CN214347990U - 3D vision work piece sorting device - Google Patents

Abstract

The application discloses a 3D vision workpiece sorting device, which comprises a frame and a stepping rotary feeding mechanism, wherein at least five stations are distributed on the stepping rotary feeding mechanism at equal angles, a plurality of workpiece fixing devices are arranged on each station, on the frame, along step-by-step rotatory feeding mechanism's circumference distribute in proper order and with five station one-to-one among them be provided with feed mechanism, work piece positioning mechanism, 3D scanning detection mechanism, qualified discharge mechanism and unqualified discharge mechanism, step-by-step rotatory feeding mechanism is constantly rotatory step by step, it passes through feed mechanism in proper order to drive each station, work piece positioning mechanism, 3D scanning detection mechanism, qualified discharge mechanism and unqualified discharge mechanism, accomplish the material loading in proper order, the location, detect and the letter sorting work, a plurality of stations simultaneous working, the detection efficiency is greatly improved, automated inspection, the detection precision has been greatly improved.

Description

3D vision work piece sorting device

Technical Field

The utility model belongs to the technical field of work piece sorting device technique and specifically relates to a 3D vision work piece sorting device is related to.

Background

The workpiece refers to a processing object in a machining process, the workpiece can be a single part or a combination of a plurality of fixed parts, the processing modes of the workpiece are various and comprise turning, milling, planing, grinding, casting, forging and the like, the processing procedure of the workpiece also changes along with the change of the processing mode, errors are generated in the processing process, whether the processed product meets the size precision required by design or not needs to be detected in the later period, the detection modes are various, the 3D visual projection positioning technology belongs to a new industry in recent years, the market is still in the primary stage of popularization and application, currently, single person single machine operation is mainly used, the working efficiency is low, and detection errors can be caused by manual operation.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent. Therefore, the embodiment of the utility model provides a 3D vision work piece sorting device has realized the automatic operation that the work piece detected to improve detection efficiency and detection precision.

The 3D vision workpiece sorting device according to the embodiment of the utility model comprises a frame; the stepping rotary feeding mechanism is arranged on the rack, at least five stations are distributed on the stepping rotary feeding mechanism at equal angles, the sum of the angles among the stations is 360 degrees, and each station is provided with a plurality of workpiece fixing devices; the feeding mechanism, the workpiece positioning mechanism, the 3D scanning detection mechanism, the qualified piece discharging mechanism and the unqualified piece discharging mechanism are arranged on the rack, sequentially distributed along the circumferential direction of the stepping rotary feeding mechanism and in one-to-one correspondence with five stations.

According to the 3D vision workpiece sorting device provided by the embodiment of the utility model, the workpiece is transferred to the station corresponding to the feeding mechanism on the stepping rotary feeding mechanism through the feeding mechanism, then the stepping rotary feeding mechanism rotates to the next position, the workpiece reaches the workpiece positioning mechanism after rotation, the workpiece positioning mechanism adjusts the workpiece to the detection position, then the stepping rotary feeding mechanism rotates to the next position, the workpiece reaches the 3D scanning detection mechanism after rotation, the 3D scanning detection mechanism detects the size of the workpiece, and sends the detection result of the product to the qualified piece discharging mechanism and the unqualified piece discharging mechanism, then the stepping rotary feeding mechanism rotates to the next position, the workpiece reaches the qualified piece discharging mechanism after rotation, the qualified piece discharging mechanism leads out the workpiece on the corresponding workpiece fixing device according to the received result information, then the stepping rotary feeding mechanism rotates to the next position, the workpiece reaches the unqualified workpiece discharging mechanism after rotation, the unqualified workpiece discharging mechanism guides out the workpiece on the corresponding station fixing device according to the received result information, the sorting work of a batch of workpieces is completed at the moment, the stepping rotary feeding mechanism continues to rotate to the initial position, the feeding, positioning, detecting and sorting work is carried out again, in actual use, a plurality of stations work simultaneously, and the feeding, positioning and detecting are carried out simultaneously. Sorting work has improved detection efficiency greatly, and automated inspection has improved the detection precision greatly.

Preferably, the stepping rotary feeding mechanism comprises a rotary disc rotationally connected with the frame and a stepping motor for driving the rotary disc to rotate.

Preferably, the rotating disc is circular or regular polygonal.

Preferably, a plurality of workpiece fixing devices on each station are distributed on the top surface of the rotating disc in an arc shape or a straight line shape.

Preferably, the feeding mechanism comprises a horizontal moving assembly, a first vertical moving assembly and a clamping assembly, the horizontal moving assembly moves along the radial direction of the rotating disc, and the clamping assembly moves along the radial direction of the rotating disc and moves along the up-and-down direction under the driving of the horizontal moving assembly and the first vertical moving assembly.

Preferably, the workpiece positioning mechanism comprises a knocking component and a supporting and positioning component which are connected with the rack, the knocking component is located above the rotating disk, the supporting and positioning component is located below the rotating disk, and the number of the knocking component and the number of the supporting and positioning component are the same as that of the workpiece fixing devices on the stations and are in one-to-one correspondence with each other.

Preferably, the knocking assembly comprises a second vertical moving assembly and a knocking piece arranged at the bottom of the second vertical moving assembly.

Preferably, the supporting and positioning assembly comprises a third vertical moving assembly and a positioning rod arranged at the top of the third vertical moving assembly, the bottom of the workpiece fixing device is through, an insertion hole is formed in the position of the rotating disc corresponding to the workpiece fixing device, and the positioning rod can be inserted into the workpiece fixing device through the insertion hole.

Preferably, the 3D scanning detection mechanism comprises a fourth vertical moving assembly and a 3D scanning assembly disposed at the bottom of the fourth vertical moving assembly.

Preferably, the qualified piece discharging mechanism and the unqualified piece discharging mechanism both comprise a discharging port and a workpiece ejection mechanism, the discharging port is located on one side of the rotating disk, the workpiece ejection mechanism is located at the bottom of the rotating disk, the workpiece ejection mechanism comprises a fifth vertical moving assembly and vertical ejector rods, the number of the vertical ejector rods is the same as that of the workpiece fixing devices on one station, the vertical ejector rods correspond to the workpiece fixing devices one by one, and the top ends of the vertical ejector rods can penetrate through the rotating disk and be inserted into the workpiece fixing devices.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a structural diagram of a 3D vision workpiece sorting device provided with a workpiece screening and sorting device according to an embodiment of the present invention;

fig. 2 is a structural diagram of a 3D vision workpiece sorting device according to an embodiment of the present invention;

fig. 3 is a first view internal structure diagram of the 3D visual workpiece sorting apparatus according to the embodiment of the present invention;

fig. 4 is a second view internal structure diagram of the 3D visual workpiece sorting apparatus according to the embodiment of the present invention;

fig. 5 is a first view structural diagram of the five mechanisms and the step rotary feeding mechanism according to the embodiment of the present invention;

fig. 6 is a second view structural diagram of the five mechanisms and the step rotary feeding mechanism according to the embodiment of the present invention;

fig. 7 is a third view structural diagram of the five mechanisms and the step rotary feeding mechanism according to the embodiment of the present invention;

fig. 8 is a fourth view structural diagram of the five mechanisms and the step rotary feeding mechanism according to the embodiment of the present invention;

fig. 9 is a fifth view structural diagram of the five mechanisms and the step rotary feeding mechanism according to the embodiment of the present invention.

In the figure: 1. a frame; 2. a step-by-step rotary feeding mechanism; 201. rotating the disc; 202. a stepping motor; 203. a workpiece fixture; 3. a feeding mechanism; 301. a horizontal movement assembly; 302. a first vertical movement assembly; 303. a clamping assembly; 4. a workpiece positioning mechanism; 401. a knocking component; 401a, a second vertical movement assembly; 401b, a plexor; 402. a bearing positioning component; 402a, a third vertical moving assembly; 402b, a positioning rod; 5. a 3D scanning detection mechanism; 501. a fourth vertical moving assembly; 502. a 3D scanning component; 6. a qualified piece discharging mechanism; 601. a discharge port; 602. a workpiece ejection mechanism; 602a, a fifth vertical movement assembly; 602b, a vertical mandril; 7. unqualified piece discharge mechanism.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Hereinafter, embodiments will be described with reference to the drawings. The embodiments described below do not limit the scope of the invention described in the claims. Further, the entire contents of the configurations shown in the following embodiments are not limited to those necessary as a solution of the invention described in the claims.

Referring to fig. 1-9, the utility model provides a 3D vision work piece sorting device, including frame 1, step-by-step rotatory feeding mechanism 2, feed mechanism 3, work piece positioning mechanism 4, 3D scanning detection mechanism 5, qualified piece discharge mechanism 6 and unqualified piece discharge mechanism 7.

Wherein, the step rotary feeding mechanism 2 is arranged on the frame 1, and comprises a rotary disk 201 and a step motor 202, the bottom center of the rotary disk 201 is rotatably connected with the frame 1 through a rotary shaft and a bearing, the axis of the rotary shaft is arranged perpendicular to the ground, the step motor 202 can be arranged at the bottom of the rotary disk 201, the step motor 202 can drive the rotary shaft to rotate through a transmission mechanism such as a gear, a belt wheel or a chain wheel, so as to drive the rotary disk 201 to rotate, preferably, the gear transmission is adopted, the precision is higher, at least five stations are arranged on the rotary disk 201, the feeding mechanism 3, the workpiece positioning mechanism 4, the 3D scanning detection mechanism 5, the qualified piece discharging mechanism 6 and the unqualified piece discharging mechanism 7 are arranged, each mechanism occupies one station, so at least five stations are needed, a plurality of stations are distributed on the rotary disk 201 at equal angles, when the number of stations is n (n is more than or equal to 5), the interval angle between two adjacent stations is 360/n degrees, the stepping motor 202 operates every time to drive the rotating disc 201 to rotate 360/n degrees, so that each mechanism can accurately correspond to one station after the rotating disc 201 rotates every time, a plurality of workpiece fixing devices 203 are arranged on each station, the more the workpiece fixing devices 203 are, the more the number of workpieces are fed at one time, the higher the detection efficiency is, and the six workpiece fixing devices 203 can be arranged.

Correspondingly, the feeding mechanism 3, the workpiece positioning mechanism 4, the 3D scanning detection mechanism 5, the qualified piece discharging mechanism 6 and the unqualified piece discharging mechanism 7 are arranged on the rack 1 and sequentially distributed along the circumferential direction of the rotating disc 201, and each mechanism corresponds to one station, in other words, the interval angle between two stations can be 360/n degrees or an integral multiple angle of 360/n degrees, so that it can be ensured that each time the rotating disc 201 rotates, five mechanisms can correspond to one station.

In some embodiments, the rotating disc 201 may be a circle or a regular polygon, when the rotating disc 201 is a circle, at least five stations may be arranged along the edge of the rotating disc 201, and when the rotating disc 201 is a regular polygon, one station is arranged on each side, so that when the number of stations is n, the rotating disc 201 may be a regular n-polygon, and thus, the arrangement may be such that the respective stations may have equal distances from the center of the rotating disc 201, and each station corresponds to a plurality of mechanisms around the rotating disc 201.

Optionally, the workpiece fixing devices 203 on the stations may be distributed on the top surface of the rotating disk 201 in an arc shape or a linear shape, the workpiece fixing devices 203 are in a vertically through structure, and the inner shape of the workpiece fixing devices can be customized according to the shape of the workpiece to be detected.

In some embodiments, the feeding mechanism 3 is used for transferring the arranged workpieces to the workpiece fixing devices 203 on the rotating disc 201, the workpiece fixing devices 203 are preferably arranged in a linear manner, six workpiece fixing devices 203 can be disposed at each station, the workpieces can be arranged in a same posture by a special workpiece screening and sorting device (the workpiece screening and sorting device is a common existing device, which is not described in the present application, and is not protected), for example, each workpiece is vertically disposed, the number of the arranged workpieces at each time is equal to the number of the workpiece fixing devices 203, the feeding mechanism 3 can include a horizontal moving assembly 301, a first vertical moving assembly 302 and a clamping assembly 303, the horizontal moving assembly 301, the first vertical moving assembly 302 and the clamping assembly 303 are driven by air cylinders, and specifically, the first vertical moving assembly 302 can include a first longitudinal slide rail disposed on the frame 1, the top of the first longitudinal slide rail is provided with a first air cylinder, the first longitudinal slide rail is provided with a first slide block, the horizontal moving assembly 301 is arranged on the first slide block, the horizontal moving assembly 301 comprises a second air cylinder and a connecting plate arranged at the front end of the second air cylinder, the clamping assemblies 303 are arranged at the bottom end of the connecting plate, the number of the clamping assemblies 303 is the same as that of the workpiece fixing devices 203, each clamping assembly 303 comprises a third air cylinder and two clamping arms, the third air cylinder controls the opening and closing of the two clamping arms, when the feeding mechanism 3 works, the initial position is located at a position far away from the rotating disc 201 along the radial direction and the axial direction, when the workpiece screening and sorting device arranges the required number of workpieces, the workpieces are just located under the clamping assemblies 303 and correspond to one another, at the moment, the third air cylinder drives the two clamping arms to be opened, and the first air cylinder drives the first slide block to move downwards, when the clamping arm reaches the position of a workpiece, the downward movement is stopped, the third cylinder drives the clamping arm to clamp the corresponding workpiece, the first cylinder drives the first slider to move upwards, the second cylinder drives the connecting plate to move towards the direction close to the center of the rotating disk 201, when the workpiece moves to the position above the workpiece fixing device 203, the second cylinder stops moving, the first cylinder drives the first slider to move downwards, after the workpiece reaches the position of the workpiece fixing device 203, the third cylinder drives the clamping arm to open to release the workpiece, the first cylinder drives the first slider to move upwards, the second cylinder drives the connecting plate to move towards the direction away from the center of the rotating disk 201, and the feeding mechanism 3 returns to the initial position to prepare for the next action.

In an implementation, the workpiece positioning mechanism 4 is used for fixing a workpiece at a reference position, and includes a knocking component 401 and a supporting and positioning component 402 connected to the frame 1, so that bottoms of a plurality of workpieces can be located at the same height, the number of the knocking component 401 and the number of the supporting and positioning components 402 are the same as that of the workpiece fixing devices 203, the supporting and positioning component 402 is located below the rotating disk 201, the knocking component 401 is located above the rotating disk 201, the supporting and positioning component 402 is used for defining the reference height of the workpiece, and the knocking component 401 is used for knocking the workpiece so that the bottom of the workpiece is located at the reference height.

Specifically, the knocking assembly 401 includes a second vertical moving assembly 401a and a knocking member 401b, the second vertical moving assembly 401a includes a fourth cylinder, the fourth cylinder longitudinally extends and retracts, the knocking member 401b is disposed at the bottom end of the fourth cylinder, the fourth cylinder drives the knocking member 401b to move up and down to knock the top end of the workpiece, the support positioning assembly 402 includes a third vertical moving assembly 402a and a positioning rod 402b, the third vertical moving assembly 402a may include a fifth cylinder, the fifth cylinder longitudinally extends and retracts, the positioning rod 402b is connected to the top end of the fifth cylinder, when one of the stations with the workpiece moves to the workpiece positioning mechanism 4, the fifth cylinder drives the positioning rod 402b to move up, the positioning rod 402b passes through the rotating disc 201 and then is inserted into the workpiece fixing device 203, at this time, the top end position of the positioning rod 402b is the reference position, and then the fourth cylinder drives the knocking member 401b to move up and down, knocking the workpiece to enable the bottom end of the workpiece to be tightly attached to the top of the positioning rod 402b, stopping the action of the fourth cylinder after the action is completed, and driving the positioning rod 402b to move downwards to the initial position by the fifth cylinder.

Further, foretell 3D scans detection mechanism 5 includes fourth vertical removal subassembly 501 and 3D scanning subassembly 502, fourth vertical removal subassembly 501 can be the sixth cylinder, the sixth cylinder sets up a plurality ofly, every cylinder corresponds with a work piece fixing device 203, the sixth cylinder is vertical flexible, 3D scanning subassembly 502 can be the 3D camera, the setting is in the bottom of sixth cylinder, when the work piece reachs 3D scanning detection mechanism 5, the sixth cylinder drives 3D camera downstream, carry out full size detection to the work piece, whether qualified result will be sent to qualified piece discharge mechanism 6 and unqualified piece discharge mechanism 7 after the detection.

The qualified piece discharging mechanism 6 and the unqualified piece discharging mechanism 7 have the same structure, and both comprise a discharging port 601 and a workpiece ejection mechanism 602, the discharging port 601 is positioned at one side of the rotating disc 201, the workpiece ejection mechanism 602 is positioned at the bottom of the rotating disc 201, the workpiece ejection mechanism 602 comprises a fifth vertical moving assembly 602a and a vertical ejector rod 602b, the fifth vertical moving assembly 602a comprises a plurality of seventh cylinders, the number of the seventh cylinders is the same as that of the workpiece fixing devices 203 on one station, the seventh cylinders longitudinally extend and retract, the vertical ejector rod 602b is positioned at the top end of the seventh cylinder, the vertical ejector rod 602b can penetrate through the rotating disc 201 to enter the workpiece fixing devices 203, when the workpiece moves to the qualified piece discharging mechanism 6, according to the detection result received by the qualified piece discharging mechanism 6, the seventh cylinder corresponding to the workpiece fixing devices 203 with qualified pieces moves upwards, so that the vertical ejector rod 602b ejects the workpiece upwards, the workpiece drops through the discharge port 601, when the workpiece moves to the unqualified part discharge mechanism 7, according to the detection result received by the unqualified part discharge mechanism 7, the seventh cylinder corresponding to the workpiece fixing device 203 with the unqualified part moves upwards, so that the vertical ejector rod 602b ejects the workpiece upwards, and the workpiece drops through the discharge port 601.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (10)

1. A3D visual workpiece sorting apparatus, comprising:

a frame (1);

the stepping rotary feeding mechanism (2) is arranged on the rack (1), at least five stations are distributed on the stepping rotary feeding mechanism (2) at equal angles, the sum of the angles among the stations is 360 degrees, and each station is provided with a plurality of workpiece fixing devices (203);

the feeding mechanism (3), the workpiece positioning mechanism (4), the 3D scanning detection mechanism (5), the qualified piece discharging mechanism (6) and the unqualified piece discharging mechanism (7) are arranged on the rack (1), sequentially distributed along the circumferential direction of the stepping rotary feeding mechanism (2) and correspond to five stations one by one.

2. 3D visual workpiece sorting device according to claim 1, characterised in that the step rotary feed mechanism (2) comprises a rotary disc (201) in rotary connection with the frame (1) and a stepping motor (202) for driving the rotary disc (201) in rotation.

3. 3D visual workpiece sorting device according to claim 2, characterised in that the rotating disc (201) is circular or regular polygonal.

4. The 3D visual workpiece sorting device according to claim 2 or 3, wherein the plurality of workpiece fixtures (203) at each station are distributed in an arc shape or a straight line shape on the top surface of the rotating disc (201).

5. The 3D visual workpiece sorting device according to claim 2, wherein the feeding mechanism (3) comprises a horizontal moving assembly (301), a first vertical moving assembly (302) and a clamping assembly (303), the horizontal moving assembly (301) moves along the radial direction of the rotating disc (201), and the clamping assembly (303) moves along the radial direction of the rotating disc (201) and moves along the up-and-down direction under the driving of the horizontal moving assembly (301) and the first vertical moving assembly (302).

6. The 3D visual workpiece sorting apparatus according to claim 2, wherein the workpiece positioning mechanism (4) comprises a tapping assembly (401) and a bearer positioning assembly (402) connected to the frame (1), the tapping assembly (401) being located above the rotating disc (201), the bearer positioning assembly (402) being located below the rotating disc (201), the number of the tapping assemblies (401) and the number of the bearer positioning assemblies (402) each being the same as and corresponding to the number of the workpiece fixing devices (203) at one of the stations.

7. The 3D visual workpiece sorting device according to claim 6, wherein the tapping assembly (401) comprises a second vertical moving assembly (401a) and a tapping piece (401b) arranged at the bottom of the second vertical moving assembly (401 a).

8. The 3D visual workpiece sorting device according to claim 6, wherein the bearer positioning assembly (402) comprises a third vertical moving assembly (402a) and a positioning rod (402b) disposed on top of the third vertical moving assembly (402a), the bottom of the workpiece fixture (203) is through-passed, the rotary disc (201) is provided with an insertion hole at a position corresponding to the workpiece fixture (203), and the positioning rod (402b) is insertable into the workpiece fixture (203) through the insertion hole.

9. The 3D visual workpiece sorting device according to claim 1, wherein the 3D scanning detection mechanism (5) comprises a fourth vertical moving assembly (501) and a 3D scanning assembly (502) disposed at the bottom of the fourth vertical moving assembly (501).

10. The 3D visual workpiece sorting device according to claim 8, wherein the qualified piece discharging mechanism (6) and the unqualified piece discharging mechanism (7) each comprise a discharging port (601) and a workpiece ejecting mechanism (602), the discharging port (601) is located at one side of the rotating disk (201), the workpiece ejecting mechanism (602) is located at the bottom of the rotating disk (201), the workpiece ejecting mechanism (602) comprises a fifth vertical moving assembly (602a) and vertical push rods (602b), the number of the vertical push rods (602b) is the same as the number of the workpiece fixing devices (203) at one station and corresponds to one another, and the top ends of the vertical push rods (602b) can be inserted into the workpiece fixing devices (203) through the rotating disk (201).

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