CN205870568U - Dexterous cell -phone of imitative people's five fingers of light constructs - Google Patents

Dexterous cell -phone of imitative people's five fingers of light constructs Download PDF

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Publication number
CN205870568U
CN205870568U CN201620659747.2U CN201620659747U CN205870568U CN 205870568 U CN205870568 U CN 205870568U CN 201620659747 U CN201620659747 U CN 201620659747U CN 205870568 U CN205870568 U CN 205870568U
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China
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thumb
finger
forefinger
joint
middle finger
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CN201620659747.2U
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Chinese (zh)
Inventor
韩建达
赵新刚
伍齐佳
张道辉
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Abstract

The utility model relates to a novel service and bionic robot technical field, specific dexterous cell -phone of imitative people's five fingers of light constructs that says so. Including palm, thumb mount pad, thumb, forefinger, middle finger, the third finger and little finger, its middle finger passes through the thumb mount pad to be installed on the palm, forefinger, middle finger, the third finger and little finger are installed on the palm in proper order, the thumb contains two joints, has two degrees of freedom, forefinger, middle finger, the third finger and little finger all contain three joint, all have the three degree of freedom, each joint of thumb, forefinger, middle finger, the third finger and little finger is respectively through a wire rope drive of being connected with braking member. The utility model discloses light, dexterity, the degree of freedom is many, the compliance good, high transmission efficiency, and the mechanism is simple, low in manufacturing cost, is applicable to artificial limb production, research institute control method research etc..

Description

Lightweight apery five-needle pines blister rust mechanism
Technical field
This utility model relates to new services and bio-robot technical field, a kind of lightweight apery the five fingers Dextrous Hand mechanism.
Background technology
Traditional humanoid dextrous hand uses motor to drive mostly, and the power density ratio of conventional motors is along with motor volume Reducing and reduce rapidly, driving error increases, frictional force increases, and this makes conventional motors in needs high power density ratio and entirety The humanoid dextrous hand of response performance is restricted in application.Meanwhile, motor is used to drive the multiple degrees of freedom fortune realizing Dextrous Hand Dynamic then many motor linkages must be used, so that the weight of Dextrous Hand is greatly increased, reduce safety, also make drive mechanism Complicate, it is impossible to reaching lightweight, dexterous performance requirement, on the other hand, the complexity of structure and device result also in driving motor The manufacturing cost and use cost driving Dextrous Hand increases substantially.Dextrous Hand the most on sale is substantially and is driven by motor , motor-driven Dextrous Hand has bigger defect in weight, volume, flexibility ratio and compliance.
Utility model content
For the problems referred to above, the purpose of this utility model is to provide a kind of lightweight apery five-needle pines blister rust mechanism.This machine Structure lightweight, dexterity, degree of freedom are many, compliance good, transmission efficiency is high, and mechanism is simple, low cost of manufacture, it is adaptable to artificial limb production, Scientific research institution's control method research etc..
The purpose of this utility model is achieved through the following technical solutions:
A kind of lightweight apery five-needle pines blister rust mechanism, including palm, thumb mounting seat, thumb, forefinger, middle finger, the third finger And little finger, its middle finger is arranged on palm by thumb mounting seat, and described forefinger, middle finger, the third finger and little finger are successively Being arranged on palm, described thumb comprises two joints, has two degree of freedom, described forefinger, middle finger, the third finger and little finger All comprising three joints, be respectively provided with three degree of freedom, each joint of described thumb, forefinger, middle finger, the third finger and little finger is respectively By a Steel rope drive being connected with braking member.
Described thumb includes thumb wrist phalanges, thumb proximal phalange, thumb distal phalange and is arranged on thumb wrist phalanges, thumb Thumb shell on proximal phalange, thumb distal phalange, one end of its middle finger wrist phalanges is connected with thumb mounting seat, and the other end passes through Joint is connected with one end of thumb proximal phalange, and the other end of described thumb proximal phalange is connected with thumb distal phalange by joint.
Described forefinger, middle finger, the third finger and little finger structure are identical, all include metacarpal-phalangeal, proximal phalange, refer to a bone, far refer to Bone and be arranged on metacarpal-phalangeal, proximal phalange, refer on a bone and distal phalange finger joint shell, described metacarpal-phalangeal, proximal phalange, refer to a bone and Distal phalange is sequentially connected with by joint.
Described finger joint shell includes that left outside shell and right casing, described left outside shell and right casing removably connect.
It is mounted on angular transducer on each joint of described thumb, forefinger, middle finger, the third finger and little finger.
Described joint includes joint shaft and the axle sleeve being arranged on this joint shaft and bearing, and the inner ring of described bearing passes through axle Set compresses, and described angular transducer is arranged on joint shaft.
At the finger tip of described thumb, forefinger, middle finger, the third finger and little finger, pressure transducer is installed.
Described pressure transducer is bonded on the finger tip of each finger by silica gel pad.
Each joint of described thumb, forefinger, middle finger, the third finger and little finger is equipped with answering in order to embolia Position spring.
Lightweight according to claim 1 apery five-needle pines blister rust mechanism, it is characterised in that: described braking member is rudder Machine, pneumatic muscle or shape-memory alloy wire drive.
Advantage of the present utility model with good effect is:
1. this utility model simple in construction, light weight, all of finger structure is similar to, and all of articulation structure is the same, all Use wire rope gearing.If use gear transmission mode, owing to gear drive is higher to the centre-to-centre spacing installation requirement of gear train, So needing complex core-regulating mechanism, if using V belt translation mode, typically also needing to belt stretcher, this is increased by The complexity of structure.
2. this utility model transmission efficiency height, low cost of manufacture, joint motions use wire rope gearing, not only low cost, And it is energy-conservation.Whole drive mechanism, without slowing-down structure, greatly reduces manufacturing cost.
3. this utility model compliance is good, passes compared to motor-driven gear drive, turbine and worm transmission, ball-screw Dynamic other positive drive mechanisms that wait, this utility model employing pneumatic muscle or shape-memory alloy wire drive, wire rope gearing, There is during use certain compliance, use safety and reliability.
Accompanying drawing explanation
Fig. 1 is one of structural representation of the present utility model;
Fig. 2 is the two of structural representation of the present utility model;
Fig. 3 is that this utility model removes the structural representation referring to joint shell;
Fig. 4 is the structural representation of forefinger in this utility model.
Wherein, 1 is palm, and 2 is thumb mounting seat, and 3 is thumb wrist phalanges, and 4 is joint shaft, and 5 is axle sleeve, and 6 pass for angle Sensor, 7 is thumb proximal phalange, and 8 is thumb distal phalange, and 9 is forefinger metacarpal-phalangeal, and 10 is forefinger proximal phalange, and 11 refer to a bone for forefinger, 12 is forefinger distal phalange, and 13 is middle finger metacarpal-phalangeal, and 14 is middle finger proximal phalange, and 15 refer to a bone for middle finger, and 16 is middle finger distal phalange, 17 For nameless metacarpal-phalangeal, 18 is nameless proximal phalange, and 19 refer to a bone for the third finger, and 20 is nameless distal phalange, and 21 is little finger Metacarpal-phalangeal, 22 is little finger proximal phalange, and 23 refer to a bone for little finger, and 24 is little finger distal phalange, 25 refer to save for thumb wrist left outside Shell, 26 refer to save right casing for thumb wrist, and 27 closely refer to save left outside shell for thumb, and 28 closely refer to save right casing for thumb, and 29 is that thumb is remote Refer to save left outside shell, 30 for thumb far refer to save right casing, 31 for forefinger the palm refer to save left outside shell, 32 for forefinger slap refer to joint right casing, 33 Closely refer to save left outside shell for forefinger, 34 closely refer to save right casing for forefinger, and 35 refer to the left outside shell of segmentum intercalaris for forefinger, for forefinger, 36 refer to that segmentum intercalaris is right Shell, 37 far refer to save left outside shell for forefinger, and 38 far refer to save right casing for forefinger, and 39 refer to save left outside shell for middle fingers and palms, and 40 is middle finger The palm refers to save right casing, and 41 closely refer to save left outside shell for middle finger, and 42 closely refer to save right casing for middle finger, and 43 refer to the left outside shell of segmentum intercalaris for middle finger, 44 refer to segmentum intercalaris right casing for middle finger, and 45 far refer to save left outside shell for middle finger, and 46 far refer to save right casing for middle finger, and 47 refer to for unknown fingers and palms Saving left outside shell, 48 refer to save right casing for unknown fingers and palms, and 49 is the nameless left outside shell of joint that closely refers to, 50 is nameless closely finger outside the joint right side Shell, 51 refer to the left outside shell of segmentum intercalaris for the third finger, and 52 refer to segmentum intercalaris right casing for the third finger, and 53 is that nameless far finger saves left outside shell, and 54 are The nameless joint right casing that far refers to, 55 refer to save left outside shell for the little finger palm, and 56 refer to save right casing for the little finger palm, and 57 is that little finger is near Referring to save left outside shell, 58 closely refer to save right casing for little finger, and 59 refer to the left outside shell of segmentum intercalaris for little finger, and 60 refer to outside the segmentum intercalaris right side for little finger Shell, 61 far refer to save left outside shell for little finger, and 62 far refer to save right casing for little finger, and 63 is silica gel pad, and 64 is pressure transducer, 65 is bearing, and 66 is steel wire rope, and 67 is pin, and 68 is spring, and 100 is thumb, and 101 is forefinger, and 102 is middle finger, and 103 is unknown Referring to, 104 is little finger.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with the accompanying drawings and be embodied as This utility model is described in detail by example.
As shown in Figure 1 and Figure 2, this utility model provides a kind of lightweight apery five-needle pines blister rust mechanism, including palm 1, thumb Referring to mounting seat 2, thumb 100, forefinger 101, middle finger 102, nameless 103 and little finger 104, its middle finger 100 is pacified by thumb Dress seat 2 is arranged on palm 1, and described forefinger 101, middle finger 102, nameless 103 and little finger 104 are directly installed on palm successively On 1.Described thumb 100 comprises two joints, has two degree of freedom, described forefinger 101, middle finger 102, nameless 103 and little Thumb 104 all comprises three joints, is respectively provided with three degree of freedom, described thumb 100, forefinger 101, middle finger 102, the third finger 103 And each joint of little finger 104 is driven by a steel wire rope being connected with braking member 66 respectively.
As it is shown on figure 3, described thumb 100 includes thumb wrist phalanges 3, thumb proximal phalange 7, thumb distal phalange 8 and is arranged on Thumb shell on thumb wrist phalanges 3, thumb proximal phalange 7, thumb distal phalange 8, one end of its middle finger wrist phalanges 3 is pacified with thumb Dress seat 2 connects, and the other end is connected with one end of thumb proximal phalange 7 by joint, and the other end of described thumb proximal phalange 7 is by closing Joint is connected with thumb distal phalange 8.
Described thumb shell includes that thumb wrist refers to that saving shell, thumb closely refers to that joint shell and thumb far refer to save shell, described thumb Refer to that wrist refers to that saving shell, thumb closely refers to that joint shell and thumb far refer to that joint shell mechanism is identical, all includes left outside shell and right casing, described Left outside shell and right casing removably connect.And left outside shell and right casing are arranged on each phalanges by flat head screw.
It is in particular: described thumb wrist refers to that saving shell includes that thumb wrist refers to save left outside shell 25 and thumb wrist refers to save right casing 26;Described thumb closely refers to that saving shell includes that thumb closely refers to save left outside shell 27 and thumb closely refers to save right casing 28;Described thumb far refers to Joint shell includes that thumb far refers to save left outside shell 29 and thumb far refers to save right casing 30.
Described forefinger 101, middle finger 102, nameless 103 and little finger 104 structure are identical, all include metacarpal-phalangeal, proximal phalange, Bone, distal phalange and be arranged on metacarpal-phalangeal, proximal phalange, the finger joint shell that refers on a bone and distal phalange between finger, described metacarpal-phalangeal, closely refer to Bone, refer to that a bone and distal phalange are sequentially connected with by joint.
It is in particular: forefinger metacarpal-phalangeal 9 that described forefinger 101 includes being sequentially connected with by joint, forefinger proximal phalange 10, food Refer to a bone 11 and forefinger distal phalange 12;Middle finger metacarpal-phalangeal 13, middle finger that described middle finger 102 includes being sequentially connected with by joint are near Phalanges 14, middle finger refer to a bone 15 and middle finger distal phalange 16;Described nameless 103 include the third finger being sequentially connected with by joint Metacarpal-phalangeal 17, nameless proximal phalange 18, the third finger refer to a bone 19 and nameless distal phalange 20;Described little finger 104 includes passing through Little finger metacarpal-phalangeal 21 that joint is sequentially connected with, little finger proximal phalange 22, little finger refer to a bone 23 and little finger distal phalange 24.
Be arranged on metacarpal-phalangeal, proximal phalange, refer on a bone and distal phalange finger joint shell mechanism identical, all include the palm refer to joint outside Shell, closely referring to joint shell, refer to segmentum intercalaris shell and far refer to joint shell, the described palm refers to save shell, closely refers to save shell, refers to segmentum intercalaris shell and far Refer to that joint shell all includes that left outside shell and right casing, described left outside shell and right casing removably connect and left outside shell and right casing It is arranged on each phalanges by flat head screw.
Be in particular: the finger of described forefinger 101 joint shell include by flat head screw be separately mounted to forefinger metacarpal-phalangeal 9, Forefinger proximal phalange 10, forefinger refer to that the forefinger palm on a bone 11 and forefinger distal phalange 12 refers to that saving shell, forefinger closely refers to save shell, forefinger Referring to that segmentum intercalaris shell and forefinger far refer to save shell, the described forefinger palm refers to that saving shell includes that the forefinger palm refers to save left outside shell 31 and the forefinger palm refers to Joint right casing 32;Described forefinger closely refers to that saving shell includes that forefinger closely refers to save left outside shell 33 and forefinger closely refers to save right casing 34;Described Forefinger refers to that segmentum intercalaris shell includes that forefinger refers to that the left outside shell of segmentum intercalaris 35 and forefinger refer to segmentum intercalaris right casing 36;Described forefinger far refers to save shell bag Include forefinger and far refer to save left outside shell 37 and forefinger far refers to save right casing 38.
The finger joint shell mechanism phase referring to joint shell and forefinger 101 on described middle finger 102, nameless 103 and little finger 104 With, do not repeat them here.
As shown in Figure 3, Figure 4, described joint includes joint shaft 4 and the axle sleeve 5 being arranged on this joint shaft 4 and bearing 65, The inner ring of described bearing 65 is compressed by axle sleeve 5.Described thumb 100, forefinger 101, middle finger 102, nameless 103 and little finger Being mounted on angular transducer 6 on each joint of 104, described angular transducer 6 is arranged on joint shaft 4.
It is mounted on pressure at the finger tip of described thumb 100, forefinger 101, middle finger 102, nameless 103 and little finger 104 Sensor 64.Each pressure transducer 64 is bonded on the finger tip of each finger respectively by the silica gel pad 63 of band viscose glue.
Each joint of described thumb 100, forefinger 101, middle finger 102, nameless 103 and little finger 104 is equipped with one Back-moving spring 68 in order to embolia.Described braking member is steering wheel, pneumatic muscle or SMA.
Fig. 4 is the structural representation of forefinger in this utility model.As shown in Figure 4, described forefinger 101 has phalanges, refers to outside joint Shell and each standard component composition, finger tip comprises pressure transducer 64, and pressure transducer 64 is glued by the silica gel pad 63 of band viscose glue It is connected on RIF far to refer to save on shell 38.In the present embodiment, described pressure transducer 64 is commercial products, and its model is FSR400, manufacturer is Interlink electronics, inc..
14 articulation structures of this utility model Dextrous Hand are the same, and this sentences explanation as a example by the metacarpophalangeal joints of forefinger 101 The composition in joint.
The metacarpophalangeal joints of described forefinger 101 includes bearing 65, joint shaft 4, axle sleeve 5, forefinger metacarpal-phalangeal 9, forefinger proximal phalange 10 and joint angles sensor 6, wherein joint shaft 4 and axle sleeve 5 compress bearing 65 inner ring, joint shaft 4 and axle sleeve 5 respectively with forefinger Metacarpal-phalangeal 9 slight interference coordinates, and described angular transducer 6 is arranged on the end of joint shaft 4, and its inner ring is fixed on joint shaft 4, outward Circle is fixed on forefinger and closely refers to save on right casing 34, and outer ring rotates relative to inner ring along with the rotation in joint, thus measures joint and turns Dynamic angle.In the present embodiment, described angular transducer 6 is commercial products, and its model is R24HS, and manufacturer is Shenzhen Minot Electronics Co., Ltd..
The steel wire rope 66 of metacarpophalangeal joints is fixed on the pin hole of forefinger proximal phalange 10 by pin 67, reverse back-moving spring 68 are fixed on the pin hole of forefinger proximal phalange 10 also by pin 67.14 joints of described Dextrous Hand are passed by steel wire rope Dynamic, steel cord ends can activate element by lightweights such as steering wheel, pneumatic muscle, shape-memory alloy wires (SMA) and drive.
Operation principle of the present utility model is:
Described thumb 100 has two and bends and stretches joint, i.e. two each and every one degree of freedom, described forefinger 101, middle finger 102, the third finger 103 and little finger 104 be respectively provided with three and bend and stretch joint, i.e. three degree of freedom.Therefore, described Dextrous Hand totally ten four joints, i.e. 14 degree of freedom.14 joints are fitted with angular transducer 6, can feed back the angle that each joint is turned over;Respectively It is fitted with pressure transducer 64 at finger fingertip, the normal pressure of each finger fingertip can be fed back.Described lightweight apery five Refer to that the size of Dextrous Hand is suitable with staff, quality only 270g.This utility model in use, needs a driving box group, such as gas Dynamic tendon driving box, shape-memory alloy wire driving box etc., 14 shackle lines 66 of Dextrous Hand are connected on driving box. During work, the actuating element of driving box pulls steel wire rope 66, steel wire rope 66 to drive metacarpophalangeal joints to rotate by proximal phalange, and the palm refers to The angle of articulation is obtained by angular transducer 6, and 14 drive independently, carrying out finger tip grasping operation is, The pressure of finger tip can be obtained by fingertip pressure sensor 64.
This utility model simple in construction, low cost, light weight, transmission efficiency be high and good reliability, has modularity, integrated The features such as change, high power/weight ratio and compliance are good.
The foregoing is only embodiment of the present utility model, be not intended to limit protection domain of the present utility model.All Any modification, equivalent substitution and improvement made within spirit of the present utility model and principle, extension etc., be all contained in this reality With in novel protection domain.

Claims (10)

1. a lightweight apery five-needle pines blister rust mechanism, it is characterised in that: include palm (1), thumb mounting seat (2), thumb (100), forefinger (101), middle finger (102), nameless (103) and little finger (104), its middle finger (100) is installed by thumb Seat (2) is arranged on palm (1), and described forefinger (101), middle finger (102), nameless (103) and little finger (104) are installed successively On palm (1), described thumb (100) comprises two joints, has two degree of freedom, described forefinger (101), middle finger (102), Nameless (103) and little finger (104) all comprise three joints, are respectively provided with three degree of freedom, described thumb (100), forefinger (101), each joint of middle finger (102), nameless (103) and little finger (104) is connected with braking member by one respectively Steel wire rope (66) drives.
Lightweight the most according to claim 1 apery five-needle pines blister rust mechanism, it is characterised in that: described thumb (100) includes Thumb wrist phalanges (3), thumb proximal phalange (7), thumb distal phalange (8) and be arranged on thumb wrist phalanges (3), thumb proximal phalange (7), Thumb shell on thumb distal phalange (8), one end of its middle finger wrist phalanges (3) is connected with thumb mounting seat (2), and the other end leads to Crossing joint to be connected with one end of thumb proximal phalange (7), the other end of described thumb proximal phalange (7) is by joint and thumb distal phalange (8) connect.
Lightweight the most according to claim 1 apery five-needle pines blister rust mechanism, it is characterised in that: described forefinger (101), middle finger (102), nameless (103) and little finger (104) structure identical, all include metacarpal-phalangeal, proximal phalange, refer to a bone, distal phalange and peace It is contained in metacarpal-phalangeal, proximal phalange, the finger joint shell that refers on a bone and distal phalange, described metacarpal-phalangeal, proximal phalange, refers to a bone and distal phalange It is sequentially connected with by joint.
Lightweight the most according to claim 3 apery five-needle pines blister rust mechanism, it is characterised in that: described refer to that joint shell includes a left side Shell and right casing, described left outside shell and right casing removably connect.
Lightweight the most according to claim 1 apery five-needle pines blister rust mechanism, it is characterised in that: described thumb (100), forefinger (101), it is mounted on angular transducer (6) on each joint of middle finger (102), nameless (103) and little finger (104).
Lightweight the most according to claim 5 apery five-needle pines blister rust mechanism, it is characterised in that: described joint includes joint shaft (4) and the axle sleeve (5) that is arranged on this joint shaft (4) and bearing (65), the inner ring of described bearing (65) is pressed by axle sleeve (5) Tightly, described angular transducer (6) is arranged on joint shaft (4).
Lightweight the most according to claim 1 apery five-needle pines blister rust mechanism, it is characterised in that: described thumb (100), forefinger (101), at the finger tip of middle finger (102), nameless (103) and little finger (104), pressure transducer (64) is installed.
Lightweight the most according to claim 7 apery five-needle pines blister rust mechanism, it is characterised in that: described pressure transducer (64) It is bonded on the finger tip of each finger by silica gel pad (63).
Lightweight the most according to claim 1 apery five-needle pines blister rust mechanism, it is characterised in that: described thumb (100), forefinger (101), each joint of middle finger (102), nameless (103) and little finger (104) is equipped with answering in order to embolia Position spring (68).
Lightweight the most according to claim 1 apery five-needle pines blister rust mechanism, it is characterised in that: described braking member is rudder Machine, pneumatic muscle or shape-memory alloy wire drive.
CN201620659747.2U 2016-06-28 2016-06-28 Dexterous cell -phone of imitative people's five fingers of light constructs Active CN205870568U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107127781A (en) * 2017-05-22 2017-09-05 四川理工学院 A kind of soft drive manipulator
CN107139192A (en) * 2017-06-16 2017-09-08 北京理工大学 A kind of tactile and slip sense Sensor Network for five-needle pines blister rust self-adapting grasping
CN108000541A (en) * 2017-12-07 2018-05-08 北京康力优蓝机器人科技有限公司 A kind of palm structure of robot
CN108161958A (en) * 2017-12-29 2018-06-15 嘉兴学院 A kind of imitation human finger system based on pneumatic muscles
CN108453766A (en) * 2018-03-08 2018-08-28 南京航空航天大学 A kind of bionical dexterity of multi-joint is done evil through another person finger

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107127781A (en) * 2017-05-22 2017-09-05 四川理工学院 A kind of soft drive manipulator
CN107139192A (en) * 2017-06-16 2017-09-08 北京理工大学 A kind of tactile and slip sense Sensor Network for five-needle pines blister rust self-adapting grasping
CN108000541A (en) * 2017-12-07 2018-05-08 北京康力优蓝机器人科技有限公司 A kind of palm structure of robot
CN108161958A (en) * 2017-12-29 2018-06-15 嘉兴学院 A kind of imitation human finger system based on pneumatic muscles
CN108453766A (en) * 2018-03-08 2018-08-28 南京航空航天大学 A kind of bionical dexterity of multi-joint is done evil through another person finger
CN108453766B (en) * 2018-03-08 2021-02-09 南京航空航天大学 Multi-joint bionic dexterous artificial finger

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