CN109807734A - Automatically grinding polishing machine - Google Patents
Automatically grinding polishing machine Download PDFInfo
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- CN109807734A CN109807734A CN201910205982.0A CN201910205982A CN109807734A CN 109807734 A CN109807734 A CN 109807734A CN 201910205982 A CN201910205982 A CN 201910205982A CN 109807734 A CN109807734 A CN 109807734A
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- 238000005498 polishing Methods 0.000 title claims abstract description 159
- 238000000227 grinding Methods 0.000 title claims abstract description 80
- 230000001105 regulatory effect Effects 0.000 claims description 14
- 230000003287 optical effect Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 6
- 238000005299 abrasion Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 208000033748 Device issues Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000003082 abrasive agent Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000001795 light effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000007540 photo-reduction reaction Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The present invention provides a kind of automatically grinding polishing machines, including sanding and polishing device, manipulator and sanding and polishing dynamics control device, dynamics control device includes a base, it is provided with an axis between the front-rear side walls of base and left and right sidewall is not contour, axle sleeve is connected to can be along the bearing block that axis circumferentially rotates, the top surface of bearing block and the left side wall of the higher side of base or right side wall top surface maintain an equal level, the right side wall of the lower side of base or the upper inner of left side wall are fixed with sensor, the top surface of base is covered with workbench, workbench is supported by bearing block and the higher right side wall of base or left side wall, the back side of the hanging side of workbench is fixed with vertical sensor sensing plate, top surface be provided with can clamping workpiece fixing seat, tablet can trigger sensor when workbench rotate in place.Automatically grinding polishing machine of the invention, it is simple and reasonable, well solve the problem of grinding wheel or polishing wheel can not adjust the propulsion dynamics of manipulator due to quick abrasion during sanding and polishing in time.
Description
Technical field
The present invention relates to sanding and polishing field more particularly to a kind of workpiece surface is added using grinding wheel or polishing wheel
The equipment of work specifically relates to a kind of controllable automatically grinding polishing machine of dynamics between grinding wheel or polishing wheel and workpiece.
Background technique
Sanding and polishing is a kind of critically important processing technology in industrial processes.Polishing, which refers to, makes workpiece surface using machinery
Roughness is improved to obtain the processing technology of decorative pattern or removal workpiece surface burr etc., and polishing is to make workpiece surface using machinery
Roughness is reduced to obtain the processing technology of bright, flat surface；The equipment of grinding and buffing is essentially identical, the difference is that polishing
It is with grinding wheel contact workpiece surface, polishing is with polishing wheel contact workpiece surface, they are using high-speed rotating polishing
Wheel or polishing wheel press to workpiece, generate rolling and micro cutting to workpiece surface by the abrasive material of grinding wheel or polishing wheel surface,
To obtain the finished surface of carving, flash removed or light.Current sanding and polishing produces the artificial hand mostly based on manually
The large labor intensity of dynamic sanding and polishing, working efficiency is low, and the dust due to generating during sanding and polishing is to worker's body meeting
Very big injury is caused, thus replacing manual polishing polishing using sanding and polishing work station, sanding and polishing machine people is in recent years
The project that those skilled in the art are exploring, research and develop and promoting, but this project can not also be broken through completely at present, this is because
Sanding and polishing be guarantee sanding and polishing effect by the dynamics that contacts between workpiece and grinding wheel or polishing wheel, but grinding wheel or
Polishing wheel is worn quickly during sanding and polishing, and irregular change occurs soon for the dynamics contacted with workpiece, now
Although robot had force snesor, since polishing or polishing wheel and workpiece have frequently during sanding and polishing
Collision vibration makes the data of force snesor be difficult processing and utilizes.
Summary of the invention
To solve the problems, such as present on, the object of the present invention is to provide a kind of automatically grinding polishing machine, the automatically grindings
Function is polished in time by the pressure feedback between workpiece and grinding wheel or polishing wheel to robotic arm, mechanical arm is allowed to adjust in time
The dynamics of propulsion, to make to obtain a stable binding force between workpiece and grinding wheel or polishing wheel.
In order to achieve the above object, automatically grinding polishing machine of the invention, including sanding and polishing device and manipulator, feature
Be: the automatically grinding polishing machine further includes sanding and polishing dynamics control device, and dynamics control device includes a base, base
Including front-rear side walls and left and right sidewall, front-rear side walls are contour, and a side wall is slightly above front-rear side walls, another in left side wall and right side wall
One side wall is slightly below front-rear side walls, and an axis is provided between base front-rear side walls, and axis both ends are separately mounted to front-rear side walls
The middle position on top, the axle sleeve in base are connected to bearing block, and ball bearing is provided in bearing block, and bearing block can be along axis
It circumferentially rotates, the top surface of bearing block and the higher left side wall of base or right side wall top surface maintain an equal level, the lower right side wall of base or a left side
The upper inner of side wall is fixed with sensor, and the top surface of base is covered with workbench, and workbench is higher by bearing block and base
Left side wall or right side wall support, workbench is hanging close to the lower right side wall of base or left side wall side, the hanging side of workbench
The back side be fixed with vertical sensor sensing plate, which can trigger sensor when workbench rotate in place and makes to sense
Device issues signal, and workbench is fixed with sanding and polishing power close to the top surface of the higher left side wall of base or right side wall side or side
Spend regulating device, the top surface of the hanging side of workbench be fixed with the sanding and polishing device or can clamping workpiece fixing seat；Institute
It states manipulator and is located at the right side wall of the lower side of dynamics control device base or the outside of left side wall.
Preferably, the sanding and polishing dynamics regulating device includes dynamics balance weight, can allow the spiral shell of balance weight transverse shifting
Bar plays two optical axises of guiding and load-bearing effect, the branch of the motor and standing screw and optical axis that drive screw turns to balance weight
Seat is supportted, the bottom surface portions of support base and the bench top face contact, part are vacantly.
Preferably, the sanding and polishing dynamics regulating device includes spring, upper branching holder and lower bearing support, is located at branch up and down
Hold the screw rod between seat, positioned at screw rod two sides optical axis, can be along the Mobile base that optical axis moves up and down and the electricity driven screw turns
Machine, motor are fixed on the top surface of upper branching holder；Sanding and polishing dynamics regulating device is located at the higher left side wall of the base or right side
The outside of wall, spring one end are fixed on the side of the workbench, and the other end is fixed on Mobile base.
Preferably, the manipulator includes base and the arm with base rotation connection, and sanding and polishing device includes polishing
Wheel or polishing wheel and the support for fixing grinding wheel or polishing wheel, manipulator include base and the hand with base rotation connection
Arm.
Preferably, the sanding and polishing device is fixed on the top of the hanging side of sanding and polishing dynamics control device workbench
Face, the grinding wheel or the axial direction of polishing wheel and the axis of dynamics control device of sanding and polishing device are in the same direction；The mechanical arm end
Clamping workpiece, and workpiece is made to be located at the surface of grinding wheel or polishing wheel.
Preferably, it is described can the fixing seat of clamping workpiece be fixed on the hanging side of sanding and polishing dynamics control device workbench
Top surface；The support of the mechanical arm end clamping sanding and polishing device, and grinding wheel or polishing wheel is made to be located at fixing seat
Surface and grinding wheel or the axial direction of polishing wheel are vertical with the axis of sanding and polishing dynamics control device.
In order to keep workbench more steady during rotation, it is preferred that the axis on above-mentioned dynamics control device base is worn
It crosses the front-rear side walls of base and the nut by being located at outside base is fixed on the front-rear side walls of base, bearing block is two, point
It is not placed in the inside of base front-rear side walls.
Can more preferably it cooperate with base to make workbench during rotation, it is preferred that the dynamics control device work
Platform bottom surface is equipped with vertical lateral edge.
In order to enable the top surface of base more preferably to support workbench, it is preferred that the left and right sides of the dynamics control device base
Wall top surface, which extends internally, lateral edge.
It is damaged caused by workbench and base side wall top surface and bearing block top surface are very stiff and demanding during the work time in order to prevent,
Preferably, the higher left side wall of the dynamics control device base or right side wall top surface and bearing block top surface are equipped with Shockproof gasket.
In the present invention, so-called sanding and polishing machine is the general designation of sander and polishing machine, when use grinding wheel is contacted with workpiece
When as sander, the as polishing machine when being contacted using polishing wheel and workpiece.
A dynamics control device is arranged in automatically grinding polishing machine of the invention between grinding wheel or polishing wheel and workpiece,
The base left and right sidewall of the dynamics control device is not contour, and rotatable bearing block is arranged between the front-rear side walls of base, makes
The workbench that contacts with the bearing block of bottom surface can be to the lower left side wall of base or right side wall one under vertical thrust
Side run-off the straight, top surface, grinding wheel or polishing wheel by the way that workpiece to be placed in the hanging side of workbench are placed in the top of workpiece, or
Be sanding and polishing device is placed in the top surface of the hanging side of workbench, workpiece is placed in grinding wheel or the top of polishing wheel, work as machinery
Hand clamping grinding wheel or polishing wheel promote and are touched to workpiece direction workpiece or workpiece and promote to grinding wheel or polishing wheel direction
And when touching grinding wheel or polishing wheel, workbench run-off the straight, the sensor sensing plate at the workbench back side, which then can trigger, is located at machine
Seat right side wall or left side wall upper inner pressure sensor, sensor in time to manipulator issue signal, manipulator stop to
The direction of workpiece promotes, and just obtaining a stable partical gravity between workpiece and grinding wheel or polishing wheel at this time makes the two
Between be close to, component is adjusted by dynamics and adjusts dynamics between workpiece and grinding wheel or polishing wheel, is thrown with obtaining best polishing
Light effect.Automatically grinding polishing machine of the invention, it is simple and reasonable, it has well solved grinding wheel or polishing wheel and has been thrown in polishing
The problem of propulsion dynamics of manipulator can not be adjusted due to quick abrasion in time in photoreduction process, so that being worked using sanding and polishing
It stands, sanding and polishing machine people replaces the technology manually polished to be promoted and applied.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of automatically grinding polishing machine of the present invention.
Fig. 2 is the positive structural schematic diagram of automatically grinding polishing machine dynamics control device of the present invention.
Fig. 3 is the structural schematic diagram of dynamics control device one side.
Fig. 4 is the structural schematic diagram of another automatically grinding polishing machine of the invention.
Fig. 5 is working condition when Fig. 1 automatically grinding polishing machine is polished with reference to figure.
Fig. 6 is working condition when Fig. 5 automatically grinding polishing machine is polished with reference to figure.
Fig. 7 is another structural schematic diagram that dynamics adjusts component.
Fig. 8 is the structural schematic diagram that Fig. 7 dynamics adjusts that component is fixed on workbench side.
As shown in Figure 1, 2, 3, automatically grinding polishing machine of the invention, including dynamics control device 10, sanding and polishing device
20, manipulator 30 and dynamics regulating device 40；
Dynamics control device includes a base, and base is horn-like structure and bottom is outward extended with horizontal side edge, and base includes
Front side wall 101, rear wall 102, left side wall 103 and right side wall 104, front-rear side walls are contour, and left side wall is slightly below front-rear side walls, right
Side wall is slightly above front-rear side walls, and the difference in height of left and right sidewall is about 5-20mm, and an axis is provided between base front-rear side walls
105, axis passes through base front-rear side walls and the nut 106 by being located at outside base is fixed on the interposition on base front-rear side walls top
It sets, the axis both ends in base are socketed with bearing block 107, and ball bearing 108 is provided in bearing block, and bearing block can be along axis week
To rotation, the top surface of bearing block and the top surface of left side wall maintain an equal level, and base left and right sidewall top surface extends internally and has widthwise edge along 109,
The top surface of bearing block and the top surface on left and right sidewall widthwise edge edge are respectively and fixedly provided with gasket 110, and the upper inner of base right side wall is fixed
There is pressure sensor 111, the top surface of base is covered with workbench 112, and workbench is supported by bearing block and right side wall, and workbench leans on
The side of nearly left side wall is hanging, and workbench bottom surface is equipped with vertical lateral edge 113, and the back side of the hanging side of workbench is fixed with vertically
Sensor sensing plate 114, the tablet when workbench rotate in place can trigger sensor and make sensor issue signal；
Sanding and polishing device includes the support 202 of grinding wheel or polishing wheel 201, fixed grinding wheel or polishing wheel；
Manipulator includes pedestal 301 and arm 302, and the end of arm can clamp the support of sanding and polishing device；
Dynamics regulating device include dynamics balance weight 401, can allow balance weight transverse shifting screw rod 402, to balance weight rise guiding
With two optical axises 403 of load-bearing effect, the support base 405 of the motor 404 and standing screw and cross bar that drive screw turns, balance
Block passes through screw rod and optical axis, and motor is fixed on the lateral wall of support base；
The top surface of the hanging side of the workbench of dynamics control device be provided with can clamping workpiece 501 fixing seat 502, manipulator position
In the outside of dynamics control device left side wall, the support of the arm end clamping sanding and polishing device of manipulator, and make grinding wheel
Or polishing wheel is located at the surface for polishing workpiece fixing seat and grinding wheel or the axial direction of polishing wheel are vertical with the axis of base, dynamics tune
Regulating device is located on the workbench of workpiece fixing seat opposite side and the bottom surface portions of its support base are fixed on the worktable, part
Vacantly.
Fig. 4 is another automatically grinding polishing machine of the invention, which is that sanding and polishing device is fixed on dynamics control
The top surface of the hanging side of the workbench of device processed, the arm end clamping workpiece of manipulator, and workpiece is made to be located at sanding and polishing dress
Right above the grinding wheel or polishing wheel set, the axis of the axial direction and base of grinding wheel or polishing wheel is in the same direction, and dynamics regulating device is located at
On the workbench of workpiece fixing seat opposite side and the bottom surface portions of its support base are fixed on the worktable, are partially hanging.
Automatically grinding polishing machine of the invention in use, as shown in figure 5, after workpiece positioned in fixing seat fixing,
Sanding and polishing starts, manipulator clamping grinding wheel or polishing wheel on the one hand do sanding and polishing movement, on the one hand vertical to workpiece
It promoting, is advanced to touching workpiece always, workpiece is rotated counterclockwise with the workbench of dynamics control device around axis after being collided,
When turning to the sensor sensing plate at the workbench back side and being triggered to the sensor on the inside of base left side wall, sensor is sent out to manipulator
Signal out, manipulator stop to the direction of workpiece promote, only do sanding and polishing movement, the power that base right side wall is supported at this time by
Grinding wheel or polishing wheel are replaced, and are polished and are obtained a stable binding force between workpiece and grinding wheel or polishing wheel, this
Power can adjust at any time, i.e., be moved to the left or be moved right to by the balance weight of strength of adjustment regulating device to realize, when flat
Weighing apparatus block is when being moved to the left, and manipulator, which need to only impose lesser power, can make workbench keep balance, opposite, when balance weight to
When moving right, manipulator needs to impose biggish power just and can make workbench and keeps balance, by the movement of balance weight transverse direction come
The size of binding force between workpiece and grinding wheel or polishing wheel is adjusted, to obtain best polishing effect.
In use, as shown in fig. 6, when sanding and polishing starts, manipulator is pressed from both sides another automatically grinding polishing machine of the invention
Workpiece is hold on the one hand to do sanding and polishing movement, on the one hand vertically promote to the grinding wheel or polishing wheel of sanding and polishing device, one
Directly be advanced to touching grinding wheel or polishing wheel, grinding wheel or polishing wheel collided after with the workbench of dynamics control device around axis
It rotates counterclockwise, when turning to the sensor sensing plate at the workbench back side and being triggered to the sensor on the inside of base left side wall, passes
Sensor issues signal to manipulator, and manipulator stops promoting to the direction of grinding wheel or polishing wheel, only does sanding and polishing movement, this
When the power that is supported of base right side wall replaced by grinding wheel or polishing wheel, polish and obtained between workpiece and grinding wheel or polishing wheel
One stable binding force, the binding force can also be moved to the left or be moved right by the balance weight of strength of adjustment regulating device
It is adjusted in time.
Fig. 7 is another structure 60 of dynamics regulating device, which includes spring 601, upper branching holder 602 and lower support
Seat 603, screw rod 604 between upper lower bearing support, positioned at screw rod two sides optical axis 605, can be along the shifting that optical axis moves up and down
The dynamic motor 607 seat 606 and driven screw turns, motor is fixed on the top surface of upper branching holder, as shown in figure 8, the right side of base
Wall is the side wall perpendicular to horizontal plane, and dynamics is allowed to adjust the right side wall of the upper lower bearing support abutting base of component, and spring one end is logical
It crosses down locating pin 608 to be fixed on Mobile base, the other end of spring is fixed on the vertical lateral edge of workbench by upper locating pin 609
Outside.In use, Mobile base is moved up and down by electric motor driven screw, thus the dynamics of tension or pull-off spring, and then give
Workbench on the right side of sanding and polishing dynamics control device imposes vertical tension, thus can adjust workpiece by the elastic of spring
The size of binding force between grinding wheel or polishing wheel, to obtain best polishing effect.
Only two embodiments of automatically grinding polishing machine of the present invention illustrate above, but these embodiments be not to
It limits the scope of the invention, all equivalence enforcements or change without departing from technical solution of the present invention, such as sanding and polishing device, machine
The change of tool hand or dynamics regulating device structure or position, should be included in the scope of the present invention.
Claims (10)
1. a kind of automatically grinding polishing machine, including sanding and polishing device and manipulator, it is characterised in that: the automatically grinding polishing
Machine further includes sanding and polishing dynamics control device, and dynamics control device includes a base, and base includes front-rear side walls and left and right sides
Wall, front-rear side walls are contour, and a side wall is slightly above front-rear side walls in left side wall and right side wall, another side wall is slightly below front and back side
Wall is provided with an axis between base front-rear side walls, and axis both ends are separately mounted to the middle position on front-rear side walls top, is located at machine
Axle sleeve in seat is connected to bearing block, ball bearing is provided in bearing block, bearing block can be circumferentially rotated along axis, the top surface of bearing block
Maintain an equal level with the higher left side wall of base or right side wall top surface, the upper inner of the lower right side wall of base or left side wall is fixed with biography
Sensor, the top surface of base are covered with workbench, and workbench is supported by bearing block and the higher left side wall of base or right side wall, work
Platform is hanging close to the lower right side wall of base or left side wall side, and the back side of the hanging side of workbench is fixed with vertical sensor
Tablet, the tablet can trigger sensor when workbench rotate in place and sensor made to issue signal, and workbench is close to machine
The top surface or side of the higher left side wall of seat or right side wall side are fixed with sanding and polishing dynamics regulating device, workbench hanging one
The top surface of side be fixed with the sanding and polishing device or can clamping workpiece fixing seat；The manipulator is located at dynamics control device
The right side wall of the lower side of base or the outside of left side wall.
2. automatically grinding polishing machine according to claim 1, it is characterised in that: the sanding and polishing dynamics adjusts dress
Set including dynamics balance weight, can allow balance weight transverse shifting screw rod, to balance weight rise guiding and load-bearing effect two optical axises,
The support base of the motor and standing screw and optical axis that drive screw turns, the bottom surface portions of support base connect with the bench top
Touching, part are hanging.
3. automatically grinding polishing machine according to claim 1, it is characterised in that: the sanding and polishing dynamics regulating device packet
Include spring, upper branching holder and lower bearing support, screw rod between upper lower bearing support, positioned at screw rod two sides optical axis, can be along light
The Mobile base that axis moves up and down and the motor driven screw turns, motor are fixed on the top surface of upper branching holder；Sanding and polishing dynamics
The outside that component is located at the higher left side wall of the base or right side wall is adjusted, spring one end is fixed on the side of the workbench,
The other end is fixed on Mobile base.
4. automatically grinding polishing machine according to claim 2 or 3, it is characterised in that: the manipulator include base and with
The arm of base rotation connection, sanding and polishing device includes grinding wheel or polishing wheel and the branch for fixing grinding wheel or polishing wheel
Seat, manipulator include base and the arm with base rotation connection.
5. automatically grinding polishing machine according to claim 4, it is characterised in that: the sanding and polishing device is fixed on polishing
The top surface of the hanging side of polishing dynamics control device workbench, the grinding wheel of sanding and polishing device or the axial direction of polishing wheel and dynamics
The axis of control device is in the same direction；Mechanical arm end clamping workpiece, and workpiece is made to be located at the surface of grinding wheel or polishing wheel.
6. automatically grinding polishing machine according to claim 4, it is characterised in that: it is described can the fixing seat of clamping workpiece fix
In the top surface of the hanging side of sanding and polishing dynamics control device workbench；The mechanical arm end clamping sanding and polishing device
Support, and grinding wheel or polishing wheel is made to be located at surface and grinding wheel or the axial direction of polishing wheel and the sanding and polishing dynamics of fixing seat
The axis of control device is vertical.
7. automatically grinding polishing machine according to claim 5 or 6, it is characterised in that: on the dynamics control device base
Axis pass through base front-rear side walls and by be located at base outside nut be fixed on the front-rear side walls of base, bearing block two
It is a, it is respectively placed in the inside of base front-rear side walls.
8. automatically grinding polishing machine according to claim 7, it is characterised in that: the dynamics control device workbench bottom surface
Equipped with vertical lateral edge.
9. automatically grinding polishing machine according to claim 8, it is characterised in that: the left and right of the dynamics control device base
Side wall top surface, which extends internally, lateral edge.
10. automatically grinding polishing machine according to claim 9, it is characterised in that: the dynamics control device base is higher
Left side wall or right side wall top surface and bearing block top surface are equipped with Shockproof gasket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910205982.0A CN109807734B (en) | 2019-03-19 | 2019-03-19 | Automatic polishing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910205982.0A CN109807734B (en) | 2019-03-19 | 2019-03-19 | Automatic polishing machine |
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| CN109807734A true CN109807734A (en) | 2019-05-28 |
| CN109807734B CN109807734B (en) | 2024-02-23 |
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| CN201910205982.0A Active CN109807734B (en) | 2019-03-19 | 2019-03-19 | Automatic polishing machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115179144A (en) * | 2022-07-20 | 2022-10-14 | 浙江智源阀门科技有限公司 | Valve rod self-adaptation equipment of polishing |
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