JP2009112087A - Direct acting rotation actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a direct acting rotation actuator that generates large torque and thrust, is easily assembled, and singularly implements both rotational motion and linear motion. <P>SOLUTION: An armature winding 104 for rotation is wound on teeth 103t formed on an armature core 101 and an armature winding 105 for thrust is wound on the surface of the armature core 101 on the inside diameter side. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a linear motion rotary actuator that precisely performs two motions of rotation and propulsion with one actuator.

Various assembling apparatuses and various inspection apparatuses require a linear motor and a rotary motor for directly moving or rotating a gripped component or an inspection probe in order to arrange the components. Then, since the structure becomes complicated and the apparatus becomes large, in order to improve productivity, a large number of linear motion rotary actuators are mounted in one device, and two linear motion and rotational motions are achieved with one actuator. There has been a demand for a linear motion rotary actuator that realizes the operation. Further, there has been a demand for a direct-acting rotary actuator that is small and has high thrust and high torque.
A conventional linear rotation actuator includes a stator having a propulsion armature winding for propulsion and a rotation armature winding for rotation on an iron core, and a mover having field magnets for both rotation and propulsion. The mover is arranged inside the stator, and a three-phase alternating current is applied to the rotating armature winding and the propelling armature winding to enable rotation, straight line, and spiral movement of the mover. (For example, refer to Patent Document 1).
FIG. 10 is a cross-sectional view of a conventional linear motion rotary actuator as viewed from the side of the mover, and FIG. 11 is a cross-sectional view taken along the line CC of the conventional linear motion rotary actuator. In the figure, 102 is an outer core, 103 is an inner core, 104 is an armature winding for rotation, 105 is an armature winding for propulsion, 200 is a mover, 201 is an output shaft, 202 is a field yoke, and 203a is N A pole magnet 203b is an S pole magnet. Further, 103y is a yoke, 103t is a tooth, and 300 is a dead space.
The armature core is configured by inserting the inner core 103 composed of the yoke 103y and the teeth 103t into the outer core 102. There are six teeth 103t in one turn, and a rotating armature winding 104 is applied to each tooth 103t.
The propulsion armature winding 105 is configured to be inserted between the teeth 103t and the teeth 103t of the inner core 103. There is no iron core on the inner diameter side of the propulsion armature winding 105, and a gap having a width of the propulsion armature winding 105 is generated between the teeth 103 t and the teeth 103 t of the inner core 103. This becomes the dead space 300 of the magnetic path.
In the stator 100, the armature winding 104 for rotation is wound around the teeth 103t of the inner core 103, the armature winding for propulsion is wound around the outer diameter side of the inner core 103, and the outer core 102 is inserted outside the outer armature winding. Is configured.
The mover 200 is configured by attaching a permanent magnet to the surface of the field yoke 202 in order to operate as an actuator using a permanent magnet field.
First, the N-pole magnet 203a for the rotating armature winding 104 is attached to a portion to be the N-pole in the circumferential direction with an axial length corresponding to the pole pitch of the propulsion armature winding 105.
In this example, the armature winding for rotation 104 and the armature winding for propulsion 105 are both quadrupole, and the N-pole magnet 203a is affixed at a position mechanically different by 180 degrees on the same circumference as the N-pole magnet 203a. However, the S-pole magnet 203b is not provided on the same circumference.
Next, the S-pole magnet 203b is pasted with a shift of one pole pitch of the propulsion armature winding 105 in the axial direction from the pasted N-pole magnet 203a and 180 degrees with an electrical angle in the circumferential direction. The S-pole magnet 203b is also affixed at a position 180 degrees mechanically different on the same circumference, but the N-pole magnet 203a is not provided on the same circumference. In the axial direction, it is provided every other pole of the armature winding 105 for propulsion.
With the above-described configuration, every one pole of the same-polarity magnet exists when viewed from the axial direction, and every other pole of the same-polarity magnet exists when viewed from the circumferential direction. To come. Magnetic poles for each of the armature winding for rotation 104 and the armature winding for propulsion 105 exist independently of each other. When a three-phase alternating current is applied to the armature winding for rotation 104, a normal rotational permanent When operating as a magnet actuator and applying a three-phase alternating current to the propulsion armature winding 105, it operates as a normal linear actuator. When a voltage is applied to both the rotating armature winding 104 and the propelling armature winding 105, the mover 200 performs a spiral motion.
With this configuration, the direct acting rotary actuator applies a three-phase alternating current to the rotating armature winding 104 for rotation and the propelling armature winding 105 for propulsion to rotate the mover. It enables motion, linear motion, and spiral motion.
JP 2004-343903 A (page 4, FIG. 4)

In the conventional linear rotation actuator, when viewed from the axial direction, pole magnets having the same polarity are present every other pole, so that the magnetic flux interlinked with the rotation armature winding 104 is also generated by the propulsion armature winding. The magnetic flux linked to the wire 105 does not pass through the portion of the yoke 103y that connects the tooth 103t and the adjacent tooth 103t, but directly passes from the tooth 103t only through the outer core 102 to the adjacent tooth 103t. That is, the yoke 103y did not contribute at all to the generation of torque and the generation of thrust. In addition, since the armature winding for rotation 104 and the armature winding for propulsion 105 are buffered, there is a dead space 300 of a magnetic path that is a space in which no iron core exists in the propulsion axial direction. This part does not contribute at all to the generation of torque or thrust. Therefore, the conventional linear motion rotary actuator has a problem that the generated torque and the generated thrust are small for the physique.
In addition, the conventional linear motion actuator has a problem that the assembly work is extremely difficult because the outer core 102 must be inserted on the outer side after the propulsion armature winding 105 is applied to the inner core 103. there were.
The present invention has been made in view of such problems, and the linear motion that realizes the rotation operation and the linear operation with a single actuator, which has a large generated torque and generated thrust for the physique and is easy to assemble. An object is to provide a rotary actuator.

In order to solve the above problems, the present invention is configured as follows.
According to a first aspect of the present invention, there is provided a stator including a rotating armature winding that generates a rotating magnetic field in the rotating direction and a propelling armature winding that generates a rectilinear magnetic field in the propelling direction, and a field magnet. And a movable element provided with an output shaft, wherein the movable armature winding and the propelling armature winding are energized to generate torque in the rotational direction and thrust in the propulsive direction, respectively. In the linear motion rotary actuator that performs the rotation operation and the straight movement operation, the armature winding for rotation is wound around a tooth formed on the armature core, and the armature winding for propulsion is arranged on the inner diameter side surface of the armature core It is characterized by being wound around.

  According to a second aspect of the present invention, in the linear motion rotary actuator according to the first aspect of the present invention, the mover rotates an N-pole magnet having a magnetic pole surface of the N-pole on the field yoke in the rotation direction. In addition, the S pole magnet having the pole surface of the S pole is shifted to the propulsion direction so that the N pole magnet and the S pole magnet are not adjacent to each other. It is characterized by being mounted.

The invention according to claim 3 is the linear motion rotary actuator according to claim 1, wherein the armature core includes an inner core integrated with the inner diameter side of the teeth, and an outer diameter side of the teeth. It is characterized by being comprised with the outer core located in.
According to a fourth aspect of the present invention, in the linear motion rotary actuator according to the third aspect of the present invention, the rotating armature winding includes a coil wound in a concentrated manner so as to be inserted outside the teeth. It is characterized by being inserted from the outer diameter side.
According to a fifth aspect of the present invention, in the linear motion rotary actuator according to the third aspect, the outer core is formed of a sintered core.

The invention according to claim 6 is the linear motion rotary actuator according to claim 1, wherein the propulsion armature winding is a ring-shaped coil concentratedly wound in a hollow cylindrical shape and has an inner diameter of the armature core. It is characterized by being inserted into a surface.
The invention according to claim 7 is the linear motion rotary actuator according to any one of claims 1 to 6, wherein the armature core is disposed between the coils of the propulsion armature winding on the inner diameter side surface. It has the groove | channel which accommodates a crossover wire.

According to the present invention, the armature winding for rotation is wound around the teeth formed on the armature core, and the propulsion armature winding is wound on the inner diameter side surface of the armature core. Magnetic flux linked to the armature winding for rotation and the armature winding for propulsion passes through the armature core, and the dead space of the magnetic path can be eliminated compared with the conventional structure, so it is small and torque The thrust can be increased. Also in the assembly work, the rotating armature winding is disposed on the outer diameter side, the propulsion armature winding is disposed on the inner diameter side, and the rotating armature winding is wound around the teeth formed on the armature core. Since the propulsion armature winding is wound around the inner diameter side surface of the armature core, assembly is easy.
According to the invention described in claim 3, the armature core is constituted by the inner core integrated by connecting the inner diameter side of the teeth and the outer core positioned on the outer diameter side of the teeth. Since the armature winding can be wound from the outside, it is easier to assemble than the invention according to claim 1.
According to the invention described in claim 4, the rotating armature winding inserts the coil wound in a concentrated manner so that it can be inserted outside the teeth from the outer diameter side of the inner core. Assembly is easier than the invention.
According to the invention described in claim 5, since the inner core is configured by laminating thin silicon steel plates and the outer core is configured by a sintered core, the magnetic flux flowing in the outer core in the propulsion direction. Thus, the torque and the thrust can be increased as compared with the first and third aspects of the invention.
According to the invention described in claim 6, the propulsion armature winding is inserted into the inner diameter surface of the armature core as a ring-shaped coil concentrated in a hollow cylindrical shape. It is even easier to assemble.
According to the invention described in claim 7, the armature core has a structure in which the groove on the inner diameter side accommodates the connecting wire between the coils of the propulsion armature winding. The dead space which is the protruding part of the connecting wire between the coils of the armature winding for the motor is eliminated, and more propulsion armature windings can be wound in the inner core of the same shape. The thrust can be made larger than that of the invention described in.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same name is assigned to the same name as much as possible, and redundant description is omitted.

FIG. 1 is a cross-sectional view of a linear motion rotary actuator according to a first embodiment of the present invention viewed from the side, and FIG. 2 is a cross-sectional view of the linear motion rotary actuator according to the first embodiment of the present invention taken along line AA in FIG. is there.
In the figure, 100 is a stator, 101 is an armature core, 106 is a slide rotary bush, 107 is an L side bracket, 108 is an anti-L side bracket, 120 is a motor frame, and 203 is a field magnet.
The armature core 101 includes a yoke 103y and teeth 103t.
The stator 100 is configured by winding a rotating armature winding 104 around a tooth 103t formed on an armature core 101, and winding a propulsion armature winding 105 around a surface on the inner diameter side of the armature core 101.
The armature core 101 is formed by laminating thin silicon steel plates.
The mover 200 is configured by mounting a field magnet 203 on the surface of a field yoke 202, and includes an output shaft 201. The field magnet 203 is disposed on the outer diameter side of the propulsion electric machine via a gap. It faces the child winding 105.
The stator 100 is inserted and fixed in a hollow cylindrical motor frame 120.
An L bracket 107 is attached to the load side of the motor frame 120, and an anti-L bracket 108 is attached to the antiload side. A slide rotary bush 106 is attached to each of the L bracket 107 and the non-L side bracket 108.
The output shaft 201 is supported by the slide rotary bush 106 and can move in the rotation direction and the propulsion direction with respect to the stator 100.

FIG. 3 is a development view showing an arrangement relationship between the armature winding and the permanent magnets according to the first embodiment. In FIG. 3, 104a is a coil concentratedly wound around a tooth 103t formed on the armature core 101, and 105a is a ring coil concentratedly wound into a hollow cylindrical shape.
In this embodiment, the rotating armature winding 104 has 8 poles and the propulsion armature winding 105 has 4 poles. The propulsion winding facing the field magnet has two poles.
The field magnet 203 includes eight N-pole magnets 203a having N poles on the magnetic pole surface and four S-pole magnets 203b having S poles, for a total of eight. The N-pole magnets 203a are arranged every 2λ in the rotation direction (λ is the rotation direction pole pitch), and the S-pole magnets 203b are shifted by λ in the rotation direction and γ in the propulsion direction (γ is the propulsion direction pole pitch). Thus, the N-pole magnet and the S-pole magnet are arranged so as not to be adjacent to each other every 2λ in the rotation direction.
The rotating armature winding 104 is composed of six coils 104a, two for each of the U, V, and W phases. The interval at which the coils 104a are arranged in the rotation direction is λ × 4/3 (electrical angle 240 degrees). Since the in-phase coils 104a have an electrical angle of 720 degrees, the two in-phase coils 104a are connected so that the current direction is the same in both directions.

The propulsion armature winding 105 includes 12 ring-shaped coils 105a, each of four U, V, and W phases. The interval of the ring-shaped coil 105a arranged in the propulsion direction is γ / 3 (electrical angle 60 degrees), and the entire length of the propulsion armature winding 105 in the propulsion direction is 4γ (= γ / 3 × 12). Pieces).
Since the interval between ring coils 105a of the same phase is γ (electrical angle 180 degrees), the four in-phase ring coils 105a are wired so that the direction of current is normal, reverse, normal, and reverse. Has been.
The positional relationship between the armature winding for rotation 104 and the armature winding for propulsion 105 is arranged as schematically shown by a thick black line through the field magnet 203 and the air gap.

Since the rotational armature winding 104 and the permanent magnet 203 are arranged over the entire circumference in the rotational direction, the rotational operation range β _S of the mover 200 is
β _S ≧ 360 (degrees)
It is.
On the other hand, in the propulsion operation range L _S , the propulsion armature winding 105 has a propulsion direction length of 4γ and the field magnet 203 has a propulsion direction length of 2γ.
L _S = 4γ−2γ = 2γ
It is.

The actuator configured in this manner generates torque in the mover 200 due to the action of the magnetic field generated by the field magnet 203 by flowing current through the rotating armature winding 104, and the current is supplied to the propulsion armature. By flowing through the winding 105, a thrust is generated in the mover 200 by the action of the magnetic field generated by the field magnet 203.
Now, the positional relationship between the field magnet 203 and the rotating armature winding 104 is as shown in FIG. 3, and the U-phase winding of the rotating armature winding 104 is in the direction of the arrow (CCW). When a current is passed, Lorentz force is generated, and the mover 200 generates torque in the + rotation direction.
Further, the positional relationship between the field magnet 203 and the propulsion armature winding 105 is as shown in FIG. 2, and the U-phase winding of the propulsion armature winding 105 has a downward direction and a * U-phase winding. When a current is passed upward through the wire, Lorentz force is generated, and the mover 200 generates thrust in the + propulsion direction.
Since the armature winding for rotation 104 and the armature winding for propulsion 105 can be controlled independently, if a current flows simultaneously with the armature winding for rotation 104 and the armature winding for propulsion 105, The mover 200 performs a spiral motion that combines a rotational motion and a linear motion.
In this way, the mover 200 enables a spiral motion that combines a rotational motion, a linear motion, and both motions.

  The difference between the present invention and the prior art is that the stator 100 is wound with the armature winding 104 for rotation around the teeth 103t of the inner core 103 in the prior art, and the propulsion armature winding 105 is wound on the outer diameter side of the inner core 103. In the present invention, the rotating armature winding 104 is disposed on the outer diameter side of the stator 100 and the propulsion armature winding 105 is disposed on the outer side. The rotating armature winding 100 is wound around the teeth 103t formed on the armature core 101, and the propulsion armature winding 105 is formed on the armature core 101. With the structure wound around the inner diameter side, both the magnetic flux interlinking with the armature winding for rotation 104 and the magnetic flux interlinking with the armature winding for propulsion 105 pass through the armature core 101. The magnetic path It is to eliminate the space.

With such a configuration, the magnetic flux interlinked with the armature winding for rotation 104 and the magnetic flux interlinked with the armature winding for propulsion 105 pass through the armature core 101, so that the dead space is smaller than that in the conventional structure. 300 can be eliminated, and torque and thrust can be increased with a small size.
Also in the assembly work, the rotating armature winding 104 is wound around the teeth 103t formed on the armature core 101, and the propulsion armature winding 105 is changed to the ring-shaped coil 105a on the inner diameter side of the armature core 101. As it is attached to the surface, it is easy to assemble. The ring-shaped coil 105a can be prepared in advance using an automatic winding machine.

4 is a cross-sectional view seen from the side of the linear motion rotary actuator showing the second embodiment of the present invention, and FIG. 5 is a cross-sectional view taken along line BB of FIG. 4 of the linear motion rotary actuator showing the second embodiment of the present invention. It is sectional drawing.
In the figure, 102a is an outer core of only the yoke 103y located on the outer diameter side of the tooth 103b, 103a is an integrated inner core connected to the inner diameter side of the tooth 103t, and 104b is concentratedly wound so that it can be inserted outside the tooth 103b. This is a saddle coil.
The armature core 101 includes an inner core 103a and an outer core 102a.
The stator 100 is arranged from the outer diameter side to the inner diameter side in the order of the outer core 102a, the inner core 103a in which the armature winding 104 for rotation is wound around the teeth 103t, and the armature winding 105 for propulsion. Constitute.
Similar to the first embodiment, the mover 200 is configured by mounting a field magnet 203 on the surface of a field yoke 202 and includes an output shaft 201.
The inner core 103a and the outer core 102b are both configured by laminating thin silicon steel plates.
FIG. 6 shows a method of inserting a coil into the inner core of the linear motion rotary actuator showing Embodiment 2 of the present invention.
For the assembly of the stator, the saddle coil 104b is inserted into the teeth 103t of the inner core 103a from the outer diameter side, the propulsion armature winding 105 is inserted into the inner diameter side of the inner core 103a as the ring coil 105a, The core 103a is inserted into the outer core 102a.

  This embodiment is different from the first embodiment in that the armature core 101 is connected to the inner diameter side of the teeth 103t and integrated with the inner core 103a, and the yoke 103y located on the outer diameter side of the teeth 103t only. The core arm 102a is inserted into the teeth 103t of the inner core 103a from the outer diameter side, the inner core 103a is inserted into the outer core 102a, and the propulsion armature winding 105 is inserted into the inner core 103a. This is the point arranged on the inner diameter side of 103a.

Also in this embodiment, as in the first embodiment, the rotating armature winding 104 has 8 poles, the propulsion armature winding 105 has 4 poles, and the rotating armature winding 104 has 6 saddle coils 104b. The propulsion armature winding 105 is composed of 12 ring coils 105a, and the field magnet 203 is composed of four N pole magnets 203a and four S pole magnets 203b, for a total of eight.
Also in the present embodiment, as in the first embodiment, a current is passed through the rotating armature winding 104 to generate a torque in the mover 200 by the action of the magnetic field generated by the field magnet 203. Is caused to flow through the propulsion armature winding 105, so that a thrust can be generated in the mover 200 by the action of the magnetic field generated by the field magnet 203. Therefore, the mover 200 can rotate, move linearly, or both. Spiral motion combining motion is possible.
Also in the present embodiment, as in the first embodiment, the torque and the thrust can be increased with a small size.
In the assembling work, the saddle coil 104b can be created by using an automatic winding machine, and the armature winding 104 for rotation has the saddle coil 104b that is formed from the outer diameter side of the inner core 103a. Since it is inserted and formed by inserting the inner core 103a into the outer core 102a, assembly is easier than in the first embodiment.

Next, a third embodiment of the present invention will be described.
FIG. 7 is a cross-sectional view taken along the line B-B of FIG. 4 of the linear motion rotary actuator showing Embodiment 3 of the present invention, which is shown in comparison with FIG. In FIG. 5, 102b is a sintered outer core.
The third embodiment differs from the second embodiment in that the inner core 103a is formed by laminating thin silicon steel plates and the outer core 102a is formed by a sintered outer core 102b formed by sintering.
With such a configuration, since the magnetic flux flowing in the outer core can easily flow in the propulsion direction, the magnetic resistance in the outer core can be reduced, thereby increasing the torque and thrust as compared with the second embodiment. I can do it.

Next, a fourth embodiment of the present invention will be described.
FIG. 8 shows a method of inserting a coil into the inner core of a linear motion rotary actuator showing Embodiment 4 of the present invention. In FIG. 8, 109 is a connecting wire between the coils, and 110 is a groove for storing the connecting wire between the coils.
The fourth embodiment is different from the second embodiment in that a groove 110 is formed in the inner core 103a for accommodating the connecting wire 109 between the coils.
FIG. 9 is a comparative view of cross sections of the propulsion armature windings of the linear motion actuators of the second embodiment and the fourth embodiment of the present invention. FIG. 9A is a cross sectional view of the propulsion armature windings of the second embodiment. (B) is sectional drawing of the armature winding for propulsion of Example 4. FIG.
In the second embodiment, as shown in FIG. 9A, the connecting wire connecting the coils of the same phase protrudes, and when inserted into the inner core 103a, a dead space is formed between the inner core 103a and the armature winding 104 for rotation. 300 will occur.
However, as shown in FIG. 8, by forming the groove 110 for accommodating the connecting wire 109 between the coils in the inner core 103a, the protruding portion of the connecting wire 109 between the coils is formed as shown in FIG. 9B. A certain dead space 300 is eliminated, more propulsion armature windings 105 can be wound in the inner core 103a having the same shape, and the thrust can be increased as compared with the second embodiment.

Sectional drawing seen from the side of the linear motion rotary actuator which shows Example 1 of this invention 1 is a cross-sectional view of the AA portion of FIG. 1 of a linear motion rotary actuator showing Embodiment 1 of the present invention. The expanded view which showed the arrangement | positioning relationship of the armature winding and permanent magnet which show Example 1 of this invention Sectional drawing seen from the side of the linear motion rotary actuator which shows Example 2 of this invention FIG. 4 is a cross-sectional view of the linear motion rotary actuator of FIG. Method for inserting coil into inner core of linear motion rotary actuator showing embodiment 2 of the present invention FIG. 4 is a cross-sectional view of the B-B portion of FIG. Method for inserting a coil into an inner core of a linear motion rotary actuator showing Embodiment 4 of the present invention Comparison diagram of cross sections of propulsion armature windings of direct acting rotary actuators of embodiment 2 and embodiment 4 of the present invention Sectional view seen from the side of a mover of a conventional linear motion rotary actuator CC sectional view of FIG. 10 of the conventional linear motion rotary actuator.

Explanation of symbols

100 Stator 101 Armature core 102, 102a Outer core 102b Sintered outer core 103, 103a Inner core 103t Teeth 103y Yoke 104 Rotating armature winding 104a Coil 104b Saddle coil 105 Propulsion armature winding 105a Ring-shaped coil 106 Slide Rotary Bush 107 L Side Bracket 108 Anti-L Side Bracket 109 Crossing Wire 110 between Coils 110 Recess 120 for Holding the Crossing Wire between Coils 120 Motor Frame 200 Movable Element 201 Output Shaft 202 Field Yoke 203 Field Magnet 203a N-Pole Magnet 203b S pole magnet 300 dead space

Claims (7)

A stator including a rotating armature winding that generates a rotating magnetic field in the rotating direction and a propelling armature winding that generates a straight magnetic field in the propelling direction; and a mover including an output shaft having a field magnet; The rotating armature winding and the propulsion armature winding are energized respectively to generate torque in the rotation direction and thrust in the propulsion direction to perform rotation operation and straight movement operation of the mover. In dynamic rotation actuator,
A linear motion rotary actuator characterized in that the armature winding for rotation is wound around a tooth formed on an armature core, and the armature winding for propulsion is wound around the inner diameter side surface of the armature core.   In the mover, an N pole magnet having an N pole as the magnetic pole surface is mounted on the field yoke at every pitch twice as large as the pole pitch in the rotation direction in the rotation direction, and the S pole having the pole surface as the S pole. 2. The direct acting rotary actuator according to claim 1, wherein the magnet is mounted so that the N pole magnet and the S pole magnet are not adjacent to each other by shifting the magnet in the propulsion direction by a pole pitch in the propulsion direction.   2. The direct arm according to claim 1, wherein the armature core is configured by an inner core integrated by connecting an inner diameter side of the teeth and an outer core positioned on an outer diameter side of the teeth. Dynamic rotation actuator.   4. The direct acting rotary actuator according to claim 3, wherein the rotating armature winding includes a coil wound in a concentrated manner so as to be inserted outside the teeth from an outer diameter side of the inner core.   The linear motion rotary actuator according to claim 3, wherein the outer core is a sintered core.   2. The linear motion rotary actuator according to claim 1, wherein the propulsion armature winding is inserted into an inner diameter surface of the armature core as a ring coil concentratedly wound in a hollow cylindrical shape.   The linear motion rotation according to any one of claims 1 to 6, wherein the armature core has a groove for accommodating a jumper wire between the coils of the propulsion armature winding on a surface on the inner diameter side. Actuator.

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