High-precision horizontal axis silicon micro gyroscope based on tuning fork driving effect
阅读说明:本技术 一种基于音叉驱动效应的高精度水平轴硅微陀螺仪 (High-precision horizontal axis silicon micro gyroscope based on tuning fork driving effect ) 是由 刘国文 高乃坤 徐杰 张乐民 王健鹏 刘福民 于 2020-06-23 设计创作,主要内容包括:本发明公开了一种基于音叉驱动效应的高精度水平轴硅微陀螺仪,包括:包括盖帽层、陀螺仪敏感结构和衬底层;其中,盖帽层和衬底层相连接组成内部真空结构,陀螺仪敏感结构设置于内部真空结构;陀螺敏感结构包括第一驱动梳齿组、第二驱动梳齿组、第三驱动梳齿组、第四驱动梳齿组、第一驱动检测梳齿、第二驱动检测梳齿、第三驱动检测梳齿、第四驱动检测梳齿、第一驱动弹性梁组、第二驱动弹性梁组、第一检测弹性梁组、第二检测弹性梁组、锚区组、第一质量块、第二质量块、耦合弹性梁、第一驱动框架和第二驱动框架。本发明实现了俯仰和滚动角速率的测量,并减小了惯性测量单元的体积。(The invention discloses a high-precision horizontal axis silicon micro gyroscope based on tuning fork driving effect, which comprises: the gyroscope sensor comprises a cover cap layer, a gyroscope sensitive structure and a substrate layer; the gyroscope sensitive structure is arranged in the internal vacuum structure; the gyroscope sensitive structure comprises a first driving comb tooth group, a second driving comb tooth group, a third driving comb tooth group, a fourth driving comb tooth group, a first driving detection comb tooth, a second driving detection comb tooth, a third driving detection comb tooth, a fourth driving detection comb tooth, a first driving elastic beam group, a second driving elastic beam group, a first detection elastic beam group, a second detection elastic beam group, an anchor block group, a first mass block, a second mass block, a coupling elastic beam, a first driving frame and a second driving frame. The invention realizes the measurement of pitch and roll angular rates and reduces the volume of the inertial measurement unit.)
1. A high-precision horizontal axis silicon micro gyroscope based on tuning fork driving effect is characterized by comprising: comprises a cover cap layer (17), a gyroscope sensitive structure (18) and a substrate layer (19); wherein the content of the first and second substances,
the cover layer (17) and the substrate layer (19) are connected to form an internal vacuum structure, and the gyroscope sensitive structure (18) is arranged in the internal vacuum structure;
the gyroscope sensitive structure (18) comprises a first driving comb tooth group (1), a second driving comb tooth group (2), a third driving comb tooth group (3), a fourth driving comb tooth group (4), a first driving detection comb tooth (5), a second driving detection comb tooth (6), a third driving detection comb tooth (7), a fourth driving detection comb tooth (8), a first driving elastic beam group (91), a second driving elastic beam group (92), a first detection elastic beam group (101), a second detection elastic beam group (102), an anchor area group (11), a first mass block (12), a second mass block (13), a coupling elastic beam (14), a first driving frame (151) and a second driving frame (152); wherein the content of the first and second substances,
the first driving comb tooth group (1) and the first driving detection comb tooth (5) are arranged on a first side wall (1511) of the first driving frame (151); the second driving comb tooth group (2) and the second driving detection comb teeth (6) are arranged on a first secondary side wall (1512) of the first driving frame (151); wherein the first side wall (1511) is opposite to the first second side wall (1512);
the third driving comb tooth group (3) and the third driving detection comb tooth (7) are both arranged on a second side wall (1521) of the second driving frame (152); the fourth driving comb tooth group (4) and the fourth driving detection comb tooth (8) are both arranged on a second side wall (1522) of the second driving frame (152); wherein the second first sidewall (1521) is opposite to the second sidewall (1522);
one end of the first driving elastic beam group (91) is connected with the anchor group (11), and the other end of the first driving elastic beam group (91) is connected with the first driving frame (151);
one end of the second driving elastic beam group (92) is connected with the anchor group (11), and the other end of the second driving elastic beam group (92) is connected with a second driving frame (152);
the first mass (12) is arranged inside the first drive frame (151) and the second mass (13) is arranged inside the second drive frame (152);
one end of the first detection elastic beam group (101) is connected with the first driving frame (151), and the other end of the first detection elastic beam group (101) is connected with the first mass block (12);
one end of the second detection elastic beam group (102) is connected with the second driving frame (152), and the other end of the second detection elastic beam group (102) is connected with the second mass block (13);
the first driving frame (151) is connected with the second driving frame (152) through the coupling elastic beam (14);
the first mass (12) and the second mass (13) are symmetrical with respect to a center line of the coupling spring beam (14);
the upper surface of the substrate layer (19) is provided with a first metal electrode plate (211) and a second metal electrode plate (212), the first metal electrode plate (211) and the lower surface of the first mass block (12) form a detection capacitor, and the second metal electrode plate (212) and the lower surface of the second mass block (13) form a detection capacitor.
2. The high-precision horizontal-axis silicon micro-gyroscope based on the tuning fork driving effect as claimed in claim 1, wherein: the first driving comb tooth group (1) comprises five first driving comb teeth, and the five first driving comb teeth are arranged on one side wall of the first driving frame (151) in parallel at equal intervals;
the second driving comb tooth group (2) comprises five second driving comb teeth, and the five second driving comb teeth are arranged on the other side wall of the first driving frame (151) in parallel at equal intervals;
the third driving comb tooth group (3) comprises five third driving comb teeth, and the five third driving comb teeth are arranged on one side wall of the second driving frame (152) in parallel at equal intervals;
the fourth driving comb tooth group (4) comprises five fourth driving comb teeth, and the five fourth driving comb teeth are arranged on the other side wall of the second driving frame (152) in parallel at equal intervals.
3. The high-precision horizontal-axis silicon micro-gyroscope based on the tuning fork driving effect as claimed in claim 1, wherein: the first driving elastic beam group (91) comprises a first one-to-one driving elastic beam (911), a first two-to-one driving elastic beam (912), a first three-to-one driving elastic beam (913) and a first four-to-one driving elastic beam (914);
the anchor block group (11) comprises a first anchor area (111), a second anchor area (112), a third anchor area (113), a fourth anchor area (114), a fifth anchor area (115) and a sixth anchor area (116);
one end of the first one-to-one driving elastic beam (911) is connected with the first anchor area (111), and the other end of the first one-to-one driving elastic beam (911) is connected with the upper left corner point of the first driving frame (151);
one end of the first secondary driving elastic beam (912) is connected with the second anchor area (112), and the other end of the first secondary driving elastic beam (912) is connected with the upper right corner point of the first driving frame (151);
one end of the first third driving elastic beam (913) is connected with the third anchor area (113), and the other end of the first third driving elastic beam (913) is connected with the lower left corner point of the first driving frame (151);
one end of the first four-drive elastic beam (914) is connected with the fourth anchor area (114), and the other end of the first four-drive elastic beam (914) is connected with the lower right corner point of the first drive frame (151).
4. The high-precision horizontal-axis silicon micro-gyroscope based on the tuning fork driving effect as claimed in claim 3, wherein: the second driving elastic beam group (92) comprises a second first driving elastic beam (921), a second driving elastic beam (922), a second third driving elastic beam (923) and a second fourth driving elastic beam (924);
one end of the second first driving elastic beam (921) is connected with the second anchor area (112), and the other end of the second first driving elastic beam (921) is connected with the upper left corner point of the second driving frame (152);
one end of the second driving elastic beam (922) is connected with the fifth anchor area (115), and the other end of the second driving elastic beam (922) is connected with the upper right corner point of the second driving frame (152);
one end of the second third driving elastic beam (923) is connected with the fourth anchor area (114), and the other end of the second third driving elastic beam (923) is connected with the lower left corner point of the second driving frame (152);
one end of the second four-drive elastic beam (924) is connected with the sixth anchor area (116), and the other end of the second four-drive elastic beam (924) is connected with the lower right corner point of the second drive frame (152).
5. The high-precision horizontal-axis silicon micro-gyroscope based on the tuning fork driving effect as claimed in claim 1, wherein: the first detection elastic beam group (101) comprises a first one-to-one detection elastic beam (1011), a first two-to-one detection elastic beam (1012), a first three-to-one detection elastic beam (1013) and a first four-to-one detection elastic beam (1014); wherein the content of the first and second substances,
one end of the first detection elastic beam (1011) is connected with a first side wall (1511) of the first driving frame (151), and the other end of the first detection elastic beam (1011) is connected with the first mass block (12);
one end of the first two-two detection elastic beam (1012) is connected with a first two side wall (1512) of the first driving frame (151), and the other end of the first two-two detection elastic beam (1012) is connected with the first mass block (12);
one end of the first third detection elastic beam (1013) is connected with the first third side wall (1513) of the first driving frame (151), and the other end of the first third detection elastic beam (1013) is connected with the first mass block (12);
one end of the first four detection elastic beam (1014) is connected with a first four side wall (1514) of the first driving frame (151), and the other end of the first four detection elastic beam (1014) is connected with the first mass block (12).
6. The high-precision horizontal-axis silicon micro-gyroscope based on the tuning fork driving effect as claimed in claim 1, wherein: the second detecting elastic beam group (102) comprises a second first detecting elastic beam (1021), a second detecting elastic beam (1022), a second third detecting elastic beam (1023) and a second fourth detecting elastic beam (1024); wherein the content of the first and second substances,
one end of the second first detection elastic beam (1021) is connected with a second side wall (1521) of the second driving frame (152), and the other end of the second first detection elastic beam (1021) is connected with the second mass block (13);
one end of the second detection elastic beam (1022) is connected with the second side wall (1522) of the second driving frame (152), and the other end of the second detection elastic beam (1022) is connected with the second mass block (13);
one end of the second third detection elastic beam (1023) is connected with the second third side wall (1523) of the second driving frame (152), and the other end of the second third detection elastic beam (1023) is connected with the second mass block (13);
one end of the second four detection elastic beam (1024) is connected with a second four side wall (1524) of the second driving frame (152), and the other end of the second four detection elastic beam (1024) is connected with the second mass block (13).
7. The high-precision horizontal-axis silicon micro-gyroscope based on the tuning fork driving effect as claimed in claim 1, wherein: the first mass (12) has a square cross section.
8. The high-precision horizontal-axis silicon micro-gyroscope based on the tuning fork driving effect as claimed in claim 1, wherein: the cross section of the second mass block (13) is square.
Technical Field
The invention belongs to the technical field of micro-mechanical inertial instruments, and particularly relates to a high-precision horizontal axis silicon micro-gyroscope based on a tuning fork driving effect, which can be applied to systems such as guided bombs, portable air-defense missiles, mobile equipment, unmanned aerial vehicles, navigation equipment and the like and is used for measuring the rotation angular rate of a carrier around a fixed shaft relative to an inertial space.
Background
The gyroscope is a sensor for measuring the rotation motion of a carrier relative to an inertial space, is a core device in the fields of motion measurement, inertial navigation, guidance control and the like, and has very important application value in high-end industrial equipment and accurate striking weapons such as aerospace, unmanned driving, guided ammunition and the like. With the continuous development of application fields such as individual navigation, microminiature operation platform, satellite navigation, unmanned driving, internet of things, intelligent medical treatment and the like, the silicon micro gyroscope has huge application prospect due to the characteristics of small volume, low power consumption, long service life, batch production, low price and the like.
Silicon micro-gyroscopes are commonly used in small Inertial Measurement Units (IMUs), a high performance 6-axis IMU consisting of 3 single-axis micro-gyroscopes and 3 single-axis micro-accelerometers, which can measure yaw rate, pitch rate and roll rate simultaneously. Because the traditional silicon micro gyroscope is generally a Z-axis gyroscope and is used for the application of a yaw rate detection device, the measurement of the pitch and roll angular rates can be realized only by vertically placing the Z-axis gyroscope. This arrangement results in an increase in the volume of the inertial measurement unit, which is not conducive to miniaturization of the micro inertial system. Compared with the advanced foreign technologies, the precision, the integration level and the like of the domestic single-chip integrated three-axis gyroscope still have larger gaps, the development and the application of domestic micro-inertia devices are greatly limited, and the coupling degree of the single-chip integrated three-axis gyroscope in each direction is higher, so that the single-chip integrated three-axis gyroscope is not beneficial to high-precision measurement.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, the high-precision horizontal axis silicon micro gyroscope based on the tuning fork driving effect is provided, and the pitching and rolling speed detection is realized by adopting the high-precision horizontal axis silicon micro gyroscope based on the tuning fork driving effect. Meanwhile, a differential vacuum packaging form is adopted, so that the silicon micro gyroscope can keep higher angular rate measurement precision in a complex vibration mechanical environment, and a foundation is laid for integration of a small inertial measurement unit.
The purpose of the invention is realized by the following technical scheme: a high-precision horizontal-axis silicon micro-gyroscope based on tuning fork driving effect comprises: the gyroscope sensor comprises a cover cap layer, a gyroscope sensitive structure and a substrate layer; the cover cap layer and the substrate layer are connected to form an internal vacuum structure, and the gyroscope sensitive structure is arranged in the internal vacuum structure; the gyroscope sensitive structure comprises a first driving comb tooth group, a second driving comb tooth group, a third driving comb tooth group, a fourth driving comb tooth group, a first driving detection comb tooth, a second driving detection comb tooth, a third driving detection comb tooth, a fourth driving detection comb tooth, a first driving elastic beam group, a second driving elastic beam group, a first detection elastic beam group, a second detection elastic beam group, an anchor block group, a first mass block, a second mass block, a coupling elastic beam, a first driving frame and a second driving frame; the first driving comb tooth group and the first driving detection comb teeth are arranged on a first side wall of the first driving frame; the second driving comb tooth group and the second driving detection comb teeth are arranged on a first secondary side wall of the first driving frame; the first side wall is opposite to the first second side wall; the third driving comb tooth group and the third driving detection comb tooth are arranged on a second side wall of the second driving frame; the fourth driving comb tooth group and the fourth driving detection comb teeth are arranged on a second side wall of the second driving frame; wherein the second first side wall is opposite to the second side wall; one end of the first driving elastic beam group is connected with the anchor area group, and the other end of the first driving elastic beam group is connected with the first driving frame; one end of the second driving elastic beam group is connected with the anchor area group, and the other end of the second driving elastic beam group is connected with the second driving frame; the first mass block is arranged inside the first driving frame, and the second mass block is arranged inside the second driving frame; one end of the first detection elastic beam group is connected with the first driving frame, and the other end of the first detection elastic beam group is connected with the first mass block; one end of the second detection elastic beam group is connected with the second driving frame, and the other end of the second detection elastic beam group is connected with the second mass block; the first driving frame is connected with the second driving frame through the coupling elastic beam; the first mass and the second mass are symmetrical about a center line of the coupling spring beam; the upper surface of the substrate layer is provided with a first metal electrode plate and a second metal electrode plate, the first metal electrode plate and the lower surface of the first mass block form a detection capacitor, and the second metal electrode plate and the lower surface of the second mass block form a detection capacitor.
In the high-precision horizontal axis silicon micro gyroscope based on the tuning fork driving effect, the first driving comb tooth group comprises five first driving comb teeth, and the five first driving comb teeth are arranged on one side wall of the first driving frame at equal intervals; the second driving comb tooth group comprises five second driving comb teeth, and the five second driving comb teeth are arranged on the other side wall of the first driving frame at equal intervals in parallel; the third driving comb tooth group comprises five third driving comb teeth, and the five third driving comb teeth are arranged on one side wall of the second driving frame in parallel at equal intervals; the fourth driving comb tooth group comprises five fourth driving comb teeth, and the five fourth driving comb teeth are arranged on the other side wall of the second driving frame at equal intervals.
In the tuning fork drive effect-based high-precision horizontal axis silicon micro gyroscope, the first drive elastic beam group comprises a first one-to-one drive elastic beam, a first two-to-one drive elastic beam, a first three-to-one drive elastic beam and a first four-to-one drive elastic beam; the anchor area group comprises a first anchor area, a second anchor area, a third anchor area, a fourth anchor area, a fifth anchor area and a sixth anchor area; one end of the first one-to-one driving elastic beam is connected with the first anchor area, and the other end of the first one-to-one driving elastic beam is connected with the upper left corner point of the first driving frame; one end of the first secondary driving elastic beam is connected with the second anchor area, and the other end of the first secondary driving elastic beam is connected with the upper right corner point of the first driving frame; one end of the first third driving elastic beam is connected with the third anchor area, and the other end of the first third driving elastic beam is connected with a lower left corner point of the first driving frame; one end of the first four-drive elastic beam is connected with the fourth anchor area, and the other end of the first four-drive elastic beam is connected with the lower right corner point of the first drive frame.
In the high-precision horizontal axis silicon micro gyroscope based on the tuning fork driving effect, the second driving elastic beam group comprises a second first driving elastic beam, a second driving elastic beam, a second third driving elastic beam and a second fourth driving elastic beam; one end of the second first driving elastic beam is connected with the second anchor area, and the other end of the second first driving elastic beam is connected with the upper left corner point of the second driving frame; one end of the second driving elastic beam is connected with the fifth anchor area, and the other end of the second driving elastic beam is connected with the upper right corner point of the second driving frame; one end of the second third driving elastic beam is connected with the fourth anchor area, and the other end of the second third driving elastic beam is connected with a lower left corner point of the second driving frame; one end of the second four-drive elastic beam is connected with the sixth anchor area, and the other end of the second four-drive elastic beam is connected with the lower right corner point of the second drive frame.
In the tuning fork drive effect-based high-precision horizontal axis silicon micro gyroscope, the first detection elastic beam group comprises a first one-to-one detection elastic beam, a first two-to-one detection elastic beam, a first three-to-one detection elastic beam and a first four-to-one detection elastic beam; one end of the first detection elastic beam is connected with a first side wall of the first driving frame, and the other end of the first detection elastic beam is connected with the first mass block; one end of the first secondary detection elastic beam is connected with the first secondary side wall of the first driving frame, and the other end of the first secondary detection elastic beam is connected with the first mass block; one end of the first third detection elastic beam is connected with the first three sidewalls of the first driving frame, and the other end of the first third detection elastic beam is connected with the first mass block; one end of the first fourth detection elastic beam is connected with the first four side walls of the first driving frame, and the other end of the first fourth detection elastic beam is connected with the first mass block.
In the high-precision horizontal axis silicon micro gyroscope based on the tuning fork driving effect, the second detection elastic beam group comprises a second first detection elastic beam, a second detection elastic beam, a second third detection elastic beam and a second fourth detection elastic beam; one end of the second first detection elastic beam is connected with a second side wall of the second driving frame, and the other end of the second first detection elastic beam is connected with the second mass block; one end of the second detection elastic beam is connected with the second side wall of the second driving frame, and the other end of the second detection elastic beam is connected with the second mass block; one end of the second third detection elastic beam is connected with the second three side walls of the second driving frame, and the other end of the second third detection elastic beam is connected with the second mass block; one end of the second fourth detection elastic beam is connected with a second four side wall of the second driving frame, and the other end of the second fourth detection elastic beam is connected with the second mass block.
In the high-precision horizontal axis silicon micro gyroscope based on the tuning fork driving effect, the cross section of the first mass block is square.
In the high-precision horizontal axis silicon micro gyroscope based on the tuning fork driving effect, the cross section of the second mass block is square.
Compared with the prior art, the invention has the following beneficial effects:
(1) compared with the limitation that only yaw rate signals can be measured when a traditional tuning fork driving Z-axis gyroscope is horizontally placed, the tuning fork driving Z-axis gyroscope can measure pitch and roll rate signals when the tuning fork driving Z-axis gyroscope is horizontally placed;
(2) according to the invention, through adopting a double-mass symmetrical differential microstructure design, stress self-offset under vibration condition input can be formed, compared with a single mass horizontal axis structure, the instrument precision is greatly improved, and the measurement of the silicon micro-electromechanical gyroscope on the angular velocity in the horizontal direction under a complex vibration mechanical environment can be realized;
(3) by adopting the structural design of the differential detection capacitor, the invention can effectively inhibit various common-mode interference signals and improve the sensitivity of the detection capacitor.
(4) According to the invention, the material with a gas adsorption effect is used as the detection electrode material, so that the structural quality factor can be effectively improved while signal detection is realized, and the detection sensitivity is further improved.
(5) The invention utilizes the detection capacitor formed by the lower surface of the mass block and the upper surface of the substrate layer, so that the capacitance is larger, and the sensitivity of the detection capacitor is higher.
(6) The horizontal axis gyroscope designed by the invention can be integrated on a three-axis micro-gyroscope system, and compared with the integration of three traditional Z-axis gyroscopes, the size of the system can be effectively reduced.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic structural diagram of a high-precision horizontal-axis silicon micro-gyroscope based on tuning fork driving effect according to an embodiment of the present invention;
FIG. 2 is a cross-sectional structural diagram of a high-precision horizontal-axis silicon micro-gyroscope based on tuning fork driving effect according to an embodiment of the present invention;
FIG. 3 is a driving resonance mode diagram of a high-precision horizontal-axis silicon micro-gyroscope based on tuning fork driving effect according to an embodiment of the present invention;
fig. 4 is another driving resonance mode diagram of the high-precision horizontal-axis silicon micro-gyroscope based on the tuning fork driving effect according to the embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
FIG. 1 is a schematic structural diagram of a high-precision horizontal-axis silicon micro-gyroscope based on tuning fork driving effect according to an embodiment of the present invention; fig. 2 is a cross-sectional structural diagram of a high-precision horizontal-axis silicon micro-gyroscope based on the tuning fork driving effect according to an embodiment of the present invention.
As shown in fig. 1 and 2, the high-precision horizontal axis silicon micro gyroscope based on the tuning fork driving effect comprises a
the
the gyro
the first driving
The working environment of the gyroscope
the driving mode of the gyroscope
the frequency difference between the anti-phase driving mode and the in-phase driving mode is determined by the rigidity of the
the frequency of the detection mode of the gyroscope
in a working state, an external driving circuit applies bias alternating current signals to the first driving
As shown in fig. 1, the first driving comb-
As shown in fig. 1, the first driving
As shown in fig. 1, the second driving
As shown in fig. 1, the first detecting
As shown in fig. 1, the second detecting
The
As shown in fig. 3, in the driving mode, due to the adoption of the symmetrical differential design, the motion directions of the two mass blocks are in opposite phases, so that stress self-cancellation under the input of the vibration condition can be formed, the thermoelastic loss is reduced, the quality factor is improved, and further the mechanical sensitivity is improved.
In the embodiment, a positive phase alternating current driving voltage with a direct current bias is applied to the first driving
As shown in fig. 4, in the detection mode of the horizontal axis silicon micro-gyroscope according to the present invention, the detection frequency can be adjusted by the detection elastic beam. When the angular velocity of the Y axis is input, the velocity generated by the vibration of the mass block in the X direction interacts with the angular velocity input omega to generate the Coriolis acceleration along the Z axis. The first
In the embodiment, the up-and-down vibration of the mass block on the Z axis causes the gap between the lower surface of the mass block and the upper surface of the substrate layer to be changed, the capacitance change signal is extracted through an external detection circuit, and the measured value of angular rate output is further calculated.
The embodiment can be widely applied to systems such as guided bombs, portable air-defense missiles, intelligent shells, unmanned planes, navigation equipment and the like, is used for measuring the rotation angular rate of a carrier around a fixed shaft relative to an inertial space, and can also effectively reduce the volume of a triaxial integrated micro-inertial system. Without departing from the technical principle of the present invention, several modifications and variations can be made, and these modifications and variations should also be regarded as the scope of the present invention.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
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