JP2016060338A - Power steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a power steering device which is excellent in the detection responsiveness of a torque sensor, and favorably designs a layout of a key lock device.SOLUTION: A column shaft 3 in which a steering wheel 2 is connected to one end 3a includes a pair of shafts 39, 41 which are slidably fit to a first fitting part 42 in an axial direction X. A turning mechanism 10 is connected to the other end 3b of the column shaft 3 via a connecting mechanism 8. A torque sensor 5 which detects steering torque includes a part 5a to be detected which is arranged at one end 3a side rather than the first fitting part 42. A key lock collar 61 of a key lock device 6 is held to an external periphery of the column shaft 3 between the first fitting part 42 and the part 5a to be detected. A key lock device main body 63 which is arranged at an upper column 15 supports a lock key 64 so as to be capable of advancing and retracting to/from the key lock hole 62 of the key lock collar 61.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a power steering apparatus.

In the power steering device, a steering torque applied to the steering wheel is detected by a torque sensor. Then, the control unit causes the electric motor to generate assist torque corresponding to the steering torque detected by the torque sensor, and applies the assist torque to the steering mechanism.
In Patent Documents 1 and 2, a torque sensor is disposed on a column shaft connected to a steering wheel.

JP-A 64-32966 JP 2010-083327 A

The power steering device of Patent Document 2 has a so-called telescopic function that adjusts the position of the steering wheel in the axial direction of the column shaft. Specifically, in the column shaft, a portion between the torque sensor and the steering wheel includes a pair of shaft portions that slide relative to each other in the axial direction (so-called telescopic sliding).
The pair of shaft portions that slide telescopically tend to cause minute backlash and twist in the rotational direction. Since such a pair of shaft portions are interposed between the torque sensor and the steering wheel, the transmission responsiveness when the steering torque loaded on the steering wheel is transmitted to the torque sensor is reduced. As a result, the steering torque detection performance decreases. When the detection responsiveness of the torque sensor decreases, the assist responsiveness of assist torque applied from the electric motor to the steering mechanism decreases. For this reason, a steering feeling will fall.

  Typically, in a column shaft and a steering column that supports the column shaft, a key lock device that achieves a steering lock based on the operation of an ignition key is disposed at a position close to the steering wheel. The distance between the torque sensor and the steering wheel is increased by the axial space of the key lock device. When the distance is increased, the torsion between the torque sensor and the steering wheel increases in the column shaft when torque is applied. Therefore, the transmission responsiveness when the steering torque loaded on the steering wheel is transmitted to the torque sensor is reduced. As a result, the detection response of the torque sensor is reduced. Thus, the layout of the key lock device becomes a problem from the viewpoint of the detection response of the torque sensor.

  An object of the present invention is to provide a power steering device in which a detection response of a torque sensor is good and a key lock device can be laid out satisfactorily.

  In order to achieve the above object, the invention of claim 1 includes a pair of shafts (39, 41) slidably fitted in the axial direction (X) at the first fitting portion (42), and one end (3a). ), A telescopic column shaft (3) to which the steering wheel (2) is coupled, a cylindrical upper column (15) and a lower which are slidably fitted in the axial direction by the second fitting portion (46). A telescopic steering column (4) including a column (16) and rotatably supporting the column shaft, and a detected portion (5a) disposed on the one end side of the column shaft with respect to the first fitting portion. ) And a steering mechanism (10) including a torque sensor (5) for detecting steering torque and an input shaft (9) connected to the other end (3b) of the column shaft via a connection mechanism (8). And detected by the torque sensor A steering / assist unit (7) including an assist mechanism (11) for generating an assist torque based on the steering torque and applying the assist torque to the steering mechanism; and the first fitting portion and the detected portion. A key lock collar (61) having a key lock hole (62) held on the outer periphery of the column shaft, a key lock device main body (63) disposed in the upper column, and the key lock device main body to Provided is a power steering device (1) including a key lock device (6) including a lock key (64) supported in a lock hole so as to be able to advance and retreat.

In addition, although the alphanumeric character in a parenthesis represents the corresponding component etc. in embodiment mentioned later, this does not mean that this invention should be limited to those embodiment as a matter of course. The same applies hereinafter.
A tolerance ring (65) interposed between the outer periphery of the column shaft and the inner periphery of the key lock collar as in claim 2, wherein the tolerance ring has a set torque equal to or greater than a set torque and the key lock collar and the column. It may be configured to function as a torque limiter that allows relative rotation with the shaft.

  The column shaft includes an upper shaft (39), an intermediate shaft (41) coaxially connected to the upper shaft via a torsion bar (40), and the intermediate shaft connected to the intermediate shaft. A lower shaft (43) that is slidably fitted in one fitting portion (42), wherein the intermediate shaft and the lower shaft are the pair of shafts, and the torque sensor includes the upper shaft and The steering torque may be detected based on a relative rotation angle with the intermediate shaft, and the key lock collar may be held on the outer periphery (41a) of the intermediate shaft.

  5. An upper bearing (55) and a lower bearing (56) supported by the upper column as in claim 4, wherein the torque sensor is disposed between the upper bearing and the lower bearing, and the upper column May support the upper shaft via the upper bearing and support the intermediate shaft via the lower bearing.

According to the first aspect of the present invention, the steering torque applied to the steering wheel is transmitted to the detected portion of the torque sensor without passing through the first fitting portion. Therefore, the detection response of the torque sensor is good. As a result, the steering torque can be improved by enhancing the response of the assist torque.
Further, the key lock collar of the key lock device is disposed between the detected part and the first fitting part. That is, since the key lock collar is not arranged between the detected part and the steering wheel, the detected part can be arranged closer to the steering wheel side. Therefore, it is possible to improve the detection response of the torque sensor by suppressing the influence of shaft twist or the like in the torque transmission path from the steering wheel to the detected part.

  In addition, by arranging the detected portion closer to the steering wheel side, an axial space is formed in the column shaft at a position closer to the coupling mechanism side (opposite the steering wheel side) than the detected portion. . A key lock collar is disposed in the axial space. Therefore, the key lock device can be favorably laid out so as to effectively utilize the axial space of the column shaft.

According to the invention of claim 2, when an excessively large torsional moment is applied to the column shaft, the key lock collar rotates on the outer periphery of the column shaft. Thereby, damage of each part is prevented and theft of the vehicle is prevented.
According to the invention of claim 3, the relative rotation of the intermediate shaft that is fitted to the lower shaft at the first fitting portion and holds the key lock collar, and the upper shaft that is connected to the intermediate shaft via the torsion bar On the basis of the torque, the torque is detected. Realizing a layout that makes effective use of axial space by arranging the key lock collar between the first fitting part and the detected part while simplifying the structure by configuring the column shaft with three shafts Can do.

  According to the invention of claim 4, the upper column supports the upper shaft and the intermediate shaft via the upper bearing and the lower bearing arranged above and below the torque sensor, thereby improving the support rigidity of the column shaft. be able to.

It is a mimetic diagram of a power steering device of one embodiment of the present invention. It is a schematic sectional drawing of the principal part of a power steering apparatus.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a power steering apparatus according to an embodiment of the present invention. Referring to FIG. 1, a power steering apparatus 1 includes a column shaft 3 including one end 3a and the other end 3b connected to a steering wheel 2, and a cylindrical steering column 4 that rotatably supports the column shaft 3. Is provided.

Both the column shaft 3 and the steering column 4 can expand and contract in the axial direction X. That is, the power steering apparatus 1 is configured as a telescopic steering apparatus that can adjust the position of the steering wheel 2 in the telescopic direction (corresponding to the axial direction of the column shaft 3).
Further, the power steering device 1 includes a torque sensor 5 that detects a steering torque input from the steering wheel 2, a key lock device 6 that achieves steering lock based on an operation of an ignition key (not shown), and a steered wheel. -An assist unit 7 is provided.

The turning / assist unit 7 provides assist torque to the turning mechanism 10 including a first pinion shaft 9 as an input shaft connected to the other end 3 b of the column shaft 3 via a connecting mechanism 8, and the turning mechanism 10. It is configured as an integral assembly including the assist mechanism 11 to be applied.
The connection mechanism 8 includes a first universal joint 12, an intermediate shaft 13, and a second universal joint 14. The first universal joint 12 connects the other end 3 a of the column shaft 3 and one end of the intermediate shaft 13. The second universal joint 14 connects the other end of the intermediate shaft 13 and the first pinion shaft 9 that is an input shaft of the steering mechanism 10.

The intermediate shaft 13 may be composed of a single shaft, or may be composed of a pair of shafts that are slidably fitted in the axial direction.
The steering column 4 includes a cylindrical upper column 15 and a cylindrical lower column 16 that are fitted so as to be relatively slidable in the axial direction X. The upper column 15 is supported on the vehicle body 17 via a bracket.

The turning mechanism 10 includes a first pinion shaft 9 as an input shaft and a turning shaft 18. The first pinion shaft 9 includes an outer periphery 9a and a first pinion 19 provided on the outer periphery 9a. The steered shaft 18 has, on its outer periphery 18 a, a first rack 20 that meshes with the first pinion 19, and a second rack 21 that is separated from the first rack 20 in the axial direction Y.
Further, the steering mechanism 10 includes a pair of tie rods 22 respectively connected to a pair of end portions in the axial direction Y of the steering shaft 18 and a pair of knuckles 24 that respectively connect the respective tie rods 22 and the corresponding steered wheels 23. With.

When the driver operates the steering wheel 2, the manual steering force (steering torque) causes the column shaft 3, the first universal joint 12, the intermediate shaft 13, the second universal joint 14, the first pinion shaft 9, The steered wheel 23 can be steered via the rudder shaft 18, the tie rod 22 and the knuckle 24.
That is, the steering wheel 2, the column shaft 3, the first universal joint 12, the intermediate shaft 13, the second universal joint 14, the first pinion shaft 9 and the steered shaft 18 constitute a manual steering system MS.

The assist mechanism 11 includes an electric motor 25 for assisting steering, a speed reducer 26 that decelerates the rotational output of the electric motor 25, and a second pinion shaft 27 that is driven by the electric motor 25 via the speed reducer 26. The second pinion shaft 27 includes an outer periphery 27 a and a second pinion 28 that is provided on the outer periphery 27 a and meshes with the second rack 21.
The steering / assist unit 7 includes a unit housing 7H. The unit housing 7H includes a rack housing 29 through which the steered shaft 18 is inserted, and a first pinion housing 30 that supports the first pinion shaft 9. The unit housing 5 </ b> H includes a second pinion housing 31 that supports the second pinion shaft 27 and a reduction gear housing 32 that houses the reduction gear 26.

The rack housing 29, the first pinion housing 30, the second pinion housing 31, and the reduction gear housing 32 are provided integrally. Specifically, it is formed as a separate housing and fixed integrally.
The rack housing 29 may be rigidly supported by the vehicle body 17 or by an intervening frame (not shown) supported by the vehicle body 17. The rack housing 29 may be supported in a floating manner via an elastic member (not shown) supported by the vehicle body 17 or the intervening frame.

  The electric motor 25 includes a motor housing 33 fixed to the second pinion housing 31 via a reduction gear housing 32 and an output shaft 34 supported by the motor housing 33. The speed reducer 26 includes a drive gear 36 such as a worm shaft connected to the output shaft 34 through a joint 35 so as to transmit torque, and a worm wheel that meshes with the drive gear 36 and is connected to the second pinion shaft 27 so as to be integrally rotatable. And a driven gear 37 such as the above.

The torque detection result of the torque sensor 5 is given to an ECU (Electronic Control Unit) 38. The ECU 38 performs drive control (assist control) of the electric motor 25 via a built-in drive circuit based on a torque detection result, a vehicle speed detection result given from a vehicle speed sensor (not shown), or the like.
The output rotation of the electric motor 25 is decelerated via the speed reducer 26 and transmitted to the second pinion shaft 27. Further, the first pinion 19 and the first rack 20 (corresponding to a rack and pinion mechanism) of the steered shaft 18 It is converted into axial movement to assist steering.

FIG. 2 is a cross-sectional view of the main part of the column portion of the power steering device 1. As shown in FIG. 2, the column shaft 3 is inserted through the steering column 4.
The column shaft 3 is slidable in the axial direction X by the first fitting portion 42 on the upper shaft 39, the intermediate shaft 41 coaxially connected to the upper shaft 39 via the torsion bar 40, and the intermediate shaft 41. And a lower shaft 43 to be fitted.

One end 40 a of the torsion bar 40 is fitted into a connecting hole 39 b provided in the axial center portion of the upper shaft 39, and is coupled to the upper shaft 39 using a pin 70. The other end 40 b of the torsion bar 40 is fitted into a connecting hole 41 b provided in the axial center portion of the intermediate shaft 41, and is coupled to the intermediate shaft 41 using a pin 71.
The steering wheel 2 is connected to one end of the upper shaft 39 (corresponding to one end 3a of the column shaft 3). The intermediate shaft 41 and the lower shaft 43 are serrated by the first fitting portion 42, for example. Specifically, the first fitting portion 42 includes a male serration 44 provided on the outer periphery 41 a of the intermediate shaft 41 and a female serration 45 provided on the inner periphery 43 b of the lower shaft 43.

In the steering column 4, for example, the upper column 15 is an outer column, and the lower column 16 is an inner column. The upper column 15 and the lower column 16 are fitted by a second fitting portion 46 so as to be slidable in the axial direction X.
The upper column 15 and the lower column 16 are serration-fitted at the second fitting portion 46, for example. Specifically, the second fitting portion 46 includes a female serration 47 provided on the inner periphery 15 b of the upper column 15 and a male serration 48 provided on the outer periphery 16 a of the lower column 16.

The torque sensor 5 is disposed on the upper column 15 so as to face the detected portion 5a and the detected portion 5a disposed on the column shaft 3 at the one end 3a side (the steering wheel 2 side) from the first fitting portion 42. And the detected unit 5b. The torque sensor 5 detects the steering torque input by operating the steering wheel 2.
That is, the upper shaft 39 and the intermediate shaft 41 as a pair of shafts included in the column shaft 3 cause a relative angular displacement as the torsion bar 40 is twisted. The detected portion 5a is disposed at a portion where relative angular displacement occurs in the upper shaft 39 and the intermediate shaft 41. The detection unit 5 b of the torque sensor 5 detects the steering torque based on the relative rotation angle between the upper shaft 39 and the intermediate shaft 41.

The torque sensor 5 may use a magnetic sensor or may use an electromagnetic coil such as a resolver. In the present embodiment, description will be made in accordance with the case where a magnetic sensor is used.
The detected portion 5a includes a cylindrical multipolar magnet 49 attached to one of the upper shaft 39 and the intermediate shaft 41 (in this embodiment, the upper shaft 39) as a pair of shafts, and an upper shaft. 39 and the other of the intermediate shaft 41 (in this embodiment, the intermediate shaft 41) and a pair of magnetic yokes 50 and 51 attached to be integrally rotatable.

Torque sensor 5 includes a pair of magnetism collecting rings 52 and 53 that are magnetically coupled to a pair of magnetic yokes 50 and 51, respectively. The pair of magnetism collecting rings 52 and 53 are fixed to the upper column 15. The pair of magnetic flux collecting rings 52 and 53 includes magnetic flux collecting portions 52a and 53a facing each other through an air gap.
The magnetic yokes 50 and 51 are held by a retainer 54 made of an insulating resin fixed to the outer periphery 41 a at the upper end in the axial direction of the intermediate shaft 41. The detection unit 5b includes a Hall IC as a magnetic sensor that is disposed between the magnetic flux collecting portions 52a and 53a of the pair of magnetic flux collecting rings 52 and 53 and detects the magnetic flux between the magnetic flux collecting portions 52a and 53a.

  The power steering apparatus 1 includes an upper bearing 55 and a lower bearing 56 that are supported by the inner periphery 15 b of the upper column 15. The torque sensor 5 is disposed between the upper bearing 55 and the lower bearing 56 with respect to the axial direction X. The upper column 15 supports the upper shaft 39 via an upper bearing 55 so as to be rotatable. Further, the upper column 15 supports the intermediate shaft 41 through a lower bearing 56 so as to be rotatable.

Although not shown, the lower shaft 43 is rotatably supported by a lower end in the axial direction of the lower column 16 via a bearing.
The key lock device 6 includes a key lock collar 61 held on the outer periphery 41a of the intermediate shaft 41 of the column shaft 3 between the first fitting portion 42 and the detected portion 5a. The key lock collar 61 includes a key lock hole 62. The key lock device 6 includes a key lock device main body 63 disposed in the upper column 15 and a lock key 64 supported by the key lock device main body 63.

  The key lock collar 61 is held on the outer periphery 41 a of the intermediate shaft 41 of the column shaft 3 via the tolerance ring 65. The tolerance ring 65 is interposed between the outer periphery 41 a of the intermediate shaft 41 and the inner periphery 61 b of the key lock collar 61. The tolerance ring 65 functions as a torque limiter that allows relative rotation between the key lock collar 61 and the column shaft 3 at a set torque or higher.

The key lock device main body 63 is fixed to the outer periphery 15 a of the upper column 15. The lock key 64 is supported by the key lock device main body 63 so as to be capable of advancing and retreating with respect to the key lock hole 62 through the through hole 15c penetrating the upper column 15.
Further, the power steering apparatus 1 includes a restriction mechanism 80 that restricts the relative rotation angle between the upper shaft 39 and the intermediate shaft 41. The restriction mechanism 80 is provided on the inner periphery of the upper end portion of the intermediate shaft 41 in the circumferential direction on three or more (for example, eight) engagement convex portions 81 arranged at equal intervals in the circumferential direction and on the outer periphery 39a of the upper shaft 39. Engaging recesses 82 that are arranged at equal intervals and accommodate the respective engaging projections 81.

  The corresponding engaging convex portion 81 and engaging concave portion 82 are engaged in the relative rotational direction of the upper shaft 39 and the intermediate shaft 41, so that the relative rotational angle between the upper shaft 39 and the intermediate shaft 41 is regulated. . By using many engaging projections 81 of three or more, it is possible to withstand an excessive torque load. As a result, theft accompanied by destruction of the key lock device 6 can be prevented.

  According to the present embodiment, the steering torque applied to the steering wheel 2 is directly transmitted to the detected portion 5a of the torque sensor 5 without passing through the first fitting portion 42 of the column shaft 3 (specifically The multipolar magnet 49 and the magnetic yokes 50 and 51 in the detected portion 5a are relatively rotated). Therefore, the detection response of the torque sensor 5 is good. As a result, the steering torque can be improved by enhancing the response of the assist torque.

  Further, the key lock collar 61 of the key lock device 6 is disposed between the detected portion 5 a and the first fitting portion 42. That is, since the key lock collar 61 is not disposed between the detected portion 5a and the steering wheel 2, the detected portion 5a can be disposed closer to the steering wheel 2 side. Therefore, it is possible to improve the detection responsiveness of the torque sensor 5 by suppressing the influence of shaft twist or the like in the torque transmission path from the steering wheel 2 to the detected portion 5a.

  Moreover, by arranging the detected portion 5a closer to the steering wheel 2 side, the column shaft 3 can be pivoted to a position closer to the coupling mechanism 8 side (opposite to the steering wheel 2 side) than the detected portion 5a. A directional space is formed. A key lock collar 61 is disposed in the axial space. Therefore, the key lock device 6 can be laid out satisfactorily so as to effectively utilize the axial space of the column shaft 3.

  A tolerance ring 65 that functions as a torque limiter is interposed between the key lock collar 61 and the column shaft 3 (intermediate shaft 41). Therefore, when an excessively large torsional moment is applied to the column shaft 3, the key lock collar 61 rotates on the outer periphery of the column shaft 3 (intermediate shaft 41). Thereby, damage of each part is prevented and theft of the vehicle is prevented.

  Further, the relative rotation between the intermediate shaft 41 that is fitted to the lower shaft 43 by the first fitting portion 42 and holds the key lock collar 61 and the upper shaft 39 that is connected to the intermediate shaft 41 via the torsion bar 40. On the basis of the torque, the torque is detected. The column shaft 3 is composed of three shafts (an upper shaft 39, an intermediate shaft 41, and a lower shaft 43) to simplify the structure, and a key lock collar is provided between the first fitting portion 42 and the detected portion 5a. By arranging 61, it is possible to realize a layout that effectively uses the axial space.

  Further, the torque sensor 5 is disposed closer to the steering wheel 2 side, and the upper column 15 is interposed via an upper bearing 55 and a lower bearing 56 that are disposed above and below the torque sensor 5 in the axial direction X. The upper shaft 39 and the intermediate shaft 41 are supported. Therefore, the vicinity of the upper end portion of the column shaft 3 is supported by the two bearings 55 and 56, and the support rigidity of the column shaft 3 can be improved.

  The present invention is not limited to the above embodiment. For example, the second pinion shaft 27 and the second rack 21 may be eliminated. In that case, although not shown, the assist mechanism includes a screw shaft provided on the steered shaft and a ball nut that is screwed to the screw shaft via a ball and is rotationally driven by an electric motor and is not movable in the axial direction. May be included. The assist mechanism may transmit assist torque to a pinion shaft to which manual steering force is transmitted.

  In addition, the present invention can be variously modified within the scope of the claims.

  DESCRIPTION OF SYMBOLS 1 ... Power steering apparatus, 2 ... Steering wheel, 3 ... Column shaft, 3a ... One end, 3b ... Other end, 4 ... Steering column, 5 ... Torque sensor, 5a ... Detected part, 5b ... Detection part, 6 ... Key lock Device: 7 ... steering / assist unit, 8 ... coupling mechanism, 9 ... first pinion shaft (input shaft), 10 ... steering mechanism, 11 ... assist mechanism, 12 ... first universal joint, 13 ... intermediate shaft, DESCRIPTION OF SYMBOLS 14 ... 2nd universal joint, 15 ... Upper column, 16 ... Lower column, 17 ... Vehicle body, 18 ... Steering shaft, 19 ... 2nd pinion, 20 ... 1st rack, 21 ... 2nd rack, 25 ... Electric motor, 26 ... reducer, 27 ... second pinion shaft, 28 ... second pinion, 36 ... drive gear, 37 ... driven gear, 38 ... ECU, 39 ... upper shaft, 40 ... , 41 ... intermediate shaft, 41a ... outer periphery, 42 ... first fitting portion, 43 ... lower shaft, 46 ... second fitting portion, 49 ... multipolar magnet, 50, 51 ... magnetic yoke, 52, 53 ... collection Magnetic ring, 55 ... Upper bearing, 56 ... Lower bearing, 61 ... Key lock collar, 62 ... Key lock hole, 63 ... Key lock device main body, 64 ... Lock key, 65 ... Tolerance ring, 80 ... Restriction mechanism, 81 ... Engagement Joint convex part, 82 ... engaging concave part, X ... axial direction

Claims (4)

An expandable / contractible column shaft including a pair of shafts slidably fitted in the axial direction in the first fitting portion and having a steering wheel coupled to one end;
A telescopic steering column that includes a cylindrical lower column and an upper column that are slidably fitted in the axial direction at the second fitting portion, and that rotatably supports the column shaft;
A torque sensor that includes a detected portion disposed on the one end side with respect to the first fitting portion in the column shaft, and detects a steering torque;
A steering mechanism including an input shaft coupled to the other end of the column shaft via a coupling mechanism, and an assist mechanism that generates assist torque based on the steering torque detected by the torque sensor and applies the assist torque to the steering mechanism And a steering / assist unit including
A key lock collar having a key lock hole held on the outer periphery of the column shaft between the first fitting portion and the detected portion, a key lock device main body disposed in the upper column, and the key lock device A power steering device comprising: a key lock device including a lock key supported by the main body so as to be able to advance and retreat in the key lock hole. In Claim 1, provided with a tolerance ring interposed between the outer periphery of the column shaft and the inner periphery of the key lock collar,
The tolerance ring is a power steering device configured to function as a torque limiter that allows relative rotation between the key lock collar and the column shaft at a set torque or more. 3. The column shaft according to claim 1, wherein the column shaft is slidable at the first fitting portion on the upper shaft, an intermediate shaft coaxially connected to the upper shaft via a torsion bar, and the intermediate shaft. A lower shaft to be fitted,
The intermediate shaft and the lower shaft are the pair of shafts;
The torque sensor is configured to detect a steering torque based on a relative rotation angle between the upper shaft and the intermediate shaft;
The key lock collar is a power steering device that is held on an outer periphery of the intermediate shaft. In Claim 3, comprising an upper bearing and a lower bearing supported by the upper column,
The torque sensor is disposed between the upper bearing and the lower bearing,
The upper column supports the upper shaft via the upper bearing, and supports the intermediate shaft via the lower bearing.

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