rollers and the conveying belts are arranged at intervals, and the switching device is connected with the second bin conveyor to drive the second bin conveyor to move in the vertical direction.
Preferably, the walking device comprises walking wheels and driving wheels, wherein the number of the driving wheels is two, and each driving wheel is independently controlled by a driving motor.
Preferably, the picking device comprises holding arms and a picking executing mechanism connected with the holding arms and driving the holding arms to extend and retract, wherein the picking device comprises at least two groups of picking devices, and the holding arms of the two groups of picking devices are opposite and stand up.
Preferably, the picking device is connected to a bracket, the bracket comprises a cantilever beam extending in the horizontal direction and a cantilever column connected with the cantilever beam, and the cantilever beam is connected with a clamp holding interval adjusting device for adjusting the interval between the two cantilever beams.
Preferably, the holding gap adjusting device comprises a holding actuating mechanism connected with the cantilever beam and a holding sliding block sliding in the horizontal direction under the driving of the holding actuating mechanism, and the holding sliding block is connected with the goods taking device.
Preferably, when two groups of the goods taking devices pull goods to the material box transfer assembly, the two groups of the goods taking devices are located at different height positions.
Preferably, the invention further comprises a clamp height adjusting device for adjusting the height position of the goods taking device.
Preferably, the holding and clamping height adjusting device comprises a height adjusting motor, a gear connected with the height adjusting motor and a height adjusting rack meshed with the gear and extending in the vertical direction, and the height adjusting rack is connected with the goods taking device.
Preferably, each group of the goods taking devices comprises a clamping transverse tube, two sides of the clamping transverse tube are respectively connected with clamping hands, and the two clamping hands are opposite in a C shape.
Preferably, the picking device is connected to the bracket, and further comprises a traversing device for driving the bracket and the picking device.
Preferably, the traversing device comprises a traversing rail connected with the feed box transfer assembly, a traversing actuating mechanism and a moving block driven by the traversing actuating mechanism to slide on the traversing rail, wherein the moving block is connected with the bracket.
In summary, the invention has the following beneficial effects:
1. according to the technical scheme, a plurality of cargoes can be stored on the storage device, and the plurality of cargoes can be acquired and transported by a single task.
2. The technical aspect can bidirectionally pick up goods, and improves the goods picking efficiency in the roadway.
3. The material box transfer assembly is particularly arranged, and can move the goods clamped by the material taking device to the corresponding storage rack.
4. The holding clamp interval adjusting device can adjust the distance between the two holding clamps, so that the device is suitable for cargoes with different sizes.
5. The clamping hand can flexibly adjust the vertical position of the clamping hand through the clamping height adjusting device.
6. The transverse moving device is specially arranged, the transverse travel of the goods taking device for taking the goods is enlarged and made up, and the specific position of the vehicle is not required to be adjusted through the travelling device when the goods are taken in a two-way mode, so that the efficiency is further improved.
7. The in-situ steering can be achieved by differential adjustment of the running conditions of the two driving wheels.
8. By using the technical scheme, a tray is not required, and the cargo or the material box can be directly operated.
Description of the drawings:
FIG. 1 is a schematic view of example 1 located in a warehouse facility;
FIG. 2 is a schematic diagram of example 1;
FIG. 3 is a schematic view of another angle of FIG. 2;
fig. 4 is a schematic view of embodiment 1 with the bin and running gear hidden;
FIG. 5 is a schematic view of another angle of FIG. 4;
fig. 6 is a schematic view of the warehouse apparatus, the bin transfer apparatus and the pick-up apparatus of example 2.
In the figure:
1. the device comprises a walking device, 11, walking wheels, 12, driving wheels, 2, a storage device, 21, a storage frame, 211, a storage conveying device, 22, a vertical executing mechanism, 3, a material box transfer assembly, 31, a material box conveying device I, 32, a material box conveying device II, 4, a goods taking device, 41, a clamping hand, 42, a material taking executing mechanism, 43, a clamping transverse tube, 5, a clamping height adjusting device, 51, a height adjusting motor, 52, a gear, 53, a height adjusting rack, 6, a clamping interval adjusting device, 61, a clamping executing mechanism, 62, a clamping slider, 7, a bracket, 71, a cantilever upright post, 72, a cantilever beam, 8, a traversing device, 81, a traversing rail, 82, a traversing executing mechanism, 83, a moving block, 9 and a goods shelf.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Embodiment 1 as shown in fig. 1, an automatic warehouse reclaimer is operated in a warehouse workshop. The warehouse workshop comprises a plurality of shelves 9, the shelves 9 can be of a multi-layer structure, and goods packages with different sizes are placed on each layer. A roadway for the automatic warehouse reclaimer to pass through is arranged between the adjacent shelves 9.
As shown in fig. 2 and 3, the automatic storage reclaimer comprises a traveling device 1, a storage device 2 connected with the traveling device 1, a goods taking device 4 capable of extending and retracting, and a material box transfer assembly 3 for transferring goods taken by the goods taking device 4 onto the storage device 2, wherein the storage device 2 comprises at least two layers of storage frames 21 positioned at different height positions, and the storage frames 21 comprise storage conveying devices 211.
The walking device 1 comprises walking wheels 11 and driving wheels 12, wherein the number of the driving wheels 12 is two, and each driving wheel 12 is independently controlled by a driving motor. In this case, the travelling wheels 11 are universal wheels and are arranged around. The drive wheels 12 are individually controlled by drive motors so that angular variation and even in-situ steering can be achieved by differential adjustment of the two drive wheels 12, further reducing the turning radius of the overall device.
As shown in fig. 1, 2 and 3, the pick device 4 is configured to report the goods from the shelf 9, move to the bin transfer assembly 3, and the bin transfer assembly 3 is configured to continue to transfer the goods to the warehouse device 2.
Specifically, as shown in fig. 5, the bin transferring assembly 3 includes a first bin transferring device 31, a second bin transferring device 32, and a switching device for switching a transferring direction of the goods on the bin transferring assembly 3, where the transferring direction of the first bin transferring device 31 is consistent with the extending direction of the goods taking device 4, and the second bin transferring device 32 is used for transferring the goods on the bin transferring assembly 3 to the storage device 2. The first bin conveyor 31 comprises a plurality of conveying rollers, the second bin conveyor 32 comprises a plurality of conveying belts, the conveying rollers and the conveying belts are arranged at intervals, and the switching device is connected with the second bin conveyor 32 to drive the second bin conveyor 32 to move in the vertical direction.
When the goods are moved to the bin transfer assembly 3 by the pick device 4, the transfer device lowers the bin transfer device two 32, at which point the goods are transferred in by the bin transfer device one 31, the transfer roller. After transfer in place, the switching device lifts the bin transfer device two 32, even if the goods are transferred onto the warehouse 2 by the conveyor belt. In this case, the conveying directions of the first bin conveying device 31 and the second bin conveying device 32 are both in the horizontal direction and are perpendicular to each other. The switching device can adopt a cylinder, an electric cylinder, a hydraulic device and other conventional components in the prior art, and the lifting of the second material box conveying device 32 can be realized.
Furthermore, the entire magazine transfer assembly 3 can be lifted in the vertical direction, on the one hand, so that the goods stored at different heights on the pallet 9 can be retrieved. Alternatively, the goods may be transferred to storage racks 21 of different heights. The storage rack 21 comprises a storage conveying device 211, the storage conveying device 211 can be a roller or a conveying belt, and when the material box transfer assembly 3 conveys the materials, the storage conveying device 211 can continuously convey the materials, so that the materials are guaranteed to be conveyed in place. The lifting of the feed box transfer assembly 3 can also be realized in various manners, for example, a guide rail rack is vertically arranged on the storage device 2, and a corresponding motor and a gear matched with the rack are arranged on the feed box transfer assembly 3 to realize vertical lifting.
The mechanical mechanism of the pick device 4 of the present invention is described in detail below. As shown in figures 4 and 5 of the drawings,
the goods taking device 4 comprises clamping hands 41 and a material taking executing mechanism 42 which is connected with the clamping hands 41 and drives the clamping hands 41 to extend and retract, at least two groups of goods taking devices 4 are arranged, and the clamping hands 41 of the two groups of goods taking devices 4 are opposite and vertical. When the picking motion is carried out, the picking actuating mechanism 42 starts to operate, the picking actuating mechanism 42 can be an electric cylinder, the holding clamp 41 is pushed to stretch out to the right position, and then the holding clamp is vertically lowered through the holding clamp height adjusting device 5, so that the holding clamp 41 holds the goods to wrap, and then the picking actuating mechanism 42 starts to retract, and the two groups of holding clamp 41 move the goods to the feed box transfer assembly 3.
In actual use, the size of the package of goods is often not only the same, but also needs to be adjusted on site. To accommodate packages of different sizes, the horizontal spacing between the two clasping handles 41 also needs to be adjusted. Specifically, the pick device 4 is connected to the bracket 7, and the bracket 7 includes a cantilever beam 72 extending in a horizontal direction and a cantilever column 71 connected to the cantilever beam 72, and the cantilever beam 72 is connected with a clamp space adjusting device 6 for adjusting two spaces. The bracket 7 comprises a cantilever beam 72 extending in the horizontal direction and a cantilever column 71 connected with the cantilever beam 72, and the cantilever beam 72 is connected with a holding and clamping interval adjusting device 6 for adjusting two intervals. The holding gap adjusting device 6 comprises a holding executing mechanism 61 connected with the cantilever beam 72 and a holding sliding block 62 sliding in the horizontal direction under the driving of the holding executing mechanism 61, and the holding sliding block 62 is connected with the goods taking device 4.
The clamping actuator 61 may also be a conventional driving member such as an electric cylinder, an air cylinder, a hydraulic device, etc., and one end, such as a cylinder body, is fixed to the cantilever beam 72, and the other end, such as one end of a piston rod, is connected to the clamping slider 62. The clasping slide 62 may be provided on a rail on the cantilever beam 72 and the clasping slide 62 is connected to the pick device 4. When the holding clamp executing mechanism 61 works, the holding clamp sliding block 62 slides, so that the goods taking device 4 is driven to be connected. As shown in fig. 4, the two goods taking devices 4 are provided, and each set of goods taking devices can be connected with a set of independent clamping interval adjusting devices 6, so that the goods taking devices 4 can horizontally slide through the sliding of the clamping sliding blocks 62, and the horizontal and transverse interval between the two clamping hands 41 is adjusted to adapt to the packages of goods with different sizes.
The two sets of pick devices 4 are located at different height positions. The arrangement makes the two groups of holding handles 41 hook different height positions of the goods package respectively, so that the load points of the goods are more stable in the process of being pulled to the feed box transfer assembly 3, and the situation of tipping is not easy to happen.
As mentioned above, in the process of pulling the goods by the goods taking device 4, the height of the goods taking device 4 in the vertical direction needs to be adjusted, and this lifting adjustment process mainly depends on the holding and clamping height adjusting device 5.
As shown in fig. 4, the holding and gripping height adjusting device 5 includes a height adjusting motor 51, a gear 52 connected to the height adjusting motor 52, and a height adjusting rack 53 meshed with the gear and extending in the vertical direction, the height adjusting rack 53 being connected to the pickup device 4.
The height adjusting motor 51 can be fixedly connected to the cantilever upright 71, the motor operates to drive the gear 52 to rotate, the gear 52 is meshed with the height adjusting rack 53, so that the rotating gear 52 drives the height adjusting rack 53 to lift, and the height adjusting rack 53 is connected with the goods taking device 4 to drive the goods taking device 4 to lift.
As shown in fig. 1, the automatic warehouse reclaimer runs in a roadway, and shelves 9 are arranged on two sides of the automatic warehouse reclaimer. In order to improve efficiency, the invention can upgrade single-side material taking into bidirectional material taking, thereby obtaining goods on the shelves 9 at two sides. Specifically, as shown in fig. 4, each group of pickup devices 4 includes a clamping horizontal tube 43, two sides of the clamping horizontal tube 43 are respectively connected with clamping hands 41, and the extending directions of the two clamping hands 41 are opposite. A separate pick-up actuator 42 is connected to each arm 41 to allow for bi-directional pick-up without a 180 degree turn.
Furthermore, in practice, the position of the load on the pallet 9 is often spaced further apart in the horizontal transverse direction from the position of the magazine transfer assembly 3. This distance is sometimes insufficient depending on the extension of the take-off actuator 42 alone and has a negative impact on efficiency and cost control. On the other hand, in some cases where two sides are required to take goods, the whole automatic warehouse reclaimer needs to be close to the goods shelf 9 by virtue of the travelling device 1, so that the automatic warehouse reclaimer moves left and right in a roadway, which is very inconvenient.
In the present embodiment, in order to solve the above two problems, a traversing device 8 is further added. As shown in fig. 5, the picking device 4 is connected to the bracket 7, and further comprises a traversing device 8 for driving the bracket 7 and the picking device 4, wherein the moving direction of the bracket 7 driven by the traversing device 8 is parallel to the extending and contracting direction of the picking device 4. The traversing device 8 comprises a traversing rail 81 connected with the feed box transfer assembly 3, a traversing actuating mechanism 82 and a moving block 83 which slides on the traversing rail 81 under the driving of the traversing actuating mechanism 82, wherein the moving block 83 is connected with the bracket 7. The extending direction of the transverse moving rail 81 and the extending and contracting direction of the goods taking device 4 are in the same direction, the transverse moving executing mechanism 82 can be a combination of a motor and a spiral screw rod, when the motor operates, the driving moving block 83 slides relative to the transverse moving rail 81, and the bracket 7 and the goods taking device 4 are connected with the moving block 83, so that the extension of the transverse moving stroke is realized, and the driving of the traveling device 1 is not needed.
As shown in fig. 6, fig. 6 is a schematic diagram of the second embodiment, and differs from the first embodiment mainly in that the structure of the transfer assembly 3 in the tank is changed.
In this embodiment, instead of using two types of conveying devices for switching, the bin transfer assembly 3 is first pushed onto the bin transfer assembly 3 by the pick-up device 4, i.e. onto the seat plate 34, and then the cargo bin is pushed onto the warehouse device 2 from the seat plate 34 by another pushing method.
In the pushing process, in order to reduce friction force and enable pushing to be smoother, a plurality of universal balls 35 can be additionally arranged on the seat plate 34.
There are two ways to push the cargo box from the seat 34 onto the warehouse 2, one way is that the pick device 4 comprises two sets, including a front pick device 44 and a rear pick device 45, as shown in fig. 6, and the specific mechanical structure of these two sets of pick devices may be unchanged from the embodiment. When the load bin reaches the seat plate 34, the rear pick device 45 is controlled to rise, so that interference is avoided, the front pick device 44 is pushed out, namely, in the left direction in the drawing, and the load bin is pushed onto the storage device 2.
In a second method, as also shown in fig. 6, instead of pushing the pick device 4, a pushing plate 36 is added, and the pushing plate 36 is driven by a driving component, such as a rack-and-pinion motor, to slide along the seat board groove 341, so as to push the cargo box to the storage device 2.

Claims (6)

1. An automatic reclaimer of storage contains running gear (1), its characterized in that: the automatic loading and unloading device further comprises a storage device (2) connected with the travelling device (1), an extendable and retractable goods taking device (4) and a material box transfer assembly (3) for transferring goods taken by the goods taking device (4) onto the storage device (2), wherein the storage device (2) comprises at least two layers of storage frames (21) positioned at different height positions, the storage frames (21) comprise storage conveying devices (211), the material box transfer assembly (3) is connected with the goods taking device (4) and can be lifted in the vertical direction, the material box transfer assembly (3) comprises a material box conveying device I (31), a material box conveying device II (32) and a switching device for switching the conveying direction of the goods on the material box transfer assembly (3), the conveying direction of the material box conveying device I (31) is consistent with the extending direction of the goods taking device (4), the material box conveying device II (32) is used for transferring the goods on the material box transfer assembly (3) into the storage device (2), the material box transfer assembly (3) comprises a material box transfer assembly (34) which comprises a material box transfer assembly (34) and a material box transfer assembly (34) which is provided with a bottom plate (34) on the bottom plate (34), the bin transfer assembly (3) further comprises a push plate (36) which can slide along the bottom plate groove (341) and is used for pushing cargoes to the storage device (2), the bottom plate (34) is provided with universal balls (35), the cargo taking device (4) at least comprises two sets of front cargo taking devices (44) and rear cargo taking devices (45) respectively, the rear cargo taking devices (45) are closer to the storage device (2) than the front cargo taking devices (44), the front cargo taking devices (44) can slide in a direction close to and far away from the storage device (2), the rear cargo taking devices (45) can slide in a vertical direction, the first bin conveying device (31) comprises a plurality of conveying rollers, the second bin conveying device (32) is provided with a plurality of conveying belts, the conveying rollers and the conveying belts are distributed at intervals, the switching device is connected with the second bin conveying device (32) to drive the second bin conveying device (32) to move in a vertical direction, the travelling device (1) comprises a travelling wheel (11) and a travelling wheel (12), the driving wheel (12) is connected with the driving wheel (41) to the pickup device (41) to the pick-up hand, the pickup device (41) is driven by the driving wheel (41) to be held by the hand, two sets of the holding clamp hands (41) of the goods taking device (4) are opposite and vertical, the goods taking device (4) is connected to a support (7), the support (7) comprises a cantilever beam (72) extending in the horizontal direction and a cantilever upright post (71) connected with the cantilever beam (72), and the cantilever beam (72) is connected with a holding clamp interval adjusting device (6) for adjusting the interval between the two goods taking devices (4).
2. The automatic storage reclaimer machine of claim 1, wherein: the holding and clamping interval adjusting device (6) comprises a holding and clamping executing mechanism (61) connected with the cantilever beam (72) and a holding and clamping sliding block (62) sliding in the horizontal direction under the driving of the holding and clamping executing mechanism (61), and the holding and clamping sliding block is connected with the goods taking device (4).
3. The automatic storage reclaimer machine of claim 1, wherein: when two groups of goods taking devices (4) pull goods to the material box transfer assembly (3), the two groups of goods taking devices (4) are located at different height positions.
4. The automatic storage reclaimer machine of claim 1, wherein: the device also comprises a holding and clamping height adjusting device (5) for adjusting the height position of the goods taking device (4).
5. The automatic storage reclaimer machine of claim 4, wherein: the holding and clamping height adjusting device (5) comprises a height adjusting motor (51), a gear (52) connected with the height adjusting motor (51) and a height adjusting rack (53) meshed with the gear and extending in the vertical direction, and the height adjusting rack (53) is connected with the goods taking device (4).
6. The automatic storage reclaimer machine of claim 1, wherein: each group of goods taking device (4) comprises a clamping transverse pipe (43), two sides of the clamping transverse pipe (43) are respectively connected with clamping hands (41), and the two clamping hands (41) are opposite in C shape.
CN201711237834.4A 2017-11-30 2017-11-30 Automatic reclaimer of storage Active CN107878989B (en)

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