JP4871390B2 - Cleaning device - Google Patents

Description

  The present invention relates to a cleaning device, and more particularly, to a cleaning device having a tool clamp unit that includes a tool changer and precisely regulates the rotation direction of a tool.

Various precision perforations are formed in a hydraulic device such as a valve body by cutting. However, if burrs and chips generated around the perforations are not removed, a serious malfunction may occur.
Therefore, conventionally, in order to remove chips and burrs generated at the time of such cutting, a high-pressure cleaning machine that uses high-pressure cleaning water to spray the parts where burrs are generated on the workpiece is used.

  In high-pressure washing machines, air blow to discharge chips after washing and brushes to remove strong burrs may be used, so the tool is replaced by an articulated robot to adapt to various applications. A possible cleaning apparatus is known (for example, Patent Document 1).

JP 2003-19466 (paragraph 0021, FIGS. 2 to 4)

However, when cleaning and tool replacement are performed using an articulated robot, the apparatus becomes large and the control becomes complicated, which may increase the cost burden.
In the tool clamping device described in Patent Document 1, the adapter is positioned in the rotational direction by inserting a clamp lever into the guide groove and clamping. For this reason, since there is inevitably a clearance in the rotational direction, a minute error may occur in the washing water injection angle. This error in the injection angle has an adverse effect on precise cleaning, so if you want to accurately aim and remove around the perforations where burrs occur, the problem is that the difference in the injection angle becomes an obstacle. was there.

  The present invention has been made in view of such a background, and it is an object of the present invention to provide a cleaning apparatus that can be applied for various purposes by exchanging tools while saving space and is capable of precise cleaning. .

  In order to solve the above-mentioned problem, the invention according to claim 1 of the present invention is a cleaning device that cleans a work by injecting cleaning water or air from a tool, and a tool moving device that freely moves the tool; A tool clamping unit that is disposed in the tool moving device and detachably holds the tool via a tool holder, a storage unit that mounts and stores various tools on the tool holder, and a storage unit that stores the tool. A tool exchanging device that selects and attaches / detaches the tool to / from the tool clamp part, and the tool holder is formed with a groove part having a taper part whose width becomes narrower in the tool retraction direction. Is formed in a cylindrical shape having a recess, and a body for holding the tool holder in the recess so as to be detachably held; An engaging body having a spherical portion that fits and locks into the groove of the mounted tool holder, and is slidably disposed on the outer peripheral portion of the body, and is joined to the engaging body so that the engaging body is raised and lowered. A piston and a pressure fluid supply passage for reciprocating the piston, and the tool changer moves the tool attached to the tool clamp part by the tool moving device to the storage part and accommodates it, The tool housed in the storage portion is attached to the tool clamp portion, the spherical portion is pushed into the tapered portion by the piston, the tool holder is pulled in the pulling direction, and the rotation direction of the tool is restricted, It is characterized by.

  As described above, the present invention provides a storage unit for storing various tools, moves the tool by the tool moving device, stores the tool in the storage unit, and attaches the tool to the tool clamp unit, thereby reducing the tool in a small space. Therefore, it is possible to realize a cleaning apparatus that can be used for various purposes while efficiently using the cleaning chamber and saving the space of the cleaning chamber.

  Further, the spherical portion is pushed into the tapered portion by the piston, and the tool holder is pulled in the pulling direction to restrict the rotation direction of the tool, so that the rotation direction of the engaging portion between the body and the tool holder can be reduced. Clearance can be eliminated, and the tool can be firmly clamped without shifting in the rotational direction.

  For this reason, the cleaning apparatus according to the present invention can perform precise cleaning, and can accurately and reliably remove a spot where a burr is generated, thereby enabling efficient cleaning in a short time.

  The invention according to claim 2 is the cleaning apparatus according to claim 1, wherein the tool moving device is a gantry type 3 suspended from a guide rail disposed in an upper part of a cleaning chamber for cleaning a workpiece. An axis moving mechanism is provided.

  According to such a configuration, the space in the cleaning chamber can be used more efficiently by suspending the triaxial moving mechanism from the upper part of the cleaning chamber, and the apparatus can be made compact and applied for multiple purposes. Is possible.

  The invention according to claim 3 is the cleaning apparatus according to claim 1 or 2, further comprising a table on which the workpiece is placed, the table having an indexing mechanism for turning the workpiece around a vertical axis; And a reversing mechanism for reversing around the horizontal axis.

  According to such a configuration, by rotating and reversing the workpiece, the workpiece can be cleaned on multiple surfaces, so that it can flexibly handle various workpieces and can be applied for multiple purposes.

  The cleaning apparatus according to the present invention can be applied for various purposes by exchanging tools while saving space, and also enables precise cleaning.

It is a typical perspective view for explaining the composition around the washing room of the washing device concerning the embodiment of the present invention. It is sectional drawing which shows the relationship between the tool clamp part which concerns on embodiment of this invention, and a tool holder, and shows the state which the piston advanced and the tool was unclamped. (A) is sectional drawing which shows the relationship between the tool clamp part which concerns on embodiment of this invention, and a tool holder, and shows the state which piston retracted | retracted and pulled in and clamped, (b) of (a) It is a perspective view which shows the relationship between a ball | bowl and a groove part. It is a figure which shows the state at the time of the clamp in which the engaging body which concerns on embodiment of this invention is pushed into a groove part, (a) is an AA arrow sectional drawing of (b), respectively, (b) is an important part expanded sectional view, respectively. FIG. It is principal part sectional drawing for demonstrating the operation | movement at the time of the clamp which concerns on embodiment of this invention. It is a figure which shows the modification of the groove part of this invention, (a) is a perspective view of a tool holder, (b) is a front view, (c) is a side view.

The main configuration of the cleaning apparatus 1 according to the embodiment of the present invention will be described in detail with reference mainly to FIGS. 1 and 2.
In FIG. 1 to be referred to, for convenience of explanation, a cleaning unit such as a cleaning pump that supplies high-pressure cleaning water, a pneumatic unit that supplies air, a control device, and other accessory devices such as piping are not shown in the drawings. Omitted.

  As shown in FIG. 1, the cleaning device 1 includes a table 12 on which a workpiece W is placed, a tool moving device 2 that freely moves the tool T, and a tool T that is disposed in the tool moving device 2 so as to be detachable. A tool clamping unit 4, a storage unit 5 for accommodating various tools T, and a tool changer 6 comprising a control device (not shown).

  As shown in FIG. 1, the cleaning chamber 11 is a box-shaped cover provided so that the cleaning water S sprayed onto the workpiece W is not scattered, and the tool mounted on the tool clamp unit 4 in the cleaning chamber 11. Deburring cleaning is performed to remove chips and burrs adhering to the workpiece W while T freely moves in the three axial directions of the X-axis direction, the Y-axis direction, and the Z-axis direction. Then, the high-pressure cleaning water S is shot from the tool T to a portion where burrs are generated and is ejected to remove the burrs.

  In this embodiment, as shown as X, Y, and Z in FIG. 1, for convenience of explanation, the front-rear direction viewed from an unillustrated operator is the X-axis direction, the vertical direction is the Y-axis direction, and the left-right direction is the Z-axis. Expressed as a direction.

As shown in FIG. 1, the table 12 is disposed in the cleaning chamber 11, and includes a clamp device (not shown) for holding the workpiece W, an indexing mechanism 12a for turning the workpiece W around the vertical axis C1, and a horizontal axis C2. A reversing mechanism 12b for reversing around.
With such a configuration, by turning and reversing the workpiece W, it is possible to clean the workpiece W on multiple surfaces, so it is possible to flexibly deal with various workpieces W, and it can be applied for multiple purposes.

  The storage unit 5 is configured so that various tools T such as a cleaning nozzle and an air blow can be inserted into a U groove 51 a formed in the holder base 51 and is disposed in the cleaning chamber 11 as an example.

The tool moving device 2 is constituted by a so-called gantry-type three-axis moving mechanism disposed in the upper part of the cleaning chamber 11.
The gantry-type three-axis moving mechanism moves in the Z-axis direction along the Z-axis guide rails 21, 21 arranged along the Z-axis direction at the upper part of the cleaning chamber 11 and the Z-axis guide rails 21, 21. Z-axis holders 22, 22, X-axis guide rails 23 supported by the Z-axis holders 22, 22 disposed along the X-axis direction, and X-axis moving along the X-axis guide rails 23 in the X-axis direction A holder 24, a Y-axis guide rail 25 supported by the X-axis holder 24 and disposed in the Y-axis direction, a Y-axis holder 26 moving in the Y-axis direction along the Y-axis guide rail 25, a motor and a ball screw And a drive device (not shown) made up of and the like.

With this configuration, the Y-axis holder 26 disposed at the distal end portion of the tool moving device 2 is moved through the control device (not shown) to the X-axis (front-rear direction), Y-axis (up-down direction), and Z-axis (left-right direction). It can move freely in the three axis directions.
And the tool clamp part 4 is arrange | positioned at the Y-axis holder 26, and the tool T is attached to the tool clamp part 4 so that attachment or detachment is possible.

  In the present embodiment, the tool clamp portion 4 is disposed in one place on the Y-axis holder 26, but the present invention is not limited to this. Two or more tool clamp portions 4 are adjacent to the Y-axis holder 26. It is also possible to arrange two or more tools T. For example, two types of tools T for linear injection and rotary injection are arranged, or two types of tools T, a cleaning nozzle and an air blow nozzle, are arranged, thereby simplifying the tool replacement work. be able to.

  As shown in FIG. 2, the tool holder 3 includes a cylindrical barrel portion 31 and a clamp portion 32 that is inserted into the tool clamp portion 4 and is detachably fixed. The tool T is fixed to 31 a and the tool T is mounted on the tool holder 3. The tool holder 3 is formed with a washing water flow path 33 penetrating from the clamp part 32 to the body part 31. The cleaning water channel 33 is electrically connected to the cleaning water channel 46 formed in the body 41 via the pressing portion 35, and high-pressure cleaning water and air are supplied to the tool T.

The body portion 31 is formed with a groove 31b having a shape cut in parallel to face, and the tool T is the same by inserting the groove 31b into the U groove 51a of the holder base 51 disposed in the storage portion 5. It is accommodated so as to face (see FIG. 1).
The clamp portion 32 includes a tapered contact portion 32a having a tapered shape that is reduced in diameter in the direction in which the tool T is retracted (see an arrow in FIG. 2), and a concave groove portion 34 having a triangular prism space on the bottom surface ( 4 (a)). The groove portion 34 is formed with a tapered portion 34a having a side wall surface formed so as to face the tool T so that the width thereof is narrowed in the drawing direction.

  As shown in FIG. 2, the tool clamp unit 4 includes a quill 4 a that is rotatably supported, a flange 4 b that is fixed to the quill 4 a, and a body 41 that is fixed to the flange 4 b and detachably holds the tool holder 3. , A ball 42 that is an engaging body that fits into and engages with the groove 34, a piston 43 that causes the ball 42 to protrude and retract, and a pressure fluid supply flow path L (L 1 to L 3, L 11 to L 14) that reciprocates the piston 43. And.

  2 and 3, for convenience, the upper side of the drawing, which is the drawing direction of the tool T, is appropriately set in the retracted direction (rear part) and the lower side in the drawing is set as the advanced side (front). Part or tip).

  As shown in FIG. 2, the body 41 is formed in a cylindrical shape composed of an enlarged diameter portion 41a and a reduced diameter portion 41b. A ring-shaped cylinder member 44 is fixed to the body 41 in accordance with the outer peripheral surface 41c of the enlarged diameter portion 41a. A ring-shaped cover 45 is fixed to the cylinder member 44 so as to contact the reduced diameter portion 43 b of the piston 43.

  With this configuration, the cylinder chamber P (P1, P2) is formed in the space closed by the body 41, the cylinder member 44, the cover 45, and the reduced diameter portion 43b of the piston 43, and the outer peripheral surface of the reduced diameter portion 41b of the body 41. The piston 43 is slidably guided between 41d and the cylinder member 44 and the cover 45.

  The body 41 includes a cleaning water flow path 46 through which cleaning water and high-pressure air circulate in an inner peripheral portion, and a concave portion 41e formed at the distal end portion of the reduced diameter portion 41b and in which the tool holder 3 is detachably inserted. I have.

Then, the ball 42 is mounted on the reduced diameter portion 41b of the body 41 so as to protrude and retract toward the recess 41e, and is fitted into the groove portion 34 of the tool holder 3 mounted on the recess 41e to be locked.
At the open end of the recess 41e, a tapered contact portion 41f having a diameter enlarged at the tip end side is formed. The taper contact portion 41f formed on the body 41 has a shape compatible with the taper contact portion 32a formed on the tool holder 3 (see FIG. 3A).

  In this embodiment, the “engagement body having a spherical portion” is a spherical ball 42 because the frictional resistance in the protruding and retracting direction is small. However, the present invention is not limited to this, and the end portion of the cylindrical pin is not limited to this. A pin having a hemispherical spherical portion may be used.

The piston 43 has a cylindrical shape including a diameter-enlarged portion 43 a disposed in the cylinder chamber P and a diameter-reduced portion 43 b having a tapered surface 43 c that is joined to and retracted from the ball 42. It is slidably fitted on 41b.
And the taper surface 43c is formed in the internal peripheral surface 43b1 of the diameter reduction part 43b of the piston 43, and has comprised the shape expanded diameter as it goes to a rear part (retraction direction).

  Specifically, as shown in FIG. 2, the taper surface 43 c formed on the piston 43 engages with the ball 42 when the piston 43 moves forward in the unclamped state, and the ball 42 has a reduced diameter portion of the piston 43. The taper angle and position are set so as to be immersed in 43b. For this reason, in the unclamped state, the ball 42 does not enter the groove 34 formed in the tool holder 3.

  In the clamped state, as shown in FIG. 3, when the piston 43 is retracted, the engagement between the tapered surface 43c formed on the piston 43 and the ball 42 is released, and the ball 42 is pushed out from the reduced diameter portion 43b. Taper angle and position are set. For this reason, in the clamped state, the ball 42 enters the groove 34 formed in the tool holder 3 so that the ball 42 and the groove 34 are engaged.

In the cylinder chamber P, a first cylinder chamber P1 for unclamping is formed on the rear end side, and a second cylinder chamber P2 for clamping (FIG. 3A) is formed on the front end side.
When high-pressure air that is a pressure fluid is introduced into the first cylinder chamber P1, the piston 43 can be advanced and the tool holder 3 can be unclamped. Further, when high-pressure air is introduced into the second cylinder chamber P2 (FIG. 3), the piston 43 can be retracted and the tool holder 3 can be clamped.

  In the present embodiment, air is used as the “pressure fluid” because it is easy to handle. However, the present invention is not limited to this, and the piston 43 can be moved using hydraulic pressure.

The pressure fluid supply channel L includes unclamping channels (L1 to L3) shown in FIG. 2 and clamping channels (L11 to L14) shown in FIG.
As shown in FIG. 2, the unclamping flow paths (L1 to L3) supply high-pressure air from the first air introduction flow path L1 to the first cylinder chamber P1 from the flow path L3 through the flow path L2. This is a flow path. As shown in FIG. 3A, the clamping flow paths (L11 to L14) are provided from the second air introduction flow path L11, from the flow path L12 to the flow path L13, and from the flow path L14 to the second cylinder chamber P2. This is a flow path for supplying high-pressure air to the pipe.

In this embodiment, the unclamp confirmation flow path (L1 to L5) for confirming the unclamp state shown in FIG. 2 and the clamp confirmation for confirming the clamp state shown in FIG. A flow path (L11 to L14).
As shown in FIG. 2, the unclamp confirmation flow paths (L1 to L5) are branched from the unclamp flow paths (L1 to L3), and from the first air introduction flow path L1 to the flow path L12. Passing through to the flow path L15, air flowing out from the flow path L15 is detected by a pressure sensor (not shown) to confirm that the piston 43 exists at the clamp position.

  Similarly, as shown in FIG. 3A, the clamp confirmation flow paths (L1 to L5) are branched from the clamp flow paths (L11 to L14), and are connected to the second air introduction flow path L11. Then, the air is conducted from the flow path L4 to the flow path L5 through the flow path L2, and the air flowing out from the flow path L5 is detected by a pressure sensor (not shown) to confirm that the piston 43 exists at the clamp position.

  The operation of the tool clamp unit 4 configured in this way will be described mainly with reference to FIG. When the piston 43 is advanced and unclamped, as shown in FIG. 2, the ball 42 is positioned on the tapered surface 43c formed on the piston 43, and the ball 42 is immersed in the body 41. It will be in the state which does not enter into the groove part 34 formed in the holder 3. FIG.

  As shown in FIG. 3, when the piston 43 is retracted from the unclamped state, the tapered surface 43c formed on the piston 43 is retracted. Therefore, the diameter of the tapered surface 43c is reduced with the ball 42 positioned on the tapered surface 43c. Acts to reduce. Since the diameter of the tapered surface 43c is reduced, the ball 42 is pushed out from the inner peripheral surface of the recess 41e in the direction of the groove 34 of the tool holder 3, so that a part of the ball 42 is shown as shown in <Clamp start> in FIG. Enters the groove portion 34 (see FIG. 3B), and the ball 42 comes into contact with the tapered portion 34a formed on the side wall of the groove portion 34 to start clamping.

  When the piston 43 (FIG. 3A) is further retracted from this state, as shown in <Clamping> in FIG. 4, the ball 42 enters the groove 34 in the middle of clamping, so that it is pushed into the groove 34. The diameter of the portion of the ball 42 acts to increase, and the increase in the diameter causes the tool holder 3 to move backward in the retracting direction by the movement amount δ1.

  Then, as shown in <End of clamping> in FIG. 4, when the piston 43 (FIG. 3 (a)) is further retracted, the ball 42 enters the groove 34 more deeply and is pushed into the groove 34. When the diameter of 42 further increases and the tool holder 3 is retracted by the movement amount δ2 in the pull-in direction, the clamping is completed.

  Here, in the clamped state where the tool holder 3 is retracted by the movement amount δ2 in the retracting direction (see FIG. 4), the ball 42 and the tapered surface 43c of the groove portion 34 abut and the taper contact formed on the body 41 is also in contact. The contact portion 41f is joined to the taper contact portion 32a formed on the tool holder 3, and the movement in the rotation direction and the axial direction of the tool holder 31 is restricted (see FIG. 3).

  In this way, by pulling the tool holder 3 in the pulling direction while pushing the ball 42 into the tapered portion 34 a formed in the groove portion 34 by the piston 43, the rotation direction of the tool T is regulated, so that the body 41, the tool holder 3, The clearance in the rotational direction at the engaging portion of the tool T can be eliminated, and the tool T can be firmly clamped without any shift in the rotational direction.

  For this reason, the cleaning device 1 according to the embodiment of the present invention can perform precise cleaning, and can accurately and accurately remove a spot where a burr is generated, and can perform efficient cleaning in a short time. It becomes.

  The tool changer 6 moves the tool T attached to the tool clamp 4 by the tool moving device 2 to the storage 5 via the control device (not shown), and stores the tool T. The predetermined tool stored in the storage 5 T is controlled to be attached to the tool clamp portion 4.

  When the tool T accommodated in the storage unit 5 is attached to the tool clamp unit 4, the tool changer 6 uses a tool moving unit 2 (FIG. 1) as shown in FIG. A predetermined tool T accommodated in the storage unit 5 is selected, and the tool holder 3 is brought close to the body while being positioned so that the tool holder 3 can be fitted into the recess of the body.

Then, as shown in FIG. 5B, in the unclamped state, the taper contact portion 41f formed on the body 41 is joined to the taper contact portion 32a formed on the tool holder 3 with a slight clearance. Yes. Then, the clamping operation is started from the joined state with a slight clearance.
In the clamping operation, as shown in FIG. 5C, the piston 43 is retracted from the unclamped state shown in FIG. 5B, and the tool holder 3 is pulled in the drawing direction as described above and clamped (see FIG. 5). 4).

  On the other hand, when the tool T attached to the tool clamp part 4 is accommodated in the storage part 5, the tool T attached to the tool clamp part 4 is removed from the state shown in FIG. 1 by the tool changer 6 (FIG. 1). It is inserted into the holder base 51 and accommodated and unclamped. Then, another target tool T is selected, mounted on the tool holder 3 and clamped, and the tool exchange is completed.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and can be implemented with appropriate modifications.
For example, in the present embodiment, as shown in FIG. 3, the groove 34 is formed in a triangular prism space, but the present invention is not limited to this, and the taper has a width that narrows in the direction in which the tool T is retracted. As long as the portion 34a is provided, a triangular corner of the bottom surface 34b 'may be rounded like a groove portion 34' according to a modification of the present invention shown in FIG. 6 (FIG. 6C). Since the bottom surface 34b 'is not a flat surface but is pushed in while supporting the ball 42 (FIG. 3), the depth of the groove 34 can be made deeper in the direction of retraction (FIG. 6B). )).

  Moreover, in the groove part 34 which concerns on this embodiment, although the taper part 34a was comprised as a flat surface (FIG.3 (b)), it is not limited to this, The present invention shown to Fig.6 (a) is shown. Like the tapered portion 34a 'in the groove portion 34' according to the modified example, it may be a spherical surface so as to conform to the shape of the ball 42 (FIG. 3) instead of a flat surface. According to such a configuration, the groove portion 34 ′ according to the modification of the present invention can further increase the contact area between the tapered portion 34 a ′ and the ball 42 (FIG. 3). It can be held more stably.

Further, in the present embodiment, the taper surface 43c is formed as a flat surface formed on the piston 43 as means for causing the ball 42 to appear and disappear. Is possible.
In the present embodiment, the piston 43 is configured to reciprocate in a direction perpendicular to the direction in which the ball 42 protrudes. However, the present invention is not limited to this. It is also possible to adopt a configuration that causes the ball to appear and disappear directly.

  In the present embodiment, the gantry-type three-axis moving mechanism is configured to be suspended from the two Z-axis guide rails 21, 21 arranged on both sides of the cleaning chamber 11. It is not limited to a book but may be one, it is not limited to a gantry type, it may be a floor-standing type, and a moving mechanism having four or more axes provided with a rotating mechanism even if it has two or less axes. It may be provided.

  In the present embodiment, the table 12 includes the indexing mechanism 12a and the reversing mechanism 12b in consideration of the relationship with the tool moving device 2, but is not limited thereto, and is not limited to this. The table may not be provided with.

DESCRIPTION OF SYMBOLS 1 Cleaning apparatus 2 Tool moving apparatus 3 Tool holder 4 Tool clamp part 5 Storage part 6 Tool exchange apparatus 11 Cleaning chamber 12 Table 12a Indexing mechanism 12b Reversing mechanism 21 Z-axis guide rail (guide rail)
23 X-axis guide rail 25 Y-axis guide rail 31 Body portion 32 Clamp portion 32a Tapered contact portion 34, 34 'Groove portion 34a, 34a' Tapered portion 41 Body 41e Recessed portion 41f Tapered contact portion 42 Ball 43 Piston 43c Tapered surface C1 Vertical Axis C2 Horizontal axis S Washing water L (L1 to L3) Unclamping channel (pressure fluid supply channel)
L (L11 to L14) Clamping channel (pressure fluid supply channel)
T tool W work

Claims (3)

A cleaning device for cleaning workpieces by spraying cleaning water or air from a tool,
A tool moving device for freely moving the tool;
A tool clamp portion disposed in the tool moving device and detachably holding the tool via a tool holder;
A storage unit for receiving and storing various tools in the tool holder,
A tool changer that selects a tool accommodated in the storage unit and attaches and detaches the tool clamp unit, and
The tool holder is formed with a groove portion having a tapered portion whose width becomes narrower in the drawing direction of the tool,
The tool clamp part is
A body which is formed in a cylindrical shape having a recess and holds the tool holder in the recess so as to be detachable;
An engaging body having a spherical portion that fits and locks into the groove portion of the tool holder, which is disposed in the body so as to freely move in and out and is attached to the concave portion;
A piston that is slidably disposed on an outer peripheral portion of the body and that joins and engages the engagement body,
A pressure fluid supply passage for reciprocating the piston, and
The tool changer is
The tool moving device accommodates the tool attached to the tool clamp part by moving to the storage part, and the tool accommodated in the storage part is attached to the tool clamp part,
The spherical portion is pushed into the tapered portion by the piston and the tool holder is pulled in the pulling direction to restrict the rotation direction of the tool;
A cleaning device characterized by. The tool moving device includes a gantry-type three-axis moving mechanism suspended from a guide rail disposed at an upper part of a cleaning chamber for cleaning a workpiece;
The cleaning apparatus according to claim 1. A table for placing the workpiece;
The cleaning apparatus according to claim 1, wherein the table includes an indexing mechanism that turns the workpiece around a vertical axis and a reversing mechanism that reverses the work around a horizontal axis.

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