WO2006093228A1 - 組立生産方法及びその装置 - Google Patents
組立生産方法及びその装置 Download PDFInfo
- Publication number
- WO2006093228A1 WO2006093228A1 PCT/JP2006/303990 JP2006303990W WO2006093228A1 WO 2006093228 A1 WO2006093228 A1 WO 2006093228A1 JP 2006303990 W JP2006303990 W JP 2006303990W WO 2006093228 A1 WO2006093228 A1 WO 2006093228A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- workpiece
- pallet
- conveying means
- parts
- robot
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/008—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the assembling machines or tools moving synchronously with the units while these are being assembled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/50—Other automobile vehicle parts, i.e. manufactured in assembly lines
Definitions
- the present invention relates to an assembly production method and an apparatus for performing processing such as component assembly on a workpiece to be conveyed by a machining device that is conveyed in the same direction as the component to be conveyed. .
- Patent Document 1 Japanese Patent Application Laid-Open No. 61-146690
- the present invention has been made in view of such problems of the prior art, and the object of the present invention is that it can be easily applied to an existing assembly production line.
- the invention according to claim 1 is characterized in that a free-flowing machine is provided by means of a workpiece conveying means.
- This is an assembly production method in which processing parts such as part assembly are processed by a processing device transported by a processing device transporting means that has its own drive source in the same direction as the processing target component.
- a conveying means connecting step for connecting the workpiece conveying means to the processing apparatus conveying means, and transferring the workpiece from the workpiece conveying means to the processing apparatus conveying means while performing synchronous conveyance.
- the workpiece to be processed that is free-flow conveyed by the workpiece conveying means is conveyed by the machining device conveying means having an original drive source in the same direction as the workpiece.
- An assembly production device for performing processing such as component assembly by a processing device wherein the workpiece transport means includes a detachable pallet that supports the workpiece, and the processing device transport means includes the processing device.
- the invention according to claim 3 is the assembly production apparatus according to claim 2, wherein a drive mechanism of the processing device transport means is provided with a floating mechanism and a centering mechanism in the transport direction.
- the processing device transporting means detaches and supports the pallet that supports the workpiece from the workpiece transporting means, and the cover component. Since it has connecting means that connects the conveying means and synchronously conveys it, The relative positional relationship is established, and the assembly processing accuracy of the processing apparatus is improved.
- FIG. 1 is a schematic plan view of an assembly production apparatus according to the present invention.
- FIG. 2 is a schematic side view of an assembly production apparatus according to the present invention.
- FIG. 6 is a side view of the connecting means, where (a) shows a connected state and (b) shows a disconnected state.
- FIG. 9 is a flowchart showing the operation of the assembly production apparatus according to the present invention and the procedure of the assembly production method according to the present invention.
- FIG. 1 is a schematic plan view of the assembly production apparatus according to the present invention
- FIG. 2 is also a schematic side view
- FIG. 3 is a plan view of the pallet support means
- FIG. 4 is also a front view
- FIG. 6 is a side view
- FIG. 7 is a plan view of a motor floating mechanism and a centering mechanism
- FIG. 8 is a side view of the same
- FIG. 9 is an operation of an assembly production apparatus according to the present invention and an assembly according to the present invention. It is a flowchart which shows the procedure of a production method.
- the assembly production apparatus includes a part-to-be-carried means 2 for carrying a free flow and mounting the part to be processed 1, and a part to be covered 1
- a robot transporting device (processing device transporting means) 4 is mounted, which is mounted with a robot (processing device) 3 for performing processing such as assembly of parts and moves in the same direction as the workpiece transporting means.
- the workpiece 1 is a door.
- the arrows shown in FIG. 1 indicate the transport directions of the pallet transport cart 6 and the robot transport cart 14.
- the workpiece transfer means 2 detachably mounts the pallet 5 that supports the cover component 1 on a pair of pallet receiving members 7 that are erected before and after the pallet transfer carriage 6.
- the workpiece (door) 1 and pallet 5 are indicated by a two-dot chain line.
- the pallet transport carriage 6 is provided with a plurality of rollers 8 at the left and right ends in the transport direction on the lower surface, and a guide rail 9 fixed in the transport direction at the center of the lower surface.
- the part to be transported 2 moves on a rail 11 in which the roller 8 is laid in the transport direction on the floor 10 and the guide rail 9 is sandwiched by the free flow transport port 12 installed in the transport direction.
- the work piece 1 supported by the pallet 5 is conveyed in a free flow.
- the robot transport means 4 is installed on the robot transport carriage 14, the rotary table 15 that is disposed on the robot transport carriage 14 and places the robot 3 so as to be rotatable, and the rotary table 15 And a pallet support means 16 for separating and supporting the pallet 5 from the parts to be transported 2 and a connecting means 17 for mechanically connecting the parts to be processed 2 and synchronously transporting them.
- a motor 18 that is a drive source of the robot transport unit 4 is provided with a floating mechanism 19 and a centering mechanism 20 in the transport direction.
- the robot transport carriage 14 is provided with a plurality of guide members 21 at the left and right ends in the transport direction on the lower surface thereof, and these guide members 21 are slidably engaged with rails 23 laid at both ends of the base 22.
- the robot transport carriage 14 has a motor 18 with a rotary shaft 18a protruding from the bottom surface and perpendicular to the upper surface of the end of the robot carriage 18 and fixed via a floating mechanism 19 and a centering mechanism 20, and the rotary shaft 18a of the motor 18 is A pinion gear 24 is attached to the tip.
- the pinion gear 24 is meshed with a rack 25 laid on the side surface of the base 22 in the transport direction.
- the rotary table 15 is installed on the robot transport carriage 14 so as to be rotatable and fixed at a desired rotational position. In order to rotate the rotary table 15 from the original position and fix it at a desired rotational position, the lock pin 30 is inserted into and removed from the fixing hole 30a.
- the rotary table 15 is provided with a robot mounting base 31 on which the robot 3 is mounted.
- the pallet support means 16 is a cylinder fixed to the rotary table 15 as shown in FIGS.
- a pallet support 36 that is attached to the rod 35a of the cylinder 35 and detachably supports the pallet 5, and a pair of rails 37 laid on the lower surface of the pallet support 36 parallel to the rod 35a, A plurality of guide members 38 slidably engaged with these rails 37 are provided.
- the guide member 38 is fixed to the rotary table 15.
- the cylinder 35 is a cylinder for moving forward to support the pallet 5 on the pallet support 36, or retracting the pallet support 36 from the carriage component conveying means 2 by moving backward.
- the pallet support 36 includes an elevating tape knob 40, a pair of clamp claws 41 that are attached to the elevating table 40 and clamp and fix the lower part 5a of the pallet 5, and each clamping claw 41 that is attached to the elevating table 40.
- It consists of a pallet seating member 46 that receives the pallet 5 from below. 47 is a table on which clamp claws 41 are mounted.
- the cylinder 42 is provided on the elevating table 40, and the table 47 on which the clamp pawl 41 is mounted is slid so that the clamp pawl 41 approaches the lower part 5a of the pallet 5 or is retracted from the lower part 5a of the pallet 5. It is a cylinder for.
- the cylinder 43 is provided on the table 47, and is a cylinder for pressing the clamp pawl 41 against the lower part 5a of the pallet 5 or releasing it from the lower part 5a of the pallet 5.
- a target to be clamped by the pair of clamp claws 41 is a plate member 5b provided on the lower part 5a of the pallet 5. The plate member 5b is fixed to the back surface of the pallet 5. Then, the pair of clamp claws 41 enters the notch formed in the central portion of the plate member 5b, and clamps the edge of the notch.
- the sliding movement of the clamp pawl 41 by the cylinder 42 is smoothly performed by the slide guide 48a fixed to the table 47 and the slide rail 48b fixed to the elevating table 40.
- the lifting / lowering operation of the lifting / lowering table 40 by the cylinder 44 is smoothly performed by the slide lanes 49a fixed to the lifting / lowering table 40 and the slide guide 49b fixed to the base plate 45. Note that when the rod 35a of the cylinder 35 is in the forward state, the pallet support 36 and the pallet receiving member 7 erected before and after the pallet transport carriage 6 are configured not to interfere with each other.
- the connecting means 17 is a robot transport cart 1 of the robot transport means 4. 4 is connected to the pallet transportation carriage 6 of the workpiece transportation means 2 and is attached to the cylinder 51 provided on the edge of the robot transportation carriage 14 via the mounting member 50 and the rod 51 la of the cylinder 51.
- a lock claw 54 that is rotatably attached to the lock claw mounting member 52 around the shaft 53, and a spring that is mounted between the lock claw 54 and the lock claw mounting member 52 and contracts so that the lock claw 54 is locked 55
- an engaging member 56 provided in the pallet transport carriage 6 that engages with an engaging recess 54a formed in the lock claw 54.
- Reference numeral 57 denotes a guide member for the cylinder 51.
- the pallet transport cart 6 is used for the pallet when the pallet transport cart 6 is stopped, or when the moving speed is slower than that of the pallet transport cart 6.
- the carriage 6 catches up, as shown in FIG. 6 (a)
- the engaging member 56 abuts against the inclined portion 54b of the lock claw 54, and further stakes on the contraction force of the spring 55 to move the lock claw 54 downward. Press on.
- the lock claw 54 rotates about the shaft 53 and the engagement member 56 engages with the engagement recess 54 a
- the lock claw 54 returns to its original state due to the contraction force of the spring 55.
- the pallet transport cart 6 is connected to the robot transport cart 14.
- the rod 51a of the cylinder 51 may be set in the retracted state.
- the lock claw 54 and the lock claw attachment member 52 to which the lock claw 54 is attached move downward to engage the engagement member 56.
- the engagement member 56 is released from the constrained state by separating from the mating recess 54a. Then, the pallet transport cart 6 is free-flow transported.
- the arrows shown in FIGS. 5 and 6 indicate the transport directions of the pallet transport cart 6 and the robot transport cart 14.
- the floating mechanism 19 and the centering mechanism 20 of the motor 18 include a plate 60 for fixing the motor 18 and four guide members 61 fixedly provided at the four upper corners of the plate 60. And four rails 62 slidably engaged with the guide member 61 laid on the lower surface of the robot carriage 14 and two cylinders 63 connected in series by connecting the opposite sides of the rods 63a and 64a. , 64 powers.
- the rod 63a of the cylinder 63 is connected to the robot carriage 14 via a bracket 65.
- the rod 64a of the cylinder 64 is connected to a plate 60 to which the motor 18 is fixed via a bracket 66.
- the rod 63a of the cylinder 63 is normally in the forwardly advanced state, and the rod 64a of the cylinder 64 is normally retracted.
- Cylinders 63 and 64 are supplied with air of a predetermined pressure.
- the robot transport means 4 is provided with a lock mechanism 65 for locking the floating mechanism 19 and the centering mechanism 20 during high-speed movement.
- the lock mechanism 65 includes a rotatable roller 67 provided on a rod 66a of a cylinder 66 fixed to the robot carriage 14 and a cam member 69 attached to an end of the plate 60 via a bracket 68. Consists of. Then, when the rod 66a of the cylinder 66 is moved forward and engaged with the roller 67 force S cam member 69, the floating mechanism 19 and the centering mechanism 20 are locked so that they do not function.
- the arrows shown in FIGS. 7 and 8 indicate the transport direction of the robot transport carriage 14.
- step SP1 (conveying means connecting step)
- the pallet transport carriage 6 on which the pallet 5 supporting the workpiece 1 is placed is free-flow transported. Then, the pallet transport cart 6 is mechanically connected to the robot transport cart 14 by the connecting means 17.
- step SP2 covered part holding process
- the pallet conveyance carriage 6 is connected to the robot conveyance carriage 14, so that the robot conveyance carriage 14 and the pallet conveyance carriage 6 become motors.
- the drive of 18 rotates the pinion gear 24 meshed with the rack 25, and starts synchronous conveyance.
- the rod 35a of the cylinder 35 of the pallet support means 16 moves forward, and the pallet support 36 attached to the rod 35a is placed on the pallet receiving member 7 of the pallet conveyance carriage 6. Located below pallet 5.
- step SP3 machining process
- Robot 3 performs processing such as assembly of parts.
- step SP4 covered part return process
- the plate member 5b by the pair of clamp claws 41 is driven by driving the cylinders 42 and 43. Is released, and the pair of cylinders 44 moves backward to lower the pallet seating member 46 and place the pallet 5 on the pallet receiving member 7 instead of the pallet seating member 46.
- step SP5 (conveying means connection releasing step)
- the rod 51a of the cylinder 51 of the connecting means 17 moves backward, and the pallet carrying carriage
- the engagement between the engagement member 56 provided in 6 and the engagement recess 54a of the lock claw 54 is released.
- the pallet conveyance carriage 6 is conveyed to the next stage by the free flow conveyance roller 12.
- the robot carriage 14 returns to the original position by driving the motor 18, and the machining process (one cycle) for the part 1 to be processed is completed.
- the robot 3 stands by at the original position until the next pallet transport cart 6 is transported.
- the relative positional relationship between the machining device and the workpiece is determined. It is possible to provide an assembly production method and an apparatus for improving the assembly accuracy of the processing apparatus.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/817,600 US7677382B2 (en) | 2005-03-03 | 2006-03-02 | Method and apparatus for assembling and manufacturing |
EP06715099A EP1854579A4 (en) | 2005-03-03 | 2006-03-02 | METHOD AND APPARATUS FOR MOUNTING AND MANUFACTURING |
CN2006800068050A CN101166602B (zh) | 2005-03-03 | 2006-03-02 | 装配生产方法及其装置 |
CA002600597A CA2600597A1 (en) | 2005-03-03 | 2006-03-02 | Method and apparatus for assembling and manufacturing |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-058338 | 2005-03-03 | ||
JP2005058338A JP4587845B2 (ja) | 2005-03-03 | 2005-03-03 | 組立生産装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006093228A1 true WO2006093228A1 (ja) | 2006-09-08 |
Family
ID=36941257
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/303990 WO2006093228A1 (ja) | 2005-03-03 | 2006-03-02 | 組立生産方法及びその装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7677382B2 (ja) |
EP (1) | EP1854579A4 (ja) |
JP (1) | JP4587845B2 (ja) |
KR (1) | KR100920101B1 (ja) |
CN (1) | CN101166602B (ja) |
CA (1) | CA2600597A1 (ja) |
WO (1) | WO2006093228A1 (ja) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008037239A1 (de) * | 2008-08-09 | 2010-02-11 | Daimler Ag | Verfahren und Vorrichtung zum Durchführen einer Arbeitsoperation an einem bewegten Werkstück |
JP5347578B2 (ja) * | 2009-03-05 | 2013-11-20 | トヨタ自動車株式会社 | 同期機構 |
FR2948336B1 (fr) * | 2009-07-24 | 2012-03-16 | Peugeot Citroen Automobiles Sa | Poste et procede de travail, chaine de montage incorporant ce poste de travail |
DE102010005314A1 (de) * | 2010-01-21 | 2010-08-19 | Daimler Ag | Montageeinrichtung |
CN102029521B (zh) * | 2010-11-27 | 2013-05-22 | 周俊雄 | 一种钥匙制造设备 |
CN102020100B (zh) * | 2010-12-13 | 2012-07-25 | 长沙伍扬工业设备科技有限公司 | 用于装配线的双小车转角衔接输送机构 |
US9513625B2 (en) * | 2011-06-03 | 2016-12-06 | Comau Llc | Integrated vehicle part delivery and build system |
CN104044009B (zh) * | 2013-03-12 | 2016-08-03 | 鸿富锦精密电子(成都)有限公司 | 台车的供气*** |
CN106826226A (zh) * | 2017-03-02 | 2017-06-13 | 辽宁科技学院 | 组装生产线自动运行工作台 |
JP6462061B1 (ja) * | 2017-07-18 | 2019-01-30 | 本田技研工業株式会社 | 搬送台車 |
CN108237394A (zh) * | 2018-02-15 | 2018-07-03 | 国电联合动力技术(赤峰)有限公司 | 轮毂变桨轴承的自动化安装设备 |
CN110977704B (zh) * | 2019-11-27 | 2024-06-07 | 宁波韦尔德斯凯勒智能科技有限公司 | 一种竹碗全自动打磨设备 |
CN111459115B (zh) * | 2020-04-17 | 2021-06-04 | Oppo(重庆)智能科技有限公司 | 信息管理方法、制造执行***、电子设备和存储介质 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62255089A (ja) * | 1986-04-30 | 1987-11-06 | 三菱電機株式会社 | 産業用ロボツト装置 |
JPS6393530A (ja) * | 1986-10-06 | 1988-04-23 | Nissan Motor Co Ltd | 部品組付け装置 |
JPH06219349A (ja) * | 1993-01-27 | 1994-08-09 | Honda Motor Co Ltd | 燃料タンク組付装置 |
JPH1034455A (ja) * | 1996-07-16 | 1998-02-10 | Mazda Motor Corp | 物品組付方法及びその装置 |
JP2000107960A (ja) * | 1998-09-30 | 2000-04-18 | Mitsubishi Motors Corp | シャトルコンベアと、シャトルコンベアを用いたボルト仮置き用設備 |
Family Cites Families (12)
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US3860125A (en) * | 1973-06-08 | 1975-01-14 | Ford Motor Co | Trim separation |
JPS57114351A (en) * | 1980-12-29 | 1982-07-16 | Nec Home Electronics Ltd | Conveying apparatus |
JPS6085284U (ja) * | 1983-11-15 | 1985-06-12 | 日産自動車株式会社 | 自動車のドア組付装置 |
JPS61146690A (ja) * | 1984-12-19 | 1986-07-04 | Honda Motor Co Ltd | 被組立て本体両側への部品組立て方法 |
JPH0620694B2 (ja) * | 1988-07-22 | 1994-03-23 | 本田技研工業株式会社 | 搬送中のワークに対する作業方法及び作業装置 |
US5191958A (en) * | 1991-02-01 | 1993-03-09 | Giddings & Lewis, Inc. | Automatic framing system |
US5539975A (en) * | 1993-09-08 | 1996-07-30 | Allen-Bradley Company, Inc. | Control system and equipment configuration for a modular product assembly platform |
DE19900804C2 (de) * | 1999-01-12 | 2000-10-19 | Siemens Ag | Fördersystem |
JP3632490B2 (ja) * | 1999-03-24 | 2005-03-23 | トヨタ自動車株式会社 | ウインドガラス自動貼付装置 |
JP3508130B2 (ja) * | 2000-09-21 | 2004-03-22 | 村田機械株式会社 | 搬送システム |
JP2003266252A (ja) * | 2002-03-19 | 2003-09-24 | Ricoh Co Ltd | 自動組立分解装置 |
DE10313463B3 (de) * | 2003-03-26 | 2004-04-29 | Daimlerchrysler Ag | Verfahren und Vorrichtung zum Durchführen einer Arbeitsoperation an einem bewegten Werkstück durch einen synchron mitbewegten Industrieroboter |
-
2005
- 2005-03-03 JP JP2005058338A patent/JP4587845B2/ja not_active Expired - Fee Related
-
2006
- 2006-03-02 WO PCT/JP2006/303990 patent/WO2006093228A1/ja active Application Filing
- 2006-03-02 US US11/817,600 patent/US7677382B2/en not_active Expired - Fee Related
- 2006-03-02 EP EP06715099A patent/EP1854579A4/en not_active Withdrawn
- 2006-03-02 CA CA002600597A patent/CA2600597A1/en not_active Abandoned
- 2006-03-02 CN CN2006800068050A patent/CN101166602B/zh not_active Expired - Fee Related
-
2007
- 2007-09-28 KR KR1020077022180A patent/KR100920101B1/ko not_active IP Right Cessation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62255089A (ja) * | 1986-04-30 | 1987-11-06 | 三菱電機株式会社 | 産業用ロボツト装置 |
JPS6393530A (ja) * | 1986-10-06 | 1988-04-23 | Nissan Motor Co Ltd | 部品組付け装置 |
JPH06219349A (ja) * | 1993-01-27 | 1994-08-09 | Honda Motor Co Ltd | 燃料タンク組付装置 |
JPH1034455A (ja) * | 1996-07-16 | 1998-02-10 | Mazda Motor Corp | 物品組付方法及びその装置 |
JP2000107960A (ja) * | 1998-09-30 | 2000-04-18 | Mitsubishi Motors Corp | シャトルコンベアと、シャトルコンベアを用いたボルト仮置き用設備 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1854579A4 * |
Also Published As
Publication number | Publication date |
---|---|
KR100920101B1 (ko) | 2009-10-01 |
JP2006239805A (ja) | 2006-09-14 |
US20080302636A1 (en) | 2008-12-11 |
CN101166602B (zh) | 2011-08-17 |
EP1854579A1 (en) | 2007-11-14 |
CA2600597A1 (en) | 2006-09-08 |
KR20070108264A (ko) | 2007-11-08 |
US7677382B2 (en) | 2010-03-16 |
JP4587845B2 (ja) | 2010-11-24 |
CN101166602A (zh) | 2008-04-23 |
EP1854579A4 (en) | 2008-03-19 |
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