CN213111361U - Feeding and discharging device for flexible screen - Google Patents

Abstract

The utility model discloses a unloader on flexible screen belongs to automation equipment technical field. The utility model comprises a base, a robot arranged on the base and at least one turnover conveying device; a grabbing mechanism for grabbing the flexible screen is arranged at the movable end of the robot; conveyor includes conveying mechanism and sets up the tilting mechanism in conveying mechanism one side, and tilting mechanism can place the upset of flexible screen in conveying mechanism, and the utility model discloses still including the precorrection mechanism who is used for detecting the flexible screen position. The utility model discloses can carry out the turn-over at flexible screen unloading in-process to utilize the robot to shift, improved production efficiency effectively.

Description

Feeding and discharging device for flexible screen

Technical Field

The utility model belongs to the technical field of automation equipment, concretely relates to unloader on flexible screen.

Background

With the development of display technology, flexible OLED screens are beginning to be applied to mobile terminals such as mobile phones. The flexible OLED screen is a new display technology, and compared with a traditional liquid crystal display, the flexible OLED screen is lighter and thinner in size, low in power consumption and long in service life, and the most important characteristic of the flexible OLED screen is that the flexible OLED screen not only can be used for plane display, but also can be bent and deformed to realize curved surface display. Meanwhile, compared with the traditional liquid crystal display, the production process flow of the liquid crystal display is greatly simplified, and the liquid crystal display is the mainstream direction of the development of the future display technology.

In the production process of the flexible OLED screen, a plurality of defective products can be generated, wherein the defective products can be repaired, and for the repairable defective products, a corresponding repairing method can be selected according to the defect types for repairing, wherein the laser repairing technology is a commonly adopted repairing technology. The laser repairing technology is to carbonize the dead spots on the screen by using laser, thereby achieving the purpose of repairing. In actual production, the repair of the flexible screen is a large-scale production activity, so that the requirement on production efficiency is relatively high for enterprises. In order to improve the production efficiency of laser repair, the feeding and discharging process of the flexible screen is an important stage, and for the feeding and discharging process of the flexible screen, a plurality of aspects need to be considered, on one hand, how to rapidly carry out material conveying and transferring; on the other hand, because the flexible screen can repair different surfaces, how to quickly adjust the screen to different repair surfaces is considered, and then feeding and blanking are carried out; in addition, the contamination problem of the surface of the flexible screen and the like need to be considered.

The Chinese patent with the application number of 201721329360.1 discloses OLED Cell defect maintenance equipment, which utilizes a plurality of transfer devices to realize the transportation and transfer of materials when the equipment carries out the loading and unloading of a flexible screen, and has relatively complex structure, large volume and low efficiency; meanwhile, when the device is used for laser repair, the turnover of the flexible screen is realized in the repair process, so that the production efficiency is reduced. In chinese patent application No. 201520499441.0, an automatic feeding equipment who uses the robot is disclosed, this equipment utilizes the robot to carry out the unloading of going up of product, and efficiency has obtained effective improvement, nevertheless, if utilize this equipment to carry out the unloading of going up of flexible screen, still can not realize the turn-over of flexible screen to need the assistance of other equipment, consequently not only can increase the volume of equipment, also can influence production efficiency.

Disclosure of Invention

The technical problem is as follows: the utility model provides a can go up the unloader on the flexible screen that the unloading in-process carries out the turn-over and effectively raises the efficiency to the flexible screen on the flexible screen, further, the device can also detect the position of flexible screen at the material loading in-process to clean the surface, improved production efficiency effectively.

The technical scheme is as follows: the utility model relates to a unloader on flexible screen, include: the robot comprises a base, a robot arranged on the base and at least one turnover conveying device;

a grabbing mechanism for grabbing and placing the flexible screen is arranged at the movable end of the robot;

the conveying device comprises a conveying mechanism and a turnover mechanism arranged on one side of the conveying mechanism, and the turnover mechanism can turn over the flexible screen and place the flexible screen on the conveying mechanism.

Furthermore, two overturning and conveying devices are arranged on the base, wherein one overturning and conveying device is used for feeding, and the other overturning and conveying device is used for discharging.

Further, the conveying mechanism comprises a guide rail, a first bearing platform arranged on the guide rail and a first driving mechanism used for driving the first bearing platform to move on the guide rail;

the turnover mechanism comprises a support frame, a second bearing platform arranged on the support frame and a second driving mechanism used for driving the second bearing platform to turn over, and an adsorption device used for adsorbing the flexible screen is arranged on the second bearing platform;

the first driving mechanism drives the first bearing platform to move to a position opposite to the second bearing platform along the guide rail.

Further, the suction device is a vacuum suction plate or a plurality of vacuum chucks, and the vacuum suction plate or the vacuum chucks are connected with the vacuum suction device through pipelines.

Further, the flexible screen position pre-correcting device comprises a pre-correcting mechanism which is arranged on the base and used for detecting the position of the flexible screen on the feeding overturning and conveying device.

Further, the pre-calibration mechanism comprises a gantry arranged above the feeding overturning and conveying device, at least one camera arranged on the gantry, and a third driving mechanism used for driving the camera to horizontally move on the gantry;

the camera can shoot the flexible screen on the conveying mechanism of the turnover conveying device and is used for detecting the position of the flexible screen.

Further, the number of the cameras is two.

Furthermore, a dust removal device is arranged on the gantry and used for removing dust on the surface of the flexible screen.

Further, a light source is arranged below the camera.

Furthermore, the robot is a three-axis, four-axis, five-axis or six-axis manipulator.

Has the advantages that: compared with the prior art, the utility model, have following advantage:

(1) the utility model comprises a robot and at least one turnover conveying device, wherein the turnover conveying device comprises a conveying mechanism and a turnover mechanism, and when in feeding, if turnover is not needed, the material is directly placed on the conveying mechanism for feeding; if the flexible screen is required to be turned, the flexible screen is placed on the turning mechanism, and the flexible screen is directly placed on the conveying mechanism after being turned by the turning mechanism for conveying. And after the flexible screen is conveyed to the proper position, the flexible screen is transferred to a laser repairing machine by using a robot for repairing. After the repair is completed, the robot is used for quickly transferring the repaired flexible screen to a conveying mechanism or a turnover mechanism, and the blanking is completed quickly. Therefore, can carry out the turn-over at the material loading in-process, need not other equipment and supplementary, utilize the robot to carry out the flexible screen fast simultaneously and shift, improved efficiency effectively.

(2) The utility model is provided with two turnover conveying devices, wherein one turnover conveying device is used for feeding; the other overturning and conveying device is used for blanking; thereby separating the feeding process from the discharging process, avoiding the conflict between the two processes, further improving the efficiency of feeding and discharging and further effectively improving the production efficiency.

(3) The utility model discloses an upset conveyor utilizes tilting mechanism to carry out the upset of flexible screen, realizes the turn-over of flexible screen, then places the flexible screen after the turn-over on conveying mechanism's a load-bearing platform, carries out the transport of flexible screen. In the process of feeding and taking materials, the first bearing platform or the second bearing platform faces upwards, so that feeding and taking materials are facilitated, meanwhile, in the process of conveying the flexible screen, the flexible screen can be continuously placed on the turnover mechanism to wait for turnover, and efficiency is effectively improved.

(4) The utility model discloses an adsorption equipment is vacuum suction plate or a plurality of vacuum chuck, holds flexible screen through vacuum adsorption's mode, prevents that flexible screen from dropping at the upset in-process.

(5) The utility model discloses still include precorrection mechanism for the position of the flexible screen on the conveying mechanism of the upset conveyor who arranges the material loading in is detected, and gives the robot with positional information transmission, makes the robot can be accurately to snatching, simultaneously, makes the robot make enough suitable position on shifting the laser repair machine with flexible screen, reduces the adjustment time of follow-up process, thereby has further improved efficiency.

(6) The utility model discloses be provided with dust collector on the longmen of school mechanism in advance, can get rid of the dust on flexible screen surface at flexible screen material loading in-process for at the laser repair in-process, can accurately detect out the dead pixel on the screen fast, consequently when raising the efficiency, can also improve the restoration quality.

Drawings

FIG. 1 is a structural diagram of the flexible screen loading and unloading device of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is a structural diagram of the turnover conveying device of the present invention;

fig. 4 is a top view of the turnover conveying device of the present invention (the first carrying platform is opposite to the second carrying platform);

fig. 5 is a top view of the turnover mechanism of the present invention;

FIG. 6 is a structural diagram of the pre-calibration mechanism of the present invention;

fig. 7 is a partial enlarged view of fig. 6 at B.

The figure shows that: 1. a base;

2. a robot; 21. a grabbing mechanism;

3. a turnover conveying device; 31. a conveying mechanism; 32. a turnover mechanism;

310. a guide rail; 311. a first load-bearing platform; 312. a first drive mechanism; 3120. a first drive motor; 320. a support frame; 321. a second load-bearing platform; 322. a second drive mechanism; 323. an adsorption device;

4. a pre-calibration mechanism; 41. a gantry; 42. a third drive mechanism; 43. a camera; 44. a displacement fine adjustment mechanism; 45. a dust removal device; 46. a light source.

Detailed Description

The invention is further described with reference to the following examples and the accompanying drawings.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Combine fig. 1 ~ 2 to show, the utility model discloses unloader on flexible screen, including base 1, setting robot 2 and at least one upset conveyor 3 on base 1.

The movable end of the robot 2 is provided with a grabbing mechanism 21 for grabbing and placing the flexible screen; the utility model discloses an in the embodiment, robot 2 can adopt triaxial, four-axis, five-axis or six-axis manipulator, in preferred embodiment, has adopted four-axis manipulator, realizes utilizing single manipulator to accomplish the material transfer of multistation to reduce laser repair equipment's area effectively, the cost is reduced has improved the degree of automation of production line simultaneously.

Snatch mechanism 21 and set up the expansion end at the manipulator, because the characteristics of flexible screen, thin and can be crooked, in order to avoid damaging the flexible screen at the in-process that snatchs the flexible screen, the utility model discloses an in the preferred embodiment, snatch mechanism 21 and adopt vacuum adsorption's mode to grab and get the flexible screen. In particular, at the free end of the robot 2, there are provided several vacuum cups, typically at least 4, connected by a pipe to a vacuum suction device (not shown in the drawings), wherein the vacuum suction device may be a vacuum pump or a vacuum generator. When the vacuum suction device works, the vacuum sucker can suck the flexible screen, so that the flexible screen is grabbed. When vacuum chuck is a plurality of, can hold the multiple point of flexible screen to can snatch the flexible screen firmly, avoid the flexible screen to drop from snatching mechanism 21 at the in-process that shifts, cause the flexible screen to damage.

As shown in fig. 3 to 5, the turnover conveying device 3 includes a conveying mechanism 31 and a turnover mechanism 32 disposed on one side of the conveying mechanism 31, and the turnover mechanism 32 can turn over the flexible screen and place the flexible screen on the conveying mechanism 31. The conveying mechanism 31 is used for conveying the flexible screen, and the turnover mechanism 32 is used for turning over the flexible screen.

The grabbing mechanism 21 can grab the flexible screen from the conveying mechanism 31 or the turnover mechanism 32, and can also place the repaired flexible screen on the conveying mechanism 31 or the turnover mechanism 32. Therefore, the working range of the robot 2 covers each station, so that the multi-station material transfer is realized by using one robot 2.

When the feeding and discharging device of the utility model is used, in the feeding process, if the turnover is not needed, the material is directly placed on the conveying mechanism 31 for feeding; if the flexible screen needs to be turned over, the flexible screen is placed on the turning mechanism 32, and the flexible screen is turned over by the turning mechanism 32 and then directly placed on the conveying mechanism 31 for conveying. After the flexible screen is conveyed to the right position, the flexible screen is transferred to a laser repairing machine by the robot 2 for repairing. After the repair is completed, the robot 2 is reused to quickly transfer the repaired flexible screen to the conveying mechanism 31 or the turnover mechanism 32, if the turnover is not needed, the robot 2 directly places the flexible screen on the conveying mechanism 31, and when the turnover is needed, the flexible screen is directly placed on the turnover mechanism 32, and the blanking is rapidly completed. Therefore, can carry out the turn-over at the material loading in-process, need not other equipment and supplementary, utilize robot 2 to carry out the flexible screen fast simultaneously and shift, improved efficiency effectively.

Further, in the embodiment of the present invention, as shown in fig. 1, two turnover conveying devices 3 are disposed on the base 1, wherein one turnover conveying device 3 is used for loading, and the other turnover conveying device 3 is used for unloading. The feeding process and the discharging process are separated, so that the conflict between the two processes is avoided, the feeding and discharging efficiency is further improved, and the production efficiency is effectively improved.

In the embodiment of the present invention, the turning mechanisms 32 of the two turning conveying devices 3 are all disposed on one side of the conveying mechanism 31 away from the robot 2, so that the space is effectively utilized.

Further, in the embodiment of the present invention, the conveying mechanism 31 of the turnover conveying device 3 includes: the device comprises a guide rail 310, a first bearing platform 311 arranged on the guide rail 310 and a first driving mechanism 312 for driving the first bearing platform 311 to move on the guide rail 310; the turnover mechanism 32 includes a support frame 320, a second bearing platform 321 arranged on the support frame 320, and a second driving mechanism 322 for driving the second bearing platform 321 to turn over, and an adsorption device 323 for adsorbing the flexible screen is arranged on the second bearing platform 321;

the first bearing platform 311 can move along the guide rail 310 to a position opposite to the second bearing platform 321 under the driving of the first driving mechanism 312, where the relative position refers to a position where the first bearing platform 311 is aligned with the second bearing platform 321, such as the position shown in fig. 4. After the flexible screen is placed on the second bearing platform 321, the second driving mechanism 322 drives the second bearing platform 321 to turn over, and places the flexible screen on the first bearing platform 311. The turnover conveying device 3 utilizes the turnover mechanism 32 to turn over the flexible screen, so as to turn over the flexible screen, and then places the turned-over flexible screen on the first bearing platform 311 of the conveying mechanism 31 to convey the flexible screen. In the process of feeding and taking materials, the first bearing platform 311 and the second bearing platform 321 are both upward, so that feeding and taking materials are facilitated, meanwhile, in the process of conveying the flexible screen, the flexible screen can be continuously placed on the turnover mechanism 32 to wait for turnover, and the efficiency is effectively improved.

Wherein, in an embodiment of the utility model, first actuating mechanism 312 includes the lead screw that sets up inside guide rail 310, sets up the slider on the lead screw, sets up the first driving motor 3120 in guide rail 310 one end, and first load-bearing platform 311 installs on the slider, first driving motor 3120 is connected with lead screw one end. In a specific implementation, one end of the lead screw is connected with the first driving motor 3120 through a coupling. When the first driving motor 3120 works, the lead screw is driven to rotate, the lead screw transmits power to the slider, the rotary motion of the lead screw is converted into the linear motion of the slider, and the slider drives the first bearing platform 311 to linearly reciprocate along the guide rail. In other embodiments, a synchronous belt drive may be used to drive the first carriage 311 to move along the guide rail 310.

The second driving mechanism 322 may be a motor, a rotating shaft is disposed on the second bearing platform 321, the second bearing platform 321 is disposed on the supporting frame 320 in a reversible manner, and an output shaft of the motor is connected to the rotating shaft through a coupling, so that when the motor works, the second bearing platform 321 is driven to turn. Second actuating mechanism 322 also can be for cylinder, electric jar or pneumatic cylinder etc. also can overturn through link mechanism the utility model discloses in, do not do specific restriction.

In the embodiment of the present invention, the adsorption device 323 can be a vacuum suction plate or a plurality of vacuum chucks, and then the vacuum suction plate or the vacuum chucks are connected to the vacuum suction device through a pipeline (the vacuum suction device is not shown in the drawings). For example, in one embodiment of the present invention, the suction device 323 is a plurality of vacuum cups. Specifically, the vacuum chuck.

In the preferred embodiment of the present invention, as shown in fig. 5, the adsorption device 323 includes a plurality of groups of vacuum chucks, and the center of the rectangle formed by each group of vacuum chucks is located at the same point, so that the turnover mechanism 32 can be used for turning over the flexible screens with different sizes, and when adsorbing the flexible screen with a large size, more points on the flexible screen can be sucked, and the flexible screen is prevented from dropping from the second bearing platform 321 and being damaged. Meanwhile, the situation that the flexible screen is difficult to adsorb due to the bending characteristic of the flexible screen can be avoided when the flexible screen with a larger size is adsorbed.

After the flexible screen is placed on the second bearing platform 321, the adsorption device 323 adsorbs the flexible screen in a vacuum adsorption mode, then the second bearing platform 321 is driven by the second driving mechanism 322 to turn over the flexible screen, and then the turned-over flexible screen is placed on the first bearing platform 311.

The embodiment of the utility model provides an in order to prevent that the flexible screen from dropping and taking place the position change from first load-bearing platform 311 in transportation process, adopt vacuum adsorption's mode to hold the flexible screen at first load-bearing platform 311, consequently, first load-bearing platform 311 can adopt micropore suction disc or air supporting platform to connect and inhale vacuum apparatus (not drawn in the drawing), prevent effectively that the flexible screen from dropping or taking place the offset in transportation process.

Further, the utility model discloses unloader on flexible screen still includes be used for carrying out position detection's precorrection mechanism 4 to the flexible screen on the upset conveyor 3 of material loading on the base 1. More specifically, the position of the flexible screen on the first bearing platform 311 of the conveying mechanism 31 of the feeding turnover conveying device 3 is detected, and the detected position information is fed back to the robot 2, and the robot 2 adjusts the position of the grabbing mechanism 21 according to the fed-back information, so that the flexible screen is accurately grabbed, and the problem that the flexible screen falls off from the grabbing mechanism 21 in the feeding and discharging processes due to inaccurate position and inaccurate grabbing of the flexible screen is avoided. And the flexible screen can be placed at a proper position of the laser repairing machine according to the detected position information, so that the adjustment of the subsequent process is reduced.

As shown in fig. 6 to 7, the pre-calibration mechanism 4 includes a gantry 41, at least one camera 43 disposed on the gantry 41, and a third driving mechanism 42 for driving the camera 43 to move horizontally on the gantry 41, and the camera 43 can photograph the flexible screen on the conveying mechanism 31 of the feeding reverse conveying device 3, so as to detect the position of the flexible screen. The third driving mechanism 42 may be a motor, an air cylinder, a hydraulic cylinder, or the like, and for example, when a motor is used, a ball screw transmission may be used to drive the camera 43 to move horizontally.

Because the material loading process of flexible screen is on being in order to come material transfer to laser repairing machine, and the unloading process is from the laser repairing machine on the flexible screen transfer after restoreing, consequently only need utilize with the position that 4 detection flexible screens of precorrection mechanism in the material loading process, so the embodiment of the utility model discloses an in the embodiment, set up precorrection mechanism 4 in the top of the upset conveyor 3 of material loading. Specifically, the conveying mechanism 31 of the turnover conveying device 3 for loading passes through the gantry 41 of the pre-calibration mechanism 4, and when the first carrying platform 311 of the conveying mechanism 31 moves below the camera 43, the camera 43 is used for taking a picture of the flexible screen, so as to detect the position of the flexible screen.

More specifically, the pre-calibration mechanism 4 includes two cameras 43, which can simultaneously capture two positions of the flexible screen, so as to detect the accurate position of the flexible screen on the first bearing platform 311.

The utility model discloses an in the embodiment, be provided with displacement fine-tuning 44 on third actuating mechanism 42, camera 43 sets up on displacement fine-tuning 44, thereby third actuating mechanism 42 can drive displacement fine-tuning 44 and camera 43 and move together, after third actuating mechanism 42 puts camera 43 adjustment in place, utilize displacement fine-tuning 44 to finely tune the position of camera 43 in three-dimensional space, and then can accurately shoot the flexible screen, detect the position of flexible screen more accurately. The displacement fine adjustment mechanism 44 may be an existing displacement fine adjustment mechanism, such as a mechanical transmission type fine adjustment mechanism.

Further, because flexible screen surface probably has some dusts, if direct when sending into the flexible screen that has the dust on the surface into laser repair machine and restoreing, can lead to a lot of dead spots to be difficult to detect because of sheltering from of dust for the dead spot that can not detect is restoreed, in order to avoid taking place above-mentioned problem the embodiment of the utility model discloses an in the embodiment, be provided with dust collector 45 on the longmen 41 of precorrection mechanism 4 for get rid of the dust on flexible screen surface. Specifically, the utility model discloses a what dust collector 45 adopted is that the mode that the supersound removed dust removes dust, utilizes the ultrasonic wave, gets rid of the dust on flexible screen surface, not only can get rid of the dust effectively, simultaneously at the in-process that removes dust, avoid with flexible screen contact, the flexible screen of fish tail.

Further, in the embodiment of the present invention, the light source 46 is disposed below the camera 43, so that the shooting position of the camera 43 can be illuminated in the shooting process, so that the shooting can be more clearly performed. It should be noted that the light source 46 cannot block the lens of the camera 43, which would otherwise affect the shooting of the camera 43.

The utility model provides a unloader on flexible screen, the device can accomplish the material loading and the unloading of flexible screen fast to can carry out the turn-over at last unloading in-process, improve efficiency effectively.

The above-described embodiments are only preferred embodiments of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several modifications and equivalent substitutions can be made, and these modifications and equivalent substitutions do not depart from the technical scope of the present invention.

Claims (10)

1. The utility model provides a unloader on flexible screen which characterized in that includes: the robot comprises a base (1), a robot (2) arranged on the base (1) and at least one turnover conveying device (3);

a grabbing mechanism (21) for grabbing and placing the flexible screen is arranged at the movable end of the robot (2);

the conveying device (3) comprises a conveying mechanism (31) and a turnover mechanism (32) arranged on one side of the conveying mechanism (31), and the turnover mechanism (32) can turn over the flexible screen and place the flexible screen on the conveying mechanism (31).

2. The flexible screen loading and unloading device according to claim 1, wherein the base (1) is provided with two turnover conveying devices (3), one turnover conveying device (3) is used for loading, and the other turnover conveying device (3) is used for unloading.

3. The flexible screen loading and unloading device according to claim 2, wherein the conveying mechanism (31) comprises a guide rail (310), a first bearing platform (311) arranged on the guide rail (310), and a first driving mechanism (312) for driving the first bearing platform (311) to move on the guide rail (310);

the turnover mechanism (32) comprises a support frame (320), a second bearing platform (321) arranged on the support frame (320) and a second driving mechanism (322) used for driving the second bearing platform (321) to turn over, and an adsorption device (323) used for adsorbing the flexible screen is arranged on the second bearing platform (321);

the first bearing platform (311) can move to a position opposite to the second bearing platform (321) along the guide rail (310) under the driving of the first driving mechanism (312).

4. The flexible screen loading and unloading device according to claim 3, characterized in that the suction device (323) is a vacuum suction plate or a plurality of vacuum suction cups, and the vacuum suction plate or the vacuum suction cups are connected with the vacuum suction device through a pipeline.

5. The flexible screen loading and unloading device according to any one of claims 2-4, further comprising a pre-calibration mechanism (4) arranged on the base (1) for detecting the position of the flexible screen on the feeding turnover conveyor (3).

6. The flexible screen loading and unloading device according to claim 5, wherein the pre-calibration mechanism (4) comprises a gantry (41) arranged above the turnover conveying device (3) for loading, at least one camera (43) arranged on the gantry (41), and a third driving mechanism (42) for driving the camera (43) to move horizontally on the gantry (41);

the camera (43) can photograph the flexible screen on the conveying mechanism (31) of the turnover conveying device (3) and is used for detecting the position of the flexible screen.

7. The flexible screen loading and unloading device according to claim 6, wherein the number of the cameras (43) is two.

8. The flexible screen loading and unloading device according to claim 6, wherein the gantry (41) is provided with a dust removing device (45) for removing dust on the surface of the flexible screen.

9. The flexible screen loading and unloading device according to claim 7, wherein a light source (46) is arranged below the camera (43).

10. The flexible screen loading and unloading device according to claim 1, wherein the robot (2) is a three-axis, four-axis, five-axis or six-axis manipulator.

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