JP4298046B2 - Article conveyance assembly apparatus and article conveyance assembly method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an article conveying assembly apparatus and an article conveying assembling method, and for example, a workpiece that is directly conveyed by a roller conveyor that is a conveying means in a production line that handles a workpiece having an inclined component mounting surface such as a V-type automobile engine. Alternatively, the present invention relates to a particularly suitable technique when a work carried on a pallet is stopped on the lower side of the working device and then a predetermined work is performed on a component mounting surface of the work.
[0002]
[Prior art]
Conventionally, the following two methods have been adopted when attaching parts from various directions to a workpiece.
[0003]
The first is that the workpiece is positioned on the transfer device, as represented by a component assembly device in which the working means moves forward and backward from the diagonal direction of the workpiece, without changing the position or posture of the workpiece, This is a method of performing predetermined operations such as component mounting, caulking, press-fitting, and painting, using individual assembling devices in which the working means are moved back and forth from up and down, front and rear, left and right, and oblique directions.
[0004]
According to this method, a general-purpose production line can be constructed by adding assembling work devices according to the type of work. Further, for example, when it is not possible to add an individual assembling apparatus due to space limitations, this can be dealt with by providing individual mechanisms that move the working means back and forth, back and forth, left and right, and diagonally.
[0005]
Secondly, as proposed by the applicant of the present application in Japanese Patent Laid-Open No. 05-285747, for example, the work itself is changed in the vertical, front-back, left-right, and diagonal directions to perform predetermined work by the working means. Is the method. In order to change the posture of the workpiece itself in this way, for example, the workpiece conveyed on the roller conveyor is pulled out from the side surface of the conveyor, and then the workpiece is held in a posture so that the work surface faces the working means. This is a method of returning to the conveyor after the work is completed.
[0006]
[Problems to be solved by the invention]
However, according to the first method, when it is not possible to add an individual assembly device, it is necessary to provide a separate mechanism for moving the working means back and forth, back and forth, left and right, and diagonally. However, since the individual mechanisms become complicated, the apparatus becomes a large-scale device, and there is a problem that the cost increases and the maintainability deteriorates.
[0007]
In addition, according to the second method, since the equipment layout spreads in the width direction of the conveyor, there is a problem that the passage is narrowed accordingly. Further, according to Japanese Patent Laid-Open No. 05-285747, there is a problem that another apparatus is required for transferring the workpiece from the conveyor to the assembling apparatus because the conveyor is cut at the position of the assembling apparatus. .
[0008]
Accordingly, the present invention has been made in view of the above problems, and it is not necessary to provide a separate mechanism for moving the working means back and forth, for example, up and down, back and forth, left and right, and obliquely, so that the working device can be manufactured at low cost. It is an object of the present invention to provide an article conveying and assembling apparatus and an article conveying and assembling method that can improve the maintainability and that the facility layout does not spread in the width direction of the workpiece conveying means.
[0009]
In addition, since the production line can be configured substantially linearly, it is an object of the present invention to provide an article transport assembly apparatus and an article transport assembly method that can easily change the production line in accordance with an increase / decrease change in work process.
[0010]
[Means for Solving the Problems]
In order to solve the above-described problems and achieve the object, according to the present invention, an article including a work that is directly conveyed by a conveying means or a work that is mounted on a pallet and conveyed is placed in the middle of the conveying means. An article conveying assembly apparatus that stops at a predetermined position and performs a predetermined operation on the work surface of the article by a working device, and moves the stopped article by being raised above the predetermined position from the conveying means. Lifting means to be picked up, article moving means for relatively moving an article so that the work surface faces the working means of the working device, connected to the lifting means and the article moving means, the lifting means and the article moving means And a control means for controlling them in synchronization with each other.
[0011]
Further, the article moving means is arranged below the working means provided in the working device and is arranged at the base of the working device. Further, the relative movement is performed by moving the working means up and down.
[0012]
Further, the article moving means is configured to rotate the article in the gripping state with the gripping state receiving the article lifted by the lifting and lowering means with the transporting direction by the transporting means as a rotation center axis. It is characterized by comprising a horizontal axis rotating means for making the work surface face the working means.
[0013]
In addition, the gripping means is mounted on a lifting slider that moves on the article in the transport direction by the transporting means and is driven up and down provided on the base.
[0014]
In addition, the article moving means is provided on the base and driven to move along a conveying direction by the conveying means, and an article mounted on the left and right moving table and stopped on the conveying means. Elevating means mounted and received by raising the elevating means, and a vertical axis rotating means for rotating the elevating means about the vertical axis from the base as a rotation center axis so that the work surface faces the working means It is composed of
[0015]
In addition, a component supply means for supplying the component to the working means of the working device is provided in order to assemble or press-fit the parts into the work surface by the working means. .
[0016]
Further, the article has the work surface that is inclined at a predetermined angle with respect to a substantially horizontal plane defined by the conveying means.
[0017]
In addition, the work including the work directly conveyed by the conveying means or the work mounted on the pallet and stopped is stopped at a predetermined position in the middle of the conveying means, and the predetermined work on the work surface of the article is performed by the working device. The method of assembling and conveying the article, wherein the stopped surface is lifted above the predetermined position by the lifting means, and the work surface is moved by the article moving means, and the work surface is moved by the article moving means. A step of relatively moving the article so as to face the working means of the working device; a step of supplying parts from the parts supplying means to the working means; and assembling or press-fitting the parts into the working surface. And a process of assembling.
[0018]
Further, the step of moving the article by the article moving means so that the work surface faces the working means of the working device is driven by a lifting slider that is provided at the base and is driven to move up and down, and is lifted by the lifting means. The gripping means mounted on the elevating slider is driven so that the article is gripped and received and the article is moved in the transporting direction by the transporting means, and the article gripped by the gripping means is driven by the transporting means. Each drive control of the drive of the horizontal axis rotation means for making the work surface face the work means by rotating the conveyance direction as the rotation center axis is executed synchronously by the control means. Yes.
[0019]
Then, the step of moving the article by the article moving means so that the work surface faces the working means of the working device drives the left and right moving table provided at the base so as to follow the conveying direction by the conveying means. Drive the lifting means mounted on the left and right moving table to lift and stop the article stopped on the transport means, and the lifting means rotates the vertical axis from the base The vertical drive means for rotating about the central axis is driven, and the respective drive controls for causing the work surface to face the work means are executed synchronously by the control means.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.
[0021]
FIG. 1 is an external perspective view of the article transport assembly apparatus according to the first embodiment. In this figure, the roller conveyor 5 which is a conveying means is provided on the floor surface shown by hatching so as to be positioned in the front-rear direction (arrow Y direction) of the work device 10 as shown in the figure, is this the respective driving rollers of the roller conveyor 5 by driving by a motor (not shown), to transport the workpiece 1 having a work surface 2 inclined obliquely as V-type engine block shown directly, Alternatively, the pallet 4 is mounted and transported. The roller conveyor 5 extends substantially linearly in the direction of the arrow X to the upstream side and the downstream side, and a predetermined number of devices 10 are provided in addition to the illustrated working device 10.
[0022]
The workpiece 1 placed on the pallet 4 and conveyed on the roller conveyor 5 toward the front side of the drawing in the direction of the double arrow X is abutted against a stopper device 7 fixed to the base of the roller conveyor 5. , It stops at a position in the middle of the roller conveyor 5.
[0023]
On the other hand, the base 11 of the working device 10 is fixed on the floor so that a part of the base 11 intrudes below the roller conveyor 5. On the base 11, the lifting / lowering device 6 for picking up from the roller conveyor 5 by further raising the workpiece 1 that has been stopped by hitting the stopper device 7 on the mounting table 6 a. Is provided. For this purpose, the mounting table 6a is formed so as to have a dimension capable of moving up and down in the space between the roller conveyors 5. The elevating device 6 is configured such that the elevating motor 8 is driven by an instruction from the control device 100 in order to elevate and lower the mounting table 6a by energizing the elevating motor 8 (in the direction of the double arrow Z). Yes.
[0024]
On the other hand, the workpiece 1 picked up from the roller conveyor 5 as described above is a predetermined tool of the assembly head 30 which is a working means provided so that the work surfaces 3 and 4 overhang the work device 10. Is driven and stopped in the direction of the double arrow θ shown in the figure so as to face each other orthogonally. In this way, the work 1 is rotated in the direction of the double arrow θ in the figure and then maintained in its posture, and a predetermined work is performed with the assembly head 30 supported by the table 21 . It is possible to perform work on 3.
[0025]
Now, the workpiece 1 lifted by the lifting device 6 is provided with a positioning hole or stud for gripping in advance, and the gripping bodies 18 and 19 shown in the figure are respectively driven in the arrow X direction, The workpiece 1 is gripped from the conveyance direction. The work surface 2 and 3 are opposed to the assembly head 30 by simultaneously rotating the gripped workpiece 1 by the same amount in the direction of the arrow θ with the arrow X direction as the transport direction by the roller conveyor as the rotation center axis. I will let you.
[0026]
The gripping bodies 18 and 19 transmit the rotational force of the horizontal axis rotation motor 17 which is a horizontal axis rotation means to the rotation shaft 20 through a chain so that the stopped state can be maintained after rotating to a desired angle θ. It is configured. These horizontal axis rotation motors 17 are mounted on an elevating slider 15 provided on the base 11 and driven to move up and down in the direction of arrow Z, and side surfaces of the moving body 16 driven by a motor (not shown) in the direction of arrow X. Respectively.
[0027]
The elevating slider 15 is driven by being guided in the vertical direction by a pair of left and right guide rails 13 by a motor (not shown).
[0028]
The assembly head 30 obtains component supply from the component supply device 35 shown separately in the drawing, and performs component attachment work to the work surfaces 2 and 3 of the work 1. For this purpose, the component supply device 35 includes a component supply conveyor 36 for intermittently moving a pallet containing components 37 in the direction of the double arrow Y in the figure and supplying the components to the lower part of the head 30. It is provided in the space between the left and right side wall plates 12, 12 fixed above.
[0029]
Further, limit sensors 51 and 52 are provided in the component supply device 35 and the device 10 and many other devices 10 (not shown), and by sending detection signals from these to the control device 100, the respective device 10 The operating state can be controlled. By configuring as described above, even in the case of a workpiece having an inclined work surface, a separate mechanism for moving the assembly head as a working means forward and backward, left and right, and obliquely as in the past is provided. There is no need. Further, since the apparatus 10 is provided so as to surround the roller conveyor 5 from above and below, the equipment layout does not spread in the width direction of the roller conveyor. In addition, for maintenance work, for example, each maintenance site can be accessed while standing without being forced.
[0030]
Next, FIG. 2 is an external perspective view of the article transport assembly apparatus according to the second embodiment. In this figure, the components already described in FIG. 1 are denoted by the same reference numerals, and different components are described. On the base 11, a left / right moving table 25 that is driven along the direction of the arrow X, which is the conveying direction by the roller conveyor 5, is provided. The moving device of the left / right moving table 25 is provided with an elevating device 6 provided with a mounting table 6a for receiving the work 1 stopped on the roller conveyor by lifting it, and the vertical axis from the base 11 is the center of rotation. It is fixed on a vertical axis rotating device 9 that is driven to rotate in the direction of arrow W as an axis.
[0031]
The work 1 has a work surface 2 that is substantially horizontal to the floor surface. A press-fitting head 40 is provided for press-fitting and assembling parts supplied from the part supply device 35 to the work surface 2 in the direction of arrow Y.
[0032]
As described above, in the case of the work 1 having the work surface 2 that is substantially horizontal, the work can be operated from the side surface of the work by freely moving the work on the left / right moving table 25.
[0033]
FIG. 3 is an external perspective view of the article transport assembly apparatus according to the third embodiment. In this figure, the components already described in FIG. 1 are denoted by the same reference numerals, and different components are described. Between overhanging of the left and right side walls 12 of the apparatus 10, the crimping device 40 0 performing caulking it is fixed. To do caulking to the working surfaces 2, 3 by the caulking apparatus 40 0, it is driven so as to face.
[0034]
May be fixed to the caulking unit 40 0 as described above, or may be replaced with the assembly head 30 illustrated in FIG.
[0035]
FIG. 4 is an external perspective view of the article transport assembly apparatus according to the fourth embodiment. In the figure, the fourth embodiment of the article transport assembly apparatus illustrates the different uses without permission in the device 10 of the configuration described in FIG.
[0036]
In this figure, the components already described with reference to FIG. 1 are denoted by the same reference numerals and different components will be described. While the left and right side wall plates 12 of the apparatus 10 are overhanged, the assembling head 30 for fixing the components supplied from the component supply device 35 is fixed.
[0037]
On the other hand, the workpiece 1 may be supplied with the work surface 2 being substantially horizontal, or may be supplied with the work surfaces 2 and 3 being vertical.
[0038]
When the work surface 2 of the work 1 is supplied in a substantially horizontal state, after being placed on the mounting table 6a, the work surface 2 is rotated in the direction of the arrow W at a predetermined angle and is moved in the left-right direction ( By moving in the direction of arrow X), the assembly head 30 can be made to face the arbitrary position on the work surface 2.
[0039]
Further, when the work surfaces 2 and 3 are supplied in a vertical state, it is possible to perform a component mounting operation on the third work surface 33 of the workpiece 1.
[0040]
An operation example of the apparatus 10 according to the first embodiment described above will be described with reference to an operation flowchart of FIG. 5 and FIG.
[0041]
Mounted in this figure, in step S1, for example, whether the work 1 having a work surface 2 inclined obliquely as V-type engine block is conveyed on the roller conveyor 5 directly, or on the pallet 4 Then transported. The workpiece conveyed in this way is stopped at a position in the middle of the roller conveyor 5 by hitting a stopper device 7 fixed to the base of the roller conveyor 5.
[0042]
Next, in step S2, the lifting device 6 in a state where the mounting table 6a is waiting at the standby position below the roller conveyor is activated and stopped by hitting the stopper device 7 as described above. The workpiece 1 is further raised after being placed on the mounting table 6a, thereby positioning the workpieces 18 and 19 between them. In subsequent step S3, the workpiece 1 is gripped by the gripping bodies 18 and 19. Then, the elevating device 6 is returned to the standby position by proceeding to step S4.
[0043]
In step S5, the elevating slider 15 is raised to lift the work, and the work 1 is stopped by rotating the work 1 in the horizontal direction in either direction of the double arrows θ1 and θ2 in FIG. The head is directed toward the assembly head 30.
[0044]
In step S6, is the determination of whether the assembly head 30 is lowered, when the assembly head 30 Fall performs component mounting by performing a predetermined task in step S7 advances to step S7. In this step S7, the work 1 is moved while maintaining the gripping state in the double arrow X direction, so that work is performed on a plurality of work points on the work surfaces 2 and 3. After this operation is completed, the process proceeds to step S8 and the assembly head 30 is raised to the original position. Next, the process proceeds to step S9, where it is determined whether the work has been completed.
[0045]
On the other hand, if the assembly head 30 is fixed in step S6, the process proceeds to step S11, and a predetermined work routine using the fixed head is performed. Thereafter the operation completion judgment process proceeds to step S9 is performed, the working surface 2 only completed work surface 3 is the horizontal axis direction θ2 direction countercurrent work 1 by reducing the work 1 proceeds to step S17 when not completed downward So that it does not collide with the head 30 when rotated.
[0046]
Thereafter, the work is rotated in step S18, the elevating slider 15 is raised in step S19, and the process returns to step S11.
[0047]
Or more, the work on the work surface 2 of a series of operation is completed, in step S1 4, 1 12 and 1 3 returns the workpiece being gripped on the mounting table 6a from rotating in the neutral position. In step S15, the lifting device 6 is subjected down to the standby position, returning to the upper roller conveyor 5. Next, it progresses to step S16, the stopper apparatus 7 is made into a standby state, and a workpiece | work is conveyed downstream.
[0048]
Next, an operation example of the apparatus 10 according to the fourth embodiment described with reference to FIG. 4 will be described with reference to an operation flowchart of FIG. 6 and FIG.
[0049]
In this figure, in step S30, for example, the work 1 having the horizontal work surfaces 2 and 3 is conveyed directly on the roller conveyor 5 or mounted and conveyed on the pallet 4, and the base of the roller conveyor 5 is shown. Is stopped at a position in the middle of the roller conveyor 5.
[0050]
Next, in step S31, the lifting device 6 in a state where the mounting table 6a is waiting at the standby position below the roller conveyor is activated, and the workpiece 1 in a state of being stopped by hitting the stopper device 7, It rises further after placing on the mounting table 6a.
[0051]
Subsequently, in step S32, the vertical axis rotation device 9 and the left / right movement table 25 are driven so that the work surface 2 of the work 1 comes below the predetermined tool of the assembly head 30.
[0052]
Since the work is transported and positioned as described above, the work can be directly exchanged from the adjacent apparatus 10 by sufficiently securing the moving stroke of the left / right moving table. In this case, instead of the roller conveyor 5, a robot apparatus for replacing the workpiece is provided.
[0053]
As described above, when the work surface 2 of the workpiece 1 comes below a predetermined tool assembly head 30, in step S33, in assembling the head 30 is the determination of whether to Fall, assembling head 30 There when Fall performs component mounting by performing predetermined operations proceed to step S34. Next, it progresses to step S35 and an assembly | attachment head raises to an original position and returns. Thereafter, the process proceeds to step S36, where it is determined whether the work has been completed. When the work is not completed, the process proceeds to step S37, and the vertical axis rotating device 9 and the left / right moving table 25 are used to perform work on other work points on the work surface 2. After each is driven, the process returns to step S34.
[0054]
On the other hand, in step S 33, the assembly head 30 when the fixing is carried out a predetermined work routine with fixed head proceeds to step S38. Thereafter, it made the work completion determination process proceeds to step S36, clash with assembling head 30 by the work to all of the working point on the work surface 2 to reduce the work 1 proceeds to step S42 when not completed downward Do not. Thereafter, the workpiece is rotated in the vertical axis (in the direction of arrow W) in step S43, the lifting device 6 is raised in step S44, the process returns to step S38, and the operation on the work surface 2 is repeated.
[0055]
When it is determined in step S36 that all the work on the work surface 2 is completed, the process proceeds to step S39, where the rotary shaft W is rotated to the neutral position and the left / right moving table 25 is moved to the neutral position, and then the work is loaded. Return to the table 6a. At step S40 subsequent, lifting device 6 is subjected down to the standby position, returning to the upper roller conveyor 5. Next, it progresses to step S41 and makes the stopper apparatus 7 a standby state, and conveys a workpiece | work downstream.
[0056]
On the other hand, in FIG. 4, when the work surfaces 2 and 3 are positioned on a surface orthogonal to the base portion 11, the predetermined work on the third work surface 33 can be similarly performed.
[0057]
Further, when the working surfaces 2, 3 as shown in FIG. 4 to be positioned on a plane perpendicular to the base portion 11, the caulking apparatus 40 0 as shown in FIG. 3 from the direction of arrow Y Convenient when working.
[0058]
By the article moving means composed of the lifting device 6, the gripping bodies 18 and 19, and the gripping bodies 18 and 19 described above, the posture of the work can be controlled so that the work surface faces all types of work heads of the work device. Become.
[0059]
【The invention's effect】
As described above, according to the present invention, since it is not necessary to provide a separate mechanism for moving the working means facing the work surface of the article in a predetermined direction, a working device provided with the working means can be manufactured at low cost. It is possible to provide an article conveying and assembling apparatus and an article conveying and assembling method that can improve the maintainability and that are not limited in space because the equipment layout does not spread in the width direction of the workpiece conveying means.
[0060]
In addition, since the production line can be configured in an arbitrary layout, for example, substantially linearly, an article transport assembly apparatus and an article transport assembly method capable of easily changing the production line in accordance with an increase / decrease / change in the work process are provided. Can do.
[0061]
Since the working device provided with the working means is located immediately above the transfer line, the work on the transfer surface can be directly accessed.
[Brief description of the drawings]
FIG. 1 is an external perspective view showing a state of an article transport assembly apparatus according to a first embodiment.
FIG. 2 is an external perspective view showing a state of an article transport assembly apparatus according to a second embodiment.
FIG. 3 is an external perspective view showing a state of an article transport assembly apparatus according to a third embodiment.
FIG. 4 is an external perspective view showing a state of an article transport assembly apparatus according to a fourth embodiment.
FIG. 5 is a flowchart for explaining the operation of the article transport assembly apparatus according to the first embodiment.
FIG. 6 is a flowchart for explaining the operation of the article transport assembly apparatus according to the fourth embodiment.
[Explanation of symbols]
1 Work (article)
2, 3 Work surface 4 Pallet 5 Roller conveyor (conveyance means)
6 Lifting device 6a mounting table 7 Stopper device 9 Vertical axis rotating device 10 device (working device)
11 base 12 left and right side wall plate 15 lift slider 16 moving body 18, 19 gripping body 25 left / right moving table 30 assembly head (working means)
35 Component supply device 100 Control device

Claims (6)

X and Y directions and the horizontal plane of the surface along the, as a vertical axis and an axis along the Z direction, the engine block to be conveyed is mounted on the engine block or on pallets directly conveyed by the conveying means conveys in the horizontal plane An article transport assembly apparatus that stops at a predetermined position in the middle of the transport means and performs a predetermined work on a work surface parallel to the horizontal plane of the engine block or having a different inclination angle with respect to the horizontal plane by the work apparatus,
Elevating means for picking up the stopped engine block from the conveying means by ascending above the predetermined position;
In order to perform the predetermined work with the work surface facing the working means of the working device, the engine block lifted by the lifting means is received in a gripping state, and is mounted on a lifting slider so as to be driven up and down in the Z direction. And a gripping means that is moved in the X direction, and a horizontal axis rotation means that is mounted on the gripping means to rotate the engine block about the X direction along the transport direction of the transport means as a rotation center axis. Provided article moving means;
Connected to said elevating means and said article moving means, and the article moving means and the elevating means, and control means for controlling on the basis of the each of the working surface to the operation program of driving so as to face the working unit ,
An article conveying and assembling apparatus comprising:   2. The article transporting and assembling apparatus according to claim 1, wherein the article moving means is arranged below the working means provided in the working device, and is arranged at a base of the working device. The working means is fixed on the base Rutotomoni, article transport assembly apparatus according to claim 2, characterized in that disposed between the left and right side wall members provided so as to surround the conveying means from the vertical . In order to assemble or press-fit parts into each of the working surfaces, the parts are reciprocated in the Y direction perpendicular to the vertical plane along the X and Z directions to supply the parts to the working means. The article transport assembly apparatus according to any one of claims 1 to 3 , further comprising a component supply unit. An engine block mounted on a pallet or transported on a pallet or transported on a pallet is transported on a horizontal plane with the surface along the X direction and the Y direction as a horizontal plane and the axis along the Z direction as a vertical axis. , Stopped at a predetermined position in the middle of the conveying means, and lifted above the predetermined position to perform a predetermined operation on a work surface having a different inclination angle with respect to the horizontal plane of the engine block or parallel to the horizontal plane The lifting / lowering means for picking up the stopped engine block from the conveying means, and the work surface is raised by the lifting / lowering means to perform the predetermined work with the work surface facing the working means of the working device. It is mounted on an elevating slider that is driven up and down in the Z direction and is moved in the X direction so as to receive the engine block in a gripped state. And lifting means, and the article moving means comprising a horizontal axis rotating means is mounted on the engine block to said gripping means to rotate in the rotational center axis X direction along the conveying direction by the conveying means, said lifting means which is connected to the article moving means and, and the article moving means and the elevating means, each of the working surface is provided with a control means for controlling on the basis of the operation program of driving so as to face the working means article A transport assembly method,
Picking up the stopped engine block from the conveying means by raising the engine block above the predetermined position by the elevating means;
A step of relatively moving the engine block by the article moving means so that each of the work surfaces faces the work means;
In order to assemble or press-fit parts into each of the working surfaces, the parts are reciprocated in the Y direction perpendicular to the vertical plane along the X and Z directions to supply the parts to the working means. Supplying a part from the component supply means to the working means;
And a step of assembling or press-fitting the parts onto the work surface. The step of relatively moving the engine block by the article moving means so that each of the work surfaces faces the work means of the work device,
Drive the lifting slider that is provided at the base and driven to move up and down,
Gripping and receiving the engine block raised by the elevating means, and driving the grasping means mounted on the elevating slider so as to move the engine block in the conveying direction by the conveying means,
The engine block of the gripping state by the gripping means, wherein the horizontal axis rotary means with the rotation center axis in the conveying direction by the conveying means is rotated, and the so that is opposed to the work surface to said working means, the respective 6. The article conveying and assembling method according to claim 5 , wherein drive control is executed in synchronization with the control means.

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