CN218462245U - Motion compensation device and robot - Google Patents

Abstract

The utility model provides a motion compensation device and robot, include: the tool comprises a tool plate, a compatible plate, an elastic mechanism, a cover plate and a main shell, wherein one side of the tool plate is matched and connected with one side of the compatible plate, the elastic mechanism is positioned between the other side of the compatible plate and one side of the cover plate, part of structure of the elastic mechanism extends into the compatible plate, and the other side of the cover plate is jointed with one side of the main shell to form an airtight accommodating cavity; a reset piston is arranged in the accommodating cavity, and a connecting rod of the reset piston penetrates out of one side of the cover plate and reaches the interior of the compatible plate; wherein: the resilient mechanism provides flexible motion compensation when the tool plate is subjected to a rigid external force. The motion compensation device can be suitable for application scenes such as assembly, loading and unloading or picking, motion compensation of the tool plate in all directions is achieved, and the fact that the robot tail end execution mechanism can well adapt to different positions of a workpiece or the irregular surface of the workpiece is guaranteed.

Description

Motion compensation device and robot

Technical Field

The utility model relates to an intelligent robot specifically relates to a motion compensation device and robot.

Background

With the development of internet technology, electronic commerce is also spreading to the well-injection type, and logistics storage, airport baggage system, pharmacy, modern factories and the like are increasingly using automated management and sorting systems. Such as employing smart devices to accomplish picking, handling, distribution, etc. of items.

The existing intelligent robot is generally provided with flexible mechanical arms, and various sorting operation tasks are completed through the mechanical arms, so that the overall carrying efficiency is improved.

However, the robot arm end actuator cannot accommodate a small amount of positional deviation between the end actuator and the workpiece during the sorting operation, and the workpiece is easily damaged during the sorting operation. Especially for workpieces with irregular surface structures, clamping failure is easy to occur during clamping, or rigid damage is easily caused to the surfaces of the workpieces.

SUMMERY OF THE UTILITY MODEL

To overcome the defects in the prior art, the present invention provides a motion compensation device and a robot.

In a first aspect, an embodiment of the present application provides a motion compensation apparatus, which may include: the tool comprises a tool plate, a compatible plate, an elastic mechanism, a cover plate and a main shell, wherein one side of the tool plate is matched and connected with one side of the compatible plate, the elastic mechanism is positioned between the other side of the compatible plate and one side of the cover plate, part of structure of the elastic mechanism extends into the compatible plate, and the other side of the cover plate is combined with one side of the main shell to form an airtight accommodating cavity; a reset piston is arranged in the accommodating cavity, and a connecting rod of the reset piston penetrates out of one side of the cover plate and reaches the interior of the compatible plate; wherein: the resilient mechanism provides flexible motion compensation when the tool plate is subjected to a rigid external force.

Optionally, the elastic mechanism comprises: the device comprises a reset pin and a tower spring, wherein one end of the reset pin penetrates through the tower spring and extends into the compatible plate.

Optionally, the end with the smaller diameter of the tower spring is abutted against the cover plate, and the end with the larger diameter of the tower spring is abutted against the compatible plate.

Optionally, a plurality of through holes are formed in the compatible plate, and the upper caliber and the lower caliber of each through hole are different in size; when the compatible plate is matched and connected with one side of the tool plate, each through hole of the compatible plate forms a cavity for accommodating one end of the reset pin.

Optionally, the round pin that resets includes toper platform, first spliced pole, second spliced pole, the third spliced pole that connects gradually, wherein: the conical surface side of the conical table is connected with one end of the first connecting column, the diameter of the first connecting column is smaller than that of the second connecting column, and the diameter of the second connecting column is larger than that of the third connecting column.

Optionally, a tool withdrawal groove is formed at a joint of the second connecting column and the third connecting column, and the third connecting column extends into the cover plate, wherein a matching and positioning structure is formed between the third connecting column and the cover plate, and when the reset pin is subjected to an unbalance load or an impact force, the matching and positioning structure is used for protecting the tool withdrawal groove from the impact force.

Optionally, the outer side surface of the third connecting column is provided with threads, and the third connecting column is fixedly connected with the mounting hole in the cover plate through fine threads.

Alternatively, the first and second liquid crystal display panels may be,

when the tool plate is subjected to a vertically acting force, the conical table of the reset pin forms vertical motion compensation in the cavity of the compatible plate;

when the tool plate is subjected to horizontal acting force, the conical table of the reset pin forms horizontal motion compensation in the cavity of the compatible plate.

Alternatively,

when the tool plate is subjected to force in an inclined direction, the conical table of the reset pin forms motion compensation in an inclined angle direction in the cavity of the compatible plate;

when the tool plate is subjected to a force in a twisting direction, the conical table of the reset pin forms movement compensation in the twisting direction in the cavity of the compatible plate.

In a second aspect, embodiments of the present application provide a robot, which may include: the robot comprises a robot body, a driving motor, a mechanical arm and an actuating mechanism positioned at the tail end of the mechanical arm, wherein the actuating mechanism at the tail end of the mechanical arm is provided with a motion compensation device as described in any one of the first aspect;

the motion compensation device is used for providing flexible motion compensation when the tool plate of the end actuating mechanism is subjected to rigid external force.

Compared with the prior art, the utility model discloses following beneficial effect has:

the motion compensation device in the utility model connects one side of the tool plate with one side of the compatible plate in a matching way, the elastic mechanism is positioned between the other side of the compatible plate and one side of the cover plate, and a part of structure of the elastic mechanism extends into the compatible plate, and the other side of the cover plate is jointed with one side of the main shell body and forms an airtight accommodating cavity; a reset piston is arranged in the accommodating cavity, and a connecting rod of the reset piston penetrates out of one side of the cover plate and reaches the interior of the compatible plate; such that the resilient mechanism provides flexible motion compensation when the tool plate is subjected to a rigid external force. Therefore, the robot end executing mechanism can be suitable for application scenes such as assembly, disassembly or pickup, the motion compensation of the tool plate in all directions is realized, and the robot end executing mechanism can be well adapted to different positions of a workpiece or irregular surfaces of the workpiece.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be 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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts. Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic perspective view of a motion compensation apparatus according to an embodiment of the present disclosure;

fig. 2 is an exploded view of a motion compensation device according to an embodiment of the present disclosure;

fig. 3 is a schematic side view of a motion compensation apparatus according to an embodiment of the present disclosure;

fig. 4 is a schematic cross-sectional structural diagram of a motion compensation apparatus provided in an embodiment of the present application;

fig. 5 is a partially enlarged schematic view of a compatible board of a motion compensation apparatus according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a reset pin of a motion compensation device provided in an embodiment of the present application;

FIG. 7 is a schematic diagram illustrating a state change structure of a motion compensation device when a vertical force is applied to the motion compensation device in an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a motion compensation device in an embodiment of the present application when subjected to a force in an off-angle direction;

FIG. 9 is a schematic structural diagram of a motion compensation device in an embodiment of the present application when subjected to a torsional force;

fig. 10 is a schematic structural diagram of a motion compensation device in an embodiment of the present application when a horizontal force is applied.

In the figure:

1-tool plate, 2-compatible plate, 3-cover plate, 4-reset piston, 5-main shell, 6-sensor component, 7-reset pin, 71-conical table, 72-first connecting column, 73-second connecting column, 74-tool withdrawal groove, 75-third connecting column, 8-tower spring and 9-through hole.

Detailed Description

The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the 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 one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Fig. 1 is a schematic perspective view of a motion compensation device according to an embodiment of the present disclosure, as shown in fig. 1, the motion compensation device is integrally a cylindrical structure, one end of the motion compensation device is a tool plate for connecting and mounting different gripper mechanisms, and the other end of the motion compensation device is connected to a robot arm of a robot. In specific application, the motion compensation device is matched with acting forces in various directions, which are applied to the tool plate, so as to form flexible motion compensation in corresponding directions.

The motion compensation device in the present embodiment can be applied to various types of robots. For example, a mobile logistics robot, a robot on a large-scale production line, a simple transfer robot, etc., embodiments of the present application are not limited thereto.

Fig. 2 is an exploded schematic view of a motion compensation apparatus according to an embodiment of the present disclosure, and as shown in fig. 2, a motion compensation apparatus according to an embodiment of the present disclosure may include: the tool comprises a tool plate 1, a compatible plate 2, an elastic mechanism, a cover plate 3 and a main shell 5, wherein one side of the tool plate 1 is matched and connected with one side of the compatible plate 2, the elastic mechanism is positioned between the other side of the compatible plate 2 and one side of the cover plate 3, a part of structure of the elastic mechanism extends into the compatible plate 2, and the other side of the cover plate 3 is jointed with one side of the main shell 5 to form an airtight accommodating cavity; a reset piston 4 is arranged in the accommodating cavity, and a connecting rod of the reset piston 4 penetrates out of one side of the cover plate and reaches the interior of the compatible plate 2; wherein: the resilient means provide flexible motion compensation when the tool plate 1 is subjected to a rigid external force.

In the embodiment, one side of the tool plate is matched and connected with one side of the compatible plate, the elastic mechanism is positioned between the other side of the compatible plate and one side of the cover plate, part of the structure of the elastic mechanism extends into the compatible plate, and the other side of the cover plate is jointed with one side of the main shell to form an airtight accommodating cavity; a reset piston is arranged in the accommodating cavity, and a connecting rod of the reset piston penetrates out of one side of the cover plate and reaches the interior of the compatible plate; such that the resilient mechanism provides flexible motion compensation when the tool plate is subjected to a rigid external force. Therefore, the robot end executing mechanism can be suitable for application scenes such as assembly, disassembly or pickup, the motion compensation of the tool plate in all directions is realized, and the robot end executing mechanism can be well adapted to different positions of a workpiece or irregular surfaces of the workpiece.

For example, referring to fig. 2, the elastic mechanism in the embodiment of the present application may include: a reset pin 7 and a tower spring 8, wherein one end of the reset pin 7 passes through the tower spring 8 and extends into the compatible plate 2.

In this alternative embodiment, the elastic means may also be a truncated cone structure integrally formed from an elastic material, one end of which abuts the cover plate 3 and the other end of which abuts the compliant plate 2. So that a force buffer zone can be formed between the cover plate 3 and the compatible plate 2.

In this alternative embodiment, the motion compensation apparatus may further include: a sensor assembly 6, the sensor assembly 6 being mounted on an outer side of the main housing 5. Illustratively, the sensor assembly 6 may be an infrared sensor, a vision sensor, or the like, for sensing a change in position of the tooling plate 1 as it engages a workpiece.

Fig. 3 is a schematic side view of the motion compensation apparatus according to the embodiment of the present invention, as shown in fig. 3, the main housing 5, the cover plate 3, the elastic mechanism, the compatible plate 2, and the tool plate 1 are sequentially arranged from top to bottom.

Fig. 4 is a schematic cross-sectional structural diagram of a motion compensation apparatus according to an embodiment of the present application, and as shown in fig. 4, the motion compensation apparatus of the present application may include: the tool comprises a tool plate 1, a compatible plate 2, a cover plate 3, a main shell 5, a reset pin 7 and a tower spring 8, wherein one side of the tool plate 1 is matched and connected with one side of the compatible plate 2, one end of the reset pin 7 penetrates through the tower spring 8 and extends into the compatible plate 2, and the other side of the cover plate 3 is jointed with one side of the main shell 5 to form an airtight accommodating cavity; the accommodating cavity is provided with a reset piston 4, and a connecting rod of the reset piston 4 penetrates out of one side of the cover plate and reaches the interior of the compatible plate 2.

In this embodiment, the reset piston 4 acts to assist in resetting the reset pin 7. That is, after the external force applied to the tool plate 1 side is removed, the return pin 7 can be quickly returned to the initial state.

Illustratively, as shown in fig. 4, in the embodiment of the present application, the end with a smaller diameter of the tower spring 8 is abutted against the cover plate 3, and the end with a larger diameter of the tower spring 8 is abutted against the compliant plate 2.

Fig. 5 is a partially enlarged schematic view of a compatible board of the motion compensation apparatus according to the embodiment of the present application, and as shown in fig. 5, a plurality of through holes 9 are formed in the compatible board 2, and the upper and lower apertures of the through holes are different in size; each through hole 9 of the compatibility plate 2 forms a cavity for receiving one end of the reset pin 7 when the compatibility plate 2 is mated with one side of the tooling plate 1.

In an alternative embodiment, the through hole of the compliant plate 2 is of the same upper and lower bore, but the upper outlet is provided with a spacer which serves to confine the conical table of the reset pin within the through hole.

Fig. 6 is a schematic structural diagram of a reset pin of a motion compensation apparatus provided in an embodiment of the present application, and as shown in fig. 6, the reset pin 7 in the embodiment may include a tapered platform 71, a first connection column 72, a second connection column 73, and a third connection column 75, which are connected in sequence, wherein: the conical surface side of the conical table 71 is connected with one end of a first connecting column 72, the diameter of the first connecting column 72 is smaller than that of a second connecting column 73, and the diameter of the second connecting column 73 is larger than that of a third connecting column 75.

Referring to fig. 6, in the present embodiment, a relief groove 74 is formed at a connection portion of the second connection column 73 and the third connection column 75, and the third connection column 75 extends into the cover plate 3, wherein a matching and positioning structure is formed between the third connection column 73 and the cover plate 3, and when the reset pin 7 is subjected to an unbalance load or an impact force, the matching and positioning structure is used to protect the relief groove 74 from the impact force.

In this embodiment, the third connecting column 73 and the cover plate 3 form a matching and positioning relationship, and when the reset pin 7 is subjected to unbalance loading or impact force, the part of the tool withdrawal groove 74 is protected from impact by the matching and positioning portion between the third connecting column and the cover plate, so that the strength of the connecting portion between the third connecting column 75 and the second connecting column 73 is protected, and the service life of the reset pin 7 is prolonged.

In an alternative embodiment, the outer side of the third connecting column 75 is provided with threads, and the third connecting column 75 is tightly connected with the mounting hole of the cover plate 3 through fine threads.

In this embodiment, the third connecting column 75 is fastened to the mounting hole of the cover plate by a fine thread, so that the third connecting column has a certain anti-loosening effect.

Fig. 7 is a structural diagram illustrating a state change of the motion compensation device in the embodiment of the present application when a vertical force is applied, as shown in fig. 7, the left side is a structural diagram of a cross section before the force is applied, and the right side is a structural diagram of a cross section after the force is applied, when the tool plate 1 is applied with a vertical force, the tapered table 71 of the reset pin 7 forms a vertical motion compensation in the cavity of the compatible plate 2. Referring to fig. 7, a contraction distance of 6.11 mm is formed in the vertical direction.

It should be noted that the present embodiment does not limit the compensation distance that can be achieved by the motion compensation device in the vertical direction, and the range of the compensation distance is related to the depth of the reset pin 7 and the through hole 9 of the compatible plate 2. Illustratively, when the lower end of the tapered table 71 abuts against the bottom surface of the through-hole 9, the elastic mechanism is in a maximum compressed state; when the upper end of the conical table 71 is pressed against the opening of the through hole 9, the elastic mechanism is in an initial state.

Fig. 8 is a schematic view showing the structure of the motion compensation device in the embodiment of the present application when a certain off-angle direction force is applied, and as shown in fig. 8, when the tool plate 1 is applied with an oblique direction force, the tapered platform 71 of the reset pin 7 forms off-angle direction motion compensation in the cavity of the compatible plate 2. Referring to fig. 8, the compatible plate 2 forms an angle of 5.2 degrees with the cover plate 3 because the tooling plate 1 is subjected to forces from above and to the left. Illustratively, when the surface of the workpiece is an inclined surface, the elastic mechanism forms a certain angle of motion compensation for the tool plate 1 to fit with.

It should be noted that the embodiment does not limit the maximum deflection angle that can be achieved by the motion compensation device, and the range of the deflection angle is related to the slope of the conical table of the reset pin 7. As shown in fig. 8, when the slope of the tapered platform of the left reset pin 7 abuts against the top end of the through hole 9, the elastic mechanism forms a maximum angle of inclination to the right. Accordingly, when the slope of the tapered table of the right return pin 7 abuts against the top end of the through hole 9, the elastic means forms a maximum angle of inclination to the left.

In an alternative embodiment, a triangular gasket corresponding to the conical table of the reset pin is arranged at the opening of the through hole 9, so that the slope surface of the conical table is matched with the slope surface of the triangular gasket, and the stability of the tilting force can be maintained.

Fig. 9 is a schematic structural view of the motion compensation device in the embodiment of the present application when a certain torsional force is applied, and as shown in fig. 9, when the tool plate 1 is subjected to a torsional force, the tapered table 71 of the reset pin 7 forms torsional motion compensation in the cavity of the compatible plate 2.

The scene in this embodiment usually occurs when the workpiece is gripped, a certain torsion occurs between the end actuator of the mechanical arm and the workpiece, and at this time, the influence of the position deflection is offset by the torsion of the motion compensation device.

Fig. 10 is a schematic structural view of the motion compensation device in the embodiment of the present application when a horizontal force is applied to the tool plate 1, and as shown in fig. 10, when a horizontal force is applied to the tool plate 1, the tapered platform 71 of the reset pin 7 forms a horizontal motion compensation in the cavity of the compatible plate 2. Referring to fig. 10, the motion compensation mechanism has some lateral compliance in the horizontal direction when subjected to a rigid horizontal force.

In the embodiment, the elastic mechanism is used for offsetting the rigid external force so as to realize the motion compensation of the tool plate in each direction and ensure that the robot end actuating mechanism can be well adapted to different positions of a workpiece or the irregular surface of the workpiece.

The embodiment of the application provides a robot, can include: the robot comprises a robot body, a driving motor, a mechanical arm and an executing mechanism positioned at the tail end of the mechanical arm, wherein the executing mechanism at the tail end of the mechanical arm is provided with a motion compensation device as in any one of the first aspect; and the motion compensation device is used for providing flexible motion compensation when the tool plate of the end actuating mechanism is subjected to rigid external force.

The motion compensation mechanism device in the embodiment of the application can perform flexible motion compensation in the longitudinal direction and the horizontal direction, and also can realize angle compensation with rotation or inclination angle compensation. The robot is suitable for operation application such as assembly, loading and unloading or box type picking of the robot. Specifically, yaw motion compensation can be performed both during rotation of the robot end effector and at certain angles. Therefore, the inaccuracy of the position of the workpiece is compensated, the reset resetting of motion compensation is carried out through the spring type elastic mechanism, and the piston can be driven by compressed air to carry out position adjustment so as to realize reset (when the piston extends out, the whole device resets, and the whole device becomes rigid).

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.

Claims (10)

1. A motion compensation apparatus, comprising: the tool comprises a tool plate (1), a compatible plate (2), an elastic mechanism, a cover plate (3) and a main shell (5), wherein one side of the tool plate (1) is matched and connected with one side of the compatible plate (2), the elastic mechanism is positioned between the other side of the compatible plate (2) and one side of the cover plate (3), part of structure of the elastic mechanism extends into the compatible plate (2), and the other side of the cover plate (3) is combined with one side of the main shell (5) to form an airtight accommodating cavity; a reset piston (4) is arranged in the accommodating cavity, and a connecting rod of the reset piston (4) penetrates out of one side of the cover plate and reaches the interior of the compatible plate (2); wherein: the elastic mechanism provides flexible motion compensation when the tool plate (1) is subjected to rigid external forces.

2. The motion compensation apparatus of claim 1, wherein the elastic mechanism comprises: the device comprises a reset pin (7) and a tower spring (8), wherein one end of the reset pin (7) penetrates through the tower spring (8) and extends into the compatible plate (2).

3. Motion compensator apparatus according to claim 2, characterized in that the smaller end of the tower spring (8) is arranged to abut against the cover plate (3) and the larger end of the tower spring (8) is arranged to abut against the compliant plate (2).

4. The motion compensation device according to claim 2, wherein a plurality of through holes (9) are arranged on the compatible plate (2), and the upper and lower calibers of the through holes are different in size; when the compatible plate (2) is matched and connected with one side of the tool plate (1), each through hole (9) of the compatible plate (2) forms a cavity for accommodating one end of the reset pin (7).

5. Motion compensation device according to claim 4, characterized in that the reset pin (7) comprises a conical table (71), a first connecting column (72), a second connecting column (73), a third connecting column (75) connected in sequence, wherein: the conical surface side of the conical table (71) is connected with one end of the first connecting column (72), the diameter of the first connecting column (72) is smaller than that of the second connecting column (73), and the diameter of the second connecting column (73) is larger than that of the third connecting column (75).

6. The motion compensator apparatus as claimed in claim 5, wherein a relief groove (74) is provided at the junction of the second connecting column (73) and the third connecting column (75), and the third connecting column (75) extends into the cover plate (3), wherein a matching positioning structure is formed between the third connecting column (75) and the cover plate (3), and the matching positioning structure is used to protect the relief groove (74) from impact force when the reset pin (7) is subjected to unbalance loading or impact force.

7. A motion compensation means according to claim 5, characterized in that the outer side of the third connecting column (75) is provided with a thread, and the third connecting column (75) is firmly connected with the mounting hole of the cover plate (3) by a fine thread.

8. Motion compensation apparatus according to claim 5,

when the tool plate (1) is subjected to a vertical acting force, the conical table (71) of the reset pin (7) forms vertical motion compensation in the cavity of the compatible plate (2);

when the tool plate (1) is subjected to horizontal acting force, the conical table (71) of the reset pin (7) forms horizontal motion compensation in the cavity of the compatible plate (2).

9. Motion compensation apparatus according to claim 5,

when the tool plate (1) is subjected to force in an inclined direction, the conical table (71) of the reset pin (7) forms motion compensation in an inclined angle direction in the cavity of the compatible plate (2);

when the tool plate (1) is subjected to a force in a twisting direction, the conical table (71) of the reset pin (7) forms a movement compensation in the twisting direction in the cavity of the compatible plate (2).

10. A robot, comprising: the robot comprises a robot body, a driving motor, a mechanical arm and an actuating mechanism positioned at the tail end of the mechanical arm, wherein the actuating mechanism at the tail end of the mechanical arm is provided with a motion compensation device according to any one of claims 1-9;

the motion compensation device is used for providing flexible motion compensation when the tool plate of the end actuating mechanism is subjected to rigid external force.

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