CN216761896U - Hidden type reverse rotation traveling differential wheel set - Google Patents

Abstract

Hidden reverse rotation walking differential wheelset, including installation cover and inside rotation axis, the rotation axis bottom is equipped with first sliding seat and the second sliding seat of mutual articulated, the speed reducer connector is installed to second sliding seat bottom, speed reducer connector both sides all set up can independent pivoted differential wheelset, and realize the detection to rotation axis turned angle through rotary encoder, compare and more retrench with traditional device that turns to, and the motor is located the speed reducer connector, the volume of wheelset has greatly reduced, two rounds of reversible differential rotation simultaneously, realize accurate positioning, accurate arrival, the brake in the twinkling of an eye, realize horizontal walking, vertical walking, 360 rotations on the spot, oblique line walking, curve walking, nimble action, also support circular arc turn differential motion simultaneously.

Description

Hidden type reverse rotation traveling differential wheel set

Technical Field

The utility model relates to the technical field of AGV trolley traveling wheel sets, in particular to a hidden type reverse rotation traveling differential wheel set.

Background

AGV dolly wide application and industrial production and processing article transfer in, be the carrier that does not need the driver, generally regard as power source with chargeable battery, the walking wheel of current AGV dolly mostly relies on the motor to drive, and realize turning to of shaft through drive mechanism such as engaged with gear and gear shaft, traditional mechanical transmission structure and motor all need set up on a wheelset, not only assembly installation is comparatively miscellaneous, it is also not accurate enough to the control that turns to, the walking mode is comparatively single, the accurate walking that targets in place of AGV dolly can't be realized.

Disclosure of Invention

According to the hidden type reverse rotation walking differential wheel set, two differential wheel sets capable of rotating independently are arranged on one walking wheel, and the feedback of steering control is realized through the rotary encoder, so that the steering control structure is simplified, the double wheels can rotate in a reversible differential manner, the accurate positioning can be realized, and the problems in the prior art are solved.

The technical scheme adopted by the utility model for solving the technical problems is as follows: the utility model relates to a hidden type reverse rotation walking differential wheel set, which comprises an installation sleeve, wherein a rotatable rotating shaft is arranged in the installation sleeve in a matching way, a rotary encoder is arranged on the installation sleeve, an input shaft of the rotary encoder can synchronously rotate along with the rotating shaft, the lower end of the rotating shaft, which extends out of the installation sleeve, is connected with a first movable seat, the first movable seat is hinged with a second movable seat through a pin shaft, the bottom of the second movable seat is provided with a speed reducer connector, the two sides of the speed reducer connector are respectively provided with a differential wheel set, the second movable seat is positioned between the two differential wheel sets, each differential wheel set comprises a supporting flange, the inner side of the supporting flange is provided with a driving motor, the driving motor is positioned inside the speed reducer connector, the rotary encoder is connected with the driving motor through a control circuit, the outer side of the supporting flange is provided with an RV speed reducer, and the output shaft of the driving motor is connected with the input shaft of the RV speed reducer, install wheel hub on the output shaft of RV speed reducer, install the steel ring on the terminal surface that wheel hub is close to second sliding seat one side, the steel ring is located speed reducer connector periphery, is equipped with the polyurethane layer in steel ring periphery cover, and driving motor starts can drive the steel ring and the polyurethane layer on it rotates. Offer in the installation cover with rotation axis matched with vertical through-hole, first mounting groove has been seted up to vertical through-hole upper end, and the second mounting groove has been seted up to vertical through-hole lower extreme, and deep groove ball bearing is installed to the cooperation in the first mounting groove, and stop nut is installed in the tip periphery cooperation that the rotation axis is located first mounting groove, and stop nut is located deep groove ball bearing, installs tapered roller bearing at the cooperation in the second mounting groove, installs spacing boss on the rotation axis, and tapered roller bearing is located spacing boss upside, the bearing cap is installed to the bottom of installation cover, still installs dust seal between the inner circle of bearing cap and the spacing boss, and the one end that the rotation axis stretches out the bearing cap is connected with first sliding seat. Install the ring that wear-resistants in the vertical through-hole, the cooperation suit of ring that wear-resistants is in the periphery of rotation axis. The installation sleeve is provided with an encoder support, a rotary encoder is installed on the encoder support, a third installation groove is formed in the upper end of the rotating shaft, a rotating plate is fixedly connected in the third installation groove, a rotating shaft of the rotating plate is connected with an input shaft of the rotary encoder through a coupler, and the input shaft of the rotary encoder can rotate synchronously along with the rotating shaft. The installation cover is provided with a detection switch, the bottom of the detection switch is provided with a detection wheel, a zero shaft adjustment support is installed on the first movable seat, a jackscrew is installed on the zero shaft adjustment support through an adjustment nut, the jackscrew can be detected by the detection wheel, a hard limiting block is further installed on the installation cover, and the zero shaft adjustment support can be rotated to be in contact with the hard limiting block. And the speed reducer connecting body is provided with a wiring hole. The bottom of the speed reducer connector is provided with an access hole, the access hole is provided with a cover plate capable of being opened and closed in a matched mode, one side of the cover plate is provided with a rotating seat, the speed reducer connector is provided with a rotating groove matched with the rotating seat, a rotating rod is arranged in the rotating groove, a circular groove matched with the rotating rod is arranged in the rotating seat, the other side of the cover plate is provided with a locking device capable of being disassembled and assembled with the speed reducer connector, the locking device comprises a groove arranged on the cover plate, an installation box is arranged in the groove, a transverse shaft and a longitudinal shaft are vertically arranged in the installation box, one end of the longitudinal shaft is provided with a spring, the other end of the longitudinal shaft is provided with a locking block, the speed reducer connector is provided with a locking groove matched with the locking block, the spring always tends to push the locking block to enter the locking groove, guide grooves matched with the transverse shaft are arranged on two sides of the installation box, and two ends of the transverse shaft extending out of the guide grooves are provided with unlocking handles, unblock handle is including the montant that is located the mounting box both sides and the horizontal pole that the montant tip is connected, and the montant can rotate relative the cross axle, is equipped with the anti-rotating groove in the recess of mounting box both sides, and the tip of montant can not rotate relative the cross axle when being located the anti-rotating groove, has still seted up in the recess of anti-rotating groove one side and has dodged the groove, and the tip of montant moves and can rotate when dodging the trench position and enter into and dodge the inslot, makes the horizontal pole rotate and shifts out the recess still set up the gripping groove on the horizontal pole.

The utility model has the positive effects that: the utility model relates to a hidden type reverse rotation walking differential wheel set, which comprises an installation sleeve and an internal rotating shaft, wherein a first movable seat and a second movable seat which are mutually hinged are arranged at the bottom of the rotating shaft, a speed reducer connecting body is arranged at the bottom of the second movable seat, differential wheel sets capable of independently rotating are arranged on two sides of the speed reducer connecting body, and the detection of the rotating angle of the rotating shaft is realized through a rotary encoder.

Drawings

FIG. 1 is a schematic three-dimensional structure of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a left side view of FIG. 2;

FIG. 5 is an enlarged view of the cross-sectional view taken along line A-A of FIG. 2;

FIG. 6 is an enlarged view of the cross-sectional view taken along line B-B in FIG. 2;

FIG. 7 is an enlarged partial view of I of FIG. 6;

FIG. 8 is a schematic structural view of a cover plate disposed on a reducer connecting body;

FIG. 9 is an enlarged partial view of II of FIG. 8;

fig. 10 is an enlarged view of the cross-sectional view taken along line C-C in fig. 8.

Detailed Description

The hidden type reverse rotation walking differential wheel set comprises a mounting sleeve 1, wherein the mounting sleeve 1 can be fixedly connected to the bottom of an AGV trolley, a rotatable rotating shaft 2 is arranged in the mounting sleeve 1 in a matched mode, a rotary encoder 3 is arranged on the mounting sleeve 1, and an input shaft of the rotary encoder 3 can rotate synchronously along with the rotating shaft 2, so that the steering angle of the wheel set can be monitored in real time and feedback adjustment can be carried out.

The lower extreme that rotation axis 2 stretches out installation cover 1 is connected with first sliding seat 4, and first sliding seat 4 articulates through round pin axle 5 and installs second sliding seat 6, and speed reducer connector 7 is installed to the bottom of second sliding seat 6, and the differential wheelset is all installed to the both sides of speed reducer connector 7, and second sliding seat 6 is located between two differential wheelsets. The arrangement of the first movable seat 4 and the second movable seat 6 can enable the differential wheel sets on the two sides to float up and down along with the traveling road surface when the traveling road surface fluctuates, and therefore the traveling stability of the AGV trolley is guaranteed.

As shown in fig. 5, each differential wheel set includes a support flange 8, the support flange 8 is detachably mounted at the end of the speed reducer connector 7, a driving motor 9 is mounted on the inner side of the support flange 8, the driving motor 9 is located inside the speed reducer connector 7, the rotary encoder 3 is connected with the driving motor 9 through a control circuit, the driving motor 9 located inside the speed reducer connector 7 makes the structure of the whole wheel set more compact, unnecessary installation space is greatly reduced, the driving motor 9 can receive an angle rotation signal fed back by the rotary encoder 3, so that the adjustment of the rotation speed can be performed according to the established steering requirement, and the adjustment of the steering angle is realized through the rotation speed difference of the wheel sets on both sides.

The RV speed reducer 10 is installed in the outside of supporting flange 8, the output shaft of driving motor 9 is connected with the input shaft of RV speed reducer 10, install wheel hub 11 on the output shaft of RV speed reducer 10, install steel ring 12 on the terminal surface that wheel hub 11 is close to second sliding seat 6 one side, steel ring 12 is located the periphery of speed reducer connector 7, be equipped with polyurethane layer 13 in steel ring 12 periphery cover, driving motor 9 starts the energy band and moves steel ring 12 and polyurethane layer 13 on it and rotate to realize the walking of wheelset. RV speed reducer 10 bears the structure of moment of torsion as whole wheelset, compares in traditional AGV wheel, has improved the bearing capacity and the positioning accuracy of wheelset to a certain extent.

Wherein driving motor 9 in the differential wheelset of both ends all can control through independent servo drive PLC, realize that two reverse differential rotations of taking turns, for example when two driving motor 9 control steel ring 12 syntropy rotate with fast, the wheelset realizes normal straight line and marchs, when two driving motor 9 control steel ring 12 reverse syntropy rotate with fast, the wheelset then can realize the rotation in place, when two driving motor 9 control steel ring 12 syntropy rotate with different fast, the wheelset then can drive the automobile body and realize turning to, just also realize the automobile body through two driving motor 9 positive and negative rotations and different rotational speeds and transversely walk, vertically walk, 360 rotations in place, the slash walking, curve walking, support circular arc turn differential motion, realize the nimble action of AGV dolly.

Further, for realizing the firm installation of rotation axis 2 in installation cover 1 to when the differential wheelset at both ends drove the sliding seat and takes place to deflect under the different circumstances of rotational speed, can drive rotation axis 2 in step and rotate, let rotary encoder 3 can real-time supervision rotation axis 2's turned angle, feed back to driving motor 9 and realize adjusting as required. As shown in fig. 6, a vertical through hole 14 matched with the rotating shaft 2 is formed in the mounting sleeve 1, a first mounting groove 15 is formed in the upper end of the vertical through hole 14, a second mounting groove 16 is formed in the lower end of the vertical through hole 14, a deep groove ball bearing 17 is installed in the first mounting groove 15 in a matched manner, a stop nut 18 is installed on the periphery of the end portion of the rotating shaft 2 located in the first mounting groove 15 in a matched manner, the stop nut 18 is located on the deep groove ball bearing 17, the deep groove ball bearing 17 is arranged so that the rotating shaft 2 can rotate conveniently, and meanwhile the lower limiting effect is also achieved on the rotating shaft 2.

The tapered roller bearing 19 is installed in the second installation groove 16 in a matched mode, the limiting boss 20 is installed on the rotating shaft 2, the tapered roller bearing 19 is located on the upper side of the limiting boss 20, the tapered roller bearing 19 is convenient to rotate on the rotating shaft 2, meanwhile, the upper limiting effect is achieved on the rotating shaft 2, bearing pressure of the tapered roller bearing 19 is larger, and positioning of the rotating shaft 2 in the vertical direction is achieved through the tapered roller bearing 19 and the deep groove ball bearing 17.

In order to facilitate the dismouting of rotation axis 2 in the installation cover 1, bearing cap 21 is installed to the bottom of installation cover 1, for avoiding pollutants such as dust to the influence of rotation axis 2, ensures the normal rotation of rotation axis 2 and effectively improves the life of rotation axis 2, still installs dust seal 22 between the inner circle of bearing cap 21 and spacing boss 20. One end of the rotating shaft 2 extending out of the bearing cover 21 is connected with a first movable seat 4, and the first movable seat 4 can drive the rotating shaft 2 to synchronously rotate.

Further, in order to when rotation axis 2 rotates, furthest reduces the frictional force between rotation axis 2 and the installation cover 1, and then improves rotation axis 2 and installation cover 1's life, install anti-wear ring 23 in the vertical through-hole 14, anti-wear ring 23 cooperation suit is in the periphery of rotation axis 2, and wherein anti-wear ring 23 is not wearing parts, but long-term use to reduce the maintenance cost.

In order to facilitate the arrangement of the rotary encoder 3 on the installation sleeve 1, and the monitoring of the rotation angle of the rotation shaft 2 can be smoothly implemented, as shown in fig. 3, the installation sleeve 1 is provided with the encoder bracket 24 and the encoder bracket 24 thereon, as shown in fig. 6, the upper end of the rotation shaft 2 is provided with a third installation groove 25, a rotation plate 26 is fixedly connected in the third installation groove 25, the rotation shaft of the rotation plate 26 is connected with the input shaft of the rotary encoder 3 through a coupler 27, and the input shaft of the rotary encoder 3 can rotate synchronously along with the rotation shaft 2.

Further, in order to facilitate zero setting of 2 angles of the rotating shaft, make rotary encoder 3 more accurate to drive motor 9's feedback regulation and control, as shown in fig. 7, be equipped with detection switch 28 on the installation cover 1, detection switch 28 bottom sets up detection wheel 34, installs zero axis adjustment support 29 on the first sliding seat 4, install jackscrew 31 through adjusting nut 30 on zero axis adjustment support 29, jackscrew 31 can carry out the adjustment on the height position as required, jackscrew 31 can be detected by detection wheel 34, when detection wheel 34 touches jackscrew 31, then indicate that rotating shaft 2 has rotated to the zero-bit of angle. In order to avoid the two-end differential wheel set from driving the first movable seat 4 to excessively rotate, a hard limiting block 32 is further installed on the installation sleeve 1, the zero-point shaft adjustment support 29 can rotate to be in contact with the hard limiting block 32, and when the zero-point shaft adjustment support 29 rotates to be in contact with the hard limiting block 32, the rotating shaft 2 cannot continue to rotate.

Furthermore, in order to facilitate connection of a control circuit or a circuit line with the driving motor 9 in the speed reducer connecting body 7, a wiring hole 33 is formed in the speed reducer connecting body 7.

Further, in order to facilitate the maintenance of the components such as the motor inside the reducer connecting body 7, as shown in fig. 8-10, an access opening 35 is formed at the bottom of the reducer connecting body 7, and a cover plate 36 which can be opened and closed is fittingly installed on the access opening 35. A rotating seat 37 is arranged on one side of the cover plate 36, a rotating groove 38 matched with the rotating seat 37 is formed in the speed reducer connecting body 7, a rotating rod 39 is arranged in the rotating groove 38, a circular groove 40 matched with the rotating rod 39 is formed in the rotating seat 37, and a locking device capable of being detached from the speed reducer connecting body 7 is arranged on the other side of the cover plate 36. After the rotating seat 37 is inserted into the rotating groove 38, the rotating seat 37 can rotate relative to the rotating rod 39, then the installation and fixation between the cover plate 36 and the reducer connecting body 7 can be realized through the locking device, wherein the rotating rod 39 can also limit the downward movement of the rotating seat 37, and after the locking device is unlocked, the cover plate 36 can be taken down from the reducer connecting body 7.

As shown in fig. 9, the locking device includes a groove 41 formed in the cover plate 36, a mounting box 42 is arranged in the groove 41, a transverse shaft 43 and a longitudinal shaft 44 are arranged in the mounting box 42, the transverse shaft 43 and the longitudinal shaft 44 are arranged vertically, a spring 45 is arranged at one end of the longitudinal shaft 44, a locking block 46 is arranged at the other end of the longitudinal shaft 44, a locking groove 47 matched with the locking block 46 is formed in the speed reducer connecting body 7, and the spring 45 always tends to push the locking block 46 to enter the locking groove 47.

The two sides of the mounting box 42 are provided with guide grooves 48 matched with the transverse shaft 43, the two ends of the transverse shaft 43 extending out of the guide grooves 48 are provided with unlocking handles, each unlocking handle comprises a vertical rod 49 positioned on the two sides of the mounting box 42 and a transverse rod 50 connected with the end of the vertical rod, when the transverse rod 50 is pulled to move away from the mounting box 42, the vertical rods 49 can synchronously drive the transverse shaft 43 and the longitudinal shaft 44 to compress the spring 45 to move, so that the locking block 46 is separated from the locking groove 47, and the locking between the cover plate 36 and the speed reducer connecting body 7 is released.

The vertical rod 49 can rotate relative to the transverse shaft 43, the anti-rotation grooves 51 are formed in the grooves 41 on the two sides of the mounting box 42, the end portion of the vertical rod 49 cannot rotate relative to the transverse shaft 43 when being located in the anti-rotation grooves 51, the avoidance groove 52 is further formed in the groove 41 on one side of the anti-rotation groove 51, the end portion of the vertical rod 49 can rotate into the avoidance groove 52 when moving to the position of the avoidance groove 52, and the transverse rod 50 is made to rotate and move out of the groove 41. Under the locking state, because under the effect of spring 45 elasticity, the tip of montant 49 is located the position department of anti-rotation slot 51, can not produce the rotation relative to cross axle 43, the unblock handle is whole to be located recess 41, can not exert an influence to the normal removal of differential wheel group, when unblock in-process operating personnel horizontal pulling horizontal pole 50, as long as the tip of montant 49 moves to dodge groove 52 position department, montant 49 will take place to rotate and enter into dodging the groove 52 under the action of gravity, change into oblique pulling down by horizontal pulling, take off apron 36 in a situation, and maintain the compression state of spring 45, when next installation, as long as pull out the dodging groove 52 with montant 49 tip and can make locking piece 46 enter locking groove 47, conveniently carry out dismouting operation, furtherly, in order to make things convenient for operating personnel to stimulate horizontal pole 50, gripping groove 53 has still been seted up on the horizontal pole 50.

The control electric appliances can be connected to a power supply through a lead by the prior electric technology so as to realize normal functions.

The technical solution of the present invention is not limited to the scope of the embodiments of the present invention. The technical contents not described in detail in the present invention are all known techniques.

Claims (7)

1. The utility model provides a hidden reverse rotation walking differential wheelset which characterized in that: the device comprises an installation sleeve (1), a rotatable rotating shaft (2) is installed in the installation sleeve (1) in a matched mode, a rotary encoder (3) is installed on the installation sleeve (1), an input shaft of the rotary encoder (3) can rotate synchronously along with the rotating shaft (2), the lower end, extending out of the installation sleeve (1), of the rotating shaft (2) is connected with a first movable seat (4), a second movable seat (6) is installed on the first movable seat (4) in a hinged mode through a pin shaft (5), a speed reducer connecting body (7) is installed at the bottom of the second movable seat (6), differential wheel sets are installed on two sides of the speed reducer connecting body (7), the second movable seat (6) is located between the two differential wheel sets, each differential wheel set comprises a supporting flange (8), a driving motor (9) is installed on the inner side of each supporting flange (8), and the driving motor (9) is located inside the speed reducer connecting body (7), the rotary encoder (3) is connected with a driving motor (9) through a control circuit, an RV speed reducer (10) is installed on the outer side of a supporting flange (8), an output shaft of the driving motor (9) is connected with an input shaft of the RV speed reducer (10), a wheel hub (11) is installed on the output shaft of the RV speed reducer (10), a steel ring (12) is installed on the end face, close to one side of a second movable seat (6), of the wheel hub (11), the steel ring (12) is located on the periphery of a speed reducer connecting body (7), a polyurethane layer (13) is sleeved on the periphery of the steel ring (12), and the driving motor (9) can be started to drive the steel ring (12) and the polyurethane layer (13) on the steel ring to rotate.

2. The hidden counter-rotating traveling differential wheel set according to claim 1, wherein: a vertical through hole (14) matched with the rotating shaft (2) is formed in the mounting sleeve (1), a first mounting groove (15) is formed in the upper end of the vertical through hole (14), a second mounting groove (16) is formed in the lower end of the vertical through hole (14), a deep groove ball bearing (17) is installed in the first mounting groove (15) in a matched mode, a stop nut (18) is installed on the periphery of the end portion, located on the first mounting groove (15), of the rotating shaft (2) in a matched mode, the stop nut (18) is located on the deep groove ball bearing (17), a conical roller bearing (19) is installed in the second mounting groove (16) in a matched mode, a limiting boss (20) is installed on the rotating shaft (2), the conical roller bearing (19) is located on the upper side of the limiting boss (20), a bearing cover (21) is installed at the bottom of the mounting sleeve (1), and a dustproof sealing ring (22) is further installed between the inner ring of the bearing cover (21) and the limiting boss (20), one end of the rotating shaft (2) extending out of the bearing cover (21) is connected with a first movable seat (4).

3. The hidden counter-rotating traveling differential wheel set according to claim 2, wherein: install ring (23) of wearing to wear in vertical through-hole (14), ring (23) of wearing to wear cooperation suit is in the periphery of rotation axis (2).

4. The hidden counter-rotating traveling differential wheel set according to claim 1, wherein: be equipped with encoder support (24) on installation cover (1), install rotary encoder (3) on encoder support (24), seted up third mounting groove (25) in the upper end of rotation axis (2), fixedly connected with rotor plate (26) in third mounting groove (25), the pivot of rotor plate (26) is connected through shaft coupling (27) with the input shaft of rotary encoder (3), and the input shaft of rotary encoder (3) can be followed rotation axis (2) synchronous rotation.

5. The concealed reverse-rotating traveling differential wheel set according to claim 1, wherein: be equipped with detection switch (28) on installation cover (1), detection switch (28) bottom sets up detection wheel (34), installs zero axle adjustment support (29) on first sliding seat (4), installs jackscrew (31) through adjusting nut (30) on zero axle adjustment support (29), jackscrew (31) can be detected by detection wheel (34), still installs hard stopper (32) on installation cover (1), zero axle adjustment support (29) can rotate to contact with hard stopper (32).

6. The hidden counter-rotating traveling differential wheel set according to claim 1, wherein: and the speed reducer connecting body (7) is provided with a wiring hole (33).

7. The concealed reverse-rotating traveling differential wheel set according to claim 1, wherein: the bottom of the speed reducer connecting body (7) is provided with an access hole (35), the access hole (35) is provided with a cover plate (36) which can be opened and closed in a matched mode, one side of the cover plate (36) is provided with a rotating seat (37), the speed reducer connecting body (7) is provided with a rotating groove (38) matched with the rotating seat (37), a rotating rod (39) is arranged in the rotating groove (38), a round groove (40) matched with the rotating rod (39) is formed in the rotating seat (37), the other side of the cover plate (36) is provided with a locking device which can be disassembled and assembled with the speed reducer connecting body (7), the locking device comprises a groove (41) formed in the cover plate (36), a mounting box (42) is arranged in the groove (41), a transverse shaft (43) and a longitudinal shaft (44) are vertically arranged in the mounting box (42), one end of the longitudinal shaft (44) is provided with a spring (45), and the other end of the longitudinal shaft (44) is provided with a locking block (46), set up on speed reducer connector (7) and lock locking groove (47) with locking block (46) matched with, spring (45) have the trend that promotes locking block (46) and enter into locking groove (47) all the time, seted up in the both sides of mounting box (42) with cross axle (43) matched with guide way (48), the both ends that guide way (48) are stretched out in cross axle (43) are installed the unblock handle, the unblock handle is including montant (49) that are located mounting box (42) both sides and horizontal pole (50) that the montant tip is connected, montant (49) can rotate relative cross axle (43), be equipped with in recess (41) of mounting box (42) both sides and prevent that slot (51) can not rotate relative cross axle (43) when the tip of montant (49) is located prevents slot (51), still seted up in preventing slot (41) of slot (51) one side and avoided slot (52), the end part of the vertical rod (49) can rotate to enter the avoiding groove (52) when moving to the avoiding groove (52), so that the transverse rod (50) rotates to move out of the groove (41), and the transverse rod (50) is also provided with a gripping groove (53).

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