JP6576201B2 - Actuator - Google Patents

Description

The present invention relates to actuators.

  An actuator is, for example, a mechanical device in which a moving body moves forward and backward when a rotational movement of a motor is transmitted to the moving body via a ball screw, and a machine that produces food from a machine that produces automobiles, electronic parts, etc. Used in various applications. The actuator has a cable for supplying a control signal and electric power to the actuator. The cable is, for example, drawn from the rear end surface of the actuator housing in the longitudinal direction of the actuator (see, for example, Patent Document 1).

  However, in this case, since there is a possibility that the cable and the movable part of the actuator may interfere with each other, it is difficult to dispose facility equipment other than the actuator near the rear end of the actuator. In order to avoid this problem, Patent Documents 2 and 3 below disclose an actuator in which a cable is pulled out in a direction different from the longitudinal direction of the actuator in order to avoid interference between the cable and the movable part of the actuator. Yes.

JP 2013-19534 A JP-A-8-216069 Japanese Patent Laid-Open No. 9-11179

  In the actuators described in Patent Documents 2 and 3, although the cable drawing direction can be adjusted to the user's desired angle, the adjustment method is complicated, and it is not easy to use for the user, and there is room for improvement.

The present invention has been made under the above circumstances, and an object thereof is to provide an adjustment ease Ia actuator the drawing direction of the cable at an arbitrary angle.

To achieve the above object, an actuator according to the present onset Ming,
An actuator body;
A motor unit and a cable drawing unit fixed to a plane of the actuator body;
A folding member that connects one end of the motor unit and one end of the actuator body, and transmits the output of the motor body installed in the motor unit to the actuator body;
A cable drawn from the motor unit,
Have
The cable drawing unit is
A cover covering a portion of the cable;
A cable bushing rotatably attached to the cover and through which the cable is inserted ,
One end of the cover covers the other end of the motor unit, and the cable bush is disposed on the other end of the cover .

An engaging portion is formed on one of the cable bush and the cover, and an engaged portion is formed on the other of the cable bush and the cover,
The cable bush may be rotatably attached to the cover by engaging the engaging portion with the engaged portion.

The engaging portion is formed in a cylindrical shape,
The engaged portion may be formed in a shape capable of fitting the columnar shape.

The engaging portion is formed in a polygonal column shape,
The engaged portion may be formed in a shape capable of fitting the polygonal column shape.

  The engaging portion and the engaged portion may be formed with a click mechanism that generates a click feeling as the cable bush rotates.

A convex portion is formed on one of the engaging portion and the engaged portion, and a concave portion into which the convex portion is fitted is formed on the other of the engaging portion and the engaged portion,
The click mechanism may include the convex portion and the concave portion.

The cable includes a first cable housed inside the cover, a second cable wired outside the cover, and a connector portion that electrically connects the first cable and the second cable. Have
The cable bush may hold the connector portion to which the first cable is fixed and the second cable is detachably connected.

The direction of rotation of the cable bush may be a direction in which an angle formed by a direction in which the cable is drawn out and a plane parallel to the plane increases or decreases.

The direction of rotation of the cable bush may be a direction in which the cable rotates in parallel to the plane.

In the present invention, the cable bush through which the cable is inserted is rotatably attached to the cover. Therefore, based on the rotation of the cable bush, it is possible to provide an adjustment ease Ia actuator the drawing direction of the cable at an arbitrary angle.

It is a perspective view of an actuator concerning an embodiment of the present invention. It is a disassembled perspective view of an actuator. It is sectional drawing of an actuator. It is a partial cross section figure which shows a mode that a cable drawer unit is fixed to a motor unit. (A) is a side view of a cable drawer unit. (B) is sectional drawing of the AA arrow of FIG. 5 (A). (A) is a perspective view (the 1) for demonstrating operation | movement of a cable drawer unit. (B) is a perspective view (the 2) for demonstrating operation | movement of a cable drawer unit. (C) is a perspective view (the 3) for demonstrating operation | movement of a cable drawer unit. (A) is a side view (the 1) for demonstrating operation | movement of a cable drawer unit. (B) is a side view (part 2) for explaining the operation of the cable drawing unit. (C) is a side view (No. 3) for explaining the operation of the cable drawing unit. (A) is a perspective view for demonstrating a mode that a cable bush engages with a cover. (B) is sectional drawing for demonstrating a mode that a cable bush engages with a cover. (C) is sectional drawing for demonstrating the state which the cable bush engaged with the cover. (D) is sectional drawing (the 1) for demonstrating the state which a cable bush rotates with respect to a cover. (E) is sectional drawing (the 2) for demonstrating the state which a cable bush rotates with respect to a cover. (A) is a perspective view for demonstrating a mode that the cable bush which concerns on the modification 1 of this invention engages with a cover. (B) is sectional drawing for demonstrating a mode that a cable bush engages with a cover. (C) is sectional drawing for demonstrating the state which the cable bush engaged with the cover. (D) is sectional drawing (the 1) for demonstrating the state which a cable bush rotates with respect to a cover. (E) is sectional drawing (the 2) for demonstrating the state which a cable bush rotates with respect to a cover. It is a perspective view for demonstrating a mode that the cable bush which concerns on the modification 2 of this invention engages with a cover. (A) is sectional drawing for demonstrating a mode that the cable bush which concerns on the modification 3 of this invention engages with a cover. (B) is sectional drawing for demonstrating the state which the cable bush engaged with the cover. (C) is sectional drawing (the 1) for demonstrating the state which a cable bush rotates with respect to a cover. (D) is sectional drawing for demonstrating the state in which a cable bush rotates with respect to a cover (the 2). It is sectional drawing of the cable drawer | drawing-out unit which concerns on the modification 4 of this invention. (A) is a perspective view for demonstrating operation | movement of the cable drawer | drawing-out unit which concerns on the modification 5 of this invention. (B) is sectional drawing of a cable drawer unit. (C) is a perspective view of a cable bush. It is a perspective view of an actuator concerning modification 6 of the present invention. It is a perspective view of an actuator concerning modification 7 of the present invention. It is a perspective view of an actuator concerning modification 8 of the present invention.

  Hereinafter, an actuator 10 according to an embodiment of the present invention will be described with reference to FIGS. In order to facilitate understanding, XYZ coordinates are set and referred to as appropriate.

  As shown in FIGS. 1 and 2, the actuator 10 is a rod type linear motion actuator in which the rod 12 reciprocates in the Y-axis direction. The actuator 10 includes an actuator main body 11, a cable 90 drawn from the actuator main body 11, a cable drawing unit 100 that houses a part of the cable 90, a motor unit 200, and a folding member 150.

  As shown in FIG. 3, the actuator body 11 includes a moving body 30, a ball screw 40, a steadying member 50, and a housing 60 that houses these members, in addition to the rod 12.

  The rod 12 is a member having an insertion hole 12a formed therein. The rod 12 is composed of a cylindrical rod body 12b and a tip fitting 12c. The rod body 12b is made of aluminum, for example. However, the material of the rod body 12b is arbitrary and may be other than aluminum, for example, stainless steel. The end fitting 12c is screwed and fixed to the end portion on the -Y side of the rod body 12b. A male screw portion is formed on the outer periphery of the end portion on the −Y side of the tip fitting 12c.

  The rod 12 is fixed to the moving body 30. As a result, the moving body 30 moves in both the + Y direction and the −Y direction together with the rod 12. For example, a guide protrusion 31 is formed on the moving body 30. For example, four guide protrusions 31 are formed so as to protrude in four directions of + Z side, −Z side, + X side, and −X side.

  The ball screw 40 includes a ball screw shaft 41 and a ball screw nut 42.

  The ball screw shaft 41 is disposed inside the insertion hole 12 a of the rod 12. The ball screw shaft 41 is formed so that the axial direction is parallel to the Y-axis direction. The ball screw shaft 41 has a spiral male screw portion on the outer peripheral surface.

  The ball screw nut 42 is disposed on the outer periphery of the ball screw shaft 41 via a plurality of balls. The ball screw nut 42 is fitted in a fitting hole formed in the moving body 30 and is fixed to the moving body 30 with a screw or the like. Further, an internal thread portion is formed on the inner peripheral surface of the ball screw nut 42. A ball screw shaft 41 is fitted into the ball screw nut 42 via a highly rigid sphere. Thereby, the rotational motion of the ball screw shaft 41 is converted into the linear motion of the ball screw nut 42.

  The steadying member 50 is a member for suppressing the swinging of the tip portion on the −Y side of the ball screw shaft 41. The steadying member 50 is fitted into the tip of the ball screw shaft 41 on the −Y side. The steadying member 50 is rotatably locked by a locking member, for example. The steadying member 50 is composed of a steadying member main body made of resin and an O-ring, for example. This O-ring is in contact with the inner peripheral surface of the insertion hole 12 a of the rod 12. However, it is not restricted to this, The steadying member 50 may be comprised from the single member which consists of an elastic raw material.

  The housing 60 is a substantially rectangular tube-shaped member formed by, for example, extrusion molding of aluminum. A guide rail portion 61 into which the guide protrusion 31 of the movable body 30 is fitted is formed on the inner peripheral surface of the housing 60. For example, four guide rail portions 61 are formed corresponding to the number of guide protrusions 31 of the moving body 30 formed. When the guide protrusion 31 of the moving body 30 moves while being fitted into the guide rail portion 61, the moving body 30 moves smoothly.

  A rod insertion hole 62 through which the rod 12 is inserted is formed at the distal end portion on the −Y side of the housing 60. The rod insertion hole 62 has an inner diameter that is slightly larger than the outer diameter of the rod 12. An oilless bearing is fitted into the inner peripheral surface of the rod insertion hole 62. By this oilless bearing, the housing 60 supports the rod 12 so as to reciprocate.

  The housing 60 has a ball screw shaft support mechanism 63 for supporting the ball screw shaft 41. The ball screw shaft support mechanism 63 is formed with a ball screw shaft insertion hole 64 for inserting the ball screw shaft 41. A bearing 65 is disposed on the inner peripheral surface of the ball screw shaft insertion hole 64. The bearing 65 is fitted from the + Y side of the ball screw shaft insertion hole 64 and is fixed by a bearing pressing member 66. By this bearing 65, the ball screw shaft support mechanism 63 supports the ball screw shaft 41 rotatably.

  The motor unit 200 includes a motor body 201 having a rotor, a stator, an encoder, a speed reducer, and the like, a motor housing 202 that houses the motor body 201, and an output shaft 203 that outputs the rotational motion of the rotor of the motor body 201. .

  The motor body 201 is supplied with power from the power source and a control signal to the actuator body 11 (specifically, a control signal to the motor body 201) via the cable 90. When electric power is supplied to the motor main body 201, the rotor of the motor main body 201 rotates. The rotational movement of the rotor of the motor main body 201 is decelerated at a predetermined reduction ratio by a reducer, for example, and output to the output shaft 203. The tip of the output shaft 203 extends toward the + Y side. A coupling is connected to the tip of the output shaft 203.

  The cable 90 includes a first cable 91 housed inside a cover, which will be described later, a second cable 92 wired outside the cover, and a connector portion 93. The −Y side end of the first cable 91 and the + Y side end of the second cable 92 are electrically connected by the connector portion 93. In addition, the + Y side end of the first cable 91 is electrically connected to the motor body 201.

  The connector portion 93 is fixed to the −Y side end portion of the first cable 91, and is detachably connected to the + Y side end portion of the second cable 92.

  The folding member 150 includes pulleys 151 and 152, a belt 153, a folding member housing 154 that accommodates these members, and a bearing housing 155 that connects the folding member housing 154 and the motor housing 202. . The folding member 150 is attached to the + Y side of the actuator body 11.

  The pulley 151 is fixed to the tip of the ball screw shaft 41 on the + Y side. For example, the pulley 151 is fixed in a state of being prevented from rotating with respect to the ball screw shaft 41 by inserting a plurality of screw members from the radial direction, and rotates together with the ball screw shaft 41.

  The pulley 152 is fixed to the + Y side tip of the output shaft 203. For example, the pulley 152 is fixed in a state of being prevented from rotating with respect to the output shaft 203 by inserting a plurality of screw members from the radial direction, and rotates together with the output shaft 203.

  The belt 153 transmits the rotational movement of the pulley 152 to the pulley 151 by being attached to the pulley 151 and the pulley 152 in a tensioned state. Note that the tension direction of the belt 153 is parallel to the Z-axis direction. The belt 153 is, for example, a timing belt on which a plurality of teeth that mesh with the teeth formed on the pulleys 151 and 152 are formed, and the pulleys 151 and 152 are, for example, timing pulleys. As described above, the rotational motion of the output shaft 203 is transmitted to the ball screw shaft 41 via the pulleys 151 and 152 and the belt 153.

  The folded member housing 154 is fixed to the + Y side end surface (rear end surface) of the housing 60 and the + Y side end surface of the motor housing 202 by, for example, fasteners such as screws and bolts.

  The bearing housing 155 is a member that covers the output shaft 203 and is disposed between the folded member housing 154 and the motor housing 202. The bearing housing 155 has four through holes penetrating in the Y-axis direction. As shown in FIG. 4, a bolt 156 that passes through the folded member housing 154 and the motor housing 202 is inserted into each of the through holes from the + Y side. Thereby, the folding member housing 154 and the motor housing 202 are connected via the bearing housing 155.

  The cable drawing unit 100 has a cable bush 101 and a cover 102 as shown in FIGS. The drawing direction of the cable 90 is adjusted to an arbitrary angle by the cable drawing unit 100, as can be seen by referring to FIGS. 6 (A) to (C) and FIGS. 7 (A) to (C).

  As shown in FIGS. 5A and 5B, the cable bush 101 is a cylindrical member for holding the connector portion 93.

  As shown in FIG. 3, the cover 102 is a member that houses the first cable 91 and covers the end surface on the −Y side of the motor housing 202. The cover 102 is fixed to the plane 13 on the + Z side of the actuator body 11. A through hole 102 a that is slightly larger than the cable bush 101 is formed at the end of the cover 102 on the −Y side, as shown in FIG.

  As shown in FIG. 8A, on the + X side of the cable bush 101, a cylindrical engaging portion 101a that protrudes to the + X side is formed. Similarly, a cylindrical engagement portion 101 a that protrudes to the −X side is also formed on the −X side of the cable bush 101. In addition, on the + X side and the −X side of the inner peripheral surface of the through hole 102a, groove-like engaged grooves 102b into which the engaging portions 101a can be fitted are formed along the Y-axis direction. .

  As shown in FIG. 8B, the cable bush 101 is inserted into the through hole 102a from the + Y side, and the engaging portion 101a is fitted into the engaged groove 102b. As a result, the cable bush 101 is rotatably attached to the cover 102 as shown in FIGS. As shown in FIGS. 6A to 6C and FIGS. 7A to 7C, the cable bush 101 rotates around an engaging portion 101a parallel to the X axis. More specifically, the angle θ formed by the straight line L1 along the direction in which the second cable 92 is pulled out and the plane F1 parallel to the plane 13 of the actuator body 11 rotates in a direction in which the angle θ increases or decreases.

  As shown in FIG. 4, four through-holes 157 in the Y-axis direction are formed in the wall portion of the cover 102 where the cover 102 covers the end surface of the motor housing 202 on the −Y side. The through-hole 157 has a female thread portion on the inner peripheral surface. The bolt 156 inserted from the + Y side of the folding member 150 is inserted into the through hole formed in the bottom portion of the folding member housing 154, the through hole of the bearing housing 155, and the through hole of the motor housing 202, and then the through hole 157. And screwed into the female thread. Thereby, the cable drawing unit 100 is fixed to the motor unit 200. In the present embodiment, an internal thread portion is formed on the inner peripheral surface of the through hole 157. However, the present invention is not limited to this, and a nut to which the bolt 156 is screwed may be fixed or disposed inside the wall portion of the cover 102.

  As described above, the cable drawing unit 100 according to this embodiment includes the cover 102 to which the cable bush 101 into which the cable 90 is inserted is rotatably attached. Thereby, the drawing-out direction of the cable 90 can be easily adjusted to an arbitrary angle.

  The cable 90 includes a first cable 91 housed inside the cover 102 and a second cable 92 wired outside the cover 102. A first cable 91 is connected to the cable bush 101, and a connector portion 93 to which a second cable 92 is detachably connected is fixed. Thereby, since the 2nd cable 92 can be attached or detached as needed, the versatility of the cable drawer unit 100 increases, and the cable drawer unit 100 can be attached to more kinds of apparatuses.

  As mentioned above, although embodiment of this invention was described, this invention is not limited by the said embodiment etc.

  In the above embodiment, the cylindrical engagement portion 101 a is formed on the cable bush 101. However, the present invention is not limited to this, and a cable bush 111 in which an octagonal columnar engaging portion 111a is formed may be used as in the first modification shown in FIGS. Further, the engaged groove 112b of the cover 112 may be formed in accordance with the shape into which the engaging portion 111a can be fitted. In this case, when adjusting the drawing direction of the cable 90, it is necessary to remove the engaging portion 111a from the engaged groove 112b by moving the cable bush 111 to the + Y side. After removing the engaging portion 111a from the engaged groove 112b, the angle of the cable bush 111 is adjusted, and the engaging portion 111a is fitted into the engaged groove 112b again. As a result, the drawing direction of the cable 90 can be set every 45 °, and even if an external impact is applied to the cable 90, the drawing direction of the cable 90 is prevented from changing from the angle at the time of setting. can do. In addition, the cable bush 111 which concerns on the modification 1 has the same structure as the cable bush 101 which concerns on embodiment of this invention about points other than an engaging part and a to-be-engaged groove | channel.

  Similarly, as in Modification 2 shown in FIG. 10, a cable bush 121 in which an engaging portion 121 a having a polygonal column shape (for example, a hexagonal column shape) other than an octagonal column may be formed. Further, the engaged groove 122b of the cover 122 may be formed in accordance with the shape into which the engaging portion 121a can be fitted. Thereby, the drawing direction of the cable 90 can be set to an angle according to the polygonal column, and even if an external impact is applied to the cable 90, the drawing direction of the cable 90 changes from the angle at the time of setting. This can be suppressed.

  Further, as in Modification 3 shown in FIGS. 11A to 11D, the engaging portion 131a and the engaged groove 132b in which a click mechanism that generates a click feeling with the rotation of the cable bush 131 is formed. It may be. Specifically, the engagement portion 131a of the cable bush 131 may be formed with a fine hemispherical convex portion 131b. Further, the engaged groove 132b of the cover 132 may be formed with a plurality of hemispherical concave portions 132c into which the convex portions 131b can be fitted. A plurality of recesses 132c are formed at predetermined angles with the X axis as the center. Thereby, when adjusting the pulling-out direction of the cable 90, since the convex part 131b is engage | inserted by the recessed part 132c for every predetermined angle, the user can obtain a click feeling for every predetermined angle. As a result, the drawing direction of the cable 90 can be easily adjusted to a desired angle. Moreover, even if an impact is applied to the cable 90 from the outside by fitting the convex portion 131b into the concave portion 132c, it is possible to prevent the drawing direction of the cable 90 from changing from the setting angle.

  In the above-described embodiment, the cable 90 includes the connector portion 93 including the first cable 91 and the second cable 92 and the connector portion 93 that electrically connects them. However, the present invention is not limited to this, and a single cable 90A may be configured as in Modification 4 shown in FIG.

  In the above embodiment, the engaging portion 101a of the cable bush 101 protrudes to the + X side and the −X side. However, the present invention is not limited to this, and a cable bush 141 in which columnar engaging portions 141a projecting to the + Z side and the −Z side are formed as in Modification 5 shown in FIGS. 13 (A) to (C). And a cable drawing unit 100A in which a cover 142 in which an engaged groove 142b into which the engaging portion 141a is fitted is formed on each of the + Z side and the −Z side. As a result, the cable 90 rotates in the direction around the Z axis, that is, in the direction of swinging parallel to the plane 13 of the actuator body 11. As a result, the cable drawing unit 100A can be attached to a device that needs to rotate in a direction in which the cable 90 swings in parallel with the plane 13.

  In the above embodiment, the actuator 10 has the folding member 150, so that the cable 90 extends to the −Y side of the motor unit 200 and the tip of the rod 12 is disposed on the −Y side of the actuator body 11. However, the present invention is not limited to this, and an actuator 10A that does not include the folding member 150 may be used as in Modification 6 shown in FIG. As a result, the actuator 10A can be attached to a device that requires the distal end portion of the rod 12 to be disposed on the side opposite to the direction in which the cable 90 extends.

  In the above embodiment, the cable bush 101 is formed with the engaging portion 101a, while the cover 102 is formed with the engaged groove 102b. However, the present invention is not limited to this, and the cable bush 101 may be formed with an engaged groove, and the cover 102 may be formed with an engaging portion.

  In the above embodiment, the actuator 10 is a rod type. For this reason, as shown in FIG. 3, since the rod 12 is fixed to the moving body 30, the rod 12 moves together with the moving body 30. However, the present invention is not limited to this, and the actuator 10 may be a slider type or a table type.

  As shown in FIG. 15, when the actuator 10 is a slider type, the actuator 10 has a slider S that can move in the + Y direction and the −Y direction on the upper surface of the actuator body 11 instead of the rod 12. Since the slider S is fixed to the moving body 30, the slider S moves in the Y-axis direction together with the moving body 30.

  As shown in FIG. 16, when the actuator 10 is a table type, the actuator 10 has a table T that can move on the upper surface of the actuator body 11 in both the + Y direction and the −Y direction instead of the rod 12. . The table T is larger than the slider S and covers the upper surface (the surface on the + Z side) and the front end surface (the end surface on the −Y side) of the housing 60. The table T moves in the Y axis direction together with the moving body 30.

  Various embodiments and modifications can be made to the present invention without departing from the broad spirit and scope of the present invention. The above-described embodiments are for explaining the present invention, and do not limit the scope of the present invention.

DESCRIPTION OF SYMBOLS 10,10A Actuator 11 Actuator main body 12 Rod 12a Insertion hole 12b Rod main body 12c Tip metal fitting 13 Plane 30 Moving body 31 Protrusion part 40 Ball screw 41 Ball screw shaft 42 Ball screw nut 50 Stabilizing member 60 Housing 61 Guide rail part 62 Rod insertion hole 63 Ball screw shaft support mechanism 64 Ball screw shaft insertion hole 65 Bearing 90, 90A Cable 91 First cable 92 Second cable 93 Connector portion 100, 100A Cable drawing unit 101, 111, 121, 131, 141 Cable bushing 101a , 111a, 121a, 131a, 141a Engaging portion 102, 112, 122, 132, 142 Cover 102a Through hole 102b, 112b, 122b, 132b, 142b Engaging groove (engaged portion)
131b convex part 132c concave part 150 folding member 151, 152 pulley 153 belt 154 folding member housing 155 bearing housing 156 bolt 157 through hole 200 motor unit 201 motor main body 202 motor housing 203 output shaft L1 straight line F1 surface S slider T table

Claims (9)

An actuator body;
A motor unit and a cable drawing unit fixed to a plane of the actuator body;
A folding member that connects one end of the motor unit and one end of the actuator body, and transmits the output of the motor body installed in the motor unit to the actuator body;
A cable drawn from the motor unit ;
Have
The cable drawing unit is
A cover covering a portion of the cable;
A cable bushing rotatably attached to the cover and through which the cable is inserted ,
An actuator in which one end of the cover covers the other end of the motor unit, and the cable bush is disposed on the other end of the cover . An engaging portion is formed on one of the cable bush and the cover, and an engaged portion is formed on the other of the cable bush and the cover,
The actuator according to claim 1, wherein the cable bush is rotatably attached to the cover when the engaging portion engages with the engaged portion. The engaging portion is formed in a cylindrical shape,
The actuator according to claim 2, wherein the engaged portion is formed in a shape into which the cylindrical shape can be fitted. The engaging portion is formed in a polygonal column shape,
The engaged portion, the actuator according to claim 2 which is formed in a shape that can be fitted to the polygonal shape. The actuator according to any one of claims 2 to 4, wherein a click mechanism that generates a click feeling with the rotation of the cable bush is formed in the engaging portion and the engaged portion. A convex portion is formed on one of the engaging portion and the engaged portion, and a concave portion into which the convex portion is fitted is formed on the other of the engaging portion and the engaged portion,
The actuator according to claim 5, wherein the click mechanism includes the convex portion and the concave portion. The cable includes a first cable housed inside the cover, a second cable wired outside the cover, and a connector portion that electrically connects the first cable and the second cable. Have
The actuator according to any one of claims 1 to 6, wherein the cable bush holds the connector portion to which the first cable is fixed and the second cable is detachably connected. Rotational direction of said cable bush, the actuator according to any one of claims 1 to 7 angle is the direction of increasing or smaller direction between a plane parallel to a direction and the plane in which said cable is drawn . The actuator according to any one of claims 1 to 7, wherein the rotation direction of the cable bush is a direction in which the cable rotates in parallel to the plane.

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