JP2016132060A - Supporting device of cable protection member - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress the deviation of a supporting device in regard to a cable protection member during the moving of the cable protection member, in the supporting device of the cable protection member.SOLUTION: A supporting device supporting a cable protection member includes: a roller equipped with a roller rotary shaft; and a roller supporting portion to which an end portion of the roller rotary shaft is fixed, and which supports the roller rotary shaft so as to rotate around a vertical supporting shaft. The roller supporting portion includes a driving portion which switches a position of the roller between a first position where the roller opposes to a folding-back portion, and a second position where the roller is out of a moving path of the folding-back portion. If assuming a direction in which a moving body separates from the folding-back portion as a first direction, and a direction in which the moving body comes close to the folding-back portion as a second direction, the driving portion switches the roller to the first position when the folding-back portion is positioned on the second direction side than the supporting device, thereby supporting an upper side part of the cable protection member with the roller.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a support device for a cable protection member.

  DESCRIPTION OF RELATED ART Conventionally, the cable protection member which accommodates and protects the cable, tube, pipe, etc. for supplying electric power, a fluid, etc. to a moving body inside is known in a machine tool, a conveyance apparatus, etc. (patent documents 1-patent documents 1-). 3). When the cable protection member is used in a state where it is folded up and down, there is a problem that the upper portion of the cable protection member bends and comes into contact with the lower portion, resulting in frictional damage. In order to solve this problem, a supporting device that supports a cable protection member is known (Patent Documents 4 and 5).

JP 2003-168326 A JP 2005-147232 A JP 2004-340320 A JP-A-9-137882 Japanese Patent Laid-Open No. 9-247834

  There is still room for improvement with respect to the configuration of the support device that supports the cable protection member. For example, the supporting devices described in Patent Documents 4 to 6 include a roller that supports the upper portion of the cable protection member inside the folded portion of the cable protection member, and the contact surface of the roller with the cable protection member is It is formed by rubber or a gear. These supporting devices can move the upper part of the cable protection member by the adhesive force of rubber between the roller and the cable protection member, or by the engagement of the teeth formed on the respective surfaces of the roller and the cable protection member. It is configured so that it moves along with it. However, when the surface of the roller is made of rubber, the adhesive force is lowered due to deterioration of rubber or adhesion of dust and the like, and there is a problem that the roller slides with respect to the cable protection member when the upper part of the cable protection member moves. . Further, when the roller is configured as a gear, when the upper part of the cable protection member moves at a high speed, the roller and the cable protection member do not mesh with each other, and there is a problem that the roller slides with respect to the cable protection member. . A similar problem occurred when the gear teeth were worn away. When the roller slides with respect to the cable protection member, when the folded portion of the cable protection member moves in a direction away from the roller, the roller shifts in a direction away from the folded portion of the cable protection member, and the upper portion of the cable protection member There was a case where it bent and contacted the lower part.

  In order to solve the above problems, the present invention can be realized as the following forms.

  (1) According to one aspect of the present invention, one end is attached to a moving body that constitutes a part of the production equipment and reciprocates in the horizontal direction, and the other end is perpendicular to the one end in the vertical direction. Is also fixed at a lower position, folded back at a folded portion formed between the one end portion and the other end portion, and located between the one end portion and the folded portion. Provided is a support device for supporting the upper side portion of the cable protection member, the portion of which is arranged so that the position in the vertical direction is higher than the lower side portion located between the folded portion and the other end portion. The The support device is arranged such that a vertical position is between the one end portion and the other end portion of the cable protection member, a roller having a horizontal roller rotation shaft, and the moving body Is disposed adjacent to the moving path of the folding portion that moves in accordance with the reciprocating movement, the end of the roller rotation shaft is fixed, and the roller rotation shaft is supported so as to be rotatable around a vertical support shaft. A roller support portion, and the roller support portion is a first position where the roller is opposed to the folded portion by the rotation, or a second position where the roller is removed from a moving path of the folded portion. A driving unit that switches the position of the roller so that the moving body moves in a moving direction of the moving body, the direction in which the moving body moves away from the turning-up portion is a first direction, and the moving body is the turning-up portion. Assuming that the approaching direction is the second direction, the drive unit moves the roller to the first position when the folding unit is positioned on the second direction side of the support device. The upper portion of the cable protection member is supported by the roller.

  According to this configuration, the roller that supports the cable protection member is arranged adjacent to the movement path of the folded portion, not moved in the moving direction of the folded portion as the folded portion of the cable protection member moves. It is fixed to the roller support. Then, when the folded portion is positioned on the second direction side with respect to the support device, the roller is rotated in the horizontal direction to the first position facing the folded portion, so that the cable protection member is moved to the roller. Support by. Therefore, according to this configuration, even when the roller is deteriorated or the upper portion of the cable protection member moves at a high speed, the position of the support device is relative to the position of the folded portion of the cable protection member. Do n’t slip. Therefore, it can suppress that the upper part of a cable protection member contacts a lower part by the shift | offset | difference of the position of a support apparatus.

  (2) In the support device according to the above aspect, the roller support portion is configured such that the tangential direction of the rotation when the roller at the first position starts to rotate toward the second position is the first position. You may be characterized by being comprised so that it may become a direction. According to this configuration, even when the roller breaks down at the first position and comes into contact with the folded portion that moves in the first direction from the second direction side, the roller rotates toward the second position at the time of contact. can do. Thereby, generation | occurrence | production of these damages can be suppressed by contact with a roller and a folding | returning part.

  (3) In the support device according to the above aspect, the driving unit stops the roller at the second position when the turn-up unit is positioned on the first direction side of the support device. It may be characterized by that. According to this configuration, when the folded portion is positioned on the first direction side with respect to the support device, contact with the roller can be suppressed even if the folded portion moves in the second direction.

(4) The support device according to the above aspect further includes a control unit that controls the drive unit,
When the control unit acquires the position information of the moving body, the position of the folding unit is within a predetermined range in the movable direction of the moving body that is closer to the second direction than the position of the support device. It may be determined whether the position of the moving body is included, and when the position of the moving body is included in the predetermined range, the roller is set to the first position. According to this configuration, it is possible to easily detect a state in which the folded portion is located on the second direction side of the support device. Thereby, when the folding | turning part is located in the 2nd direction side rather than a support apparatus, a roller can be rotated to a 1st position and a cable protection member can be easily supported by a roller.

  (5) The support device according to the above aspect further includes the control unit that controls the drive unit, and the cable protection at a predetermined position on the second direction side of the support device in a moving path of the folding unit. A sensor that detects whether or not a member is present, and the controller sets the roller to the first position when the sensor detects the presence of the cable protection member. Also good. According to this configuration, it is possible to easily detect a state in which the folded portion is located on the second direction side with respect to the support device. Thereby, when the folding | turning part is located in the 2nd direction side rather than a support apparatus, a roller can be rotated to a 1st position and a cable protection member can be easily supported by a roller.

  Note that the present invention can be realized in various modes, for example, production equipment including a cable protection member support device, a cable protection member support structure, a support method, and a cable protection member support device manufacturing. It can be realized in the form of a method or the like.

It is the 1st figure which illustrated production equipment provided with the supporting device of a cable protection member. It is the 2nd figure which illustrated production equipment provided with the supporting device of a cable protection member. It is the 3rd figure which illustrated production equipment provided with the supporting device of a cable protection member. It is the 4th figure which illustrated production equipment provided with a support device of a cable protection member. It is the figure which illustrated the switching timing of the position of a roller. It is the figure which showed an example of the control method of the support apparatus by a control part. 6 is a diagram illustrating a production device of Comparative Example 1. FIG. It is a figure for demonstrating an example of the effect of this embodiment. It is explanatory drawing which illustrated the production apparatus of 2nd Embodiment.

A. First embodiment:
FIGS. 1-4 is the figure which illustrated the production equipment 10 provided with the support apparatus 100 of the cable protection member 30. FIG. 1-4 differ in the position of the moving body 20 with respect to the guide rail 40. FIG. The production device 10 is a machine having a movable part such as a machine tool or an industrial robot, and is mainly arranged in a factory or the like. The production device 10 includes a moving body 20, a cable protection member 30, a guide rail 40, a support roller 50, a support device 100, and a control unit 60. The moving body 20 is slidably fixed to the guide rail 40 and reciprocates in the horizontal direction along the guide rail 40 by driving a stepping motor (not shown). Various mechanisms such as an arm mechanism, a processing mechanism, and a transport mechanism may be mounted on the moving body 20. Hereinafter, of the moving directions of the moving body 20, the direction in which the moving body 20 moves away from the folded portion 33 of the cable protection member 30 (the right direction in FIG. 1) is also referred to as “first direction D1”. The direction approaching the folded portion 33 of the member 30 (the left direction in FIG. 1) is also referred to as “second direction D2”.

  The cable protection member 30 is formed of, for example, resin, and accommodates and protects cables, tubes, pipes, and the like for supplying electric power, fluid, and the like to the moving body 20. The cable protection member 30 is made of, for example, a cable bear (registered trademark) or the like, and has a chain structure in which a plurality of links (modules) are connected. The cable protection member 30 has a movable end 31 that is one end attached to the moving body 20, and a fixed end 32 that is the other end on the ground plane GL positioned below the movable end 31 in the vertical direction. It is fixed. As shown in FIG. 2 and FIG. 3, the cable protection member 30 is folded at a folded portion 33 formed between the movable end 31 and the fixed end 32, and is positioned between the movable end 31 and the folded portion 33. The upper portion 34 is arranged so that the position in the vertical direction is higher than the lower portion 35 located between the folded portion 33 and the fixed end 32.

  As shown in FIG. 1, the support device 100 includes a roller 110 and a roller support portion 120. The support device 100 is configured to support the portion bent by the roller 110 from below when the upper portion 34 (FIG. 3) of the cable protection member 30 is bent. The roller 110 is disposed so that the vertical position is between the movable end 31 and the fixed end 32 of the cable protection member 30, and is attached to the horizontal roller rotation shaft 111.

  The roller support portion 120 is disposed adjacent to the movement path (FIG. 5) of the folded portion 33 of the cable protection member 30. The roller support portion 120 has an end portion of the roller rotation shaft 111 fixed thereto, and supports the roller rotation shaft 111 so as to be rotatable about 90 ° around the support shaft 121 in the vertical direction. Note that the rotation angle of the support shaft 121 may be other than 90 °. The roller support unit 120 includes a drive unit 122 such as a rotary actuator, and the roller 110 is rotated about 90 ° around the support shaft 121 by the drive of the drive unit 122. Specifically, the drive unit 122 includes a “support position” where the roller rotation shaft 111 is substantially orthogonal to the moving direction of the moving body 20 (the first direction D1 and the second direction D2), and the roller rotation shaft. Switching is performed between “storage position” 111, which is a position that is substantially parallel to the moving direction of the moving body 20. As shown in FIGS. 1 to 3, the “support position” refers to a state in which the roller 110 protrudes on the moving path of the folded portion 33 of the cable protection member 30 in order to support the cable protection member 30 by the roller 110. Yes, the roller 110 faces the folded portion 33 of the cable protection member 30. On the other hand, the “storage position” is a state in which the roller 110 is stored, as shown in FIG. The roller 110 in the retracted position is disposed on the first direction D1 side with respect to the support shaft 121. That is, the roller support portion 120 is configured such that the tangential direction of rotation when the roller 110 at the support position starts to rotate toward the storage position is the first direction D1. This effect will be described later. The “supporting position” in the present embodiment corresponds to the “first position” in the claims. In addition, the “storage position” in the present embodiment corresponds to the “second position” in the claims.

  The guide rail 40 is supported by the support member 41 such that the extending direction is horizontal. A stopper 42 for preventing the moving body 20 from falling off is attached to the end of the guide rail 40. The support roller 50 is disposed along the guide rail 40 and is bent when the upper portion 34 of the cable protection member 30 is bent on the first direction D1 side of the fixed end 32 of the cable protection member 30. Support the part. Since the support roller 50 is not on the movement path of the folding part 33, it does not contact the folding part 33. Therefore, the support roller 50 does not rotate like the roller 110.

  The control unit 60 is a computer including a CPU, a RAM, and a ROM, and controls the operation of the production equipment 10 including the support device 100. For example, the control unit 60 controls the driving unit 122 so that the “supporting position” and the “storage position” of the roller 110 are set according to the position of the turn-back part 33 of the cable protection member 30 or the position of the moving body 20. Switch.

  FIG. 5 is a diagram illustrating the timing for switching the position of the roller 110. The position of the moving body 20 in FIG. 5A corresponds to FIG. 4, the position of the moving body 20 in FIG. 5B corresponds to FIG. 3, and the position of the moving body 20 in FIG. The position of the moving body 20 in FIG. 5 (e) corresponds to FIG. 5A to 5E, the support device 100 in which the roller 110 is in the storage position is indicated by a broken line, and the support device 100 in which the roller 110 is in the support position is indicated by a solid line. As shown in FIG. 5A, when the folded portion 33 of the cable protection member 30 is on the first direction D1 side with respect to the support device 100, the control unit 60 stops in a state where the roller 110 is set at the storage position. I am letting. Accordingly, as shown in FIG. 5B, when the moving body 20 moves in the second direction D2 and the folded portion 33 of the cable protection member 30 also moves in the second direction D2, the folded portion 33 is The side of the support device 100 can be passed without contacting the roller 110. Then, as shown in FIG. 5C, after the folded portion 33 of the cable protection member 30 is on the second direction D2 side with respect to the roller 110, the control unit 60 sets the roller 110 at the support position. Accordingly, the upper portion 34 of the cable protection member 30 can be supported by the roller 110.

  FIG. 6 is a diagram illustrating an example of a control method of the support device 100 by the control unit 60. The control unit 60 may repeatedly execute the following steps. First, the control unit 60 acquires the current position of the moving body 20 (step S110). Various techniques can be adopted as a method of acquiring the current position of the moving body 20. For example, the position of the moving body 20 may be acquired based on the rotation speed or rotation angle of a stepping motor that drives the moving body 20.

  The control unit 60 determines whether or not the acquired current position of the moving body 20 is within a preset range (set range) (step S120). Here, the “setting range” is a moving range of the moving body 20 in which the position of the folded portion 33 of the cable protection member 30 is closer to the second direction D2 than the position of the support device 100. In addition, in order to avoid contact with the roller 110 and the folding | returning part 33, the movement range of the moving body 20 from which the distance of the support apparatus 100 and the folding | returning part 33 becomes below a predetermined value among the movement ranges of the moving body 20 mentioned above. You may remove | deviate from the above-mentioned setting range. In this case, immediately after the position of the folding portion 33 is on the second direction D2 side with respect to the position of the support device 100, the current position of the moving body 20 does not fall within the set range, and the folding portion 33 is further moved to the second direction. When the vehicle travels to some extent in the direction D2, the current position of the moving body 20 falls within the set range.

  When the current position of the moving body 20 is within the above-described setting range, the control unit 60 sets the roller 110 to the support position (step S130). When the current position of the moving body 20 is within the set range, the folding portion 33 is located on the second direction D2 side with respect to the support device 100. At this time, by setting the roller 110 to the support position, the deflection of the upper side portion 34 of the cable protection member 30 can be supported by the roller 110. On the other hand, when the current position of the moving body 20 is outside the setting range, the control unit 60 sets the roller 110 to the storage position (step S140). When the current position of the moving body 20 is out of the setting range, the folding portion 33 is on the second direction D2 side with respect to the support device 100 but is close to the support device 100 or in the first direction with respect to the support device 100. Located on the D1 side. At this time, by setting the roller 110 to the storage position, the roller 110 is stored before the folding part 33 passes the side of the roller 110, and the contact between the roller 110 and the folding part 33 can be suppressed.

  FIG. 7 is a diagram illustrating a production device 10A of Comparative Example 1. The positions of the moving body 20 in FIGS. 7A, 7B, and 7C correspond to FIGS. 5A, 5C, and 5E of the present embodiment. The production device 10 </ b> A of Comparative Example 1 does not have a configuration corresponding to the support device 100. Therefore, as shown in FIG. 7B, when the movable end 31 of the cable protection member 30 approaches the fixed end 32, the upper side portion 34 of the cable protection member 30 bends and contacts the lower side portion 35. Damage can be caused by friction. On the other hand, as shown in FIG. 5C, according to the production apparatus 10 of the present embodiment, when the movable end 31 of the cable protection member 30 approaches the fixed end 32, the roller 110 is set at the support position. Therefore, the roller 110 can support the upper portion 34 of the cable protection member 30 from below. Thereby, contact with the upper side part 34 and the lower side part 35 of the cable protection member 30 can be suppressed.

  FIG. 8 is a diagram for explaining an example of the effect of the present embodiment. FIG. 8A illustrates a support device 100B of Comparative Example 2. FIG. 8B illustrates the support device 100 of this embodiment. The support device 100B of Comparative Example 2 differs from the support device 100 of this embodiment in the rotation direction of the roller 110B. Specifically, in the support device 100B of Comparative Example 2, the roller 110B in the retracted position is disposed on the second direction D2 side with respect to the support shaft 121B. That is, the roller support portion 120B of Comparative Example 2 is configured such that the tangential direction of rotation when the roller 110B at the support position starts to rotate toward the storage position is the second direction D2. In this case, when the roller 110B fails at the support position and comes into contact with the roller 110B that moves in the first direction D1 from the second direction side, the roller 110B cannot rotate in the moving direction of the folded portion 33. 110 and the cable protection member 30 may be damaged.

  On the other hand, according to the support device 100 of the present embodiment, even if the roller 110 fails at the support position and contacts the folded portion 33 that moves in the first direction D1 from the second direction side, the roller 110 remains in contact. After starting to turn in the direction of movement of the folding portion 33, it moves toward the storage position. Thereby, generation | occurrence | production of these damages by the contact with the roller 110 and the folding | returning part 33 can be suppressed.

  According to the support device 100 of the present embodiment described above, the roller 110 does not move in the same direction as the moving direction of the folding part 33 (the first direction D1 or the second direction D2), but the folding part. It is fixed to a roller support 120 arranged adjacent to 33 movement paths. Then, the cable protection member 30 is supported by the roller 110 by rotating the roller 110 in the horizontal direction to the support position. Therefore, according to this configuration, even when the roller 110 is deteriorated or when the upper portion 34 of the cable protection member 30 is moved at a high speed, the position of the support device 100 is set to the position of the folded portion 33. It doesn't shift. Therefore, it is possible to suppress the upper side portion 34 of the cable protection member 30 from coming into contact with the lower side portion 35 due to the displacement of the position of the support device 100.

B. Second embodiment:
FIG. 9 is a diagram illustrating an example of a control method of the support device 100 by the control unit 60C of the second embodiment. The production device 10C of the second embodiment is different from the production device 10 of the present embodiment in that a sensor 70 is provided. The sensor 70 is disposed at a position on the second direction side of the support device 100 in the movement path of the folding portion 33 and detects whether or not the cable protection member 30 exists. 60 C of control parts of 2nd Embodiment set the roller 110 to a support position, when the sensor 70 detects the cable protection member 30 (step S210-S230). When the sensor 70 detects the cable protection member 30, the folded portion 33 is located on the second direction D <b> 2 side with respect to the support device 100. At this time, by setting the roller 110 to the support position, the deflection of the upper side portion 34 of the cable protection member 30 can be supported by the roller 110. On the other hand, when the sensor 70 has not detected the cable protection member 30, the control unit 60 </ b> C sets the roller 110 at the storage position (step S <b> 240). When the sensor 70 does not detect the cable protection member 30, the folded portion 33 is on the second direction D2 side with respect to the support device 100 but close to the support device 100 or in the first direction D1 with respect to the support device 100. Located on the side. At this time, by setting the roller 110 to the storage position, the roller 110 can be stored before the folding part 33 passes the side of the roller 110, so that the contact between the roller 110 and the folding part 33 can be suppressed.

C. Variations:
In addition, this invention is not restricted to said embodiment, In the range which does not deviate from the summary, it can be implemented in a various aspect, For example, the following deformation | transformation is also possible.

C-1. Modification 1:
In the first embodiment, the “support position” of the roller 110 is a position where the roller rotation shaft 111 is substantially orthogonal to the moving direction of the moving body 20 (the first direction D1 and the second direction D2). The “storage position” 110 is a position where the roller rotation shaft 111 is substantially parallel to the moving direction of the moving body 20. However, if the “support position” of the roller 110 is a position where the cable protection member 30 can be supported by the roller 110, the roller rotation shaft 111 may not be orthogonal to the moving direction of the moving body 20. Further, the “storage position” of the roller 110 does not have to be parallel to the moving direction of the moving body 20 as long as the roller 110 is not in contact with the folded portion 33 of the cable protection member 30.

C-2. Modification 2:
The roller support portion 120 of the first embodiment is configured such that the tangential direction of rotation when the roller 110 at the support position starts to rotate toward the storage position is the first direction D1. . However, the roller support portion 120 may be configured such that the tangential direction of rotation when the roller 110 at the support position starts to rotate toward the storage position is the second direction D2. Even in this case, the cable protection member can be supported by the roller by rotating the roller to face the folded portion. However, the roller support portion 120 is preferably configured such that the tangential direction of the rotation described above is the first direction D1.

C-3. Modification 3:
In the first embodiment and the second embodiment, the production apparatuses 10 and 10C have been described as including the control units 60 and 60C. However, the production device may not include the control unit. For example, a changeover switch of the driving unit 122 is arranged at the position of the sensor 70 of the second embodiment, and the driving unit 122 determines the position of the roller 110 as the “supporting position” depending on whether the cable protection member 30 steps on this switch or not. Switching between “storage position” may be performed.

C-4. Modification 4:
The production apparatus 10 according to the first embodiment has been described as including one support device 100. However, the production device 10 may include a plurality of support devices 100. For example, the plurality of support devices 100 may be arranged side by side adjacent to the moving path of the folded portion 33.

DESCRIPTION OF SYMBOLS 10 ... Production apparatus 20 ... Moving body 30 ... Cable protection member 31 ... Movable end 32 ... Fixed end 33 ... Folding part 34 ... Upper part 35 ... Lower part 40 ... Guide rail 41 ... Support member 42 ... Stopper 50 ... Support roller DESCRIPTION OF SYMBOLS 60 ... Control part 70 ... Sensor 100 ... Support apparatus 110 ... Roller 111 ... Roller rotating shaft 120 ... Roller support part 121 ... Support shaft 122 ... Drive part GL ... Grounding surface

Claims (6)

One end is attached to a moving body that constitutes a part of the production equipment and reciprocates in the horizontal direction, and the other end is fixed at a position lower than the one end in the vertical direction. The folded portion formed between the end portion and the other end portion is folded back, and the upper side portion located between the one end portion and the folded portion is the folded portion and the other end portion. A support device for supporting the upper side portion of the cable protection member arranged so that the position in the vertical direction is higher than the lower side portion located between
A roller that is disposed such that a position in the vertical direction is between the one end and the other end of the cable protection member, and a roller having a horizontal roller rotation shaft;
Arranged adjacent to the moving path of the folding portion that moves with the reciprocating movement of the moving body, the end of the roller rotation shaft is fixed, and the roller rotation shaft can be rotated around a vertical support shaft A roller support part for supporting
The roller support portion is positioned at a position of the roller such that the roller is positioned at a first position where the roller is opposed to the folded portion or a second position where the roller is removed from a moving path of the folded portion. Including a drive unit for switching between
Of the moving directions of the moving body, the direction in which the moving body moves away from the folded portion is the first direction, and the direction in which the moving body approaches the folded portion is the second direction.
The drive unit is configured to move the roller to the first position when the folded portion is positioned on the second direction side with respect to the support device, so that the upper portion of the cable protection member Is supported by the roller. The support device according to claim 1,
The roller support portion is configured such that the tangential direction of the rotation when the roller at the first position starts to rotate toward the second position is the first direction. apparatus. The support device according to claim 1 or 2, wherein
The drive unit is a support device that stops the roller at the second position when the folded portion is positioned on the first direction side of the support device. The support device according to any one of claims 1 to 3, further comprising:
A control unit for controlling the drive unit;
When the control unit acquires the position information of the moving body, the position of the folding unit is within a predetermined range in the movable direction of the moving body that is closer to the second direction than the position of the support device. A support device that determines whether or not the position of the moving body is included, and sets the roller to the first position when the position of the moving body is included in the predetermined range. The support device according to any one of claims 1 to 3, further comprising:
A control unit for controlling the driving unit;
A sensor that detects whether or not the cable protection member is present at a predetermined position on the second direction side of the support device in the movement path of the folded portion;
The controller is configured to support the roller in the first position when the sensor detects the presence of the cable protection member. Production equipment,
A plurality of support devices according to any one of claims 1 to 5,
The plurality of support devices are production equipment arranged adjacent to the moving path of the folded portion.

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