JP5755107B2 - Robot wrist device - Google Patents

Description

  The present invention relates to a wrist device for a robot.

  Conventionally, a robot wrist structure equipped with a force sensor is known. For example, in Patent Document 1, a force is applied between a first member provided with a pair of gripping pieces and a double-acting cylinder for driving the pair of gripping pieces, and a second member, which corresponds to a human wrist. A wrist structure provided with a sense sensor has been proposed. Patent Document 1 describes a configuration in which a tube for transmitting hydraulic pressure to the double-acting cylinder described above is disposed outside the force sensor.

Japanese Examined Patent Publication No. 4-13114 (see FIG. 1)

  However, the wrist structure proposed in Patent Document 1 has a problem that the pipe body is unnecessarily long because the pipe body for hydraulic transmission is arranged outside so as to bypass the force sensor. . Moreover, since the wrist structure proposed in Patent Document 1 is disposed so that the tube body is exposed to the outside of the force sensor, there is a possibility that the tube body is damaged or cut by the operation of the wrist.

  The present invention was devised in view of the above-described problems, and can shorten the length of wiring and piping for driving the robot's hand, and can prevent damage to the wiring or piping. It is an object to provide a wrist device.

In order to solve the above problems, a wrist device for a robot according to the present invention comprises a lower arm and a wrist provided at the tip of the lower arm, and the wrist device of the robot is connected to the tip. The wrist portion includes a first drive source that rotates around a first axis, a first frame that rotates in accordance with the rotational drive of the first drive source, and one end side of the first frame. A force sensor having a hollow portion connected to the tip and having the other end side connected to the hand portion and communicating the one end side and the other end side, and disposed in the hollow portion of the force sensor, A cylindrical wiring / piping support member having a first opening on one end side and a second opening on the other end side, and wiring or piping disposed inside the wiring / piping support member, The wiring or piping is routed along an outer diameter around the first drive source. Is, and is locked through the first opening and the binding member to the second opening of the wiring and piping support member, the wrist unit may be supported by housing the first driving source therein A cylindrical second frame is provided, and between the first drive source and the inner peripheral surface of the second frame, an annular wiring / pipeway in which the wiring or piping is disposed is formed, The wiring or piping is configured to be branched and arranged in the ring in the wiring / pipeway .

A wrist device for a robot having such a configuration is provided with a wiring or piping for driving a robot hand connected to the tip by providing a hollow portion in the force sensor and passing the wiring or piping through the hollow portion. Can be arranged at the shortest distance. In addition, since the wrist device of the robot can be arranged without exposing the wiring or piping to the outside by passing the wiring or piping through the hollow portion, damage or cutting due to operation of the wrist device is prevented. can do. In addition, the wrist device of the robot has a wiring / pipe support member disposed in the hollow portion of the force sensor, and the wiring / pipe support member is locked to the wiring / pipe support member, so that the force of the wrist device can be increased. It is possible to prevent the wiring or piping from moving (sliding) in the hollow portion of the sense sensor.
Further, the wrist device of the robot having such a configuration uses the space inside the wrist portion to the maximum and efficiency because the wiring or piping is branched and arranged in the ring in the wiring / pipeway. be able to.

  In the wrist device for a robot according to the present invention, the lower arm portion rotates around a second axis orthogonal to the first axis, the second drive source, and the second frame. And a wrist link that transmits the driving force of the second driving source to the second frame, and the wiring or piping is routed along the outer diameter around the second driving source. Preferably it is.

  The wrist device of the robot having such a configuration can shorten the length of the wiring or the piping as much as possible by arranging the wiring or the piping along the periphery of the second drive source.

  According to the wrist device for a robot according to the present invention, the length of wiring or piping for driving the robot's hand can be shortened as much as possible, and breakage of the wiring or piping can be prevented. Further, according to the wrist device of the robot according to the present invention, even if a hollow portion is provided in the force sensor and wiring or piping is arranged in the hollow portion, the wiring or piping moves in the hollow portion. Therefore, it is possible to prevent an unnecessary interference value from being generated by sliding of the wiring or the piping, and the interference value from adversely affecting the detection value of the force sensor.

It is a perspective view showing the whole wrist device of a robot concerning an embodiment of the present invention, and is a perspective sectional view cut away and showing a part of a lower arm part and a wrist part. It is a perspective view which shows the structure of the force sensor with which the wrist apparatus of the robot which concerns on embodiment of this invention is provided. It is a perspective view which shows the structure of the wiring and piping support member with which the wrist apparatus of the robot which concerns on embodiment of this invention is provided. It is the schematic which shows the state which has arrange | positioned wiring and piping in the wiring and piping support member with which the wrist apparatus of the robot which concerns on embodiment of this invention is equipped, Comprising: Force sensor, wiring and piping support member, wiring and piping, etc. It is sectional drawing which looked at from the side. BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic which shows the state which has arrange | positioned wiring and piping in the wiring and piping support member with which the wrist apparatus of the robot which concerns on embodiment of this invention is equipped, Comprising: (a) is wiring and piping support member and wiring and piping. FIG. 7B is a cross-sectional view of the wiring / pipe support member, the wiring / pipe, and the like viewed from the lower arm side. It is the schematic which shows the effect of the wrist apparatus of a robot, Comprising: (a) is sectional drawing which shows operation | movement of the wrist apparatus which is not provided with a wiring and piping support member, (b) is this invention provided with a wiring and piping support member. It is sectional drawing which shows operation | movement of the wrist apparatus which concerns on.

  A wrist device for a robot according to the present invention will be described with reference to the drawings. In the following description, for each embodiment, the same configuration and the same name are assigned to the same configuration, and the detailed description is omitted as appropriate. In the drawings referred to below, the size and shape of members may be exaggerated or some components may not be drawn for convenience of explanation.

  Hereinafter, a wrist device 1 for a robot according to an embodiment of the present invention will be described in detail with reference to FIGS. The wrist device 1 is a device that imitates a human wrist and is used to grasp, lift, or carry an object. The wrist device 1 is disposed on the arm of an autonomous mobile biped robot (not shown), and controls the operation of each member in accordance with a control signal input from a main controller disposed on the chest of the robot, for example. To do. Here, as shown in FIG. 1, the wrist device 1 of the robot includes a lower arm portion 10, a wrist portion 20, and a hand portion 30.

  The lower arm portion 10 corresponds to a human lower arm. The lower arm portion 10 is provided at the tip of the upper arm portion (not shown). In FIG. 1, only a part of the lower arm portion 10 in the vicinity of the wrist portion 20 is illustrated, and the other configurations are not illustrated. As shown in FIG. 1, the lower arm portion 10 includes a lower arm frame portion 11, a second drive source 12, a wrist link 13, a frame support portion 14, and a wiring / pipe passage member 16. .

The lower arm frame portion 11 is a base material for the lower arm portion 10. As shown in FIG. 1, the lower arm frame portion 11 is formed in a cylindrical shape that wraps a member in the lower arm portion 10. The top of the lower arm frame 11, as shown in FIG. 1, the fastening member B _1, is fixedly fastened to the wrist link 13 to be described later. Further, as shown in FIG. 1, an extension part 11 a that extends toward the hand part 30 is formed in the lower part of the lower arm frame part 11. Then, the tip of the extending portion 11a, as shown in FIG. 1, the fastening member B _2, and is fastened in a freely second frame 23 and pivoted to be described later. Further, as shown in FIG. 1, a second drive source 12 and a wiring / pipe passage member 16 are disposed inside the lower arm frame portion 11.

The second drive source 12 rotates the wrist 20 and the hand 30 around the yaw axis (around the yaw axis). In the present invention, this yaw axis is defined as a “second axis”. Upper portion of the second driving source 12, as shown in FIG. 1, the fastening member B _4, is fixedly fastened to the wrist link 13. Further, as shown in FIG. 1, the lower portion of the second drive source 12 is fastened and fixed to the lower arm frame portion 11 by a fastening member (not shown). And the one end side located in the wrist part 20 side of the 2nd drive source 12 is fastened and fixed with the flame | frame support part 14 by the fastening member which abbreviate | omitted illustration as shown in FIG. If the 2nd drive source 12 provided with such a structure is driven, a driving force will be transmitted to the wrist part 20 via the wrist link 13, and the wrist part 20 and the hand part 30 will rotate around a yaw axis.

The wrist link 13 connects the second drive source 12 and the wrist portion 20 and transmits the driving force of the second drive source 12 to the wrist portion 20. Wrist link 13, as shown in FIG. 1, along with being fastened to the upper portion of the lower arm frame 11 by the fastening member B _1, are fastened by the fastening member B ₄ with the top of the second driving source 12. The end of the wrist link 13, as shown in FIG. 1, the fastening member B _2, and is fastened in a freely second frame 23 and pivoted to be described later.

The frame support part 14 supports the first frame 22 of the wrist part 20. Although not shown here, the frame support portion 14 is formed in a Y shape. One end is located in the wrist portion 20 of the frame support portion 14, as shown in FIG. 1, the fastening member B _5, and is fastened to the first frame 22 to be described later. Moreover, the other end side located in the lower arm part 10 side of the frame support part 14 is fastened to the second drive source 12 by a fastening member (not shown). The frame support portion 14 having such a configuration rotates around the yaw axis together with the first frame 22 as the second drive source 12 is driven.

  The wiring / pipe passage member 16 is provided with wiring / pipe WP from the main body and upper arm (not shown) of the robot. Here, the wiring in the wiring / pipe WP is to transmit a control signal for controlling the driving of an actuator or the like (not shown) provided in the hand 30, for example. The hydraulic pressure is transmitted to a cylinder (not shown) provided inside. As shown in FIG. 1, the wiring / pipe WP is drawn into the lower arm 10 through the wiring / pipe passage member 16 from the main body and upper arm (not shown) of the robot. It is routed along the outer diameter around the drive source 12 (that is, the outer periphery of the second drive source 12), and is routed along the outer diameter around the first drive source 21 (ie, the outer periphery of the first drive source 21). (See FIG. 6B). As shown in FIG. 1, the wiring / pipe WP is drawn into the wiring / pipe support member 26 and connected to an actuator or a cylinder provided in the hand portion 30. Thus, the wrist device 1 can reduce the length of the wiring / pipe WP as much as possible by arranging the wiring / pipe WP along the periphery of the first drive source 21 and the second drive source 12. .

  The wrist part 20 corresponds to a human wrist. The wrist 20 is provided at the tip of the lower arm 10 as shown in FIG. As shown in FIG. 1, the wrist 20 includes a first drive source 21, a first frame 22, a second frame 23, a wiring / pipeway 24, a force sensor 25, and a wiring / pipe support member 26. And.

  The first drive source 21 rotates the hand portion 30 around the pitch axis (around the pitch axis). In the present invention, this pitch axis is defined as a “first axis”. The first axis is an axis orthogonal to the second axis. As shown in FIG. 1, the first drive source 21 is accommodated in the second frame 23 and is fastened to the first frame 22 so as to be freely rotatable. When the first drive source 21 having such a configuration is driven, the first frame 22, the force sensor 25, and the hand portion 30 rotate around the pitch axis.

  The first frame 22 is a base material exposed to the outermost part of the wrist part 20. Although not shown here, the first frame 22 is formed in a semispherical shape with the entire interior being hollow. The first frame 22 has the first drive source 21 and the second frame inside the hemisphere by connecting the first drive source 21 and the second frame 23 covering the first drive source 21 to the inner wall of the hemisphere. 23 is accommodated. The first frame 22 has the other end side 25b of the force sensor 25 connected to the tip which is a flat surface portion of the hemisphere. As shown in FIG. 1, the first frame 22 having such a configuration is connected to the first drive source 21, so that the pitch axis (first axis) is matched with the rotational drive of the first drive source 21. Rotating around the center. As a result, the force sensor 25 and the hand portion 30 connected to the tip of the first frame 22 are also driven to rotate about the pitch axis.

The second frame 23 is a base material that accommodates and supports the first drive source 21 therein. Although the illustration of the second frame 23 is omitted here, the entire shape is formed in a cylindrical shape in accordance with the shape of the first drive source 21. The upper portion of the second frame 23, as shown in FIG. 1, the fastening member B _2, are fastened in a freely wrist link 13 and the pivot. Further, as shown in FIG. 1, the lower portion of the second frame 23 is fastened to the extending portion 11 a of the lower arm frame portion 11 by a fastening member B ₂ so as to be rotatable. Further, between the inner peripheral surface of the second frame 23 and the first drive source 21, a wiring / pipeway 24 is formed as shown in FIG.

  The wiring / piping path 24 is provided with wiring / piping WP drawn from the main body and upper arm (not shown) of the robot. The wiring / pipe line 24 is formed in an annular shape as shown in FIG. 1, and the wiring / pipe WP is arranged on the upper side and the lower side of the ring in the wiring / pipe line 24 as shown in FIG. Branched and arranged. In addition, as shown in FIG. 1 and FIG. 6B, the term “annular” here includes a case where a part of the annular ring is missing. As described above, the wrist device 1 has the wiring / pipe WP branched and disposed on the upper side and the lower side of the ring in the wiring / pipe line 24, so that the space inside the wrist part 20 is maximized and efficiently. Can be used.

The force sensor 25 detects pressure from the outside. Specifically, the force sensor 25 is a six-axis force sensor that detects three-direction components Fx, Fy, Fz of reaction force acting on the hand 30 and three-direction components Mx, My, Mz of moment. Composed. The force sensor 25 is formed in a substantially cylindrical shape as shown in FIG. 1 and 2, the force sensor 25 has a hollow portion 25c that communicates one end side 25a on the hand portion 30 side and the other end side 25b on the lower arm portion 10 side. A wiring / pipe support member 26, which will be described later, is disposed in the hollow portion 25c. In addition, the force sensor 25, the through hole H ₁ for connection with fastening by the fastening member (not shown) the hand portion 30 (see FIG. 1) are formed. As shown in FIGS. 1 and 2, the force sensor 25 has one end 25a located on the hand 30 side connected to the hand 30 and the other end located on the lower arm 10 side. 25 b is connected to the tip of the first frame 22.

The wiring / pipe support member 26 supports the wiring / pipe WP drawn from the main body and upper arm (not shown) of the robot. The wiring / pipe support member 26 is made of a material such as aluminum, for example, and is formed in a cylindrical shape as shown in FIG. Further, as shown in FIG. 3, the wiring / piping support member 26 has a plurality of first openings 26a on one end side located on the hand portion 30 side, and on the other end side located on the lower arm portion 10 side. A plurality of second openings 26b are provided. As will be described later, the first opening 26a and the second opening 26b are for locking the wiring / pipe WP via the binding member 29 (see FIGS. 4 and 5). Further, the wires and pipes supporting member 26, one end side 25a of the force sensor 25 (see FIG. 2), through-holes of H ₂ for connection with fastening by the fastening member (not shown) is formed.

  As shown in FIG. 1, the wiring / pipe support member 26 is disposed in the hollow portion 25 c of the force sensor 25. As shown in FIG. 6 (b), the wiring / pipe support member 26 includes a wiring / pipe passage member 16, the periphery of the second drive source 12, and the wiring from the main body and upper arm (not shown) of the robot. -The wiring / pipe WP is drawn through the pipe 24.

  Hereinafter, an example in which the wiring / pipe WP is disposed in the wiring / pipe support member 26 will be described with reference to FIGS. 4 and 5. In the following example, as shown by a two-dot chain line in FIG. 3, a part of the cylinder on the hand portion 30 side of the wiring / pipe support member 26 is cut.

  As shown in FIG. 4, the wiring / piping WP is drawn into the inside from the other end side (lower arm portion 10 side) of the wiring / piping support member 26 in a state where the wiring / piping WP is branched into two from the lower arm portion 10 side. At that time, as shown in FIG. 4 and FIG. 5A, the wiring / piping WP is grouped by a covering member 27 such as a Teflon (registered trademark) tape for each branched bundle, and further, a buffer member 28 such as a sponge. Are bundled by the bundling member 29 for each bundle and are locked to the second opening 26b.

  As shown in FIGS. 4 and 5 (b), the wiring / piping WP is further combined with a covering member 27 inside the wiring / piping support member 26, and is further combined into a single cushioning member such as a sponge. In the state where 28 is wound, it is bound by the binding member 29 and locked to the first opening 26a. Then, as shown in FIG. 4, the wiring / pipe WP is drawn out from one end side (hand 30 side) of the wiring / pipe support member 26. As described above, the wiring / piping WP is arranged inside the wiring / piping support member 26 as shown in FIGS. 4 and 5 so that it does not directly contact the hollow portion 25c of the force sensor 25. Has been. Further, as shown in FIGS. 4 and 5, the wiring / pipe WP is locked to the wiring / pipe support member 26 at two locations of the first opening 26 a and the second opening 26 b, for example, a wrist device. Even if 1 moves in the yaw direction or the pitch direction, the wiring / pipe WP inside the wiring / pipe support member 26 is fixed and does not move.

  The hand portion 30 corresponds to a human finger. The hand part 30 is connected to the tip of the wrist part 20 as shown in FIG. Although not shown, the hand unit 30 includes a plurality of finger mechanisms corresponding to five human fingers, and drives the plurality of finger mechanisms according to control signals and hydraulic pressure transmitted through the wiring / piping WP. Let

  The robot wrist device 1 having the above-described configuration is provided with the hollow portion 25c in the force sensor 25, and the wiring / pipe WP is passed through the hollow portion 25c, so that the robot's hand portion 30 connected to the tip is provided. Wiring / pipe WP for driving can be arranged at the shortest distance. Further, the wrist device 1 of the robot can be disposed without exposing the wiring / piping WP to the outside by passing the wiring / piping WP through the hollow portion 25c. Can prevent damage or cutting. Further, the wrist device 1 of the robot has the wiring device / pipe support member 26 disposed in the hollow portion 25c of the force sensor 25, and the wiring device / pipe support member 26 is engaged with the wiring device / pipe support member WP. It is possible to prevent the wiring / pipe WP from moving (sliding) in the hollow portion 25c of the force sensor 25 with the operation of 1.

  Therefore, according to the wrist device 1 of the robot, the length of the wiring / pipe WP for driving the robot hand 30 can be shortened as much as possible, and the damage of the wiring / pipe WP can be prevented. it can. Further, according to the wrist device 1 of the robot, even when the force sensor 25 is provided with the hollow portion 25c and the wiring / pipe WP is provided in the hollow portion 25c, the wiring / pipe is provided in the hollow portion 25c. Since the pipe WP can be prevented from moving, an unnecessary interference value is generated by sliding of the wiring / pipe WP, and the interference value prevents the detection value of the force sensor 25 from being adversely affected. Can do.

  Hereinafter, effects of the wrist device 1 for a robot according to the present invention will be described with reference to FIG. In the following description, the operation of the wrist device 101 that does not include the wiring / pipe support member 26 and the wrist device 1 that includes the wiring / pipe support member 26 are compared to provide the wiring / pipe support member 26. The effect of the wrist device 1 according to the present invention will be described.

First, in the case of the wrist device 101 that does not include the wiring / pipe support member 26, the wiring / pipe WP is disposed directly in the hollow portion 25c of the force sensor 25 as shown in FIG. It is not fixed. As shown in FIG. 6 (a), the wrist device 101 having such a configuration is arranged so that the force sensor 25 and the hand portion 30 (not shown) connected to the tip thereof by the first drive source 21 are arranged in the pitch direction (FIG. 6 (a), the wiring / pipe WP is divided into the wiring / pipe WP ₁ and the wiring / pipe WP ₂ and slides in the directions of the arrows in the hollow portion 25c. .

That is, when the force sensor 25 and the hand portion 30 is movable to the upper side in the pitch direction as shown in FIG. 6 (a), the wiring and piping WP ₁ in the hollow portion 25c, distribution on the upper side of the wiring and piping passage 24 and set to the wiring and piping WP _1, with the angle occurs between a wiring and piping WP ₂ in the hollow portion 25c, the wiring and piping WP ₂ disposed on the lower side of the wiring and piping path 24, Therefore, the wiring / pipe WP ₁ and the wiring / pipe WP ₂ are pulled toward the hand 30 side or the lower arm 10 side and slide. However, as shown in FIG. 6 (a), the angle of the wiring and piping WP ₁ of wires and pipes WP ₁ and the wiring and piping passage 24 in the hollow portion 25c, the hollow portion wiring and piping WP ₂ in 25c shallower than the angle of the wiring and piping WP ₂ of the wiring and piping path 24 and the wiring and piping WP ₁ slides the lower arm 10 side, wires and pipes WP ₂ is sliding in the hand unit 30 side To do.

Therefore, in the case of the wrist device 101 that does not include the wiring / pipe support member 26, if the force sensor 25 and the hand part 30 are moved, the wiring / pipe WP ₁ and the wiring / pipe WP are formed in the hollow part 25 c of the force sensor 25. _As a result, an unnecessary interference value is generated in the force sensor 25, and the interference value adversely affects the detection value of the force sensor 25.

  On the other hand, in the case of the wrist device 1 according to the present invention including the wiring / pipe support member 26, the wiring / pipe WP is connected to the wiring / pipe WP disposed in the hollow portion 25c of the force sensor 25, as shown in FIG. It will be in the piping support member 26, and will be in the state latched by the said 1st opening part 26a and the 2nd opening part 26b via the binding member 29 (refer FIG. 4 and FIG. 5). As shown in FIG. 6B, the wrist device 1 having such a configuration has a force sensor 25 and a hand portion 30 (not shown) connected to the tip of the force sensor 25 by a first drive source 21 in the pitch direction (see FIG. 6). 6 (b), the wiring / pipe WP is disposed inside the wiring / pipe support member 26 and therefore does not come into direct contact with the force sensor 25. Further, as shown in FIG. 6 (b), the wrist device 1 is configured such that the wiring / pipe WP is locked to the wiring / pipe support member 26 by the bundling member 29, so that the force sensor 25 and the hand 30 can be moved. In connection with this, it does not slide in the hollow part 25c.

  Therefore, in the case of the wrist device 1 according to the present invention including the wiring / pipe support member 26, even if the force sensor 25 and the hand portion 30 are moved, the wiring / pipe WP is formed in the hollow portion 25 c of the force sensor 25. There is no sliding, and no unnecessary interference value is generated in the force sensor 25. Therefore, the operation of the wrist device 1 does not affect the detection value of the force sensor 25, and the detection accuracy of the force sensor 25 is improved.

  The robot wrist device 1 according to the present invention has been specifically described above with reference to the embodiments for carrying out the invention. However, the gist of the present invention is not limited to these descriptions, and the scope of the claims is described. Should be interpreted widely. Needless to say, various changes and modifications based on these descriptions are also included in the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Wrist apparatus 10 Lower arm part 11 Lower arm frame part 12 Second drive source 13 Wrist link 14 Frame support part 16 Wiring / pipe passage member 20 Wrist part 21 First drive source 22 First frame 23 Second frame 24 Wiring / pipe road 25 the force sensor 25a one end 25b other end 25c hollow portion 26 wires and pipes supporting member 26a first opening 26b second opening 27 covering member 28 buffer member 29 tying member 30 hand unit _{B 1, B} 2, B ₃ , B ₄ , B ₅ fastening member H ₁ , H ₂ through hole WP, WP ₁ , WP ₂ wiring / piping

Claims (3)

A wrist device for a robot comprising a lower arm and a wrist provided at the tip of the lower arm, the hand being connected to the tip,
The wrist is
A first drive source that rotates around a first axis;
A first frame that rotates in accordance with the rotational drive of the first drive source;
One end side is connected to the tip of the first frame, the other end side is connected to the hand portion, and a force sensor having a hollow portion communicating the one end side and the other end side,
A cylindrical wiring / pipe support member disposed in the hollow portion of the force sensor, having a first opening on one end side and a second opening on the other end side;
Wiring or piping disposed inside the wiring and piping support member, and
The wiring or piping is routed along an outer diameter around the first drive source, and is locked to the first opening and the second opening of the wiring / pipe support member via a binding member. It is,
The wrist includes a cylindrical second frame that accommodates and supports the first drive source therein,
Between the first drive source and the inner peripheral surface of the second frame, an annular wiring / pipeway in which the wiring or piping is disposed is formed,
The wrist device for a robot, wherein the wiring or the piping is branched and arranged in an annular shape in the wiring / piping passage . The lower arm is
A second drive source that rotates around a second axis that is orthogonal to the first axis;
A wrist link that connects the second drive source and the second frame and transmits the driving force of the second drive source to the second frame;
The robot wrist device according to claim 1 , wherein the wiring or the piping is routed along an outer diameter around the second drive source. The wiring or piping is branched into a plurality of bundles and is locked to the second opening for each bundle by a plurality of the binding members, and the first bundling member in the state of being bundled into one bundle. The wrist device for a robot according to claim 1, wherein the wrist device is engaged with the opening.

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