CN218750980U - Wire-controlled steering lower actuator mechanism, wire-controlled steering system and vehicle - Google Patents

Abstract

The disclosure relates to the technical field of vehicles, in particular to a wire-controlled steering lower actuator mechanism, a wire-controlled steering system and a vehicle. The wire-controlled steering lower actuator mechanism provided by the present disclosure comprises a first driving mechanism and a second driving mechanism; the first driving mechanism comprises a first driving piece, a first worm wheel and a first worm assembly, the first worm wheel is meshed with the first worm assembly, and the first driving piece drives the first worm wheel; the second driving mechanism comprises a second driving piece, a second worm wheel and a second worm assembly, the second worm wheel is meshed with the second worm assembly, and the second driving piece drives the second worm wheel; the first worm wheel and the second worm wheel are mutually stacked and coaxially arranged on the driving gear shaft, so that the first worm wheel and the second worm wheel synchronously rotate in the same direction, and the safety performance of the system is improved.

Description

Steering-by-wire lower actuator mechanism, steering-by-wire system and vehicle

technical field

The present disclosure relates to the technical field of vehicles, in particular to a steering-by-wire lower actuator mechanism, a steering-by-wire system and a vehicle.

Background technique

The steering-by-wire lower actuator (RWA, Road wheel actuator) is a key component of the steering-by-wire technical solution. Since the steering-by-wire system cancels the mechanical connection on the traditional steering system, the steering transmission ratio is no longer limited by the traditional mechanical The connection makes the steering transmission ratio adjustable under different driving modes and different vehicle speeds, which can improve the handling performance of the vehicle.

Since the steering-by-wire system cancels the mechanical connection of the intermediate shaft on the traditional steering system, higher requirements are put forward for the functional safety of the RWA system. The controller (ECU) of the redundant system of most RWA systems still adopts a common cavity structure, and the drive unit adopts a double-winding 6-phase motor, which can ensure that the system can still provide at least 50% of power assistance under a single point of failure, but once If the drive unit is damaged due to external impact and other reasons, the system will completely lose power, which will lead to inability to steer and cause serious accidents.

Contents of the invention

In order to solve the above technical problems, the present disclosure provides a steer-by-wire lower actuator mechanism, a steer-by-wire system and a vehicle.

The first aspect of the present disclosure provides a steer-by-wire down actuator mechanism, including: a first driving mechanism and a second driving mechanism;

Each of the first driving mechanisms includes a first driving member, a first worm gear and a first worm assembly, the first worm gear is engaged with the first worm assembly, and the first driving member drives the first worm gear;

Each of the second drive mechanisms includes a second drive member, a second worm gear and a second worm assembly, the second worm gear engages with the second worm assembly, and the second drive member drives the second worm gear;

Wherein, the first worm wheel and the second worm wheel are stacked on each other and coaxially arranged on the drive gear shaft, so that the first worm wheel and the second worm wheel rotate synchronously and in the same direction.

Further, the first worm assembly and the second worm assembly are respectively arranged on both sides of the drive gear shaft, and the rotation direction of the first worm assembly is opposite to that of the second worm assembly.

Further, the steer-by-wire down actuator mechanism further includes a limiter, and the limiter is sleeved on the drive gear shaft and located on a side of the first worm wheel away from the second worm wheel.

Further, the steer-by-wire lower actuator mechanism further includes a detection piece for detecting the rotation angle of the drive gear shaft, and the detection piece is arranged at the end of the drive gear shaft.

Further, the detection part includes a housing, a PCB board, a driving gear and a driven gear,

The housing is provided with an inner ring sleeve, the inner ring sleeve is sleeved on the drive gear shaft, the driving gear and the inner ring sleeve are integrated, the driven gear is arranged in the housing, And the driven gear meshes with the driving gear;

The PCB board is provided with a sensor;

The driven gear is provided with a magnet, and the sensor is arranged correspondingly to the magnet.

Further, the steer-by-wire down actuator mechanism also includes a connection line, and the two ends of the connection line are respectively provided with a first connection part and a second connection part;

The first connection part includes a first joint;

One of the housing and the first joint is provided with a slot, and the other of the housing and the first joint is provided with a protrusion, and the protrusion is engaged with the slot;

The second connection part includes a second joint and a third joint, one of the second joint and the third joint is connected to the first driving member, and one of the second joint and the third joint The other one is connected to the second driving member.

Further, the steer-by-wire down actuator mechanism further includes a steering controller, and the detection element, the first driving element, and the second driving element are respectively connected to the steering controller.

A second aspect of the present disclosure provides a steer-by-wire system, including the steer-by-wire lower actuator mechanism described in the first aspect.

A third aspect of the present disclosure provides a vehicle, comprising the steer-by-wire lower actuator mechanism described in the first aspect, or comprising the steer-by-wire system described in the second aspect.

Compared with the prior art, the technical solutions provided by the embodiments of the present disclosure have the following advantages:

The steer-by-wire down actuator mechanism provided by the embodiments of the present disclosure includes a first drive mechanism and a second drive mechanism. Even if one drive mechanism is damaged due to external impact and other reasons, the other drive mechanism can still provide a certain amount of power to ensure that the system controllable. The first drive mechanisms each include a first drive member, a first worm wheel, and a first worm assembly, the first worm gear engages with the first worm assembly, and the first drive member drives the first worm wheel; the second drive mechanisms each include a second drive member, The second worm gear and the second worm screw assembly, the second worm gear meshes with the second worm screw assembly, and the second driving member drives the second worm gear; wherein, the first worm gear and the second worm gear are stacked on each other and coaxially arranged on the drive gear shaft, so that The first worm wheel and the second worm wheel rotate synchronously and in the same direction. The steer-by-wire lower actuator mechanism provided by the embodiments of the present disclosure can ensure that the RWA system can provide greater power assistance through the double drive formed by the first drive mechanism and the second drive mechanism, and at the same time realize the full redundancy of the system and improve the System security performance. The first worm gear and the second worm gear are coaxially assembled on the drive gear shaft, the first drive member and the first worm drive the first worm gear, and the second drive member and the second worm drive the second worm gear, that is, the first drive member and the second worm gear. The driving member can drive the drive gear shaft at the same time, that is, it can provide double power assist compared with the single worm gear system. And the first worm gear and the second worm gear are coaxially assembled on the drive gear shaft, which makes the structure more compact, the number of parts is less, the weight is lighter, the space occupied is smaller, the cost is low, the redundancy of the system is high, and the safety is better .

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

FIG. 1 is an exploded view of the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;

FIG. 2 is an exploded view of a partial structure of the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;

3 is a schematic diagram of a partial structure of the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;

Fig. 4 is a cross-sectional view of the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure:

Fig. 5 is a structural schematic diagram of another angle of the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;

Fig. 6 is an exploded view of the angle sensor in the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure.

Reference signs: 1. First driving mechanism; 11. First driving member; 12. First worm gear; 13. First worm assembly; 2. Second driving mechanism; 21. Second driving member; 22. Second worm gear ;23, the second worm assembly; 3, the drive gear shaft; 31, the limit piece; 4, the detection piece; 41, the shell; 411, the slot; 42, the driving gear; 43, the driven gear; 44, the PCB board; 45. Cover; 46. Bracket; 5. Connecting line; 51. First connector; 511. Protrusion; 52. Second connector; 53. Third connector; 61. Bolt; 62. Servo cover; 63. Shell; 64. Ball bearings.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

In the following description, many specific details are set forth in order to fully understand the present disclosure, but the present disclosure can also be implemented in other ways than described here; obviously, the embodiments in the description are only some of the embodiments of the present disclosure, and Not all examples.

Steering-by-wire lower actuator (RWA, Road wheel actuator): Receives the driver's torque and angle signals on the steering wheel from the upper actuator (HWA, Hand Wheelactuator), and performs corresponding actions to realize the driver's driving Intention; At the same time, the vibration and force transmitted from the wheel are converted into signals and transmitted to the upper actuator, which is a steering actuator that feeds back to the driver through the upper actuator.

The steering-by-wire lower actuator is generally composed of inner and outer tie rods, a dust cover, a steering gear housing 63, a sensor harness, a drive unit, and a speed reduction mechanism. When the controller of the drive unit receives the torque and steering angle signals from the steering-by-wire upper actuator HWA, the drive unit motor provides the corresponding drive torque, and the deceleration mechanism amplifies the motor torque and acts on the motor through the rack and pinion mechanism On the rack, to push the gear to rotate the corresponding angle.

As shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5 and Figure 6, the steering-by-wire down actuator mechanism provided by the embodiment of the present disclosure includes a first driving mechanism 1 and a second driving mechanism 2, even if one driving mechanism If the mechanism is damaged due to external impact and other reasons, another driving mechanism can still provide a certain amount of power to ensure that the system is controllable. The first drive mechanism 1 all includes a first drive member 11, a first worm wheel 12 and a first worm assembly 13, the first worm wheel 12 is engaged with the first worm assembly 13, and the first drive member 11 drives the first worm wheel 12; the second drive Mechanisms 2 each include a second drive member 21, a second worm wheel 22 and a second worm assembly 23, the second worm wheel 22 meshes with the second worm assembly 23, and the second drive member 21 drives the second worm wheel 22; wherein, the first worm wheel 12 The first worm wheel 12 and the second worm wheel 22 are stacked on top of each other and coaxially arranged on the drive gear shaft 3 , so that the first worm wheel 12 and the second worm wheel 22 rotate synchronously and in the same direction. The steer-by-wire lower actuator mechanism provided by the embodiment of the present disclosure is dual-driven by the first drive mechanism 1 and the second drive mechanism 2, which can ensure that the RWA system can provide greater power assistance, and at the same time realize full redundancy of the system. Improve the security performance of the system. The first worm gear 12 and the second worm gear 22 are coaxially assembled on the drive gear shaft 3, the first driving member 11 and the first worm drive the first worm gear 12, and the second driving member 21 and the second worm drive the second worm gear 22, that is The first driving member 11 and the second driving member 21 can drive the drive gear shaft 3 at the same time, that is, they can provide double power assistance compared to the single worm gear system. And the first worm gear 12 and the second worm gear 22 are coaxially assembled on the drive gear shaft 3, so that the structure is more compact, the number of parts is less, the weight is lighter, the occupied space is smaller, the cost is low, the redundancy of the system is high, and the safety Sex is better.

In some specific embodiments, the first worm assembly 13 and the second worm assembly 23 are respectively arranged on two sides of the drive gear shaft 3 , and the rotation direction of the first worm assembly 13 is opposite to that of the second worm assembly 23 . Due to the limitation of the single worm gear torque, the single worm gear system cannot provide greater power assistance. The first worm assembly 13 and the second worm assembly 23 of the embodiment of the present invention can provide double the power assistance of the single worm gear system. In addition, the first worm gear 12 and the second worm assembly Two worm gear 22 coaxial design, more compact structure, fewer parts, lighter weight, smaller space occupation; double drive parts, double worm gear components, truly realize the full redundancy of the system, when a certain hardware is due to external In the event of failure due to damage, the control of the system can still be ensured.

In some specific implementations, the steer-by-wire lower actuator mechanism further includes a limiter 31, which is sleeved on the drive gear shaft 3 and located between the first worm wheel 12 and the second worm wheel 22, which can The first worm wheel 12 and the second worm wheel 22 are used for limiting. Optionally, the limiting member 31 may be a snap spring, or a limiting protrusion 511 . Preferably, the limiting member 31 is a snap spring. Optionally, the first worm gear 12 and the second worm gear 22 are coaxially mounted on the drive gear shaft 3 in a splined connection, and the first worm gear 12 and the second worm gear 22 are pivoted on the drive gear shaft 3 with a snap ring. to the limit.

In some specific embodiments, the steer-by-wire lower actuator mechanism further includes a detection piece 4 for detecting the rotation angle of the drive gear shaft 3 , and the detection piece 4 is arranged at the end of the drive gear shaft 3 . The detection part 4 is used to detect the rotation angle of the drive pinion shaft 3, and then the displacement and speed of the rack can be calculated through the transmission ratio of the rack and pinion transmission pair. The detection part 4 is axially installed on the driving gear shaft 3, which has a relatively compact structure and takes up less space. At the same time, it is not necessary to use a pinion to drive the driving wheel of the angle sensor, which can reduce the number of parts. The rack does not need additional processing of the tooth shape, which can reduce the System cost and weight.

The detecting element 4 may be an angle sensor. The angle sensor is used to measure the rotation angle of the gear, and the sensor used to calculate the position of the rack. Specifically, the angle sensor measures the actual angle of rotation of the drive gear, calculates the actual stroke of the rack, transmits it to the ECU of the drive unit through the wiring harness, and forms a closed-loop control with the target stroke calibration. The drive unit ECU can send angle signals to the upper controller for vehicle-related control.

When the detection part 4 is an angle sensor, the inner ring of the angle sensor is made of metal and the shaft of the driving gear 42 is manufactured by injection molding. During assembly, the metal sleeve of the inner ring of the angle sensor is riveted to the recessed point reserved at the tail end of the drive gear shaft 3 in the form of riveting.

In some specific embodiments, the detection part 4 includes a housing 41, a PCB board 44, a driving gear 42 and a driven gear 43 meshed with the driving gear 42, the housing 41 is provided with an inner ring sleeve, and the inner ring sleeve is sleeved on the drive The gear shaft 3, the driving gear 42 and the inner ring casing are of an integrated structure. The driven gear 43 is arranged in the housing 41, and the driven gear 43 is meshed with the driving gear 42. After the inner ring casing is covered with the driving gear, the riveting head is riveted and fixed at the small hole of the driving gear shaft 3. Specifically, the upper part of the drive gear shaft 3 is splined to assemble the first worm wheel 12 and the second worm wheel 22 , and the end faces of the first worm wheel 12 and the second worm wheel 22 limit axial movement with snap springs. Three small holes are axially machined at the rear of the drive gear shaft 3 for the installation of the detection part 4. The metal sleeve of the inner ring of the detection part 4 and the driving wheel are injection-molded as one. After the inner ring sleeve is fitted on the drive gear shaft 3, the The small hole of the drive gear shaft 3 is riveted and fixed.

In some specific embodiments, the detection part 4 includes a PCB board 44, the PCB board 44 is provided with an angle sensor, the driven gear 43 is provided with a magnet, and the angle sensor and the magnet are arranged correspondingly. The position of the angle sensor is facing the magnet, and the rotation data of the drive gear shaft 3 can be obtained.

In some specific implementations, the steer-by-wire down actuator mechanism further includes a connecting wire 5, and the two ends of the connecting wire 5 are respectively provided with a first connecting part and a second connecting part; the detection part 4 includes a housing 41, and the first connecting The first joint 51 is included; one of the housing 41 and the first joint 51 is provided with a slot 411 , and the other of the housing 41 and the first joint 51 is provided with a protrusion 511 , and the protrusion 511 is engaged with the slot 411 . Optionally, the outer ring of the housing 41 of the angle sensor has a locking groove 411, and the protruding structure of the first connecting part cooperates with the locking groove 411 to limit the rotation of the angle sensor along the axis. The second connection part includes a second joint 52 and a third joint 53, one of the second joint 52 and the third joint 53 is connected to the first driving member 11, and the other of the second joint 52 and the third joint 53 is connected to the first The two driving parts 21 are connected.

After the first worm assembly 13 is press-fitted into the servo housing 63, the first ball bearing 64 and the first worm wheel 12 driving gear small assembly are then installed. Then install the first driver 11, the first driver 11 can be the first motor, the output shaft of the first motor and the first worm are respectively equipped with a ring gear, and the two are connected in the form of gear sleeves to transmit torque, the first The motor is connected to the servo housing 63 with two bolts 61 , and the bolts 61 may be M8 bolts 61 . After the second worm assembly 23 is press-fitted into the servo casing 63, the second ball bearing 64 and the second worm wheel 22 driving gear small assembly are installed. Install the second driver 21 again, the second driver 21 can be a second motor, and a ring gear is respectively housed on the second motor output shaft and the second worm, and the two are connected to transmit torque by the form of the tooth sleeve, the second The motor is connected to the servo housing 63 with two bolts 61 , and the bolts 61 may be M8 bolts 61 . After that, insert the second connecting part of the connecting wire 5, that is, the sensor end of the sensor wire harness into the servo housing 63, and at the same time, insert the first connecting part of the connecting wire 5, that is, the limit block of the protrusion 511 on the wire harness connector into the angle sensor. In the card slot 411 , to limit the axial rotation of the angle sensor housing 63 , the second connecting portion of the connecting wire 5 , that is, the plug at the ECU end of the harness, is inserted into the plugs of the first driving member 11 and the second driving member 21 respectively. Finally attach the servo cap 62.

When the first driver 11 and the second driver 21 receive the torque and angle signals from the CAN assembly, they will calculate the torque that the respective motors need to output, and drive the respective motors to run. The first driver 11 and the second driver The torque of 21 is transmitted to the first worm assembly 13 and the second worm assembly 23 through the tooth sleeve, and the first worm assembly 13 and the second worm assembly 23 are respectively distributed on both sides of the worm wheel. Both the first worm assembly 13 and the second worm assembly 23 include a worm, a bearing bush, a ball bearing, a pendulum bearing, a gear hub and a locking screw. The rotation directions of the two worms in the first worm assembly 13 and the second worm assembly 23 are opposite, respectively driving the first worm wheel 12 and the second worm wheel 22 to rotate. The first worm gear 12 and the second worm gear 22 generate torque in the same direction and simultaneously drive the drive pinion shaft 3 to rotate. Through the meshing of the rack and pinion, the torque on the gear is transmitted to the rack, and the rack drives the steering rod to pull the wheels to realize steering. Function. Simultaneously, when the drive gear shaft 3 rotates, it will drive the angle sensor driving wheel to rotate, and the driving wheel will drive the two driven wheels to rotate. The magnet on the driven wheel and the sensor on the PCB board 44 interact to output an angle signal, which is output to the drive unit through the wiring harness. ECU.

In some specific embodiments, the steer-by-wire lower actuator mechanism further includes a steering controller, and the detection member 4 , the first driving member 11 and the second driving member 21 are respectively connected to the steering controller. The detection part 4 is used to detect the rotation angle of the drive gear shaft 3, and transmit the detected information to the steering controller, and the steering controller drives the drive gear shaft 3 to rotate by driving the first drive part 11 and the second drive part.

To sum up, the embodiments of the present disclosure are based on the rack and pinion EPS system, canceling structures such as input shafts and steering gears, the drive unit adopts the design of double drive parts, double worms and double worm gears, and the angle sensor is integrated in the drive unit. Inside the servo housing 63. It can ensure the complete redundancy of the system. Even if one driving mechanism is damaged due to external impact and other reasons, the other driving mechanism can still provide a certain amount of power to ensure that the system is controllable; the double driving parts are located at the same end of the rack, and the driving part and The axes of the racks are arranged in parallel, the structure is relatively compact, and the space occupied is small; the reduction mechanism adopts the structure of double worm gears, and the double worm gears are assembled on the drive gear shaft 3 in parallel and coaxially. The defect of insufficient load-carrying capacity of the single worm gear can ensure that the drive unit can provide greater torque and greater power assistance; the angle sensor adopts a planetary gear structure, and the driving gear 42 is fixed on the drive gear shaft 3 by riveting. A driven gear 43 rotates with the driving gear 42. Each driven gear 43 is pasted with a magnet, and the rotation angle is measured by the Hall sensor on the PCB board 44, and two angle signals are output. The two gears output 4 angle signals in total to realize the redundancy of the angle signals. The sensor is integrated in the servo housing 63 of the drive unit, which has a compact structure and is easy and convenient to install.

The steer-by-wire system provided by the embodiments of the present disclosure includes the steer-by-wire lower actuator mechanism provided by the embodiments of the present disclosure. The vehicle provided by the embodiments of the present disclosure includes the steer-by-wire lower actuator mechanism provided by the embodiments of the present disclosure, or includes the steer-by-wire system provided by the embodiments of the present disclosure. Since the vehicle or the steer-by-wire system provided by the embodiments of the present disclosure has the same advantages as the steer-by-wire lower actuator mechanism provided by the embodiments of the present disclosure, details are not repeated here.

It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

The above are only specific implementation manners of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. A steering-by-wire lower actuator mechanism, characterized in that it comprises: a first drive mechanism and a second drive mechanism; The first driving mechanism includes a first driving member, a first worm gear and a first worm assembly, the first worm gear engages with the first worm assembly, and the first driving member drives the first worm gear; The second driving mechanism includes a second driving member, a second worm gear, and a second worm assembly, the second worm gear engages with the second worm assembly, and the second driving member drives the second worm gear; Wherein, the first worm wheel and the second worm wheel are stacked on each other and coaxially arranged on the drive gear shaft, so that the first worm wheel and the second worm wheel rotate synchronously and in the same direction. 2. The steer-by-wire down actuator mechanism according to claim 1, wherein the first worm assembly and the second worm assembly are respectively arranged on both sides of the drive gear shaft, and the first The direction of rotation of the worm assembly is opposite to that of the second worm assembly. 3. The steer-by-wire down actuator mechanism according to claim 1, further comprising a limiter, the limiter is sleeved on the drive gear shaft and is located at a distance from the first worm wheel to the side of the second worm gear. 4. The steer-by-wire lower actuator mechanism according to claim 1, further comprising a detection piece for detecting the rotation angle of the drive gear shaft, and the detection piece is arranged at the end of the drive gear shaft department. 5. The steer-by-wire lower actuator mechanism according to claim 4, characterized in that the detection part comprises a housing, a PCB board, a driving gear and a driven gear, The housing is provided with an inner ring sleeve, the inner ring sleeve is sleeved on the drive gear shaft, the driving gear and the inner ring sleeve are integrated, the driven gear is arranged in the housing, And the driven gear meshes with the driving gear; The PCB board is provided with a sensor; The driven gear is provided with a magnet, and the sensor is arranged correspondingly to the magnet. 6. The steer-by-wire down actuator mechanism according to claim 5, further comprising a connecting line, the two ends of the connecting line are respectively provided with a first connecting portion and a second connecting portion; The first connection part includes a first joint; One of the housing and the first joint is provided with a slot, and the other of the housing and the first joint is provided with a protrusion, and the protrusion is engaged with the slot; The second connection part includes a second joint and a third joint, one of the second joint and the third joint is connected to the first driving member, and one of the second joint and the third joint The other one is connected to the second driving member. 7. The steering-by-wire lower actuator mechanism according to claim 4, further comprising a steering controller, the detection part, the first driving part and the second driving part are respectively connected with the steering Controller connection. 8. A steer-by-wire system, characterized by comprising the steer-by-wire lower actuator mechanism according to any one of claims 1-7. 9. A vehicle, characterized by comprising the steer-by-wire lower actuator mechanism according to any one of claims 1 to 7, or comprising the steer-by-wire system according to claim 8.

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