KR20130104366A - Automatic planting systems for vehicle - Google Patents

Abstract

PURPOSE: An automatic vehicle painting system is provided to form constant thickness of coating on the vehicle by automatically painting vehicles and automatically controlling the direction and distance of paint to be sprayed constantly through a distance measuring sensor and a servo motor. CONSTITUTION: An automatic vehicle painting system comprises a painting booth (100) in which an internal space for coating process is formed; a transfer table assembling unit which sprays the vehicle stocked in the painting booth with paint and automatically performs painting; an operating panel which manually and selectively inputs information including a painting method, job order and the like by being installed outside the painting booth; and a control unit which controls painting process by transmitting driving signals corresponding to the information input to the operating panel to the transfer table assembling unit.

Description

Automatic planting systems for vehicle

The present invention relates to an automobile auto paint system, and more particularly, to an automobile auto paint system for partially or tram painting an automobile, especially a vehicle in the form of a finished vehicle after being shipped from an automobile manufacturing plant.

In general, a vehicle that has been released from a car manufacturing factory often encounters a contact or collision, or a part of the paint may be peeled off by being scratched by a sharp object while parking. In addition, vehicle paint may peel off over a wide range due to aging. In this case, it not only damages the aesthetic appearance of the car and impairs its dignity, but also causes corrosion of the car body and shortens the life of the car.

Conventionally, when performing painting work in a maintenance shop, the high-pressure compressed air generated by the compressor is supplied to a spray gun held by an operator, as disclosed in Patent Registration No. 10-0546791, "A method for painting a car scratch using a low pressure spray gun." It was a method of spraying paint to paint, but no matter how skilled workers it is impossible to maintain a constant coating thickness, especially in the rounded portion there was a problem that the coating thickness is formed uneven.

In addition, the paint job has a problem that a lot of flammable substances are discharged can cause damage to workers due to fire.

On the other hand, the coating system in the automobile manufacturing process, such as disclosed in the Patent Publication No. 10-2004-0042718 "electrodeposition coating fixing system of the vehicle" is made to be applied to the vehicle after it is released because it is made in the disassembled state of the vehicle body have.

The present invention automatically performs the painting operation of the car, in particular by automatically controlling the direction and distance of the paint is sprayed through the distance measuring sensor, servomotor, etc. to automatically form a coating thickness on the car The purpose is to provide a painting system.

Hereinafter, the present invention will be described.

With regard to the task solution,

The present invention is a coating booth having an interior space in which a painting process is carried out when a vehicle is received, a transfer table assembly unit for automatically performing a painting process by spraying paint on the automobile put into the painting booth, and installed outside the painting booth. And a control unit for controlling the painting process by transmitting a driving signal corresponding to the information input from the operation panel to the transfer table assembly unit, and an operation panel for manually selecting and inputting information such as an instruction and a painting method. It features.

In addition, the transfer table assembly unit is fixed to form a rectangular parallelepiped as a whole having four vertical frames installed vertically on the bottom surface of the paint booth and four horizontal frames installed to horizontally connect the vertical frames with each other. The transport table assembly installed along the frame, the vertical frame, or the horizontal frame to perform front and rear (x-axis) transport, left and right (y-axis) transport, and up and down (z-axis transport) and y-axis while being loaded and transported on the transport table assembly. It characterized in that the air motor assembly to perform the rotation and z-axis rotation and spray the paint on the vehicle coating surface.

In addition, the present invention, the transfer table assembly is installed along the two opposing vertical frame or two opposing horizontal frame and driven by a z-axis transfer table drive motor, two z-axis transfer table, the two z-axis One y-axis transfer table and one y, which are loaded at both ends on the transfer table and are fed by a z-axis transfer table (z-axis) in parallel to the frame where the z-axis transfer table is installed and driven by a y-axis transfer table drive motor. It is loaded on the axis transfer table and fed along the y axis transfer table (y axis) by the y axis transfer table, and driven by the x axis transfer table drive motor and perpendicular to the frame and the y axis transfer table on which the z axis transfer table is installed. It characterized in that it comprises one x-axis transport table for transporting the air motor assembly (x-axis).

In addition, the present invention is the air motor assembly is connected to the x-axis transfer table via a z-axis rotation drive motor is a rotary table capable of z-axis rotation with respect to the x-axis transfer table by a z-axis rotation drive motor, the rotary table It is characterized in that it is configured to include a paint spraying device which is mounted and y-axis rotation with respect to the rotary table by the y-axis rotation drive motor, and can spray the paint by the air motor.

In addition, the present invention is the air motor assembly is integrally connected to the paint injector up and down at a predetermined distance from the left and right of the paint injector to the y-axis rotation with the paint injector to measure the distance to the vehicle The apparatus further includes two or more distance measuring sensors, wherein the x-axis feed table driving motor, the y-axis rotating drive motor, and the z-axis rotating drive motor feed back a distance measurement value with the vehicle detected by the distance measuring sensor. It is characterized in that the servo motor to control the operation and speed.

In addition, the present invention, the x-axis feed table drive motor, the y-axis rotation drive motor and the z-axis rotation drive motor feeds back the distance measurement value with the vehicle detected by the distance measuring sensor first y-axis rotation drive motor and z-axis rotation By driving the driving motor to vertically match the spraying direction of the coating surface of the vehicle and the paint injector, and then to drive the x-axis transfer table driving motor is sequentially controlled so that the distance between the coating surface of the vehicle and the paint injector is constant. It features.

The present invention is equipped with a transfer system of 15 degrees of freedom can automatically perform a partial coating or a tank coating and has the effect of preventing human injury in the event of a fire due to flammable substances.

In addition, the present invention has the effect that can be painted on the front, rear, left, right, and top of the vehicle at the same time by designing a plurality of transport table assembly to be automatically controlled individually individually.

In addition, the present invention transfers and rotates the paint spraying device by using a servo motor which is feedback-controlled based on the value measured by the distance measuring sensor so that the distance and direction of the paint spraying device and the vehicle coating surface, especially the rounded coating surface are constant. By maintaining it, there is also an effect that can form a coating surface of a certain thickness.

1 is a front view showing a vehicle automatic painting system according to the present invention.
Figure 2 is a plan view showing a vehicle automatic painting system according to the present invention.
Figure 3 is a side view showing an automotive automatic painting system according to the present invention.
Figure 4 is a view showing the transport table assembly separated.
Figure 5 is a front view showing the separate air motor assembly.
Figure 6 is a plan view showing the separation of the air motor assembly.
Figure 7 is a side view showing the air motor assembly separated.
8 is a schematic illustration of y-axis rotation and z-axis rotational drive of the air motor assembly.

Hereinafter, with reference to the accompanying Figures 1 to 8 will be described a specific embodiment of the automotive automatic coating system according to the present invention.

1 is a front view showing an automobile auto paint system according to the present invention, FIG. 2 is a plan view showing a car auto paint system according to the present invention, and FIG. 3 is a side view showing a car auto paint system according to the present invention.

Automotive automatic coating system according to the present invention is a paint booth 100, the interior of the interior space is formed by painting the car is received, the transfer table assembly unit for automatically performing the painting process by spraying the paint on the car received in the painting booth And an operation panel 300 installed outside the painting booth to allow the operator to manually input and input information such as a work order and a painting method, and a driving signal corresponding to the information input from the operation panel to the transfer table assembly unit. It is configured to include a control unit (not shown) for transmitting to control the painting process.

The paint booth 100 is formed of a sealed structure provided with an opening and closing opening and closing in one or both of the front and rear so that the car can enter the interior space. In addition, the coating booth 100 is preferably provided with a dust collecting device for maintaining the cleanliness of the coating booth by sucking the paint sprayed to a place other than the vehicle coating surface. The paint booth 100 is generally 7400mm ㅧ 4400mm ㅧ 2800mm having a standard, but is not limited to this is preferably designed to be a standard that can be worn in a variety of models of the car.

The transfer table assembly unit is fixedly coupled to the painting booth fixed frame 200, a transfer table assembly 210 installed to be movable on the fixed frame, the transfer table assembly is mounted on the transfer table assembly up and down, It is configured to include the air motor assembly 220 is transferred to the left and right, front and rear.

The fixed frame 200 includes four vertical frames 202 installed in the vertical direction on the bottom surface of the paint booth and four horizontal frames 204 horizontally connecting the vertical frames at the ends of the vertical frames. The bottom surface of the vertical frame 202, the horizontal frame 204 and the paint booth forms a rectangular parallelepiped shape in which the bottom surface is blocked and the front, rear, right side, left side and top side are open. The fixed frame 200 is generally having a standard of 6400mm ㅧ 3000mm ㅧ 2500mm, but is not limited thereto, it is preferable that the fixed frame 200 is designed to a standard that can be made for the painting process of a variety of models of cars.

Figure 4 is a view showing a separate transfer table assembly.

The transfer table assembly 210 consists of two z-axis transfer tables 212, one y-axis transfer table 214 and one x-axis transfer table 216.

The z-axis transfer table 212 is installed along two opposing vertical frames as shown in FIG. 3, and the y-axis transfer table loaded on the z-axis transfer table is parallel to the vertical frame where the z-axis transfer table is installed. Will be transferred. At this time, the z-axis transfer table may be installed along two opposing horizontal frames, in which case the y-axis transfer table loaded on the z-axis transfer table is transferred in parallel to the horizontal frame. In either case, the direction parallel to the frame on which the z-axis feed table is installed is called the z-axis. In the following description, it is assumed that the description is based on the case where the z-axis transfer table is installed in a vertical frame unless otherwise mentioned. Since the z-axis transfer table 212 is installed in the vertical frame, there is almost no problem with the transfer table rigidity, and accordingly, there is little need to apply a separate configuration for preventing the transfer table from sagging. The z-axis transfer table 212 is driven by a z-axis transfer table drive motor, the z-axis transfer table 212 is preferably made of a timing belt so that the rotation of the z-axis transfer table drive motor can be accurately transmitted.

In addition, the z-axis transfer table drive motor is preferably a servo motor capable of precise control. That is, the two z-axis transfer tables 212 cooperate with each other to transfer the y-axis transfer table to the z-axis, and drive fine error values between the z-axis transfer table drive motors that drive each z-axis transfer table that may occur. It detects motor overload according to occurrence and adjusts operation speed of drive motor.

The y-axis transfer table 214 is installed in such a manner that both ends are mounted on the two z-axis transfer tables as shown in FIG. 3, and the x-axis transfer table mounted on the y-axis transfer table is along the y-axis transfer table. Will be transferred. At this time, the direction parallel to the y-axis transfer table is referred to as the y-axis. Since the y-axis transfer table 214 has the longest length among the transfer tables, there is a high probability that the transfer table sag occurs. As shown in FIG. 4, the bracket is assembled to the transfer table, and at the same time, for example, at a distance of, for example, 2000 mm. By installing and reinforcing the spline structure, it is preferable to apply a configuration that prevents the transfer table deflection phenomenon. The y-axis feed table 214 is driven by a y-axis feed table drive motor, the y-axis feed table 214 is preferably made of a timing belt so that the rotation of the y-axis feed table drive motor can be accurately transmitted.

In addition, the y-axis transfer table drive motor is preferably a servo motor capable of precise control.

The x-axis transfer table 216 is installed in such a manner as to be loaded on the y-axis transfer table as shown in FIG. 4 to transfer the air motor assembly loaded on the x-axis transfer table along the x-axis transfer table. At this time, the direction parallel to the x-axis transfer table is called the x-axis. The x-axis transfer table 216 is driven by the x-axis transfer table drive motor, it is preferable that the y-axis transfer table 216 is made of a cylinder type that can be moved forward and backward.

In addition, the x-axis transfer table drive motor is preferably a servo motor capable of precise control. In other words, by feeding back the distance measured value detected by the distance sensor installed in the air motor assembly, the operating speed of the drive motor is adjusted so that the distance between the coated surface and the air motor assembly is kept constant.

On the other hand, the conveyance distance of the x-axis transfer table 216 is about 700 ~ 800mm from the side of the car is a deviation range of the width of the vehicle of the small car and large car is approximately 200mm in that the painting process is possible to various models of cars In the upper surface of the vehicle, it is preferable that the coating process is possible on various models of cars since the deviation range of the vehicle height of the small and large vehicles is about 500 mm to about 400 to 500 mm.

In addition, the transfer table assembly 210 is composed of four transfer table assembly installed on the vertical frame and one transfer table assembly installed on the horizontal frame so as to paint the front, rear, left side, right side and upper surface of the vehicle, respectively. desirable. That is, the transfer table assembly 210 performs the x-axis, y-axis, and z-axis transfer in the transfer table assembly installed in the left and right directions of the vehicle, and will be described below in the air motor assembly loaded on the transfer table assembly. It is responsible for the conveyance and rotation of a total of 5 degrees of freedom by carrying out the rotation, and in charge of the conveyance and rotation of a total of 5 degrees of freedom in the transport table assembly installed in the front and rear direction of the car, and the total of 5 degrees of freedom in the transport table assembly installed above the car. By in charge of the conveyance and rotation, the automotive automatic coating system according to the present invention is provided with a conveyance system of a total of 15 degrees of freedom.

FIG. 5 is a front view of the separated air motor assembly, FIG. 6 is a plan view of the separated air motor assembly, FIG. 7 is a side view of the separated air motor assembly, and FIG. 8 is a y-axis rotation of the air motor assembly. And the z-axis rotational drive schematically.

The air motor assembly 220 is mounted on the x-axis transfer table of the transfer table assembly and transported along the x-axis, y-axis, and z-axis by the x-axis transfer table, the y-axis transfer table, and the z-axis transfer table. The air motor assembly 220 includes a rotary table 222, a paint spraying device 224 and a distance measuring sensor 226.

The rotary table 222 is connected to the x-axis transfer table via a z-axis rotation drive motor to enable z-axis rotation with respect to the x-axis transfer table by the z-axis rotation drive motor. Here, the z-axis rotation refers to a motion that rotates about the z-axis. In addition, the z-axis rotation drive motor is preferably a servo motor capable of precise control.

The paint injector 224 is mounted on a rotary table to enable y-axis rotation by a y-axis rotation drive motor. Here, the y-axis rotation means a motion to rotate about the y-axis. In addition, the y-axis rotation drive motor is preferably a servo motor capable of precise control. The paint injector 224 sprays the paint by an air motor, and the air motor preferably forms an air turbine structure to prevent fire in the paint booth containing a lot of flammable substances. The paint used in the paint injector 224 may be supplied from a storage container loaded on a rotating table or supplied from an outside of a painting booth.

The distance measuring sensor 226 is integrally connected to the paint injector at a predetermined distance from the left and right of the paint injector, and measures a distance from the vehicle. In the case where the air motor assembly is capable of rotating only the z-axis, the distance measuring sensor 226 is disposed at the left and right sides of the paint injector, respectively, as shown in FIG. 5, so that the distance from the vehicle measured by the left and right distance measuring sensors is different. In this case, the z-axis rotation drive motor, which is a servo motor, is operated to rotate the rotary table on the z-axis so that the spray direction of the paint injector is perpendicular to the surface of the vehicle. On the other hand, when the air motor assembly is capable of both z-axis rotation and y-axis rotation, the distance measuring sensor 226 is disposed two each on the left and right sides of the paint injector, the two distance measuring sensors on the left or right again up and down If the distance from the car measured by the vertical distance measuring sensor is different, the y-axis rotation driving motor, which is a servo motor, is operated to rotate the paint spraying device by y-axis, and the distance from the vehicle measured by the left and right distance measuring sensors In a different case, the z-axis rotation drive motor, which is a servo motor, is operated to rotate the rotary table in the z-axis so that the spray direction of the paint injector is perpendicular to the vehicle application surface. That is, the y-axis rotation and the z-axis rotation is possible to facilitate the painting of the rounded part of the vehicle.

In addition, the air motor assembly 220 is preferably coupled to be detachable to the x-axis transfer table for easy replacement.

The operation panel 300 provides various selection options, such as whether the worker selects a partial coating or a tank painting and gives work instructions. In addition, the operation panel 300 is preferably made of a touch screen so that the operator can easily select a work method and the like. In addition, the operation panel 300 is preferably installed to be rotatable and move in all directions to facilitate the worker access.

The control unit controls the painting process by transmitting a driving signal corresponding to the information input from the operation panel to the driving motor of the transfer table assembly unit. If the control unit selects whether it is partial or tank painting in the operation panel, the controller sets the reference position of the vehicle and determines the transfer range of the y-axis transfer table and the z-axis transfer table. On the other hand, even if the control unit roughly determines the transfer range of the y-axis transfer table and the z-axis transfer table, if a part of the transfer range is covered by a screen (not shown) except for the application surface of the car to be painted, even if there is some error in the transfer range, It is possible to paint the desired part and to reduce the cost by minimizing the amount of paint sprayed on the screen. In addition, when the controller receives the car model information from the operation panel, the control table loads data previously stored in a database (not shown) of the transfer range of the y-axis transfer table and the z-axis transfer table according to the size of the corresponding car model. It is desirable to transmit the drive signal to the drive motor of the assembly unit. On the other hand, if the control unit transmits a drive signal to the drive motor of the transfer table assembly unit even if the car model information is not received from the operation panel, the y-axis transfer table that is the servo motor according to the detection result of the distance measuring sensor of the air motor assembly The drive motor and the z-axis feed table The drive motors can determine the feed range of the y-axis feed table and the z-axis feed table, respectively.

In addition, the vehicle automatic coating system according to the present invention is a display device for displaying the position of the vehicle in real time to receive the position detection sensor 500 for detecting the position of the vehicle when the vehicle is received and the detection result of the position detection sensor ( It is preferably configured to further include 600).

The position detecting sensor 500 is installed on each of the horizontal frame located in front of the vehicle and the horizontal frame located in the right direction of the vehicle to detect the position of the vehicle. The position sensor 500 is preferably made of an ultrasonic sensor, but is not limited thereto.

The display device 600 is installed on the inner side of the paint booth located in front of the car wearing the worker wearing the car to see the position of the car displayed on the display device to determine the current position of the car to reach the reference position You will be guided. Here, the reference position means the position where the vehicle should be placed in order for the painting factory of the vehicle to be made, and the reference position may have different settings depending on whether it is a partial coating or a tank painting. The display device 600 is preferably an LED display board, but is not limited thereto.

Hereinafter will be described the operation of the automotive automatic coating system according to the present invention.

When the operator selects and inputs a partial or tram painting work method through the operation panel 300, the control unit sets a reference position to be positioned for the vehicle to receive a corresponding painting process, thereby setting the reference position on the display device 600. Will be displayed. The worker sees the reference position of the car displayed on the display device 600 and wears the car into the painting booth 100. At this time, the display device 600 detects the current position of the car detected by the position sensor 500. The display with the reference position guides the operator to easily position the vehicle at the reference position. When the worker completes the wearing of the car, the door of the painting booth 100 is closed and the work order is selected through the operation panel 300 and inputted. At this time, information of the car model may be selected and input together.

The y-axis transfer table 214 is driven by the y-axis transfer table driving motor at a constant speed according to the information of the transfer range received from the control unit, so that the x-axis loaded on the y-axis transfer table from the end of the vehicle in the y-axis direction to the opposite end After moving the transfer table, when the y-axis transfer table driving motor stops and the y-axis transfer table 214 reaches the opposite end, the z-axis transfer table 212 moves the z-axis transfer table 212 in the z-axis direction by the z-axis transfer table drive motor. After moving the y-axis feed table loaded on the axis feed table for a certain distance, the z-axis feed table drive motor stops, and the y-axis feed table drive motor is driven at a constant speed. The x axis transfer table loaded on the y axis transfer table is transferred. During this operation, the paint injector 224 sprays the paint to paint the coating surface of the vehicle, and this operation is carried out continuously so that the z-axis transfer table moves the z-axis of the vehicle according to the information of the transfer range received from the controller. After the transfer is completed from the end of the direction to the opposite end, the driving process of all the driving motors and air motors is stopped and the painting process is completed, and the operator is provided to the operator through the operation panel 300 installed outside the coating booth or a separate signal transmission means. You will be notified.

On the other hand, the distance and direction between the vehicle coating surface and the table spraying device 224 during the painting process is the rotary table 222 by the z-axis rotation drive motor received the distance value with the car detected by the distance measuring sensor 226 After rotating, the paint spraying device 224 is rotated by the y-axis rotation driving motor which receives the distance value with the vehicle sensed by the distance measuring sensor 226, and then adjusts the direction, and then the distance measuring sensor 226. The distance is fixed as the x-axis transfer table 216 transfers the air motor assembly 220 loaded on the x-axis transfer table in the x-axis direction by the x-axis transfer table driving motor which receives the distance value from the vehicle detected by the motor. Is maintained.

In conclusion, the control of the automatic car coating system according to the present invention applies a sequential control method so that the z-axis rotation, y-axis rotation, x-axis feed, y-axis feed and z-axis feed is performed in sequence.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims and their equivalents. And such changes are, of course, within the scope of the claims.

100-Paint Booth
200-Fixed Frame 202-Vertical Frame
204-Horizontal frame
210-Feed table assembly 212-z axis feed table
214-y-axis feed table 216-x-axis feed table
220-Air Motor Assembly 222-Rotary Table
224-Paint sprayer 226-Distance measuring sensor
300-control panel
500-Position Sensor
600-Display Unit

Claims (8)

A painting booth in which an interior space in which a vehicle is received and a painting process is formed is formed;
A transfer table assembly unit for spraying paint onto the car put into the painting booth and automatically performing a painting process;
An operation panel installed outside the painting booth to manually input and input information such as a painting method and a work order; And
And a control unit for controlling a painting process by transmitting a driving signal corresponding to the information input from the operation panel to a transfer table assembly unit. The method of claim 1,
The transfer table assembly unit,
A fixed frame having an overall rectangular parallelepiped shape having four vertical frames installed vertically on the inner surface of the paint booth and four horizontal frames installed to horizontally connect the vertical frames;
A transfer table assembly installed along the vertical frame or horizontal frame to perform front and rear (x-axis) feed, left and right (y-axis) feed, and vertical and z (z-axis) feed; And
And an air motor assembly configured to carry the y-axis rotation and the z-axis rotation while spraying the paint on the vehicle coating surface while being transferred to the transfer table assembly. The method of claim 2,
The transfer table assembly,
Two z-axis feed tables installed along the two opposing vertical frames or two opposing horizontal frames and driven by a z-axis feed table drive motor;
One y-axis feed table mounted at both ends of the two z-axis feed tables and fed by a z-axis feed table in parallel to the frame where the z-axis feed table is installed (z-axis) and driven by a y-axis feed table drive motor. ; And
A frame and a y-axis feed which are mounted on the one y-axis feed table and fed along the y-axis feed table (y-axis) by the y-axis feed table, and driven by an x-axis feed table drive motor to which the z-axis feed table is installed. And an x-axis transport table for transporting the air motor assembly (x-axis) in a direction perpendicular to the table. The method of claim 3,
The transfer table assembly is a vehicle automatic painting system, characterized in that consisting of five transfer table assembly for painting the front, rear, left, right and top surfaces of the vehicle. 5. The method of claim 4,
The air motor assembly,
A rotary table connected to the x-axis transfer table through a z-axis rotation drive motor and capable of z-axis rotation with respect to the x-axis transfer table by a z-axis rotation drive motor; And
It is mounted on the rotary table and the y-axis rotation drive motor is capable of rotating the y-axis relative to the rotary table, the vehicle automatic painting system comprising a paint injector capable of injecting paint by the air motor . The method of claim 5,
The air motor assembly,
Further comprising two or more distance measuring sensors that are integrally connected to the paint injector up and down at a predetermined distance from the left and right of the paint injector to the y-axis rotation with the paint injector to measure the distance to the vehicle. Composed,
The x-axis transfer table drive motor, the y-axis rotation drive motor and the z-axis rotation drive motor is a servo motor that controls the operation and speed of the drive motor by feeding back the distance measurement value with the car detected by the distance measuring sensor. Car automatic painting system. The method according to claim 6,
The x-axis feed table drive motor, the y-axis rotation drive motor and the z-axis rotation drive motor feeds back the distance measurement value with the vehicle sensed by the distance measuring sensor to drive the z-axis rotation drive motor and the y-axis rotation drive motor in turn. To vertically match the spraying direction of the coating surface of the vehicle and the paint injector, and then drive the x-axis transfer table driving motor to sequentially control the distance between the coating surface of the vehicle and the paint injector to be constant. Automatic painting system. 8. The method according to any one of claims 2 to 7,
A position detection sensor detecting a position of a vehicle installed and installed in the horizontal frame; And
Receiving the detection result of the position sensor and the real-time display of the position of the vehicle is put into a vehicle automatic painting system, characterized in that it further comprises a display device installed on the inner side of the coating booth located in front of the wearing car.

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