CN210791015U - Double-cabin robot - Google Patents

Abstract

The application relates to a double-cabin robot, and belongs to the technical field of robot manufacturing. The application provides a two cabin robots, including the cabin body, baffle, first camera and second camera, the lateral wall of the cabin body is provided with the opening, and the baffle is installed in the cabin body and is separated into cabin and lower cabin with the inside space of the cabin body, goes up to be equipped with in the cabin and is used for real time monitoring to go up the inside first camera in cabin, is equipped with in the lower cabin to be used for real time monitoring to go up the inside second camera in cabin down. Through first camera and second camera, can real time monitoring go up cabin and lower cabin to the security of two cabin robots has been improved.

Description

Double-cabin robot

Technical Field

The application relates to the technical field of robot manufacturing, in particular to a double-cabin robot.

Background

In recent years, with rapid development of technology regarding intelligent service robots, people use intelligent service robots to realize vending of small goods, automatic delivery of dishes, hotel room service, and the like. Usually, the intelligent service robot detects whether articles are loaded in the cabin through the weight sensor, and as for the taking and placing processes of the articles in the cabin and the condition of the articles in the cabin, a user cannot further know, so that the safety performance of the current intelligent service robot is improved.

SUMMERY OF THE UTILITY MODEL

For this reason, this application proposes a two cabin robots, and it can two cabin's inside about real time monitoring to the security in two cabin robots has been improved.

The two cabin robots of this application one side embodiment, including the cabin body, baffle, first camera and second camera, the lateral wall of the cabin body is provided with the opening, and the baffle is installed in the cabin body and is become cabin and lower cabin with the inside space of the cabin body, goes up to be equipped with in the cabin to be used for real time monitoring to go up the inside first camera in cabin, is equipped with in the lower cabin to be used for real time monitoring to go up the inside second camera in cabin down.

Through first camera and second camera, can real time monitoring go up cabin and lower cabin to the security of two cabin robots has been improved.

In addition, the double-cabin robot according to the embodiment of the application has the following additional technical characteristics:

according to some embodiments of the present application, the first camera is mounted to a top wall of the cabin and the second camera is mounted to a side wall of the cabin. The arrangement mode can not only store the electric wires and the signal wires of the two cameras between the cabin body and the outer shell body, improve the attractiveness of the interior of the upper cabin and the interior of the lower cabin, but also simplify the structure of the partition board.

According to some embodiments of the present application, the first camera is centrally arranged in a top wall of the upper compartment. This arrangement allows for an optimal viewing angle of the interior of the upper cabin to be monitored, which is sufficient to monitor the interior of the upper cabin.

According to some embodiments of the application, the second camera is arranged directly opposite the opening and centered in the height direction of the lower cabin. The arrangement mode is the best visual angle of the lower cabin, the interior of the lower cabin can be fully monitored, and the goods taking and placing process in the lower cabin can be clearly monitored.

According to some embodiments of the application, the two-compartment robot further comprises a first lighting device comprising an annular lamp mounted to a top wall of the compartment body, the first camera being arranged in a center of the annular lamp. The annular lamp not only can illuminate the upper cabin, but also can fill in light to the first camera, and the monitoring effect of the first camera is improved.

According to some embodiments of the application, the two-compartment robot further comprises a second lighting device comprising a bar light extending circumferentially along the side wall of the compartment, the second camera being arranged centrally below the bar light. The strip lamp not only can illuminate the lower cabin, but also can carry out the light filling to the second camera, improves the monitoring effect of second camera.

According to some embodiments of the present application, the dual compartment robot further comprises a first compartment door, a second compartment door, and a door track, the door track being mounted to the compartment body, the first compartment door corresponding to the upper compartment, the second compartment door corresponding to the lower compartment, the door track being disposed between the first compartment door and the second compartment door to guide the first compartment door and the second compartment door to rotate along their predetermined paths, respectively. The cabin door track can guide the rotating paths of the first cabin door and the second cabin door, and the stability of the opening and closing processes of the first cabin door and the second cabin door is improved.

According to some embodiments of the present application, the door track includes a first guide rail that cooperates with a lower end of the first door to guide the first door for rotation along the side wall of the cabin and a second guide rail that cooperates with an upper end of the second door to guide the second door for rotation along the side wall of the cabin. The first guide rail is matched with the first cabin door, and the second guide rail is matched with the second cabin door, so that the first cabin door and the second cabin door can respectively play a role in guiding.

According to some embodiments of the present application, the two-compartment robot further comprises a first control device and a second control device, the first compartment door having a first closed door position and the second compartment door having a second closed door position; the first control device is used for detecting that the first door leaves a first closed door position and controlling the first lighting device to be on, and detecting that the first door reaches the first closed door position and controlling the first lighting device to be off; the second control device is used for detecting that the second door leaves the second closed door position and controlling the second lighting device to be on, and detecting that the second door reaches the second closed door position and controlling the second lighting device to be off. The first control device can control the on and off of the first lighting device, the second control device can control the on and off of the second lighting device, electricity can be saved, and the lighting devices can be turned off and on in time.

According to some embodiments of the application, the enclosure comprises a first enclosure and a second enclosure, the first enclosure and the second enclosure being detachably connected, the partition enclosing an upper compartment with the first enclosure and a lower compartment with the second enclosure. This arrangement is advantageous not only for manufacturing but also for placing the partition panels inside the cabin.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic layout position diagram of a first camera and a second camera of a two-cabin robot provided in an embodiment of an aspect of the present application;

FIG. 2 is a schematic structural diagram of a two-compartment robot provided in an embodiment according to an aspect of the present application;

FIG. 3 is an exploded view of a two-compartment robot as provided in an embodiment of an aspect of the present application;

FIG. 4 is an enlarged view of a portion of FIG. 3 at A;

FIG. 5 is an enlarged view of a portion of FIG. 3 at B;

FIG. 6 is a schematic structural diagram of a partition driving apparatus in a two-compartment robot according to an embodiment of an aspect of the present application;

FIG. 7 is a diagram illustrating a layout position of a door track in a two-compartment robot according to an embodiment of an aspect of the present application;

FIG. 8 is an exploded view of a door track in a two-compartment robot as provided in an embodiment of an aspect of the present application;

FIG. 9 is a schematic structural diagram of a first detection module in a two-compartment robot according to an embodiment of an aspect of the present application;

fig. 10 is a logic diagram of a first controller in a two-compartment robot according to an embodiment of an aspect of the present application.

Icon: 100-a two-compartment robot; 10-a cabin body; 11-a side wall; 111-opening; 1111-a first opening; 1112-a second opening; 12-a top wall; 13-a first cabin; 131-an upper compartment; 132-a first door; 1321-top disk; 134-first hole; 135-a groove; 136-a first mounting portion; 14-a second cabin; 141-lower compartment; 142-a second door; 144-a second aperture; 145-a projection; 146-a second mounting portion; 147-a first side wall; 20-a separator; 21-a diaphragm drive; 211-main screw motor mechanism; 2111-electric motor; 2112-nut; 212-slave screw mechanism; 2123-a second pallet; 30-a first camera; 40-a second camera; 50-a first lighting device; 51-a ring-shaped lamp; 60-a second lighting device; 61-bar light; 70-a hatch track; 71-a first guide rail; 711-a first wear part; 72-a second guide rail; 721-a second wear part; 73-body; 80-a first control device; 81-a first detection module; 811-a stop block; 812-a first travel switch; 813-second travel switch; 82-first controller.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when using, and are only used for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Referring to fig. 1, a two-cabin robot 100 according to an embodiment of the present application includes a cabin 10, a partition 20, a first camera 30, and a second camera 40. The chamber 10 includes a side wall 11 and a top wall 12, the side wall 11 is provided with an opening 111, and a partition 20 is installed to the chamber 10 and partitions an inner space of the chamber 10 into an upper chamber 131 and a lower chamber 141. The upper chamber 131 is provided with a first camera 30, and the first camera 30 is used for monitoring the inside of the upper chamber 131 in real time. The lower chamber 141 is provided therein with a second camera 40, and the second camera 40 is used for monitoring the inside of the lower chamber 141 in real time.

As can be easily understood, the upper and lower cabins 131 and 141 can be monitored in real time by the first and second cameras 30 and 40, so that the safety of the two-cabin robot 100 is improved.

The structure and mutual positional relationship of the components of the two-compartment robot 100 of an aspect of the present application are described below.

Referring to fig. 2, the cabin 10 is used for installing the partition board 20, the first camera 30 and the second camera 40.

The partition 20 is installed inside the cabin 10 and partitions the inside of the cabin 10 into an upper compartment 131 and a lower compartment 141. Accordingly, the partition 20 also divides the opening 111 into a first opening 1111 corresponding to the upper compartment 131 and a second opening 1112 corresponding to the lower compartment 141.

Referring to fig. 3, the cabin 10 includes a first cabin 13 and a second cabin 14, and the first cabin 13 and the second cabin 14 are detachably connected.

Referring to fig. 4 and 5, as an exemplary form, the lower edge of the first cabin 13 is provided with a groove 135, and the outer side is provided with a first mounting portion 136; the upper edge of the second body 14 is provided with a projection 145 and a second mounting portion 146 is provided externally. The groove 135 and the projection 145 cooperate with each other, and the first mounting portion 136 and the second mounting portion 146 cooperate with each other. It will be readily appreciated that the first body 13 can be inserted over the protrusion 145 of the second body 14 by means of the groove 135 and the protrusion 145, and then the first mounting portion 136 and the second mounting portion 146 can be fastened together by means of screws. Thereby enabling the first hull 13 to be detachably connected to the second hull 14.

In some embodiments of the present application, the first mounting portion 136 includes a plurality of first mounting holes (not shown) circumferentially spaced along a lower edge of the first cabin 13, the second mounting portion 146 includes a plurality of second mounting holes, the first mounting holes and the second mounting holes correspond to each other one by one, and each set of the first mounting holes and the second mounting holes is used for a screw to pass through, so that the first cabin 13 and the second cabin 14 are connected by the screw.

It will be readily appreciated that the arrangement of the enclosure 10 such that the first enclosure 13 is removably connected to the second enclosure 14 not only facilitates manufacture, but also facilitates the arrangement of the partition 20 within the enclosure 10.

In other embodiments, the nacelle 10 may also be a unitary component.

Referring to fig. 2, the partition 20 is disposed inside the cabin 10, and the partition 20 not only divides the cabin 10 into an upper compartment 131 and a lower compartment 141, but also serves as a carrier for loading a target object in the upper compartment 131. The partition board 20 and the first chamber 13 enclose an upper chamber 131, and the partition board 20 and the second chamber 14 enclose a lower chamber 141. Similarly, the opening 111 is partitioned by the partition plate 20 into a first opening 1111 and a second opening 1112, the first opening 1111 corresponds to the upper chamber 131, and the second opening 1112 corresponds to the lower chamber 141.

Referring to fig. 2, the top wall of the first chamber 13 is the top wall 12 of the chamber 10, the top wall 12 is provided with a first hole 134, and the first hole 134 is used for installing the first camera 30.

A first camera 30 is mounted to the top wall 12 for real-time monitoring of the upper chamber 131.

Referring to fig. 1 and 2, in some embodiments of the present application, the first camera 30 is centrally disposed on top of the upper chamber 131 to substantially monitor the upper chamber 131.

Optionally, the two-compartment robot 100 further comprises a first lighting device 50, the first lighting device 50 comprising an annular light 51, the annular light 51 being mounted to the top wall 12, the first camera 30 being arranged in the center of the annular light 51.

The ring lamp 51 plays a role of supplying light to the upper chamber 131, and plays a role of light supplement to the first camera 30, thereby ensuring a camera effect of the first camera 30. In addition, when the user looks into the upper compartment 131 from the first opening 1111, the user can clearly see the articles carried in the partition 20, thereby improving the user's comfort.

In other embodiments, the first illumination device 50 may be arranged in other forms of arrays centered on the first camera 30, such as a multi-point circular array, etc.

Referring to fig. 2, the side wall of the second chamber 14, which is the lower portion of the side wall 11 of the chamber 10, is defined as a first side wall 147, the first side wall 147 is provided with a second hole 144, and the second hole 144 is used for installing the second camera 40.

The second camera 40 is mounted to the first sidewall 147 for real-time monitoring of the lower compartment 141.

In some embodiments of the present application, the second camera 40 is disposed directly opposite the second opening 1112 and is disposed centrally in the height direction of the lower compartment 141, i.e., centrally in the height direction of the first side wall 147. With this arrangement, the interior of the lower compartment 141 can be adequately monitored, as well as the process of accessing items through the second opening 1112.

Optionally, the two-compartment robot 100 further comprises a second lighting device 60, the second lighting device 60 comprising a bar-shaped light 61, the bar-shaped light 61 extending circumferentially along the first side wall 147, the second camera 40 being arranged centrally below the bar-shaped light 61.

It is easily understood that the upper chamber 131 and the lower chamber 141 of the two-chamber robot 100 are both functional chambers for carrying articles, and the partition 20 is disposed inside the chamber body 10. By disposing the second camera 40 and the second lighting device 60 on the first sidewall 147, the signal lines and the electric wires of the second camera 40 and the second lighting device 60 can be accommodated between the second cabin 14 and the outer casing (not shown), the aesthetic appearance of the lower cabin 141 can be improved, and the structure of the partition 20 can be simplified.

Referring to fig. 6, further, the two-compartment robot 100 further includes a partition driving device 21, wherein the partition driving device 21 is mounted on the second compartment 14 and can drive the partition 20 to move up and down along the compartment 10, so as to change the relative sizes of the upper compartment 131 and the lower compartment 141.

As an exemplary form, the partition driving device 21 includes a master screw motor mechanism 211 and a slave screw mechanism 212, the master screw motor mechanism 211 and the slave screw mechanism 212 are respectively disposed at two sides of the cabin 10, and the master screw motor mechanism 211 drives the slave screw mechanism 212 to synchronously operate. The main lead screw motor mechanism 211 comprises a motor 2111 and a nut 2112, the nut 2112 is in threaded fit with an output shaft of the motor 2111, and the motor 2111 is mounted outside the side wall 11 of the cabin 10. When the motor 2111 rotates, the nut 2112 can be driven to move up and down along the cabin 10. The nut 2112 is provided with a first support plate (not shown) penetrating the side wall 11 of the cabin 10 and located inside the cabin 10, and a second support plate 2123 is also symmetrically provided from the screw mechanism 212. The diaphragm 20 is disposed above the first and second blades 2123, and when the motor 2111 drives the first and second blades 2123 to move up and down synchronously, the up and down movement of the diaphragm 20 between the upper and lower limit positions is achieved.

It will be readily appreciated that the second camera 40 and the second illumination device 60 are both disposed below the lower limit of the first side wall 147. When the partition boards 20 can move up and down along the cabin 10, no positional interference occurs, and the construction of the entire two-cabin robot 100 is simplified.

The dual compartment robot 100 further comprises a first door 132, a second door 142, and a door rail 70, the door rail 70 being disposed between the first door 132 and the second door 142 to guide the first door 132 and the second door 142 to rotate along predetermined paths thereof, respectively. The first door 132 corresponds to the upper chamber 131, and the first door 132 is rotatably connected to the first chamber 13 along the sidewall 11. Similarly, the second door 142 corresponds to the lower compartment 141, and the second door 142 is pivotally connected to the second body 14 along a first side 147.

Optionally, the two-compartment robot 100 further includes a first door driving mechanism and a second door driving mechanism (not shown in the figures), the first door driving mechanism being configured to drive the first door 132 to rotate to expose or close the first opening 1111. The second door drive mechanism is configured to drive the second door 142 to rotate to expose or close the second opening 1112. As an example, the first door driving mechanism or the second door driving mechanism may be an electrically driven gear assembly, and the specific structure of the first door driving mechanism and the second door driving mechanism will not be further described herein.

Referring to fig. 7, the door rail 70 is mounted to the second cabin 14, the first door 132 can be opened or closed along the door rail 70 relative to the first cabin 13, and the second door 142 can be moved along the door rail 70 to be opened or closed relative to the second cabin 14.

Referring to fig. 7, the door rail 70 includes a first rail 71 and a second rail 72, the first rail 71 is coupled to the lower end of the first door 132 to guide the first door 132 to rotate along the sidewall 11 of the cabin 10, and the second rail 72 is coupled to the upper end of the second door 142 to guide the second door 142 to rotate along the sidewall 11 of the cabin 10.

Referring to fig. 8, as an embodiment, the door rail 70 includes a body 73, the body 73 is detachably connected to the second cabin 14, the first rail 71 is detachably connected to an upper end of the body 73, the first rail 71 includes a first wear-resistant member 711, and the first wear-resistant member 711 is installed in a groove of the first rail 71. The second rail 72 is mounted to the lower end of the body 73, the second rail 72 includes a second wear part 721, and the second wear part 721 is mounted in a groove of the second rail 72. The inner, lower edge of the first door 132 is provided with a plurality of first guide members (not shown) slidably engaged with the first rail 71, and the plurality of first guide members are inserted into the grooves of the first rail 71 to perform a guiding function. A plurality of second guide assemblies slidably engaged with the second guide rail 72 are disposed at the inner side and upper edge of the second door 142, and the plurality of second guide assemblies are inserted into the grooves of the second guide rail 72 to perform a guiding function.

Referring to fig. 9 and 10, the dual chamber robot 100 further includes a first control device 80, the first control device 80 includes a first detection module 81 and a first controller 82 (see fig. 10), and the first chamber door 132 has a first closed door position.

In some embodiments of the present application, the first detection module 81 includes a limit block 811, a first travel switch 812, and a second travel switch 813. The limit block 811 is mounted on the top plate 1321 of the first door 132, the first travel switch 812 and the second travel switch 813 are arranged on the outer side of the top wall 12 of the cabin 10, and when the limit block 811 abuts against the first travel switch 812 and triggers the first travel switch 812, the first door 132 is in the first closed door position; when the limit block 811 abuts against the second travel switch 813 and triggers the second travel switch 813, the first door 132 is in the first open position. As will be appreciated, when the stop block 811 is disengaged from the first travel switch 812, the first door 132 leaves the first closed door position, i.e., begins to open.

When the limiting block 811 is separated from the first travel switch 812, the first travel switch 812 sends a first lighting signal to the first controller 82, and the first controller 82 controls the first lighting device 50 to be on;

when the limiting block 811 abuts against the first travel switch 812, the first travel switch 812 sends a first light-off signal to the first controller 82, and the first controller 82 controls the first lighting device 50 to be turned off.

Similarly, the second door 142 has a second closed door position, and the two-compartment robot 100 includes a second control device including a second detection module and a second controller. When the second detection module detects that the second door 142 leaves the second closed door position, a second light-up signal is sent to the second controller, and the second controller controls the second lighting device 60 to light up; when the second detection module detects that the second door 142 reaches the second closed door position, a second light-off signal is sent to the second controller, and the second controller controls the second lighting device 60 to be turned off. The on and off of the second illumination device 60 has the same operation principle as the on and off of the first illumination device 50, and will not be further described herein.

The dual compartment robot 100 of an embodiment of an aspect of the present application has an upper compartment 131 and a lower compartment 141. In the upper chamber 131, a first camera 30 is provided at a central position of the top wall 12, and an annular lamp 51 is surrounded on an outer side of the first camera 30. In the lower chamber 141, a second camera 40 is disposed at a central position of the first side wall 147 opposite to the second opening 1112, and a bar-shaped lamp 61 is disposed at an upper side of the second camera 40. The arrangement of the first and second cameras 30 and 40 enables real-time monitoring of the interior of the upper and lower cabins 131 and 141, thereby increasing the safety of the two-cabin robot 100. The opening and closing of the first hatch 132 corresponds to the turning on and off of the first lighting device 50, and the opening and closing of the second hatch 142 corresponds to the turning on and off of the second lighting device 60, so that the power saving performance and the user comfort of the two-compartment robot 100 can be further improved.

It should be noted that the features of the embodiments in the present application may be combined with each other without conflict.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. The utility model provides a two cabin robots, its characterized in that includes the cabin body, baffle, first camera and second camera, the lateral wall of the cabin body is provided with the opening, the baffle install in the cabin body and with the inside space of the cabin body separates into cabin and lower cabin, upward be equipped with in the cabin and be used for real time monitoring go up the inside first camera in cabin, be equipped with in the cabin down and be used for real time monitoring the inside second camera in cabin down.

2. The dual chamber robot of claim 1, wherein the first camera is mounted to a top wall of the chamber and the second camera is mounted to a side wall of the chamber.

3. The dual pod robot of claim 2, wherein the first camera is centrally disposed on a top wall of the upper pod.

4. The twin cabin robot of claim 2, wherein the second camera is disposed directly opposite the opening and centered in the height direction of the lower cabin.

5. The dual chamber robot as claimed in claim 3, further comprising a first lighting device comprising an annular light mounted to a top wall of the chamber body, the first camera being disposed at a center of the annular light.

6. The dual compartment robot of claim 5 further comprising a second lighting device comprising a bar light extending circumferentially along a side wall of the compartment, the second camera being centrally disposed below the bar light.

7. The dual compartment robot of claim 6 further comprising a first compartment door, a second compartment door, and a door track, the door track mounted to the compartment body, the first compartment door corresponding to the upper compartment, the second compartment door corresponding to the lower compartment, the door track disposed between the first compartment door and the second compartment door to guide the first compartment door and the second compartment door to rotate along their respective predetermined paths.

8. The dual compartment robot of claim 7 wherein the door track includes a first guide rail and a second guide rail, the first guide rail cooperating with a lower end of the first door to guide the first door for rotation along the side wall of the body, the second guide rail cooperating with an upper end of the second door to guide the second door for rotation along the side wall of the body.

9. The dual pod robot of claim 8, further comprising a first control and a second control, the first pod door having a first closed door position and the second pod door having a second closed door position;

the first control device is used for detecting that the first door leaves a first closed door position and controlling the first lighting device to be on, and detecting that the first door reaches the first closed door position and controlling the first lighting device to be off;

the second control device is used for detecting that the second door leaves a second closed door position and controlling the second lighting device to be on, and detecting that the second door reaches the second closed door position and controlling the second lighting device to be off.

10. The dual compartment robot of claim 1 wherein the compartments include a first compartment and a second compartment, the first compartment and the second compartment being removably connected, the partition enclosing the upper compartment with the first compartment and the partition enclosing the lower compartment with the second compartment.

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