JP6628619B2 - Soft container cutting device - Google Patents

Description

  The present invention relates to an apparatus for cutting a flexible container.

  2. Description of the Related Art There is known an apparatus that cuts a head portion of a sealed container formed of a soft material such as a synthetic resin to form an opening serving as a mouth. In such a device, the upper and lower portions near the mouth of the container are gripped by a gripper, and the gap between the two grippers is cut by a cutter. It cannot be maintained, causing a phenomenon that the cut surface is wavy due to bending. In order to solve such a problem, there has been proposed a configuration in which micro-vibration by ultrasonic waves is applied to the cutter, and the attitude of the cutter can be controlled in three axial directions by using three servomotors (Patent Document 1). ).

JP 2014-226758 A

  However, in the configuration of Patent Document 1, the structure and control become complicated, and the cost increases.

  An object of the present invention is to provide a soft container cutting device that can cut a soft container straight with a simple configuration without controlling the operation of the cutter.

  The soft container cutting device according to the present invention includes a first gripper that grips and transports a container, an inversion mechanism that inverts the first gripper, a horizontal maintenance member that maintains the inverted first gripper horizontally, A second gripper disposed above or below the first gripper and gripping the container at a height above or below the container gripped by the inverted first gripper, and the inverted first and second grippers. A cutter is provided in the transport path of the gripped container, and includes a cutter that cuts between a location gripped by the first gripper and a location gripped by the second gripper of the container. The first gripper can be moved up and down so that the first gripper can be retracted when a cutting load is applied by the cutter.

  The vertical movement of the first gripper is performed, for example, by rotation of the first gripper about a reversing rotation shaft of the reversing mechanism. In a configuration in which the first gripper includes, for example, a pair of movable grip pieces that grip a container and a pair of fixed grip pieces that support the pair of movable grip pieces so as to be able to move up and down, the first gripper moves vertically. Is performed by raising and lowering a pair of movable grip pieces with respect to a pair of fixed grip pieces.

  The horizontal posture of the first gripper is maintained by the horizontal maintenance member before cutting by the cutter is performed, and the container is gripped by the second gripper while the horizontal posture of the first gripper is maintained.

  ADVANTAGE OF THE INVENTION According to this invention, the soft container cutting apparatus which can cut | disconnect a soft container linearly with a simple structure without controlling operation | movement of a cutter can be provided.

It is a sectional side view showing the layout of the capping device which is one embodiment of the present invention. It is the back enlarged view and side view enlarged drawing of a reversing mechanism. It is a top view showing arrangement of a pair of opening and closing levers in the state where the 1st gripper was closed, and the state where it opened. It is an enlarged plan view of a state where the first gripper is closed and an opened state. FIG. 4 is a plan view showing the arrangement of a first gripper opening / closing cam, a horizontal maintaining member, and a cutter. It is an enlarged side view which shows arrangement | positioning of a cam follower and a 1st gripper reversing cam, and arrangement | positioning of a roller and a horizontal maintenance member. It is a figure which shows the mode of the inversion operation | movement, cutting operation, and normal rotation operation | movement of the soft container V from position P1 to position P4. It is a side view showing the composition of the reversal mechanism of a 2nd embodiment. It is a rear view of the reversing mechanism of 2nd Embodiment. It is a side sectional view of a grasping part (tip part) of the 1st gripper of a 2nd embodiment. It is a cross-sectional view of the grip part (tip part) of the 1st gripper of 2nd Embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side sectional view of a soft container cutting device for cutting a head portion of a closed flexible container and forming a mouth portion according to a first embodiment of the present invention.

  The soft container cutting device 10 of the present embodiment is a device for cutting a head of a synthetic resin soft container V for enclosing ketchup, mayonnaise and the like to form a mouth. The soft container cutting device 10 cuts the head of the sealed soft container V held and transferred by the transfer mechanism 12 and the wheel-type transfer mechanism 12 that holds the plurality of soft containers V along the circumferential direction. The cutter 14 (including a rotary blade, a fixed blade, an ultrasonic blade, and the like) is provided.

  The transport mechanism 12 includes a turntable 18 that is rotated integrally with the rotating shaft 16. The turntable 18 is fixed to the rotating shaft 16 via a rotating member 17 that covers the upper part of the rotating shaft 16, and a plurality of container holding mechanisms 20 are arranged on the outer periphery of the turntable 18 at predetermined intervals along the circumferential direction. . At the upper end of the container holding mechanism 20, first grippers (movable grippers) 22 are provided via a reversing mechanism 40, which will be described later, so that the neck of the soft container V is gripped, for example. Further, below each first gripper 22, a second gripper (fixed gripper) 34 for holding the head of the soft container V is disposed via a second gripper support portion 36. The rotating shaft 16 is rotatably supported by a fixed portion 24 via a bearing or the like, and is rotated by a motor (not shown) provided below. Note that, in the flexible container V of the present embodiment, the rigidity of the head is relatively higher than that of the other neck and main body.

  A cam support structure 26 is disposed around the rotary member 17 via a bearing or the like, and is fixed by a support member (not shown). The cam support structure 26 includes a first gripper reversing cam 28 for driving a reversing mechanism 40 of the first gripper 22 and a first gripper opening / closing opening / closing control unit that controls opening / closing of the first gripper 22, as described later in detail. A cam 30, a cutter supporting portion 32 that supports the cutter 14, and a horizontal maintaining member 38 (see FIGS. 5, 6 (c), and 7) that maintains the horizontal posture when the first gripper 22 is inverted.

  FIG. 2 is an enlarged view of the reversing mechanism 40. FIG. 2A is a rear view (partially sectional view) of the reversing mechanism 40 as viewed from the inside in the radial direction of the turntable 18, and FIG. 2B is a view of FIG. 2A viewed from the right side. It is a side view.

  The left first gripper 22L and the right first gripper 22R that constitute the first gripper 22 are attached to swing shafts 42L and 42R, respectively, and rotate integrally with the swing shafts 42L and 42R. The swing shafts 42L and 42R are supported by the swing shaft holding portion 43 in parallel with each other. Opening and closing levers 44L and 44R for rotating the swing shafts 42L and 42R are integrally attached to the lower ends of the swing shafts 42L and 42R, respectively.

  Operation holes 45L, 45R parallel to the swing axis are provided near the ends of the opening / closing levers 44L, 44R. Sliding bearings 44B are respectively fitted into the operation holes 45L and 45R, and the operating rod 46 is inserted into the sliding bearings 44B. The operation rod 46 extends in parallel with the swing shafts 42L and 42R, and the upper end thereof is connected to the push rod 50 via the rod holding part 48. The push rod 50 is disposed vertically to the operation rod 46, and a cam follower 52 rotatable about an axis parallel to the operation rod 46 is provided on one of the upper and lower sides (the lower side in FIG. 2B) of the distal end 50 </ b> E. The other side (upper side in FIG. 2B) is provided with a roller 54 rotatable about a shaft parallel to the push rod 50 that engages with the horizontal maintaining member 38 at the time of inversion. In FIG. 2A, the configuration of the distal end portion 50E of the push rod 50 is omitted.

  A coil spring 50S is disposed as a biasing means around the push rod 50 and between the swing shaft holding portion 43 and the distal end portion 50E. The rod holding portion 48 is slidably held in the swing shaft holding portion 43 along the axial direction of the push rod 50, and the coil spring 50 </ b> S moves the distal end portion 50 </ b> E away from the swing shaft holding portion 43. The push rod 50 is urged. The swing shaft holding portion 43 is supported by a reversing shaft support portion 55 via a reversing rotating shaft 53 orthogonal to the operation rod 46 and the push rod 50. The reversing shaft support 55 is fixed to the turntable 18 via the support member 20S of the container holding mechanism 20. That is, in the container holding mechanism 20 on the left side of FIG. 1, when the turntable 18 is rotated, the cam follower 52 is pressed against the first gripper opening / closing cam 30 (FIGS. 1, 5) by the urging force of the coil spring 50S. According to the shape of the first gripper opening / closing cam 30, the push rod 50 can move forward and backward along the axis of the push rod 50 with the rod holding portion 48 and the operating rod 46 with respect to the swing shaft holding portion 43. It is.

  A pinion 56P is attached to the tip of the reversing rotation shaft 53, and meshes with a rack 56R that can move up and down in the vertical direction. When the rack 56R moves up and down, the pinion 56P, that is, the reversing rotation shaft 53 is rotated, and the entire swing shaft holding portion 43 is integrally rotated, so that the soft container V gripped by the first gripper 22 is turned upside down. You. The rack 56R is supported by a lifting rod 56A, and the lifting rod 56A is supported by a reversing shaft support 55 so as to be able to move up and down. A cam follower 58 (see FIG. 1) is provided at the lower end of the lifting rod 56A, and is engaged with the first gripper reversing cam 28. As will be described later, the rack 56R is moved up and down by the cam follower 58 moving along the first gripper reversing cam 28, so that the swing shaft holding section 43 rotates / reverses the rotation of the turntable 18 during one rotation. Performs forward rotation operation.

  Next, an opening and closing operation of the first gripper 22 will be described with reference to FIGS. FIG. 3 is a plan view showing the arrangement of the opening / closing levers 44L and 44R in a state where the first gripper 22 is closed and an opened state. The positions 44La and 44Ra of the open / close lever correspond to a state where the first gripper 22 is closed, and the positions 44Lb and 44Rb of the open / close lever correspond to a state where the first gripper 22 is open. FIG. 4A is an enlarged plan view showing a state where the first gripper 22 is closed, and FIG. 4B is an enlarged plan view showing a state where the first gripper 22 is opened.

  As shown in FIG. 2A, the operation rods 46 are inserted into the operation holes 45L and 45R, and the push rod 50 is moved from the swing shaft holding portion 43 to the farthest position by the urging force of the coil spring 50S. When separated, the opening / closing levers 44L, 44R are rotated to the positions 44La, 44Ra by the engagement of the operation holes 45L, 45R and the operation rod 46, whereby the left and right first and second left and right attached to the swing shafts 42L, 42R. The one gripper 22L, 22R is rotated to the position shown in FIG.

  On the other hand, when the push rod 50 urged by the coil spring 50S is pushed by the first gripper opening / closing cam 30 and pushed from the swing shaft holding portion 43 to the latest position, the operation holes 45L and 45R and the operation rod 46 are moved. By the engagement, the opening / closing levers 44L, 44R are rotated to the positions 44Lb, 44Rb, whereby the left and right first grippers 22L, 22R attached to the swing shafts 42L, 42R are moved to the position shown in FIG. It is turned.

  FIG. 5 shows the arrangement of the first gripper opening / closing cam 30 which engages with the cam follower 52 provided on the push rod 50, the horizontal maintaining member 38 which engages with the roller 54 provided on the push rod 50, and the cutter 14. FIG.

  In FIG. 5, the first gripper 22 is rotated clockwise together with the turntable 18. In FIG. 5, the neck of the soft container V conveyed in an upright state on the supply wheel 11 is gripped by the first gripper 22 facing radially outward at the position P1 and received by the soft container cutting device 10.

  While the first gripper 22, that is, the soft container V, is transported from the receiving position P1 to the position P2, the first gripper reversing cam 28 (see FIGS. 1, 6, and 7) and the cam follower 58 as described later. Is inverted by the engagement of. Generally, since there is a backlash between the rack 56R and the pinion 56P, the horizontal posture (the inverted posture of the soft container V) of the first gripper 22 cannot be accurately maintained at the time of inversion. In the present embodiment, since the push rod 50 side is heavy, a force for rotating the first gripper 22 to the right is exerted on the first gripper 22 at the time of reversing in FIG. 7B, and the soft container V is slightly inclined to the right and gripped. Will be. For this reason, in the present embodiment, the first gripper 22 is rotated leftward by engaging the roller 54 with the horizontal maintenance member 38 to maintain the posture of the first gripper 22 horizontal, and the head Vh of the soft container V is meanwhile maintained. The second gripper 34 grips (a tip end side from the first gripper 22) and fixes its position.

  The soft container V gripped and transported by the first gripper 22 and the second gripper 34 comes into contact with the cutter 14 between the first gripper 22 and the second gripper 34, and the head gripped by the second gripper 34 is cut off. A mouth opening is formed in the head. Thereafter, the first gripper 22 is reversed in the opposite direction by the engagement of the first gripper reversing cam 28 and the cam follower 58, so that the first gripper 22 is directed radially outward and the soft container V is erected. .

  When the soft container V is erected, the soft container V having the opening formed in the head is delivered to the discharge wheel 13 at the position P4. That is, the cam follower 52 engages with the first gripper opening / closing cam 30 projecting outward in the radial direction, the push rod 50 is pushed in, and the first gripper 22 is opened. The first gripper opening / closing cam 30 is also arranged at the position P4, and the first gripper 22 once closed after passing the position P4 is again engaged with the first gripper opening / closing cam 30 and opened, and at the position P1, the next gripper 22 is opened. Closed after receiving the soft container. Thereafter, the same operation is repeated.

  FIG. 6 shows the periphery of positions P2 to P3 in the soft container cutting device 10 viewed from the radial outside to show the arrangement of the cam follower 58 and the first gripper reversing cam 28 and the arrangement of the roller 54 and the horizontal maintaining member 38. It is an enlarged side view.

  The cam follower 58 provided at the lower end of the elevating rod 56A to which the rack 56R is attached moves on the cam surface of the first gripper reversing cam 28 from right to left in FIG. 6 with the rotation of the turntable 18 (not shown). Moving. The cam surface of the first gripper reversing cam 28 rises from the position P1 to the position P2 (see FIG. 5), whereby the rack 56R (see FIG. 2B) moves from the position P1 to the position P2. Hooked up vertically. At this time, the pinion 56P meshing with the rack 56R is rotated, and the swing shaft holder 43 is rotated by 180 ° (in the present embodiment, the first gripper 22 is rotated so as to pass above). That is, the first gripper 22 facing radially outward is turned radially inward, and the soft container V that has been erected at the position P1 is inverted at the position P2.

  In addition, when the first gripper 22 is inverted and faces radially inward, the push rod 50 is directed radially outward. At this time, the roller 54 provided at the distal end portion 50E of the push rod 50 rides on the uphill ramp surface 38A provided at the front edge of the horizontal maintenance member 38, and the first gripper 22 on the horizontal surface 38H of the horizontal maintenance member 38. Keep exactly horizontal. In the present embodiment, the amount by which the roller 54 rides on the horizontal maintaining member 38 is greater than the amount of backlash between the rack 56R and the pinion 56P. Therefore, when the roller 54 rides on the horizontal surface 38H of the horizontal maintaining member 38, the pinion The rack 56R rises with the rotation of 56P, whereby the cam follower 58 is slightly lifted and moved away from the cam surface of the first gripper reversing cam 28.

  While the roller 54 travels on the horizontal plane 38H of the horizontal maintaining member 38 and the first gripper 22 maintains the horizontal posture, the second gripper 34 (see FIG. The head with high rigidity is grasped, and the position and posture of the soft container V are maintained in this state. Thereafter, the roller 54 slightly descends on the downhill ramp surface 38B provided at the rear edge of the horizontal surface 38H of the horizontal maintaining member 38, and the cam follower 58 moves near the cam surface of the first gripper reversing cam 28.

  The soft container V held by the first gripper 22 and the second gripper 34 in an inverted posture is conveyed along the arc-shaped container conveyance path while maintaining the same state, and the first gripper 22 and the second gripper 34 The portion between them comes into contact with the cutter 14 on which the blade is arranged obliquely with respect to the container transport path (position Pa). When the soft container V is further moved along the container transport path, the head held by the second gripper 34 is cut by the cutter 14 (position Pb).

  After the cutting of the head of the soft container V is completed, the cam surface of the first gripper reversing cam 28 descends to the original height before reaching the container transfer position P4 to the discharge wheel 13. As a result, the rack 56R (see FIG. 2B) is pushed down in the vertical direction, the pinion 56P meshing with the rack 56R is rotated, and the rack 56R is rotated by 180 ° in the reverse direction until the swing shaft holder 43 returns to the original position. Is done. That is, the first gripper 22 facing radially inward is directed radially outward, and the flexible container V that has been inverted at the positions P2 to Pb is erected before reaching the container transfer position P4. .

  7 (a) to 7 (f) are views showing the reverse operation, the cutting operation, and the normal rotation operation of the soft container V at the positions P1 to P4 described above. The details of the cutting operation of the soft container V in the present embodiment will be described with reference to FIGS. Note that the open / closed state of the second gripper 34 is shown in the upper part of FIG. The opening / closing operation of the second gripper 34 is performed at a predetermined timing using an opening / closing mechanism using, for example, a working fluid.

  FIG. 7A is a side view of the reversing mechanism 40 at the position P1 immediately after receiving the soft container V from the supply wheel 11, and FIG. 7B is a side view corresponding to the position P2. The cam surface height of the gripper reversing cam 28 becomes higher than the position P1, the cam follower 58, that is, the rack 56R is raised, and a state where the first gripper 22 is reversed (a state where the soft container V is inverted) is shown. . FIG. 7C shows that the roller 54 rides on the horizontal plane 38H of the horizontal maintaining member 38 at the positions P2 to P3, the second gripper 34 is closed while the first gripper 22 is kept horizontal, and the soft container V It is a side view in the state where head Vh was grasped.

  FIG. 7D shows the state of FIG. 7C in which the cutting edge of the cutter 14 has been pressed against the soft container V between the first and second grippers 22 and 34 to start cutting the head. FIG. 7E is a side cross-sectional view at a corresponding position Pa, and FIG. 7E is a side view at a position (Pb) at which the cutting of the head Vh of the soft container V by the cutter 14 is substantially completed.

  As shown in FIG. 7E, when the cutting by the cutter 14 is started, the blade of the cutter 14 is pushed into the neck cutting portion of the soft container V. Since the cutter 14 has a thickness, when the blade of the cutter 14 is pushed into the neck of the flexible container V and cut open, a force is applied to the cut portion of the flexible container V from the blade. At this time, the position and posture of the head Vh gripped by the second gripper 34 (having higher rigidity than the body-side neck held by the first gripper 22) are firmly fixed. On the other hand, the swing shaft holding portion 43 that supports the first gripper 22 is configured to be slightly rotatable around the reversing rotary shaft 53 provided with the pinion 56P, and the first gripper 22 is moved from the horizontal position. Can be tilted slightly upward.

  That is, when the blade of the cutter 14 is pushed into the neck of the soft container V and a force is applied to the main body side of the soft container V held by the first gripper 22, the first gripper 22 is tilted slightly upward from the horizontal position. . As a result, an extra force is applied to the neck of the soft container V having a low rigidity gripped by the first gripper 22, and the bent portion does not bend in the vicinity of the cut and the cut surface does not become wavy, and the mouth having a straight cut surface. Can be formed. When the first gripper 22 is tilted upward, the pinion 56P rotates, and the rack 56R is lowered by an amount corresponding to the rotation amount of the pinion 56P.

  As described above, according to the soft container cutting device of the first embodiment, the gripper holding the soft container main body can be moved in accordance with the force from the cutter, so that the force from the cutter is passed and the soft container is cut off. Can be prevented from being bent. Thereby, the mouth end surface of the soft container can be formed as a straight cut surface with a simple configuration.

  Next, a soft container cutting device according to a second embodiment will be described with reference to FIGS. In the soft container cutting device according to the first embodiment, the high rigid head portion of the soft container to be cut is fixed, and the low rigid soft body side is movable according to the contact resistance with the cutter. In the second embodiment, the flexible container of the present invention has a higher rigidity than the cut-off side of the main body, and the second embodiment fixes the main body of the flexible container, and the cut-off side of the soft container has contact resistance with the cutter. It is movable according to. Note that the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  FIG. 8 is a side view showing the configuration of the reversing mechanism 60 according to the second embodiment. FIG. 8A shows a state after the flexible container V is inverted (at the time of inversion), and FIG. Before inversion (at the time of erecting) (corresponding to FIG. 2B of the first embodiment). FIG. 9 is a rear view of the reversing mechanism 60 of the second embodiment (corresponding to FIG. 2A of the first embodiment). In FIG. 8, the rack and the lifting rod of FIG. 2 are omitted.

  The first gripper (movable gripper) 62 of the reversing mechanism 60 of the second embodiment grips the head Vh of the flexible container V, and the second gripper (fixed gripper) 64 grips the neck of the flexible container V on the main body side.・ Fix it. Also in the second embodiment, the mechanism for inverting the first gripper 62 is the same as that of the first embodiment, and the main difference is the configuration of the first gripper 62 and the configuration of the second gripper 64.

  The second gripper 64 is supported by a second gripper lifting / lowering cylinder 66 provided above the reversing shaft support 55 so as to be able to move up and down. A second gripper opening / closing cylinder 68 is provided at a lower end of the second gripper lifting / lowering cylinder 66, and the second gripper 64 is opened / closed.

  FIGS. 10 and 11 are a side cross-sectional view and a cross-sectional view of a gripping portion (tip) of the first gripper 62 of the second embodiment. 10 and 11 show a state where the first gripper 62 is closed.

  As shown in FIGS. 10 and 11, the first gripper 62 of the second embodiment includes a pair of movable grip pieces 70 and a pair of fixed grip pieces 72. The base sides of the pair of fixed grip pieces 72 are rotatably held by a swing shaft holding portion 43 by swing shafts 42L and 42R (see FIG. 9). Each of the movable grip pieces 70 is held by each of the fixed grip pieces 72 via a pair of pins 74 and a spring 76 wound therearound.

  The movable grip piece 70 is movable up and down along the pin 74 with respect to the fixed grip piece 72, and is urged upward by a spring 76 arranged in a compressed state between the movable grip piece 70 and the fixed grip piece 72. Is done. That is, when a downward force is applied, the movable grip piece 70 compresses the spring 76 and is pressed downward.

  When the head Vh of the soft container V is held by the first gripper 62, the head Vh is gripped by the movable grip piece 70. In FIGS. 10 and 11, for example, a position indicated by an arrow A is a cutting position by the cutter 14. When the blade of the cutter 14 starts cutting the head Vh and a force is applied to the flexible container V due to the thickness of the penetrating blade, a downward force is applied to the movable grip piece 70, whereby the movable grip piece 70 Is lowered toward the fixed grip piece 72 against the urging force of the above.

  As described above, the same effects as in the first embodiment can be obtained in the configuration of the second embodiment.

  In the first and second embodiments, the first gripper grips the soft part of the container and the second gripper grips the hard part, but the present invention is not limited to this configuration. However, in general, the soft portion is more susceptible to the contact resistance in the cutter cutting than the hard portion, and therefore, it is more desirable to adopt a configuration in which the soft portion (the main body side) is released as in the first embodiment. I can say.

  The configuration / method of supporting the first gripper may be any configuration as long as the first gripper can escape (move) by the thickness of the cutter during cutting, and is not limited to the configuration of the present embodiment. Further, in the present embodiment, the rack and the pinion are used for the reversing mechanism. However, the present invention is not limited to the present embodiment as long as the configuration is such that the direction of the gripper for gripping the container can be reversed by 180 °.

Reference Signs List 10 Soft container cutting device 12 Transport mechanism 14 Cutter 16 Rotary shaft 18 Turntable 22 First gripper (movable gripper)
26 cam support structure 28 first gripper reversing cam 34 second gripper (fixed gripper)
38 Horizontal maintenance member 40 Reversing mechanism 53 Reversing rotating shaft 56P Pinion 56R Rack 58 Cam follower V Soft container Vh Head

Claims (4)

A first gripper for gripping and transporting the container;
A reversing mechanism for reversing the first gripper;
A horizontal maintaining member for maintaining the inverted first gripper horizontal,
A second gripper disposed above or below the inverted first gripper and gripping the container at a height above or below the container gripped by the inverted first gripper;
The container is provided on the transport path of the container gripped by the inverted first gripper and the second gripper, and includes a portion of the container gripped by the first gripper and a portion gripped by the second gripper. With a cutter to cut between
The soft container cutting device, wherein the first gripper is vertically movable at the time of cutting, whereby the first gripper can be retracted when a load of cutting by the cutter is applied.   The soft container cutting device according to claim 1, wherein the vertical movement of the first gripper is performed by rotation of the first gripper about a reversing rotation shaft of the reversing mechanism.   The first gripper includes a pair of movable grip pieces that grip the container, and a pair of fixed grip pieces that support the pair of movable grip pieces so that the movable grip pieces can move up and down. The soft container cutting device according to claim 1, wherein the cutting is performed by raising and lowering the pair of movable grip pieces with respect to the pair of fixed grip pieces.   The horizontal posture of the first gripper is maintained by the horizontal maintenance member before cutting by the cutter is performed, and the container is held by the second gripper while the horizontal posture of the first gripper is maintained. The soft container cutting device according to any one of claims 1 to 3, which is gripped.

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