CN211730961U - Suspension drive device and mobile robot with same - Google Patents

Abstract

The application provides a hang drive arrangement and have device's mobile robot, should hang drive arrangement and include: the device comprises a fixed mounting frame body, a floating mounting plate, a first elastic piece, a rotary driver and a driving wheel, wherein the floating mounting plate is vertically and movably arranged on the fixed mounting frame body; the rotary driver is fixed on the floating mounting plate, the driving wheel is pivoted on the floating mounting plate around a horizontal axis, and the driving wheel is connected to an output shaft of the rotary driver in a transmission manner. The device has the advantages of simple structure, small volume, capability of ensuring good contact between the driving wheel and the ground, avoiding slipping, stable operation and ensuring working precision.

Description

Suspension drive device and mobile robot with same

Technical Field

The application relates to the technical field of logistics mechanical equipment, in particular to a suspension driving device and a mobile robot with the same.

Background

A mobile robot (Automated Guided Vehicle, abbreviated as AGV in english), which is a machine device for automatically executing work, can accept human command, run a pre-programmed program, and perform a compendial action according to a principle established by an artificial intelligence technology, and is widely applied in the logistics service industry.

The mobile robot mainly depends on a driving device to drive a driving wheel to be in contact with the ground and generate adhesive static friction to provide power, and along with the development of the industry, the mobile robot has higher requirements on the running speed, noise and precision of the mobile robot, so that the stability and reliability of the driving device are the key of the whole mobile robot.

In the prior art, the driving device is complex in structure and large in size, and under the condition of poor road flatness, the driving wheel is in poor contact with the ground, so that slipping occurs, and the stability and the working precision of the mobile robot during operation are affected.

Therefore, there is a need for a suspension driving apparatus and a mobile robot having the same to overcome the above-mentioned problems.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a hang drive arrangement, should hang drive arrangement have simple structure, small, can ensure that the drive wheel well contacts with ground, avoid appearing the advantage of skidding.

Another purpose of the embodiment of this application is to provide a mobile robot, this mobile robot has simple structure, small, can ensure that drive wheel and ground contact well, avoid appearing the advantage of skidding.

To achieve the above object, a first aspect of embodiments of the present application provides a suspension drive apparatus including: the floating installation plate is vertically and movably arranged on the fixed installation frame body, the first elastic piece is vertically abutted between the floating installation plate and the fixed installation frame body, and the first elastic piece constantly drives the floating installation plate to vertically move downwards; the rotary driver is fixed on the floating mounting plate, the driving wheel is pivoted on the floating mounting plate around a horizontal axis, and the driving wheel is in transmission connection with an output shaft of the rotary driver.

Optionally, hang drive arrangement and still include first connecting seat, a linear bearing and a guide post, first connecting seat is fixed in on the mounting panel floats, a linear bearing is vertical to be fixed in on the first connecting seat, a guide post is vertical to be fixed in on the fixed mounting support body, a linear bearing sliding sleeve is located a guide post middle part.

Optionally, the suspension driving device further includes a first upper locating sleeve and a first lower locating sleeve, the first upper locating sleeve and the first lower locating sleeve are slidably sleeved on the first guide post, the first upper locating sleeve is located above the first lower locating sleeve and between the upper end of the first guide post, the first lower locating sleeve is located at the top of the first linear bearing, the first elastic member is slidably sleeved on the first guide post, and the first elastic member is in compressed abutting connection with the first upper locating sleeve and between the first lower locating sleeves.

Optionally, the suspension driving device further includes a second elastic element, a second connecting seat, a second linear bearing, a second guide post, a second upper locating sleeve and a second lower locating sleeve, the second connecting seat is fixed on the floating mounting plate, the second linear bearing is vertically fixed on the second connecting seat, the second guide post is vertically fixed on the fixed mounting frame body, and the second linear bearing is slidably sleeved in the middle of the second guide post; the second upper positioning sleeve and the second lower positioning sleeve are sleeved with each other in a sliding mode and are located on the second guide post, the second upper positioning sleeve is located above the second lower positioning sleeve and between the upper end of the second guide post, the second lower positioning sleeve is located at the top of the second linear bearing, the second elastic piece is sleeved with the second guide post in a sliding mode and is in compressed butt joint with the second upper positioning sleeve and between the second lower positioning sleeve.

Optionally, the fixed mounting support body includes vertical panel, by the last horizontal plane board that vertical panel top level extended right and by the lower horizontal plane board that vertical panel bottom level extended right, first guide post reaches the second guide post all is fixed in go up the horizontal plane board with between the lower horizontal plane board, just first guide post with the second guide post distribute in both ends around going up the horizontal plane board.

Optionally, hang drive arrangement still including the regulating plate that floats, adjusting bolt and adjusting nut, the vertical slip of regulating plate that floats is located first guide post with on the second guide post both, first go up the position sleeve and the position sleeve all is located on the second the below of regulating plate that floats, the vertical threaded connection of adjusting bolt in go up on the horizontal plate, adjusting nut threaded connection in on the adjusting bolt, just adjusting nut is located adjusting bolt's nut with between the horizontal plate, adjusting bolt's lower extreme contradict in on the regulating plate that floats.

Optionally, the suspension driving device further includes a speed reducer, a driving wheel, a driven wheel and a driving belt, the rotary driver and the speed reducer are both fixed on the vertical panel, the driving wheel is fixedly connected to an output shaft of the rotary driver, the driven wheel is fixedly connected to an input shaft of the speed reducer, the diameter of the driving wheel is smaller than that of the driven wheel, the driving belt is in transmission connection between the driving wheel and the driven wheel, and the driving wheel is fixedly connected to the output shaft of the speed reducer.

Optionally, hang drive arrangement still including supporting the cover, connecting installation cover, rolling bearing and exempting from the bloated cover of key, it is fixed in to support the cover level the installation board that floats is last, the output shaft of reduction gear is worn to arrange in with the clearance of axial lead in supporting the cover, it locates to connect the fixed cover of installation cover the output shaft of reduction gear, exempt from the bloated cover of key fixed the embedding in the output shaft of reduction gear with connect between the installation cover, rolling bearing locates connect the installation cover with support between the cover, the drive wheel is fixed in connect the installation and sheathe in.

Optionally, the suspension driving device further comprises a dust cover, the dust cover is fixed between the upper horizontal panel and the lower horizontal panel, and the dust cover is further provided with a heat dissipation hole.

A second aspect of embodiments of the present application provides a mobile robot, wherein the mobile robot comprises a suspension drive apparatus according to any one of the preceding claims.

Because the floating installation plate of the suspension driving device is vertically and movably arranged on the fixed installation frame body, the first elastic piece is vertically abutted between the floating installation plate and the fixed installation frame body, and the first elastic piece constantly drives the floating installation plate to vertically move downwards; the rotary driver is fixed on the floating mounting plate, the driving wheel is pivoted on the floating mounting plate around a horizontal axis, and the driving wheel is connected to an output shaft of the rotary driver in a transmission manner. The driving wheel is driven to rotate by the rotary driver to drive the driving wheel to be in contact with the ground and generate adhesion static friction to provide power, the first elastic piece constantly drives the elastic action of the floating mounting plate to vertically move downwards, the holding capacity of the driving wheel in contact with the ground is enhanced, the slipping probability of the driving wheel is reduced, even under the condition of poor pavement evenness, the driving wheel can also be in good contact with the ground, slipping is avoided, and therefore the influence on the stability and the working precision of the mobile robot during operation is avoided. Because the mobile robot of this application has the foretell drive arrangement that hangs of this application, the mobile robot of this application also has simple structure, small, can ensure that drive wheel and ground well contact, avoid appearing skidding, the operation is stable and guarantee work precision's advantage.

Drawings

Fig. 1 is an assembled perspective view of one embodiment of a suspension drive apparatus according to the embodiments of the present application.

Fig. 2 is a schematic view of fig. 1 at another angle.

Fig. 3 is an exploded view of fig. 1.

Fig. 4 is an exploded view of fig. 2.

FIG. 5 is a right side view of an embodiment of the suspension drive of the present application with the dust cap removed.

Fig. 6 is a sectional view taken along line a-a of fig. 5.

Detailed Description

The present application will be further described with reference to the accompanying drawings and preferred embodiments, but the embodiments of the present application are not limited thereto.

Referring to fig. 1 to 6, a suspension driving apparatus 100 of the present application includes: the fixed mounting frame body 11, the floating mounting plate 12, the first elastic component 13, the rotary driver 14 and the driving wheel 15, the floating mounting plate 12 is vertically movably disposed on the fixed mounting frame body 11, in detail, in this embodiment, the floating mounting plate 12 is selected to be vertically movably disposed on the fixed mounting frame body 11, but not limited thereto. The first elastic element 13 may be selected as a spring, but not limited thereto, the first elastic element 13 vertically abuts between the floating installation plate 12 and the fixed installation frame 11, and the floating installation plate 12 is constantly driven by the first elastic element 13 to vertically move downwards; the rotary driver 14 is fixed on the floating mounting plate 12, the driving wheel 15 is pivoted on the floating mounting plate 12 around a horizontal axis, and the driving wheel 15 is connected with an output shaft of the rotary driver 14 in a transmission way. The driving wheel 15 is driven to rotate by the rotary driver 14 to drive the driving wheel 15 to contact with the ground and generate adhesion static friction to provide power, and due to the elastic action of the first elastic piece 13 constantly driving the floating mounting plate 12 to vertically move downwards, the holding capacity of the driving wheel 15 in contact with the ground is enhanced, the probability of skidding of the driving wheel 15 is reduced, even under the condition of poor road surface flatness, the driving wheel 15 can also be kept in good contact with the ground, the skidding is avoided, and the influence on the stability and the working precision of the mobile robot during operation is avoided. Specifically, the following:

referring to fig. 3 to 5, the suspension driving device 100 of the present application further includes a first connecting seat 16, a first linear bearing 17 and a first guiding post 18, the first connecting seat 16 is fixed on the floating mounting plate 12, the first linear bearing 17 is vertically fixed on the first connecting seat 16, the first guiding post 18 is vertically fixed on the fixed mounting frame body 11, the first linear bearing 17 is slidably sleeved on the middle portion of the first guiding post 18, so as to achieve the effect that the floating mounting plate 12 vertically moves and is disposed on the fixed mounting frame body 11, and the first guiding post 18 is slidably sleeved on the first linear bearing 17 to ensure that the vertical movement of the floating mounting plate 12 is more stable and smooth.

Referring to fig. 4 and 5, the suspension driving device 100 of the present application further includes a first upper positioning sleeve 19 and a first lower positioning sleeve 21, the first upper positioning sleeve 19 and the first lower positioning sleeve 21 are both slidably sleeved on the first guide post 18, the first upper positioning sleeve 19 is located between the upper side of the first lower positioning sleeve 21 and the upper end of the first guide post 18, the first lower positioning sleeve 21 is located at the top of the first linear bearing 17, the first elastic member 13 is slidably sleeved on the first guide post 18, and the first elastic member 13 is in compressed contact with the space between the first upper positioning sleeve 19 and the first lower positioning sleeve 21. Make the structure that sets up of first elastic component 13 more reasonable stable, can ensure stable permanent order about the vertical downstream of mounting panel 12 that floats.

Referring to fig. 3 to 5, the suspension driving device 100 of the present application further includes a second elastic member 22, a second connecting seat 23, a second linear bearing 24, a second guiding post 25, a second upper positioning sleeve 26 and a second lower positioning sleeve 27, the second connecting seat 23 is fixed on the floating mounting plate 12, the second linear bearing 24 is vertically fixed on the second connecting seat 23, the second guiding post 25 is vertically fixed on the fixed mounting frame body 11, and the second linear bearing 24 is slidably sleeved in the middle of the second guiding post 25; the second upper positioning sleeve 26 and the second lower positioning sleeve 27 are slidably sleeved on the second guide post 25, the second upper positioning sleeve 26 is located between the upper portion of the second lower positioning sleeve 27 and the upper end of the second guide post 25, the second lower positioning sleeve 27 is located at the top of the second linear bearing 24, the second elastic member 22 is slidably sleeved on the second guide post 25, and the second elastic member 22 is in compressed abutting connection between the second upper positioning sleeve 26 and the second lower positioning sleeve 27. Then through increasing second elastic component 22, second connecting seat 23, second linear bearing 24, second guide post 25, position sleeve 26 and second lower position sleeve 27 on the second, form two sets of elastic suspension components, not only make the structure that floating mounting panel 12 vertical migration located on fixed mounting support body 11 more stable, but also strengthened the holding power of drive wheel 15 with ground contact, reduce the probability that drive wheel 15 skidded, further ensure stability at the quick travel in-process, the removal precision, and the noise has been reduced.

Referring to fig. 3 and 4, the fixed mounting frame 11 includes a vertical panel 111, an upper horizontal panel 112 extending horizontally rightward from the top of the vertical panel 111, and a lower horizontal panel 113 extending horizontally rightward from the bottom of the vertical panel 111, the first guiding column 18 and the second guiding column 25 are both fixed between the upper horizontal panel 112 and the lower horizontal panel 113, and the first guiding column 18 and the second guiding column 25 are distributed at the front and rear ends of the upper horizontal panel 112, so that the layout is more stable and firm.

Referring to fig. 3 to 6, the suspension driving device 100 of the present application further includes a floating adjustment plate 28, an adjustment bolt 29 and an adjustment nut 31, the floating adjustment plate 28 is vertically slidably disposed on both the first guide post 18 and the second guide post 25, the first upper positioning sleeve 19 and the second upper positioning sleeve 26 are both located below the floating adjustment plate 28, the adjustment bolt 29 is vertically threaded on the upper horizontal panel 112, the adjustment nut 31 is threaded on the adjustment bolt 29, the adjustment nut 31 is located between the nut of the adjustment bolt 29 and the horizontal panel, and the lower end of the adjustment bolt 29 abuts against the floating adjustment plate 28. After the position of the adjusting bolt 29 is determined by rotating the adjusting bolt 29, the adjusting bolt 29 is locked by the adjusting nut 31, the lower end of the adjusting bolt 29 abuts against the floating adjusting plate 28, the floating adjusting plate 28 pushes the first upper positioning sleeve 19 and the second upper positioning sleeve 26 to pre-press the corresponding first elastic piece 13 and second elastic piece 22, and therefore pre-pressing force of the first elastic piece 13 and second elastic piece 22 on the floating mounting plate 12 can be adjusted.

Referring to fig. 4 and 5, the suspension driving device 100 of the present application further includes a speed reducer 33, a driving wheel 34, a driven wheel 35 and a transmission belt 36, the rotation driver 14 and the speed reducer 33 are both fixed on the vertical panel 111, the driving wheel 34 is fixedly connected to an output shaft of the rotation driver 14, the driven wheel 35 is fixedly connected to an input shaft of the speed reducer 33, the diameter of the driving wheel 34 is smaller than that of the driven wheel 35, the transmission belt 36 is connected between the driving wheel 34 and the driven wheel 35, and the driving wheel 15 is fixedly connected to the output shaft of the speed reducer 33. The driving wheel 34 is driven by the rotary driver 14 to rotate, the driven wheel 35 is driven by the transmission belt 36 to rotate, the input shaft of the speed reducer 33 is driven by the driven wheel 35 to rotate, and the driving wheel 15 is driven by the output shaft of the speed reducer 33 to rotate. A driving wheel 34, a driven wheel 35 and a transmission belt 36 are arranged between the rotary driver 14 and the speed reducer 33 and are connected for transmission, and the addition of the driving wheel 34, the driven wheel 35 and the transmission belt 36 between the rotary driver 14 and the speed reducer 33 is equivalent to the addition of a group of speed reduction ratios in the middle, so that the speed of an input shaft of the speed reducer 33 can be reduced, and the noise generated when the speed reducer 33 works is further reduced.

Referring to fig. 6, the suspension driving device 100 of the present application further includes a supporting sleeve 37, a connecting and mounting sleeve 38, a rotating bearing 39 and a key-free expansion sleeve 41, the supporting sleeve 37 is horizontally fixed on the floating mounting plate 12, the output shaft of the speed reducer 33 is inserted into the supporting sleeve 37 in a gap with the same axis, the connecting and mounting sleeve 38 is fixedly sleeved on the output shaft of the speed reducer 33, the key-free expansion sleeve 41 is fixedly embedded between the output shaft of the speed reducer 33 and the connecting and mounting sleeve 38, the rotating bearing 39 is arranged between the connecting and mounting sleeve 38 and the supporting sleeve 37, and the driving wheel 15 is fixed on the connecting and mounting sleeve 38. The driving wheel 15 is connected with the output shaft of the speed reducer 33 by the key-free expansion sleeve 41, the key-free expansion sleeve 41 eliminates the connection clearance between the driving wheel 15 and the output end of the speed reducer 33, the mechanical error is reduced, and the noise generated during the working can be further reduced.

Referring to fig. 3 and 4, the rotary driver 14 and the speed reducer 33 are both located on the right side of the vertical panel 111, the driving wheel 15 is located on the left side of the vertical panel 111, and the vertical panel 111 is provided with an avoiding hole 1111 for the output shaft of the speed reducer 33 to move up and down, so that the structural layout is more reasonable.

Referring to fig. 2 to 4, the suspension driving device 100 of the present application further includes a dust cover 32, the dust cover 32 is fixed between the upper horizontal plate 112 and the lower horizontal plate 113, and the dust cover 32 is further provided with a heat dissipation hole 321. Not only can play the effect of dustproof protection to inside spare part, can also ensure good ventilation radiating effect, avoid job stabilization too high.

The operation of the suspension drive unit 100 of the present application will be described in detail with reference to the accompanying drawings:

the driving wheel 15 is driven to rotate by the rotary driver 14 to drive the driving wheel 15 to contact with the ground and generate adhesive static friction for providing power.

Because the elastic action that first elastic component 13 and second elastic component 22 constantly order about the vertical downward removal of mounting panel 12 that floats has strengthened the holding power of drive wheel 15 with ground contact, reduces the probability that drive wheel 15 skids, even under the bad condition of road flatness, drive wheel 15 also can keep good contact with ground, avoids appearing skidding to stability and the work precision when avoiding giving mobile robot operation bring the influence.

After the position of the adjusting bolt 29 is determined by rotating the adjusting bolt 29, the adjusting bolt 29 is locked by the adjusting nut 31, the lower end of the adjusting bolt 29 abuts against the floating adjusting plate 28, and the floating adjusting plate 28 pushes the first upper positioning sleeve 19 and the second upper positioning sleeve 26 to pre-press the corresponding first elastic member 13 and the second elastic member 22, so that the pre-pressing force of the first elastic member 13 and the second elastic member 22 on the floating mounting plate 12 can be adjusted.

Alternatively, in the present embodiment, the suspension driving apparatus 100 of the present application may be optionally disposed in a mobile robot (not shown) to provide driving traction for the mobile robot, but is not limited thereto.

Because the floating installation plate 12 of the suspension driving device 100 is vertically and movably arranged on the fixed installation frame body 11, the first elastic piece 13 is vertically abutted between the floating installation plate 12 and the fixed installation frame body 11, and the first elastic piece 13 constantly drives the floating installation plate 12 to vertically move downwards; the rotary driver 14 is fixed on the floating mounting plate 12, the driving wheel 15 is pivoted on the floating mounting plate 12 around a horizontal axis, and the driving wheel 15 is connected with an output shaft of the rotary driver 14 in a transmission way. The driving wheel 15 is driven to rotate by the rotary driver 14 to drive the driving wheel 15 to contact with the ground and generate adhesion static friction to provide power, and due to the elastic action of the first elastic piece 13 constantly driving the floating mounting plate 12 to vertically move downwards, the holding capacity of the driving wheel 15 in contact with the ground is enhanced, the probability of skidding of the driving wheel 15 is reduced, even under the condition of poor road surface flatness, the driving wheel 15 can also be kept in good contact with the ground, the skidding is avoided, and the influence on the stability and the working precision of the mobile robot during operation is avoided. Because the mobile robot of this application has the foretell drive arrangement 100 that hangs of this application, the mobile robot of this application also has simple structure, small, can ensure that drive wheel 15 and ground well contact, avoid appearing skidding, the operation is stable and guarantee work accuracy's advantage.

The present application has been described in connection with the embodiments, but the present application is not limited to the embodiments disclosed above, and various modifications and equivalent combinations that are made according to the essence of the present application should be covered.

Claims (10)

1. A suspension drive apparatus, comprising: the floating installation plate is vertically and movably arranged on the fixed installation frame body, the first elastic piece is vertically abutted between the floating installation plate and the fixed installation frame body, and the first elastic piece constantly drives the floating installation plate to vertically move downwards; the rotary driver is fixed on the floating mounting plate, the driving wheel is pivoted on the floating mounting plate around a horizontal axis, and the driving wheel is in transmission connection with an output shaft of the rotary driver.

2. The suspension drive device according to claim 1, further comprising a first connecting seat, a first linear bearing and a first guide post, wherein the first connecting seat is fixed on the floating mounting plate, the first linear bearing is vertically fixed on the first connecting seat, the first guide post is vertically fixed on the fixed mounting frame body, and the first linear bearing is slidably sleeved in the middle of the first guide post.

3. The suspension drive device according to claim 2, further comprising a first upper positioning sleeve and a first lower positioning sleeve, wherein the first upper positioning sleeve and the first lower positioning sleeve are slidably sleeved on the first guide post, the first upper positioning sleeve is located above the first lower positioning sleeve and between the upper end of the first guide post, the first lower positioning sleeve is located at the top of the first linear bearing, the first elastic member is slidably sleeved on the first guide post, and the first elastic member is in compressed contact with the first upper positioning sleeve and the first lower positioning sleeve.

4. The suspension drive device according to claim 3, further comprising a second elastic member, a second connecting seat, a second linear bearing, a second guide post, a second upper positioning sleeve and a second lower positioning sleeve, wherein the second connecting seat is fixed on the floating mounting plate, the second linear bearing is vertically fixed on the second connecting seat, the second guide post is vertically fixed on the fixed mounting frame body, and the second linear bearing is slidably sleeved in the middle of the second guide post; the second upper positioning sleeve and the second lower positioning sleeve are sleeved with each other in a sliding mode and are located on the second guide post, the second upper positioning sleeve is located above the second lower positioning sleeve and between the upper end of the second guide post, the second lower positioning sleeve is located at the top of the second linear bearing, the second elastic piece is sleeved with the second guide post in a sliding mode and is in compressed butt joint with the second upper positioning sleeve and between the second lower positioning sleeve.

5. The suspension drive device according to claim 4, wherein the fixed mounting frame comprises a vertical panel, an upper horizontal panel extending horizontally rightward from the top of the vertical panel, and a lower horizontal panel extending horizontally rightward from the bottom of the vertical panel, the first guide pillar and the second guide pillar are fixed between the upper horizontal panel and the lower horizontal panel, and the first guide pillar and the second guide pillar are distributed at the front end and the rear end of the upper horizontal panel.

6. The suspension drive apparatus according to claim 5, further comprising a floating adjustment plate, an adjustment bolt and an adjustment nut, wherein the floating adjustment plate is vertically slidably disposed on both the first guide post and the second guide post, the first upper positioning sleeve and the second upper positioning sleeve are both disposed under the floating adjustment plate, the adjustment bolt is vertically screwed on the upper horizontal plate, the adjustment nut is screwed on the adjustment bolt, the adjustment nut is disposed between the nut of the adjustment bolt and the horizontal plate, and the lower end of the adjustment bolt abuts against the floating adjustment plate.

7. A suspension drive as claimed in claim 5, further comprising a speed reducer, a driving wheel, a driven wheel and a drive belt, wherein the rotary drive and the speed reducer are both fixed to the vertical panel, the driving wheel is fixedly connected to an output shaft of the rotary drive, the driven wheel is fixedly connected to an input shaft of the speed reducer, the diameter of the driving wheel is smaller than that of the driven wheel, the drive belt is drivingly connected between the driving wheel and the driven wheel, and the drive wheel is fixedly connected to the output shaft of the speed reducer.

8. The suspension drive device according to claim 7, further comprising a support sleeve, a connection mounting sleeve, a rotary bearing and a key-free expansion sleeve, wherein the support sleeve is horizontally fixed on the floating mounting plate, the output shaft of the speed reducer is inserted into the support sleeve in a coaxial gap, the connection mounting sleeve is fixedly sleeved on the output shaft of the speed reducer, the key-free expansion sleeve is fixedly embedded between the output shaft of the speed reducer and the connection mounting sleeve, the rotary bearing is arranged between the connection mounting sleeve and the support sleeve, and the driving wheel is fixed on the connection mounting sleeve.

9. The suspension drive device according to claim 5, further comprising a dust cover fixed between said upper horizontal plate and said lower horizontal plate, said dust cover further having heat dissipation holes.

10. A mobile robot, characterized in that it comprises a suspension drive according to any of claims 1 to 9.

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