JP2011183484A - Positioning device and positioning method of sheet-like work - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning device of a sheet-like work, which detects a positioning mark even when a position of the positioning mark is different for every kind of the work, and sends the sheet-like work to a processing position of a metal mold. <P>SOLUTION: A positioning feed roller 7 for sending the work 2 by rotating rollers by sandwiching and clamping the work 2 from its plate thickness direction between a pair of positioning feed rollers 7, is moved in the X direction, the Y direction and the θ direction by a positioning XYθ axis automatic stage 8, and the work 2 is moved to the processing position of a lower metal mold 3. When moving the work 2, though the positioning mark 10 arranged in the work 2 is adjusted to two reference marks 9 arranged in the lower metal mold 3, the positional dislocating direction and a positional dislocation quantity of the positioning mark 10 to the reference marks 9 are determined by a camera 11 freely moving in the X direction and the Y direction, and the work 2 is moved by the positioning XYθ axis automatic stage 8 with the dislocation quantity of these as a correction quantity. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a sheet-like workpiece positioning device that positions and arranges a sheet-like workpiece at a machining position of a mold, and a positioning method thereof.

  For example, in Patent Document 1, a flexible printed wiring board that is continuous in a strip shape is fed to a processing position where a die of an automatic die punching machine is placed by a processing block unit, and two positioning marks provided on the wiring board are provided. The coordinates of the mark position are obtained by taking an image with a camera fixed to the press machine, the amount of deviation from the coordinates of the guide hole of the die read in advance is calculated, and the wiring board is X with the positioning hand according to the amount of deviation. A technique for positioning by moving in the direction, the Y direction, and the θ direction is disclosed.

  In Patent Document 2, the position of an alignment mark formed on a continuous belt-shaped sheet is read by a camera provided in a press machine, and a deviation amount is obtained by comparison with an alignment reference position, and a gripper is determined according to the deviation amount. Discloses a technique for aligning the sheet clamped by moving the sheet with an alignment stage movable in the X, Y, and θ directions.

JP-A-9-191198 Japanese Patent Laid-Open No. 11-347656

  However, in the techniques described in Patent Documents 1 and 2, since the camera is fixed, if the position of the positioning mark on the workpiece differs for each type of workpiece, the positioning mark cannot be read by the camera. In addition, since all of these technologies send a continuous belt-like workpiece by a feeder or a gripper, a sheet-like workpiece having a predetermined length that is not a continuous workpiece such as a roll or a belt. Cannot be positioned.

  Accordingly, the present invention provides a positioning apparatus for a sheet-like workpiece that can detect a positioning mark even when the position of the positioning mark differs for each type of workpiece and can send the sheet-like workpiece to a processing position of a mold. And it aims at providing the positioning method.

  According to the first aspect of the present invention, the two reference marks provided on the mold are aligned with the two positioning marks provided on the sheet-like workpiece, and the workpiece is positioned and arranged on the die. A positioning device for a workpiece, wherein the workpiece is clamped by sandwiching the workpiece from a plate thickness direction with a pair of rollers and rotating the roller to feed the workpiece to a processing position of the mold; and The workpiece clamped by the positioning feed roller is fed to the front position where the mold is provided. The feed direction is the X direction, the Y direction is the direction perpendicular to the feed direction, and the workpiece is centered on an arbitrary point. A workpiece moving mechanism that is movable in each of the rotating θ directions, an imaging unit that images the reference mark and the positioning mark, and the imaging unit that extends in the X direction. An imaging unit moving mechanism that is movable in the Y direction, and a positional deviation direction and an amount of positional deviation of the positioning mark on the workpiece with respect to the reference mark on the mold read in advance by the imaging unit, and the position A control unit configured to move the workpiece by the workpiece moving mechanism in accordance with a deviation direction and a displacement amount, and to align the positioning mark with the reference mark.

  A second aspect of the present invention is the sheet workpiece positioning apparatus according to the first aspect, wherein the workpiece moving mechanism moves the positioning feed roller itself in the X direction, the Y direction, and the θ direction. The workpiece can be moved.

  A third aspect of the present invention is the sheet workpiece positioning apparatus according to the first or second aspect, wherein the reference mark and the positioning mark are positioned relative to each other in the X direction and the Y direction. The control unit moves the image pickup unit to a position where one positioning mark of the workpiece sent to the machining position of the mold is provided. Then, the positional deviation direction and the positional deviation amount of the one reference mark and the one positioning mark that matches the reference mark are obtained, and the other positioning mark is provided according to the positional deviation direction and the positional deviation amount. The imaging means is moved to a predetermined position.

  According to a fourth aspect of the present invention, there is provided a sheet-like shape in which two positioning marks provided on a sheet-like workpiece are aligned with two reference marks provided on the die, and the workpiece is positioned on the die. A method for positioning a workpiece, wherein the positions of two reference marks are obtained by imaging with an imaging means, and the two positioning marks of the workpiece sent to the machining position of the mold are respectively detected by the imaging means. The position of the positioning mark relative to the reference mark and the amount of displacement are determined from the captured image, and the workpiece is moved in accordance with the position displacement direction and the amount of displacement. When making the positioning mark coincide with each other, the positional deviation direction and the positional deviation amount between one of the reference marks and one of the positioning marks to coincide with the reference mark are set as a correction amount. Te, one of the positioning mark the image pickup means after the image a, the positioning mark of the other is characterized by moving to a position that is provided.

  According to the present invention, since the imaging means for imaging the reference mark provided on the mold and the positioning mark provided on the workpiece can be moved in the X direction and the Y direction, the position of the positioning mark differs for each type of workpiece. However, the positioning mark can be imaged by moving the imaging means.

  In addition, according to the present invention, the positioning feed roller is used, wherein the workpiece is clamped by sandwiching the workpiece from the plate thickness direction with a pair of rollers, and the roller is rotated to feed the workpiece to the machining position of the mold. Since the workpiece itself is moved in the X direction, the Y direction, and the θ direction by the workpiece moving mechanism, a sheet-like workpiece having a predetermined length that is not a continuous roll shape or a belt shape can be sent to the processing position of the mold.

FIG. 1 is a front view of a sheet-like workpiece positioning device. FIG. 2 is a plan view of the position along the line AA in FIG. 1 and shows a state where there is no workpiece. 3 is a cross-sectional view taken along line BB in FIG. FIG. 4 is a plan view taken along line AA in FIG. 1 and shows a state in which a workpiece is provided. FIG. 5 is an operation diagram in which the workpiece is moved in the X direction, the Y direction, and the θ direction so that the positioning mark provided on the workpiece matches the reference mark provided on the mold. FIG. 6 shows the case where the workpiece is arranged at an inclination with respect to the machining position of the mold, and after the first positioning mark is detected when the positioning mark is circular, the second positioning mark is detected by the imaging means. It is the figure which showed the state which cannot be searched.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings.

[Description of device configuration]
The positioning device for a sheet-like workpiece according to this embodiment aligns the two positioning marks provided on the sheet-like workpiece with the two reference marks provided on the die, and positions the workpiece on the die. For example, the apparatus is applied to an automatic press machine that punches a workpiece into a predetermined shape.

  As shown in FIG. 1, a lower mold 3 and an upper mold 4, which are punching molds for punching a workpiece 2 into a predetermined shape, are attached to the automatic press machine 1. The upper die 4 is movable up and down in a direction approaching and separating from the lower die 3, and the workpiece 2 is punched out by a punching punch provided in the upper die 4.

  As the work 2, for example, a sheet-like flexible printed wiring board (FPC board) cut into a predetermined length that is not a continuous work such as a roll shape or a belt shape is used. In this embodiment, a flexible printed wiring board having three identical wiring patterns is used for the work 2. Here, a single workpiece 2 is punched three times.

  As shown in FIGS. 1 to 4, the positioning device of the present embodiment is supplied from a supply tray 5 on which the work 2 is placed, a supply roller 6 that takes out the work 2 from the supply tray 5, and a supply roller 6. The positioning feed roller 7 that clamps the workpiece 2 and feeds it to the machining position of the die (lower die 3), and the workpiece 2 clamped by the positioning feed roller 7 can be moved in the X, Y, and θ directions. An imaging means for imaging the positioning XYθ-axis automatic stage 8 which is a workpiece moving mechanism section, two reference marks 9 provided on the mold (lower mold 3), and two positioning marks 10 provided on the workpiece 2. A camera 11, an XY axis automatic stage 12 for driving the camera, which is an imaging means moving mechanism that enables the camera 11 to move in the X direction and the Y direction, and a controller 13 that controls driving of each mechanism. And a discharge roller 14 for discharging the punched work 2 from the processing position, and a discharge tray 15 for receiving the discharged work 2.

  The supply tray 5 is provided on the leftmost side in the workpiece feeding direction H for moving the workpiece 2 from left to right in FIG. The supply roller 6 is provided between the supply tray 5 and the positioning feed roller 7. The supply roller 6 functions to take out the workpiece 2 from the supply tray 5 and transfer it to the positioning feed roller 7. The supply roller 6 includes a driving roller 6B that is directly driven to rotate by a first roller driving motor 16, and a passive roller 6A that rotates while sandwiching the workpiece 2 by the driving roller 6B.

  The positioning feed rollers 7 are provided on both sides of the lower mold 3, respectively. From another viewpoint, the positioning feed roller 7 is provided between the supply roller 6 and the lower mold 3 and between the discharge roller 14 and the lower mold 3. The positioning feed roller 7 includes a driving roller 7B that is directly rotated by a second roller driving motor 17, and a passive roller 7A that rotates while sandwiching the workpiece 2 by the driving roller 7B. These two positioning feed rollers 7 are attached to a frame 18 having a rectangular shape in plan view formed so as to surround the lower mold 3.

  The positioning XYθ-axis automatic stage 8 includes an X-axis stage 8X, a Y-axis stage 8Y and a θ-axis stage 8θ that move the positioning feed roller 7 together with the frame body 18 in the XYθ directions. The X-axis stage 8X is a moving mechanism that moves the frame 18 in the X direction (including the direction opposite to this), which is a work feeding direction for feeding the work 2 from the supply tray 5 to the front where the lower mold 3 is provided. is there. The Y-axis stage 8Y is a moving mechanism unit that moves the frame 18 in the Y direction, which is a direction orthogonal to the workpiece feeding direction. The θ-axis stage 8θ is a moving mechanism unit that moves the frame 18 in the θ direction that rotates the workpiece 2 around an arbitrary point. Note that the X-axis stage 8X, the Y-axis stage 8Y, and the θ-axis stage 8θ are moved by servo motors (not shown) provided respectively.

  The camera 11 is composed of a CCD camera, for example, and is provided between the lower mold 3 and the upper mold 4. The camera 11 can be moved in the X direction and the Y direction by an XY axis automatic stage 12 for driving the camera. The XY axis automatic stage 12 for driving the camera is provided on a pedestal 21 supported by a column 20 attached to a base 19 on which the XYθ axis automatic stage 8 for positioning is mounted. The camera driving XY-axis automatic stage 12 includes an X-axis stage 12X that moves the camera 11 in the X direction and a Y-axis stage 12Y that moves the camera 11 in the Y direction. The camera 11 is attached to a distal end portion of a camera support arm 22 whose base end portion is fixed to the X-axis stage 12X. The X-axis stage 12X and the Y-axis stage 12Y are moved by servo motors (not shown) provided respectively.

  The camera 11 is movable between the lower mold 3 and the upper mold 4 in both the X direction and the Y direction, and is provided on the reference mark 9 provided on the lower mold 3 and the work 2. The obtained positioning mark 10 is imaged. The camera 11 is retracted to a position where it does not contact the lower mold 3 and the upper mold 4 when the workpiece 2 is punched by the automatic press 1.

  The discharge roller 14 is provided in front of the discharge tray 15 in the workpiece feeding direction H. The discharge roller 14 discharges the workpiece 2 punched by the automatic press machine 1 from the processing position. The discharge roller 14 includes a driving roller 14B that is directly driven to rotate by a third roller driving motor 23, and a passive roller 14A that rotates while sandwiching the workpiece 2 by the driving roller 14B.

  The discharge tray 15 is disposed on the rightmost side in the workpiece feeding direction H. This discharge tray 15 is adapted to place the workpiece 2 after punching sent from the discharge roller 14.

  The control unit 13 drives and controls the mechanical units of the supply roller 6, the positioning feed roller 7, the positioning XYθ-axis automatic stage 8, the camera driving XY-axis automatic stage 12, and the discharge roller 14. In particular, in this embodiment, the positioning mark provided on the workpiece 2 sent to the processing position of the lower die 3 with respect to the reference mark 9 provided on the lower die 3 read in advance by the camera 11. 10 is obtained, and the positioning XYθ-axis automatic stage 8 is driven and controlled in accordance with the positional deviation direction and the positional deviation amount so that the positioning mark 10 coincides with the reference mark 9. The workpiece 2 is moved. Specific operations will be described later.

[Description of positioning method]
Next, a method for positioning the workpiece to the machining position of the mold using the positioning device of the present embodiment will be described.

  The lower mold 3 is provided with two reference marks 9 as shown in FIG. On the other hand, the workpiece 2 is provided with two positioning marks 10 as in the lower mold 3. Two positioning marks 10 provided on the workpiece 2 are provided on each of the processing blocks K1, K2, and K3 (indicated by a two-dot chain line) for punching one workpiece 2 three times. The reference mark 9 and the positioning mark 10 are provided with the same shape and the same pitch. In FIG. 5, the reference mark 9 and the positioning mark 10 form a mark having a direction attribute that can determine in which direction and how much the respective mark positions are shifted in the X direction and the Y direction, for example, a rectangular shape (rectangular shape). It is marked.

  First, the sheet-like workpiece 2 placed on the supply tray 5 is transferred to the positioning feed roller 7 by the supply roller 6. The supply roller 6 is configured such that the first roller driving motor 16 that has received a command from the control unit 13 rotates the driving roller 6B, so that the passive roller 6A opposed thereto rotates with the workpiece 2 interposed therebetween. The workpiece 2 is transferred to the positioning feed roller 7.

  The positioning feed roller 7 that has received the workpiece 2 rotates the driving roller 7B by the second roller driving motor 17 that has received a command from the control unit 13, so that the passive roller 7A that faces the second roller driving motor 17 rotates the driving roller 7B. The workpiece 2 is sent to the processing position of the lower mold 3 by rotating with the pin interposed therebetween. At this time, the positioning feed roller 7 feeds the workpiece 2 in units of one processing block K. FIG. 4 shows a state in which the workpiece 2 has been sent so that the first machining block K1 comes to the machining position of the lower mold 3.

  Next, the camera driving XY-axis automatic stage 12 that has received a command from the control unit 13 drives the servo motors to move the X-axis stage 12X and the Y-axis stage 12Y, and is moved to the machining position of the lower mold 3. The camera 11 is moved onto the work 2 that has been moved. First, the camera 11 is moved to an upper position facing one reference mark 9 (hereinafter referred to as the first reference mark 9). Then, one positioning mark 10 (hereinafter referred to as the first positioning mark 10) placed on the reference mark 9 is imaged by the camera 11, and the position (coordinate value) of the first positioning mark 10 is captured. Is calculated by the control unit 13. Note that the positions of the two reference marks 9 are obtained in advance as XY coordinate values. Then, the control unit 13 compares the obtained coordinate value of the first positioning mark 10 with the coordinate value of the first reference mark 9 and compares the first positioning mark 10 with respect to the first reference mark 9. The displacement direction and displacement amount (correction amount) are obtained.

  Next, the camera driving XY axis automatic stage 12 is driven, and the camera 11 is positioned on the other positioning mark 10 (hereinafter referred to as the second reference mark 9) corresponding to the other reference mark 9 (hereinafter referred to as the second reference mark 9). The positioning mark 10 is moved to a position where it is provided. Then, the second positioning mark 10 placed on the second reference mark 9 is imaged by the camera 11, and the position (coordinate value) of the second positioning mark 10 is calculated by the control unit 13. Ask. Then, the control unit 13 compares the obtained coordinate value of the second positioning mark 10 with the coordinate value of the second reference mark 9, and compares the second positioning mark 10 with respect to the second reference mark 9. The displacement direction and displacement amount (correction amount) are obtained.

  For example, as shown in FIG. 6, when the reference mark 9 and the positioning mark 10 have a circular shape, if the work 2 is bent (tilted) and sent to the lower mold 3, When the camera 11 is moved to the positioning mark 10, the positioning mark 10 does not exist in the field-of-view range S of the camera 11 (indicated by a broken line in the figure). As a result, a detection error occurs because the second positioning mark 10 cannot be imaged by the camera 11, or the camera driving XY axis automatic stage 12 is moved to search for the positioning mark 10.

  Therefore, in the present embodiment, even when the work 2 is bent and sent to the lower mold 3, it is not necessary to search for the second positioning mark 10 with the camera 11. Eliminate detection errors. Specifically, the reference mark 9 and the positioning mark 10 are not circular, but have a direction attribute that can determine in which direction and how much the respective mark positions are shifted in the X and Y directions. A mark such as a rectangular mark is used.

  For example, when the workpiece 2 is moved from the state shown in FIG. 5A to the machining position of the lower mold 3, the workpiece 2 is moved relative to the machining position of the lower mold 3 as shown in FIG. Suppose it was sent in a curved line. FIG. 5B shows a state where the second machining block K2 has been sent to the machining position. At this time, since both the reference mark 9 and the positioning mark 10 are rectangular, not only the positional deviation direction and the positional deviation amount of the positioning mark 10 with respect to the reference mark 9 in the X direction and the Y direction, but also the workpiece 2 can be arbitrarily set. The amount of deviation in the θ direction that rotates around the point can also be detected. For example, from which two sides 9 a and 9 b of the rectangular reference mark 9 intersect and the two sides 10 a and 10 b of the positioning mark 10 corresponding thereto, the workpiece 2 is in which direction with respect to the machining position of the lower mold 3. It is possible to know the degree of inclination (that is, the inclination (correction amount) of the work 2).

  For this reason, if the control part 13 also considers the deviation | shift amount to the (theta) direction of the workpiece | work 2, if the camera 11 is moved from the position of the 1st positioning mark 10 to the position of the 2nd positioning mark 10, There is no need to search for the positioning mark 10. In this way, by using the reference mark 9 and the positioning mark 10 having the direction attribute, it is not necessary to search for the positioning mark 10 and detection errors can be eliminated. Examples of the mark having the direction attribute include a cross shape, a single character shape, and a parallel double line shape in addition to the rectangular shape described above.

  Then, the control unit 13 drives the positioning XYθ-axis automatic stage 8 in consideration of the positional deviation direction and the positional deviation amount (correction amount) of each positioning mark 10 with respect to the two reference marks 9 to move the workpiece 2 to X. The positioning mark 10 is made to coincide with the two reference marks 9 by moving in the direction, the Y direction, and the θ direction. When the workpiece 2 is positioned at the machining position of the lower mold 3, the camera driving XY-axis automatic stage 12 is driven to retract the camera 11 from the machining position.

  Next, the work 2 is pressed and punched. When the press working is completed, the control unit 13 drives the positioning XYθ-axis automatic stage 8 to return the positioning feed roller 7 to the origin. This completes the punching process for one machining block K1 of the workpiece 2. By sequentially repeating the above steps, the remaining two machining blocks K2 and K3 of the workpiece 2 are punched out. When all the processing blocks K1, K2, and K3 of the workpiece 2 have been punched, the control unit 13 drives the discharge roller 14 to send the punched workpiece 2 from the processing position to the discharge tray 15.

[Effect of the embodiment]
According to the present embodiment, since the camera 11 that is an imaging means for imaging the positions of the reference mark 9 provided on the lower mold 3 and the positioning mark 10 provided on the workpiece 2 is movable in the X direction and the Y direction, Even if the position of the positioning mark 10 is different for each type of the workpiece 2, the camera 11 can be moved to image the positioning mark 10. Further, according to the present embodiment, since the camera 11 is moved, it is not necessary to prepare two fixed cameras 11 and only one camera is sufficient.

  Further, according to the present embodiment, since it is not necessary to incorporate the camera 11 in the automatic press machine 1, it is possible to mount the camera 11 that can be moved by the camera driving XY axis automatic stage 12 on an existing press machine. Become.

  Further, according to the present embodiment, the workpiece 2 is clamped by sandwiching the work 2 from the thickness direction with the positioning feed roller 7 which is a pair of rollers, and the positioning feed roller 7 itself is rotated by the positioning XYθ axis. Since the automatic stage 8 moves in the X direction, the Y direction, and the θ direction, the sheet-like workpiece 2 having a predetermined length that is not a continuous roll shape or a belt shape can be sent to the processing position of the lower die 3.

  Further, according to the present embodiment, the reference mark 9 and the positioning mark 10 are marks having a direction attribute that can determine how much the respective mark positions are shifted in the X direction and the Y direction. When the first positioning mark 10 is imaged, a shift amount (tilt) in the θ direction of the workpiece 2 is obtained in addition to the position shift direction and the position shift amount in the X direction and the Y direction, thereby shifting the θ direction. By moving the camera 11 to the second positioning mark 10 in consideration of the above, it is possible to eliminate the detection error, and it becomes unnecessary to search the positioning mark 10 with the camera 11. Therefore, the workpiece 2 can be quickly positioned at the machining position of the lower mold 3, and the machining efficiency can be improved.

  INDUSTRIAL APPLICABILITY The present invention can be used for a sheet-like workpiece positioning device that positions and arranges a sheet-like workpiece at a machining position of a mold.

DESCRIPTION OF SYMBOLS 1 ... Automatic press machine 2 ... Work 3 ... Lower die (die)
4 ... Upper mold (mold)
5 ... Supply tray 6 ... Supply roller 7 ... Positioning feed roller 8 ... XYθ axis automatic stage for positioning (work movement mechanism)
9 ... Reference mark 10 ... Positioning mark 11 ... Camera (imaging means)
12 ... XY axis automatic stage for camera drive (imaging means moving mechanism)
13 ... Control unit 14 ... Discharge roller 15 ... Discharge tray

Claims (4)

A positioning device for a sheet-like workpiece that aligns two positioning marks provided on a sheet-like workpiece with two reference marks provided on the die and positions the workpiece on the die,
A positioning feed roller that feeds the workpiece to a processing position of the mold by sandwiching and clamping the workpiece with a pair of rollers and rotating the roller;
The workpiece clamped by the positioning feed roller is fed to the front position where the mold is provided. The feed direction is the X direction, the Y direction is the direction perpendicular to the feed direction, and the workpiece is centered on an arbitrary point. A workpiece moving mechanism that is movable in each of the rotating θ directions;
Imaging means for imaging the reference mark and the positioning mark;
An imaging means moving mechanism that enables the imaging means to move in the X and Y directions;
A position shift direction and a position shift amount of the positioning mark on the workpiece with respect to the reference mark on the mold read in advance by the imaging means are obtained, and the workpiece moving mechanism unit according to the position shift direction and the position shift amount And a control unit that moves the workpiece to match the positioning mark with the reference mark.
An apparatus for positioning a sheet-like workpiece. The sheet-like workpiece positioning device according to claim 1,
The workpiece moving mechanism unit moves the positioning feed roller itself in the X direction, the Y direction, and the θ direction to enable the workpiece to move. A positioning apparatus for a sheet-like workpiece according to claim 1 or 2,
The reference mark and the positioning mark are marks having a direction attribute that can determine in which direction and how much each mark position is shifted in the X direction and the Y direction,
The control unit moves the imaging means to a position where one positioning mark of the workpiece sent to the machining position of the mold is provided, and matches the one reference mark with the reference mark. A sheet-like shape characterized in that a positional deviation direction and a positional deviation amount of the positioning mark are obtained, and the imaging means is moved to a position where the other positioning mark is provided according to the positional deviation direction and the positional deviation amount. Work positioning device. A sheet-like workpiece positioning method in which two positioning marks provided on a sheet-like workpiece are aligned with two reference marks provided on a die, and the workpiece is positioned on the die.
The positions of the two reference marks are obtained by imaging with an imaging means, and the two positioning marks of the workpiece sent to the machining position of the mold are imaged by moving the imaging means to the respective positions. When the positional deviation direction and the positional deviation amount of the positioning mark with respect to the reference mark are obtained from the captured image, and the workpiece is moved in accordance with the positional deviation direction and the positional deviation amount to match the positioning mark with the reference mark. ,
Using the positional deviation direction and the positional deviation amount between one of the reference marks and one of the positioning marks matched thereto as a correction amount, the imaging means after imaging one of the positioning marks is replaced with the other positioning mark. A method for positioning a sheet-like workpiece, characterized by moving to a provided position.

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