WO2021004160A1 - 方向调整装置和其应用 - Google Patents
方向调整装置和其应用 Download PDFInfo
- Publication number
- WO2021004160A1 WO2021004160A1 PCT/CN2020/090933 CN2020090933W WO2021004160A1 WO 2021004160 A1 WO2021004160 A1 WO 2021004160A1 CN 2020090933 W CN2020090933 W CN 2020090933W WO 2021004160 A1 WO2021004160 A1 WO 2021004160A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- assembly
- linkage element
- driving
- linkage
- adjusting device
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
- B62D1/10—Hubs; Connecting hubs to steering columns, e.g. adjustable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/06—Tractors adapted for multi-purpose use
- B62D49/0607—Straddle tractors, used for instance above vine stocks, rows of bushes, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/06—Tractors adapted for multi-purpose use
- B62D49/0692—Tractors adapted for multi-purpose use characterised by the particular arrangement of control devices, e.g. having more than one control stand, operable from vehicle extension (control devices or systems characterised by mechanical features only)
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/20—Off-Road Vehicles
- B60Y2200/22—Agricultural vehicles
- B60Y2200/221—Tractors
Definitions
- the invention relates to the field of machinery, in particular to a direction adjustment device and its application.
- the existing steering wheel suitable for automatic driving equipment has many parts and is not compact enough, resulting in a complicated assembly process. It not only requires on-site guidance and installation by professional technicians, but also takes a lot of time to complete the assembly. In other words, the existing steering wheel is difficult to assemble and has low assembly efficiency, which also increases the labor cost of assembly.
- An object of the present invention is to provide a direction adjustment device and its application, wherein the direction adjustment device is suitable for adjusting the traveling direction of a traveling body of an automatic traveling equipment.
- the present invention improves the structure of the direction adjustment device. In this way, the direction adjusting device can be quickly assembled with the traveling body, thereby improving assembly efficiency and saving assembly time.
- Another object of the present invention is to provide a direction adjusting device and its application, wherein the structure of the direction adjusting device is simple and compact, and the requirement for the proficiency of the operator is low, which is beneficial to reduce the assembly cost and Maintenance costs.
- Another object of the present invention is to provide a direction adjusting device and its application, wherein the direction adjusting device includes a driving element, wherein the driving element can drive the traveling body to steer according to a steering command to realize automatic driving.
- Another object of the present invention is to provide a direction adjustment device and its application, wherein the direction adjustment device includes a linkage element, wherein the linkage element is connected to the traveling body and the drive element, and the drive The element drives the linkage element to drive the traveling body to complete the steering.
- Another object of the present invention is to provide a direction adjustment device and its application, wherein the linkage element is installed in a steering system of the traveling body through a spline connection, which is beneficial for the direction adjustment device to bear more The torque, thereby improving the stability and reliability of the direction adjustment device.
- Another object of the present invention is to provide a direction adjustment device and its application, wherein the direction adjustment device includes an assembly bracket that is connected to the driving element and the steering system of the traveling body, so The assembly bracket is held between the drive element and the steering system.
- the assembly bracket serves as a fixed support point for the drive element and bears the automatic steering of the drive element The reaction torque at the time.
- Another object of the present invention is to provide a direction adjustment device and its application, wherein the assembly position of the direction adjustment device installed on the drive element allows the assembly position to be selected, thereby improving the direction adjustment device Flexibility and applicability.
- Another object of the present invention is to provide a direction adjusting device and its application, wherein the direction adjusting device includes an operating element, wherein the operating element is mounted on the driving element, and the driving element can follow the operating element Rotation, so that the traveling body of the automatic traveling equipment can also be controlled manually, thereby improving the flexibility and applicability of the automatic traveling equipment.
- the present invention further provides a direction adjustment device that allows a steering system to be installed on a traveling body, wherein the direction adjustment device includes:
- the steering system mounted on the traveling body.
- the linkage element has a positioning cavity, the positioning cavity is communicated with the transmission cavity, and the inner wall of the linkage element forming the positioning cavity has a taper.
- the linkage element is installed in the transmission channel of the driving main body through a clearance fit.
- the drive body has an assembly platform
- the linkage element includes an assembly portion and a transmission body extending from the assembly portion
- the transmission body of the linkage element is The manner in which the assembling part is installed on the assembling platform of the driving body is held in the transmission passage of the driving body.
- the linkage element is a spline sleeve.
- the direction adjustment device further includes a plurality of connecting elements
- the bottom of the assembly housing is provided with a plurality of adapting holes
- the connecting frame has at least one connecting hole
- the connecting hole allows Is selectively corresponding to at least one of the fitting holes
- the connecting element is installed in the fitting hole and the connecting hole.
- the extension part extends downward from the middle part of the mounting part and forms a "T"-like structure.
- the fastening assembly includes two fasteners and a fastening connector, the two fasteners are arranged opposite to each other, and the fastening connector is installed on the two fasteners.
- a fastening space and a clamping space are formed between the two fasteners, the extension part of the connecting frame is held in the clamping space, and the steering system is held In the fastening space.
- the direction adjusting device further includes an operating element, wherein the operating element is installed at the end of the assembly housing.
- a direction adjustment device wherein the direction adjustment device includes:
- the traveling body wherein the traveling body includes a traveling main body and the steering system, the steering system is installed on the traveling main body, and the steering system can control the traveling direction of the traveling main body.
- the steering system includes a steering body and a steering shaft extending from the steering body, the steering shaft is provided with an external spline, the external spline and the direction adjusting device
- the internal splines of the linkage element are matched.
- the automatic driving equipment further includes a locking element, wherein the steering shaft is mounted on the linkage element in a manner that its end protrudes from the end of the linkage element, so The locking element is installed at the end of the steering shaft.
- the linkage element is installed on the assembling platform of the driving body in such a manner that the assembling part is located above the rotating body.
- a transmission portion of the steering shaft and the linkage element are held in a transmission cavity of the linkage element through a spline connection.
- a positioning portion of the steering shaft is retained in a positioning cavity of the linkage element by a clearance fit.
- the computer system may be implemented as a control computer of the automatic driving device 1000.
- the control computer of the automatic driving equipment 1000 can analyze the road conditions in real time, and generate the steering command according to the real-time road condition information, so that when the driving element 10 executes the steering command, it can avoid unsafe conditions in time. Sections and so on.
- the computer system may also be implemented as a remote controller, and the remote controller outputs the steering command.
- the direction adjusting device 100 further includes an assembly bracket 40, wherein two ends of the assembly bracket 40 are respectively mounted on the assembly housing 11 of the driving element 10 and the steering system 220 of the traveling body 200.
- the assembly bracket 40 is held between the assembly housing 11 and the steering system 220.
- the assembly bracket 40 can serve as a fixed support for the driving element 10 Point, and bear the reaction torque when the driving element rotates.
- the position where the assembly bracket 40 is installed on the assembly housing 11 of the drive element 10 is allowed to be selected, so that the connections 40 can adapt to different types of the steering shaft 222, thereby improving the The flexibility and adaptability of the direction adjustment device 100 are described.
- a plurality of the connecting elements 30 are respectively installed in the connecting hole 4110 of the mounting portion 411 and the adapting hole 1102 of the assembling housing 11, thereby fixing the mounting portion 411 of the connecting frame 41 At the bottom of the assembly shell 11.
- the adapting hole 1102 of the assembling shell 11 is a threaded blind hole
- the connecting hole 4110 of the connecting frame 411 is a threaded through hole, which connects the mounting portion 411 and all of the assembling shell 11
- the connecting element 30 is an M5*16 fastening screw.
- the fastening assembly 42 of the connecting frame 41 includes two fasteners 421, wherein the fastener 421 includes two clamping portions 4211 and a holding portion 4212, and the two clamping portions 4211 respectively extend
- the retaining portion 4212, the retaining portion 4212 is recessed inward from the clamping portion 4211, and forms a fitting groove, the retaining portions 4212 of the two fasteners 421 are disposed oppositely, and the two retaining portions 4212 are arranged opposite to each other.
- the fitting grooves of the fastener 421 are in communication with each other, and a fastening space 4201 is formed between the opposite holding portions 4212 for accommodating the steering body 221 of the steering system 220 of the traveling body 200 , And a clamping space 4202 is formed between the clamping portions 4211 arranged opposite to each other for accommodating the connecting portion 412 of the connecting frame 41.
- the direction adjustment device 100 further includes a dust cover, the dust cover is installed on the operating element 50, and the drive is closed by the dust cover
- the accommodating space 1101 of the assembling housing 11 of the component 10 prevents dust and impurities from entering the accommodating space 1101 of the assembling housing 11 and the transmission channel 1210 communicating with the accommodating space 1102. This helps to ensure the stability and reliability of the direction adjusting device 100.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
- Guiding Agricultural Machines (AREA)
- Steering Controls (AREA)
- General Details Of Gearings (AREA)
Abstract
Description
Claims (24)
- 一方向调整装置,允许被安装于一行驶本体的一转向系统,其特征在于,包括:一驱动元件,其中所述驱动元件包括一装配壳体和一驱动主体,所述装配壳体具有一容纳空间,所述驱动主体具有一传动通道,所述驱动主体被安装于所述装配壳体的所述容纳空间,所述驱动主体的所述传动通道被连通于所述装配壳体的所述容纳空间;和一连动元件,其中所述连动元件被安装于所述驱动主体的所述传动通道,所述驱动主体能够驱动所述连动元件转动,且所述连动元件被安装于所述行驶本体的所述转向系统。
- 根据权利要求1所述的方向调整装置,其中所述连动元件具有一传动腔,且所述连动元件设有一内花键,并在所述内花键之间形成所述转动腔。
- 根据权利要求2所述的方向调整装置,其中所述连动元件具有一定位腔,所述定位腔连通于所述传动腔,且所述连动元件形成所述定位腔的内壁具有锥度。
- 根据权利要求3所述的方向调整装置,其中所述连动元件通过间隙配合的方式被安装于所述驱动主体的所述传动通道。
- 根据权利要求3所述的方向调整装置,其中所述驱动主体具有一装配平台,所述连动元件包括一装配部和延伸于所述装配部的一传动主体,所述连动元件的所述传动主体以所述装配部被安装于所述驱动主体的所述装配平台的方式被保持于所述驱动主体的所述传动通道。
- 根据权利要求5所述的方向调整装置,其中所述连动元件为一非标准花键套筒。
- 根据权利要求1至6任一所述的方向调整装置,进一步包括一装配支架,其中所述装配支架包括一连接架和一紧固组件,其中所述装配支架被保持于所述驱动元件的所述装配壳体和所述紧固组件之间。
- 根据权利要求7所述的方向调整装置,其中所述连接架包括一安装部和一延伸部,所述延伸部自所述安装部一体地向下延伸,所述安装部被安装于所述装配壳体,所述延伸部被夹持于所述紧固组件。
- 根据权利要求8所述的方向调整装置,进一步包括多个连接元件,所述装配壳体底部设有多个适配孔,所述连接架具有至少一连接孔,所述连接孔允许被选择地对应于至少一个所述适配孔,所述连接元件被安装于所述适配孔和所述连接孔。
- 根据权利要求9所述的方向调整装置,其中所述延伸部自所述安装部的中部向下延伸,并形成类似“T”型的结构。
- 根据权利要求9所述的方向调整装置,其中所述紧固组件包括两紧固件和一紧固连接件,两个所述紧固件相对设置,所述紧固连接件被安装于两个所述紧固件之间,并在 两个所述紧固件之间形成一紧固空间和一夹持空间,所述连接架的所述延伸部被保持于所述夹持空间,所述转向系统被保持于所述紧固空间,所述紧固组件用于承受所述驱动主体工作时的反向力矩。
- 根据权利要求11所述的方向调整装置,其中所述紧固连接件被可活动地安装于所述紧固件,两个所述紧固件与所述装配壳体之间的距离允许被调整。
- 根据权利要求12所述的方向调整装置,进一步包括一操作元件,其中所述操作元件被安装于所述装配壳体的端部。
- 一自动行驶设备,其特征在于,包括:根据权利要求1至13任一所述的方向调整装置;和所述行驶本体,其中所述行驶本体包括一行驶主体和所述转向系统,所述转向系统被安装于所述行驶主体,所述转向系统能够控制所述行驶主体的行驶方向。
- 根据权利要求14所述的自动行驶设备,其中所述转向系统包括一转向主体和延伸于所述转向主体的一转向轴,所述转向轴设有一外花键,所述外花键与所述方向调整装置的所述连动元件的所述内花键相适配。
- 根据权利要求15所述的自动行驶设备,进一步包括一锁紧元件,其中所述转向轴以端部突出于所述连动元件的端部的方式安装于所述连动元件,所述锁紧元件被安装于所述转向轴的端部。
- 一方向调整装置的装配方法,其特征在于,所述装配方法包括如下步骤:(a)保持一连动元件于一驱动元件的一驱动主体的一传动通道,所述驱动主体能够驱动所述连动元件转动;(b)安装一装配支架的一连接架的一安装部于所述驱动元件的一装配壳体;以及(c)连接所述连接架的一延伸部于一紧固组件的一夹持空间。
- 根据权利要求17所述的装配方法,其中在上述方法中,所述连动元件的一装配部的多个装配螺纹孔分别对应于所述驱动主体的一装配平台的多个安装螺纹孔,并安装一连接元件于所述连动元件的所述装配螺纹孔和所述装配平台的所述安装螺纹孔。
- 根据权利要求18所述的装配方法,其中在上述方法中,所述连动元件的一连动主体通过间隙配合的方式被保持于所述驱动主体的所述传动通道。
- 根据权利要求19所述的装配方法,其中在上述方法中,所述连动元件以所述装配部位于所述转动主体的上方的方式被安装于所述驱动主体的所述装配平台。
- 根据权利要求20所述的装配方法,其中在上述方法中,安装一操作元件于所述 驱动元件的所述装配壳体。
- 根据权利要求17至21任一所述的装配方法,其中在所述步骤(c)之前,进一步包括步骤:安装所述连动元件于一行驶本体的一转向系统的一转向轴。
- 根据权利要求22所述的装配方法,其中在上述方法中,所述转向轴的一传动部和所述连动元件通过花键连接的方式被保持于所述连动元件的一传动腔。
- 根据权利要求23所述的装配方法,其中在上述方法中,所述转向轴的一定位部通过间隙配合的方式被保持于所述连动元件的一定位腔。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA3138500A CA3138500C (en) | 2019-07-09 | 2020-05-19 | Direction adjusting device and application thereof |
EP20836115.4A EP3998185A4 (en) | 2019-07-09 | 2020-05-19 | STEERING ADJUSTMENT DEVICE AND ITS APPLICATION |
AU2020310351A AU2020310351A1 (en) | 2019-07-09 | 2020-05-19 | Direction adjusting device and application thereof |
JP2021572528A JP7267465B2 (ja) | 2019-07-09 | 2020-05-19 | 方向調整装置及びその応用 |
US17/526,371 US20220073124A1 (en) | 2019-07-09 | 2021-11-15 | Direction adjusting device and application thereof |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910614647.6 | 2019-07-09 | ||
CN201921070396.1U CN211139441U (zh) | 2019-07-09 | 2019-07-09 | 方向调整装置和自动行驶设备 |
CN201921070396.1 | 2019-07-09 | ||
CN201910614647.6A CN112208618A (zh) | 2019-07-09 | 2019-07-09 | 方向调整装置和其应用 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US17/526,371 Continuation US20220073124A1 (en) | 2019-07-09 | 2021-11-15 | Direction adjusting device and application thereof |
Publications (1)
Publication Number | Publication Date |
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WO2021004160A1 true WO2021004160A1 (zh) | 2021-01-14 |
Family
ID=74114058
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/CN2020/090933 WO2021004160A1 (zh) | 2019-07-09 | 2020-05-19 | 方向调整装置和其应用 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220073124A1 (zh) |
EP (1) | EP3998185A4 (zh) |
JP (1) | JP7267465B2 (zh) |
AU (1) | AU2020310351A1 (zh) |
CA (1) | CA3138500C (zh) |
WO (1) | WO2021004160A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114179903A (zh) * | 2021-12-16 | 2022-03-15 | 上海联适导航技术股份有限公司 | 一种农用车辆手动与自动驾驶切换控制系统 |
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US6076425A (en) * | 1998-06-25 | 2000-06-20 | General Motors Corporation | Steering column for motor vehicle |
CN107738690A (zh) * | 2017-11-20 | 2018-02-27 | 上海联适导航技术有限公司 | 北斗导航自动驾驶方向盘装置 |
CN108357554A (zh) * | 2018-01-18 | 2018-08-03 | 东南大学 | 一种无人驾驶拖拉机通用转向装置及模式自动切换方法 |
CN108394451A (zh) * | 2018-03-27 | 2018-08-14 | 浙江理工大学 | 自动化驾驶方向盘 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3165423B1 (en) * | 2015-11-05 | 2021-07-07 | Arvus Tecnologia Ltda. | Drive unit for vehicle steering |
JP2017124715A (ja) * | 2016-01-13 | 2017-07-20 | 株式会社ショーワ | 操舵装置 |
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2020
- 2020-05-19 WO PCT/CN2020/090933 patent/WO2021004160A1/zh unknown
- 2020-05-19 AU AU2020310351A patent/AU2020310351A1/en not_active Abandoned
- 2020-05-19 EP EP20836115.4A patent/EP3998185A4/en not_active Withdrawn
- 2020-05-19 CA CA3138500A patent/CA3138500C/en active Active
- 2020-05-19 JP JP2021572528A patent/JP7267465B2/ja active Active
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2021
- 2021-11-15 US US17/526,371 patent/US20220073124A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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US6076425A (en) * | 1998-06-25 | 2000-06-20 | General Motors Corporation | Steering column for motor vehicle |
CN107738690A (zh) * | 2017-11-20 | 2018-02-27 | 上海联适导航技术有限公司 | 北斗导航自动驾驶方向盘装置 |
CN108357554A (zh) * | 2018-01-18 | 2018-08-03 | 东南大学 | 一种无人驾驶拖拉机通用转向装置及模式自动切换方法 |
CN108394451A (zh) * | 2018-03-27 | 2018-08-14 | 浙江理工大学 | 自动化驾驶方向盘 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN114179903A (zh) * | 2021-12-16 | 2022-03-15 | 上海联适导航技术股份有限公司 | 一种农用车辆手动与自动驾驶切换控制系统 |
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