CN203752148U - Foldable light manipulator with joint axes in orthogonal relations and six degrees of freedom - Google Patents

Foldable light manipulator with joint axes in orthogonal relations and six degrees of freedom Download PDF

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Publication number
CN203752148U
CN203752148U CN201420069956.2U CN201420069956U CN203752148U CN 203752148 U CN203752148 U CN 203752148U CN 201420069956 U CN201420069956 U CN 201420069956U CN 203752148 U CN203752148 U CN 203752148U
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CN
China
Prior art keywords
rotary joint
axis
joint
freedom
pedestal
Prior art date
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CN201420069956.2U
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Chinese (zh)
Inventor
刘亚军
徐新喜
张西正
赵秀国
刘志国
高振海
牛福
韩俊淑
任旭东
张文昌
苏琛
崔向东
Original Assignee
中国人民解放军军事医学科学院卫生装备研究所
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Priority to CN201420069956.2U priority Critical patent/CN203752148U/en
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Abstract

The utility model discloses a foldable light manipulator with joint axes in orthogonal relations and six degrees of freedom. The foldable light manipulator is characterized in that a first rotary joint, a second rotary joint, a large arm connecting rod, a third rotary joint, a fourth rotary joint, a fifth rotary joint and a sixth rotary joint are sequentially arranged on a base, a tail-end claw with a single degree of freedom is connected with an output end of the six rotary joint, the axis of the first rotary joint is coaxial with the base and is perpendicular to the axis of the second rotary joint, the axis of the second rotary joint is parallel to the axis of the third rotary joint, the axis of the third rotary joint is perpendicular to the axis of the fourth rotary joint, the axis of the fourth rotary joint is perpendicular to the axis of the fifth rotary joint, the axis of the fifth rotary joint is perpendicular to the axis of the sixth rotary joint, and the axis of the fourth rotary joint, the axis of the fifth rotary joint and the axis of the sixth rotary joint intersect with one another at a spatial point. The foldable light manipulator has the advantages that the manipulator is simple in integral structure and is light, and accordingly the optimal operational flexibility of the tail end of the manipulator can be guaranteed.

Description

There is the light-duty motion arm of collapsible six degree of freedom of joints axes orthogonality relation
Technical field
The utility model relates to a kind of light-duty motion arm robot, particularly relates to a kind of light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation.
Background technology
The light-duty motion arm of what is called robot, refers to and has the lightweight flexible operating arm robot device that certain load capacity and sole mass and volume are all less.
Explore in the wild, scouting, dangerous material dispose or the special dimension such as medical procedures, because operating environment exists the danger that may endanger operating personnel's life and health, thereby complete some job task in the urgent need to use robot especially motion arm robot equipment replacement personnel.Application industrial operation arm robot more widely at present, although develop fairly perfectly at aspects such as the designs of frame for movement and parts, but industrial operation arm load capacity is generally larger, payload scope is not from tens kilograms to 1 ton above etc., there is the problems such as volume is large, operation is heavy, quality is heavy, control system is complicated, application mainly contains packaging, piling, material handling and vehicle spray painting operation etc., generally be arranged in the multi-function operation unit in indoor production workshop, be difficult to be arranged on mobile robot platform or vehicle.For the job requirements under the particular surroundings such as field exploration or dangerous material disposal, because mobile robot platform bearing space is limited, thereby need that the motion arm that install has that volume is little, the feature such as compact conformation, quality are light, but too small physical dimension has obviously limited working space and the job area of motion arm robot, thereby this motion arm preferably has the technical characterstics such as collapsible.Again because wild environment has uncertainty, the technological requirement that motion arm is disposed biochemical dangerous material also may vary, obviously motion arm should have good flexibility, and the six degree of freedom motion arm robot that can control flexibly various orientation, attitude is good selection.But how to ensure that motion arm has space six degree of freedom and has good end movement flexibility is problem to be solved in the utility model.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of and have space foldability, small volume, lighter weight, operating space greatly and the light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation of flexibility ratio high.
The technical scheme that the utility model adopts is: a kind of light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation, include pedestal, on described pedestal, be disposed with the first rotary joint, the second rotary joint, large arm connecting rod, the 3rd rotary joint, the 4th rotary joint, the 5th rotary joint and the 6th rotary joint, the output of described the 6th rotary joint connects end single-degree-of-freedom paw, wherein, the axis of the first described rotary joint and pedestal concentric, and perpendicular to the axis of the second rotary joint, the axis of the second described rotary joint is parallel to the axis of the 3rd rotary joint, the axis of the 3rd described rotary joint is perpendicular to the axis of the 4th rotary joint, the axis of the 4th described rotary joint is perpendicular to the axis of the 5th rotary joint, the axis of the 5th described rotary joint is perpendicular to the axis of the 6th rotary joint, the axis of the 4th described rotary joint, the axis of the axis of the 5th rotary joint and the 6th rotary joint intersects at space a bit.
Between the 4th described rotary joint and the 5th described rotary joint, be to locate corner fittings by focus to interconnect, described focus location corner fittings includes connecting rod, be fixed on described connecting rod lower end one side for connecting the lower connection end of the 4th described rotary joint, and be fixed on described connecting rod upper end one side for connecting the upper connection end of the 5th described rotary joint, wherein, described lower connection end and described upper connection end all with the described perpendicular setting of connecting rod, and opposite direction, and the axis of the axis of described connection end and the 6th rotary joint is on same straight line.
The first described rotary joint, the second rotary joint, the 3rd rotary joint, the 4th rotary joint, the 5th rotary joint is identical with the 6th rotation joint structure, include: arthrodesis pedestal, be arranged in described arthrodesis pedestal and connected photoelectric encoder successively, servomotor and harmonic speed reducer, the outer peripheral face of described harmonic speed reducer is fixedly connected with described arthrodesis pedestal, the rotation output of described harmonic speed reducer connects joint output sleeve by coaxial positioning flange, described joint output sleeve is enclosed within the upper port of described arthrodesis pedestal, the top of described joint output sleeve is provided with joint end cover.
Described coaxial positioning flange includes and is integrally formed successively and coaxial: for inserting the axle sleeve concentric shafts of locating hole of described joint output sleeve inner flange, be used for the axle sleeve adpting flange being fixedly connected with the flange in described joint output sleeve, for the decelerator adpting flange being fixedly connected with the flange of described harmonic speed reducer rotation output, and for inserting the decelerator concentric shafts in the locating hole of flange of described harmonic speed reducer rotation output.
The diameter of described axle sleeve adpting flange is greater than the diameter of axle sleeve concentric shafts, and the diameter of described axle sleeve concentric shafts is greater than the diameter of decelerator adpting flange, and the diameter of decelerator adpting flange is greater than again the diameter of decelerator concentric shafts.
The bottom of the first arthrodesis pedestal on the first described rotary joint is fixed on described pedestal, the first joint output sleeve on described the first rotary joint connects the second joint fixed pedestal on the second rotary joint, second joint output sleeve on described the second rotary joint connects one end of large arm connecting rod, the other end of described large arm connecting rod connects the 3rd arthrodesis pedestal on described the 3rd rotary joint, the 3rd joint output sleeve on the 3rd rotary joint connects the 4th arthrodesis pedestal on described the 4th rotary joint, the 4th joint output sleeve on described the 4th rotary joint connects the 5th arthrodesis pedestal on the 5th described rotary joint by connecting focus location corner fittings, the 5th joint output sleeve on described the 5th rotary joint connects the 6th arthrodesis pedestal on described the 6th rotary joint, the 6th joint output sleeve on described the 6th rotary joint connects end single-degree-of-freedom paw.
Described end single-degree-of-freedom paw has a folding free degree.
In the time that the first described rotary joint, large arm connecting rod, the 4th rotary joint and the 6th rotary joint are the folded state being parallel to each other, the ratio of the distance L 2 between the axis of axis to the five rotary joints of the distance L 1 between the axis of the axis to the of the second rotary joint three rotary joints and the 3rd rotary joint is 1.4.
The light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation of the present utility model, has realized motion arm robot and has had good folding property, and less overall volume and larger operating space have that larger operating space/ratio takes up room; The utility model makes motion arm overall structure easier, and quality is lighter, and because drive motors position in the 4th joint moves forward to pedestal, makes motion arm integral power performance better; In addition the reasonable arrangement of dimension scale between the topological relation of the each joints axes direction of motion arm robot and locus and the large each axis of forearm in the utility model, has ensured that motion arm end has optimum flexible operation performance.
Brief description of the drawings
Fig. 1 is the utility model full extension state external structure schematic diagram;
Fig. 2 is the utility model full extension state top view;
Fig. 3 is the utility model folded state side view;
Fig. 4 is the utility model folded state front view;
Fig. 5 is that the utility model joint parts form explosive view;
Fig. 6 is the front view of coaxial positioning flange arrangement in the utility model;
Fig. 7 is the side view of coaxial positioning flange arrangement in the utility model.
In figure
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation of the present utility model is described in detail.
The light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation of the present utility model, in conjunction with the medical rescue under the particular surroundings such as biological pollution, chemical contamination or nuclear pollution occurring under wild environment and disposing the mission requirements such as operation, the light-duty motion arm robot of a kind of small volume, lighter weight is provided, can be arranged on mobile robot platform or wheeled motor vehicle.
As shown in Figure 1, the light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation of the present utility model, include pedestal 28, on described pedestal 28, be disposed with the first rotary joint 1, the second rotary joint 2, large arm connecting rod 11, the 3rd rotary joint 3, the 4th rotary joint 4, the 5th rotary joint 5 and the 6th rotary joint 6, the output of described the 6th rotary joint 6 connects end single-degree-of-freedom paw 7, and described end single-degree-of-freedom paw 7 has a folding free degree.Wherein, the axis of the first described rotary joint 1 and pedestal 28 concentrics, and perpendicular to the axis of the second rotary joint 2, the axis of the second described rotary joint 2 is parallel to the axis of the 3rd rotary joint 3, the axis of the 3rd described rotary joint 3 is perpendicular to the axis of the 4th rotary joint 4, the axis of the 4th described rotary joint 4 is perpendicular to the axis of the 5th rotary joint 5, the axis of the 5th described rotary joint 5 is perpendicular to the axis of the 6th rotary joint 6, the axis of the 4th described rotary joint 4, the axis of the axis of the 5th rotary joint 5 and the 6th rotary joint 6 intersects at space a bit.
As shown in Figure 2, between the 4th described rotary joint 4 and the 5th described rotary joint 5, be to locate corner fittings 16 by focus to interconnect, described focus location corner fittings 16 includes connecting rod 32, be fixed on described connecting rod 32 lower end one sides for connecting the lower connection end 31 of the 4th described rotary joint 4, and be fixed on described connecting rod 32 upper end one sides for connecting the upper connection end 30 of the 5th described rotary joint 5, wherein, described lower connection end 31 and described upper connection end 30 all with the described perpendicular setting of connecting rod 32, and opposite direction.The length of connecting rod 32 can make to descend the axis of connection end 31 and the axis of the 6th rotary joint 6 on same straight line in Fig. 2.The structure of focus location corner fittings 16 and size design make axis, the axis of the 5th rotary joint 5 and the axis of the 6th rotary joint 6 of the 4th rotary joint 4 intersect at space a bit.
As shown in Figure 3, Figure 4, in the time that the first described rotary joint 1, large arm connecting rod 11, the 4th rotary joint 4 and the 6th rotary joint 6 are the folded state being parallel to each other, the ratio of the distance L 2 between the axis of the distance L 1 between the axis of axis to the three rotary joints 3 of the second rotary joint 2 and axis to the five rotary joints 5 of the 3rd rotary joint 3 is 1.4, and L1/L2 equals 1.4.
As shown in Figure 5, the first described rotary joint 1, the second rotary joint 2, the 3rd rotary joint 3, the 4th rotary joint 4, the 5th rotary joint 5 is identical with the 6th rotary joint 6 structures, include: arthrodesis pedestal 27, be arranged in described arthrodesis pedestal 27 and connected photoelectric encoder 26 successively, servomotor 25 and harmonic speed reducer 24, the outer peripheral face of described harmonic speed reducer 24 is fixedly connected with described arthrodesis pedestal 27, the rotation output of described harmonic speed reducer 24 connects joint output sleeve 22 by coaxial positioning flange 23, joint output sleeve 22 is enclosed within described arthrodesis pedestal 27 upper port, the top of described joint output sleeve 22 is provided with joint end cover 21.
As shown in Figure 6, Figure 7, described coaxial positioning flange 23 includes and is integrally formed successively and coaxial: for inserting the axle sleeve concentric shafts 36 of locating hole of described joint output sleeve 22 inner flanges, be used for the axle sleeve adpting flange 35 being fixedly connected with the flange in described joint output sleeve 22, for rotating with described harmonic speed reducer 24 the decelerator adpting flange 34 that the flange of output is fixedly connected with, and rotate the decelerator concentric shafts 33 in the flange locating hole of output for inserting described harmonic speed reducer 24.The diameter of described axle sleeve adpting flange 35 is greater than the diameter of axle sleeve concentric shafts 36, and the diameter of described axle sleeve concentric shafts 36 is greater than the diameter of decelerator adpting flange 34, and the diameter of decelerator adpting flange 34 is greater than again the diameter of decelerator concentric shafts 33.
As shown in Figure 2, the bottom of the first arthrodesis pedestal 29 on the first described rotary joint 1 is fixed on described pedestal 28, the first joint output sleeve 8 on described the first rotary joint 1 connects the second joint fixed pedestal 10 on the second rotary joint 2, second joint output sleeve 9 on described the second rotary joint 2 connects one end of large arm connecting rod 11, the other end of described large arm connecting rod 11 connects the 3rd arthrodesis pedestal 12 on described the 3rd rotary joint 3, the 3rd joint output sleeve 13 on the 3rd rotary joint 3 connects the 4th arthrodesis pedestal 14 on described the 4th rotary joint 4, the 4th joint output sleeve 15 on described the 4th rotary joint 4, there is in the axial direction longer length, it in function, is the 4th joint output sleeve, again robot forearm connecting rod simultaneously, the 5th arthrodesis pedestal 17 that the 4th joint output sleeve 15 connects on the 5th described rotary joint 5 by connecting focus location corner fittings 16, the 5th joint output sleeve 18 on described the 5th rotary joint 5 connects the 6th arthrodesis pedestal 19 on described the 6th rotary joint 6, the 6th joint output sleeve 20 on described the 6th rotary joint 6 connects end single-degree-of-freedom paw 7.
The light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation of the present utility model, one of its effect is to have realized motion arm robot to have good folding property, less overall volume and larger operating space, have that larger operating space/ratio takes up room; Two of effect is that motion arm overall structure of the present utility model is easy, and quality is light, and because drive motors position in the 4th joint moves forward to pedestal, makes motion arm integral power performance better; Three of effect is reasonable arrangements of dimension scale between the topological relation of the each joints axes direction of motion arm robot and locus and the large each axis of forearm, has ensured that motion arm end has optimum flexible operation performance.
The light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation of the present utility model, first, second, the 3rd rotary joint is according to the topological structure relation of above-mentioned position and direction, make motion arm end in working space, can realize the motion that arrives any point under three dimensions, the 4th, the 5th, the combination of the 6th rotary joint motion, make motion arm end in working space, can realize the motion that arrives any one attitude under three dimensions, thereby can make generally motion arm end can realize the motion that arrives any point in working space with any attitude.

Claims (8)

1. one kind has the light-duty motion arm of collapsible six degree of freedom of joints axes orthogonality relation, include pedestal (28), it is characterized in that, on described pedestal (28), be disposed with the first rotary joint (1), the second rotary joint (2), large arm connecting rod (11), the 3rd rotary joint (3), the 4th rotary joint (4), the 5th rotary joint (5) and the 6th rotary joint (6), the output of described the 6th rotary joint (6) connects end single-degree-of-freedom paw (7), wherein, the axis of described the first rotary joint (1) and pedestal (28) concentric, and perpendicular to the axis of the second rotary joint (2), the axis of described the second rotary joint (2) is parallel to the axis of the 3rd rotary joint (3), the axis of the 3rd described rotary joint (3) is perpendicular to the axis of the 4th rotary joint (4), the axis of the 4th described rotary joint (4) is perpendicular to the axis of the 5th rotary joint (5), the axis of the 5th described rotary joint (5) is perpendicular to the axis of the 6th rotary joint (6), the axis of the 4th described rotary joint (4), the axis of the axis of the 5th rotary joint (5) and the 6th rotary joint (6) intersects at space a bit.
2. the light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation according to claim 1, it is characterized in that, between the 4th described rotary joint (4) and the 5th described rotary joint (5), be to locate corner fittings (16) by focus to interconnect, described focus location corner fittings (16) includes connecting rod (32), be fixed on described connecting rod (32) lower end one side for connecting the lower connection end (31) of the 4th described rotary joint (4), and be fixed on described connecting rod (32) upper end one side for connecting the upper connection end (30) of the 5th described rotary joint (5), wherein, described lower connection end (31) and described upper connection end (30) all with the described perpendicular setting of connecting rod (32), and opposite direction, and the axis of the axis of described connection end (31) and the 6th rotary joint (6) is on same straight line.
3. the light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation according to claim 1, it is characterized in that, described the first rotary joint (1), the second rotary joint (2), the 3rd rotary joint (3), the 4th rotary joint (4), the 5th rotary joint (5) is identical with the 6th rotary joint (6) structure, include: arthrodesis pedestal (27), be arranged in described arthrodesis pedestal (27) and connected photoelectric encoder (26) successively, servomotor (25) and harmonic speed reducer (24), the outer peripheral face of described harmonic speed reducer (24) is fixedly connected with described arthrodesis pedestal (27), the rotation output of described harmonic speed reducer (24) connects joint output sleeve (22) by coaxial positioning flange (23), described joint output sleeve (22) is enclosed within the upper port of described arthrodesis pedestal (27), the top of described joint output sleeve (22) is provided with joint end cover (21).
4. the light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation according to claim 3, it is characterized in that, described coaxial positioning flange (23) includes and is integrally formed successively and coaxial: for inserting the axle sleeve concentric shafts (36) of locating hole of described joint output sleeve (22) inner flange, the axle sleeve adpting flange (35) being fixedly connected with for the flange interior with described joint output sleeve (22), be used for the decelerator adpting flange (34) being fixedly connected with the flange of described harmonic speed reducer (24) rotation output, and for inserting the decelerator concentric shafts (33) in the locating hole of flange of described harmonic speed reducer (24) rotation output.
5. the light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation according to claim 4, it is characterized in that, the diameter of described axle sleeve adpting flange (35) is greater than the diameter of axle sleeve concentric shafts (36), the diameter of described axle sleeve concentric shafts (36) is greater than the diameter of decelerator adpting flange (34), and the diameter of decelerator adpting flange (34) is greater than again the diameter of decelerator concentric shafts (33).
6. the light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation according to claim 3, it is characterized in that, the bottom of the first arthrodesis pedestal (29) on described the first rotary joint (1) is fixed on described pedestal (28), the first joint output sleeve (8) on described the first rotary joint (1) connects the second joint fixed pedestal (10) on the second rotary joint (2), second joint output sleeve (9) on described the second rotary joint (2) connects one end of large arm connecting rod (11), the other end of described large arm connecting rod (11) connects the 3rd arthrodesis pedestal (12) on described the 3rd rotary joint (3), the 3rd joint output sleeve (13) on the 3rd rotary joint (3) connects the 4th arthrodesis pedestal (14) on described the 4th rotary joint (4), the 4th joint output sleeve (15) on described the 4th rotary joint (4) connects the 5th arthrodesis pedestal (17) on the 5th described rotary joint (5) by connecting focus location corner fittings (16), the 5th joint output sleeve (18) on described the 5th rotary joint (5) connects the 6th arthrodesis pedestal (19) on described the 6th rotary joint (6), the 6th joint output sleeve (20) on described the 6th rotary joint (6) connects end single-degree-of-freedom paw (7).
7. the light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation according to claim 1, is characterized in that, described end single-degree-of-freedom paw (7) has a folding free degree.
8. the light-duty motion arm of collapsible six degree of freedom with joints axes orthogonality relation according to claim 1, it is characterized in that, in the time that described the first rotary joint (1), large arm connecting rod (11), the 4th rotary joint (4) and the 6th rotary joint (6) are the folded state being parallel to each other, the ratio of the distance L 2 between the axis of axis to the five rotary joints (5) of the distance L 1 between the axis of axis to the three rotary joints (3) of the second rotary joint (2) and the 3rd rotary joint (3) is 1.4.
CN201420069956.2U 2014-02-18 2014-02-18 Foldable light manipulator with joint axes in orthogonal relations and six degrees of freedom CN203752148U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103753528A (en) * 2014-02-18 2014-04-30 中国人民解放军军事医学科学院卫生装备研究所 Foldable six degrees of freedom light type operating arm with joint axis orthogonal relation
CN104669243A (en) * 2014-08-29 2015-06-03 北京精密机电控制设备研究所 Spatial capture mechanical arm of six-degree-of-freedom structure
CN105965485A (en) * 2016-07-15 2016-09-28 北京惠众智通机器人科技股份有限公司 Non-orthogonal six-shaft teaching rod
CN106002931A (en) * 2015-03-31 2016-10-12 精工爱普生株式会社 Robot system
CN108136593A (en) * 2015-08-14 2018-06-08 富兰卡爱米卡股份有限公司 Robots arm and robot wrist
WO2019200773A1 (en) * 2018-04-17 2019-10-24 成都博恩思医学机器人有限公司 Laparoscope-holding robot system for laparoscopic surgery

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103753528A (en) * 2014-02-18 2014-04-30 中国人民解放军军事医学科学院卫生装备研究所 Foldable six degrees of freedom light type operating arm with joint axis orthogonal relation
CN103753528B (en) * 2014-02-18 2016-09-14 中国人民解放军军事医学科学院卫生装备研究所 There is the light-duty motion arm of collapsible six degree of freedom of joints axes orthogonality relation
CN104669243A (en) * 2014-08-29 2015-06-03 北京精密机电控制设备研究所 Spatial capture mechanical arm of six-degree-of-freedom structure
CN106002931A (en) * 2015-03-31 2016-10-12 精工爱普生株式会社 Robot system
CN108136593A (en) * 2015-08-14 2018-06-08 富兰卡爱米卡股份有限公司 Robots arm and robot wrist
CN105965485A (en) * 2016-07-15 2016-09-28 北京惠众智通机器人科技股份有限公司 Non-orthogonal six-shaft teaching rod
CN105965485B (en) * 2016-07-15 2017-12-12 北京惠众智通机器人科技股份有限公司 Nonopiate six axles teaching bar
WO2019200773A1 (en) * 2018-04-17 2019-10-24 成都博恩思医学机器人有限公司 Laparoscope-holding robot system for laparoscopic surgery

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