新手在此 发表于 2021-7-12 11:55:29

求个直线可以转弯的运动结构

本帖最后由 新手在此 于 2021-7-12 13:30 编辑

如图,2500+4500为运行轨迹,直角可以改为圆弧。长1200宽600的载体从上方运动到下方虚线位置。承重几公斤即可,有没大佬知道怎样设计机械机构满足此输送要求。data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAo4AAAMFCAYAAAD6DndPAAAgAElEQVR4Aey9ebAc1ZnoWdrvlXSvVrQigXYEYhOSEKvYLNlGCBCY3SwGy4BoCSxAWGwXt6CFF9HYsjGLwVaDjWUagx9ttQcrCJjH9ERAdESv8Rx2eDzP/RxvXk+M47mje6bneeJMnJSyyKpbde/Jk3kyz/nO74+KqsqblXnyO7/zfb86WZm38T//r3+reBADGIABGIABGIABGICB4RhoDLcCfwciGIABGIABGIABGIABzQDiyIwrM84wAAMwAAMwAAMwYMQA4ggoRqDwTZNvmjAAAzAAAzAAA4gj4og4wgAMwAAMwAAMwIARA4gjoBiBwrdMvmXCAAzAAAzAAAwgjogj4ggDMAADMAADMAADRgwgjoBiBArfMvmWCQMwAAMwAAMwgDgijogjDMAADMAADMAADBgxgDgCihEofMvkWyYMwAAMwAAMwADiiDgijjAAAzAAAzAAAzBgxADiCChGoPAtk2+ZMAADMAADMAADiCPiiDjCQKUMPPX159Wq1WvVQ48+3tzvjvseVH909/3qOy+/platWqte3H+g+bd9z35HrVhxknriyT9tLtPF6/P3PaiOW36Cev7F77csp7BR2GAABmDAHQOII9JA0YWByhh47Uc/VaNGjVKNRiN53HTLZ5N99/b2Npfpv40YMaLZprFjxzb/9r0f/jhZrmUy3ca4ceOa61Is3BULYktsYQAGNAOII9JA0YWByhg4/8L1iTjev+tRNXXqdNXfPynZ96xZc9SECRPVzl0D6ul9L6jvH/gPyfJP33xrIogPPvp48rlLLr0iWX7CCScqLYx33X1f8vfdf7K3smOgeFI8YQAGYmYAcUQaKLgwUBkDU6ZMVZOnTE32d/HGyxLp0wn4hBUnqVmz5wxqx7TpR6mZM2cmy49dsEjNnTsveT169Gh1zroLkte9vePVRR/7+KDPxpzYOXbEBgZgwBUDiCPSQMGFgcoY0OK4aPGSZH+XX3F1UxxPXblajR07TmkhnDZtmnrzJ+8k6/T396vzL/xY8nrdeReqnp4e9coP3kw+9/n7HkqWzz16vpo3/5jktatEyXYpwjAAAzBwmAHEEWmg4MJAZQw8/OgT6k+//lyyPz1T2D/p8Klq/ax/s6jFUj8vP+HEZB39+qqrb0he62f9ft+3Dv++8ct7v5EsX7xkmdKCSVKnsMMADMCAewYQR6SBggsDlTLw1NefU9OmTU8k8Mqrrk32PX7CBDVy5Mjk9Yknnay0VOoCoEXxzrvuSV7f9JktasyYMeobz76ULH/lwJvJ8mXHnaCmTpuWvKZouC8axJgYw0DcDIgVx63bdqiXX32DYoIUwYBHDOhT0KNGjU4E8L4HHmn2zYHXDzZfZ09ha3G8fev25G/6lHVPT6969tuvHJ55fOalZLm+yOZoTlU341dGUT/49vvqxpsPX/FexvbYRtyiQf/L6n+x4rhy1Zrk6kyAlQUs/Rl2f26+8ppE+vS9F99461Dy+tB7H6gxY8aqq645fEr6uk/fkizXfa2vtD73vAsTKZo37xi1YMEidfBn7yd/v+8Lh8VzYl+fupCLY0oVRy3ys+fMLXWbjN2wxy79R/+lDCCOHs3GpJ3CMwNUKgOTJ09REyZOTITkpZdfSwRQS0pfX39y+lof9zHHLlTjxvUk6yxdtjyRx1QWt9yxLVmuZx7nzZuvbr9ze7KNL311H5JTYi5DHMlBUnMQx1WcbcSxxGQLkMWBJIayY6hnEPXp5+zjhZdeVRs+vjFZpn/DqP92wYXrExF87PEvJ+/17x/1jcO1QGpGrrr2xmS5vlF435F7QcJOeewgjuXFEi6JpTQGEEfEkZkaGKiMgTPOPFudvvYstXHT5uQxc9bs5r7PPve85DeMK048pblMJ9yPX3yJ0v9Z5rYtW1uWn3TSKWrS5MnqK3ufaVkuLUnXcTyII7JTB3fsMwzuEEekgaILAzAAAy0MII5hFHBEi36qg4GoxVEnR/3vzXbv2av0Vdh6FkRfVKN/FK5Pl+24//ANhuvoGPZJQoABGLBl4Jnn9yc5TP92VP9OdN15F6lrrrup+S8dde4batuII+wNxQd/i5sP0eL4yGN7EjHU//9WJ02dPHUSTcUw+zurTq+1TDJA4h4g9D/9HyID+stwp5zWvqybWO575iWuqmYWmvoHAx0ZECuO/ZMmGyXO9kTK+9YLF4gH8YCBOBnQFyOFKM20mS97MOCWAbHimN7HMT0d3T7rqL9pD1cQmXF0Cx+Dm/jCgBsGTGcc9dkXnSv1z3R0vtOfe3H/AfXSn73GjCOzTXxxgIGODIgXx+EKUzex1PeJ+8JDX+wYtOG2yd/dFEPiSlxhwIwBLX+jR49O5K+TGOr/DDNULPmNo1mch4ohfyOGUhmIXhyldizHRdKCARiwZQBxhB1bdvicfHYQR6aih5x5IAnITwL0MX3czgDiCBPtTPAeJlIGEEfEEXGEARiAgRYGEEckIZUEnmGhnQHEkYLRUjDaAeE9SQMG4mMAcYyvzxnn9LkpA4gj4og4wgAMwEALA4gjEmEqEawXHyuIIwWjpWCQBOJLAvQ5fd7OAOIIE+1M8B4mUgYQR8QRcYQBGICBFgYQRyQhlQSeYaGdAcSRgtFSMNoB4T1JAwbiYwBxjK/PGef0uSkDiCPiiDjCAAzAQAsDiCMSYSoRrBcfK4gjBaOlYJAE4ksC9Dl93s4A4ggT7UzwHiZSBhBHxBFxhAEYgIEWBhBHJCGVBJ5hoZ0BxJGC0VIw2gHhPUkDBuJjAHGMr88Z5/S5KQOII+KIOMIADMBACwOIIxJhKhGsFx8riCMFo6VgkATiSwL0OX3ezgDiCBPtTPAeJlIGEEfEEXGEARiAgRYGEEckIZUEnmGhnQHEkYLRUjDaAeE9SQMG4mMAcYyvzxnn9LkpA4gj4og4wgAMwEALA4gjEmEqEawXHyuIIwWjpWCQBOJLAvQ5fd7OAOIIE+1M8B4mUgYQR8QRcYQBGICBFgYQRyQhlQSeYaGdAcSRgtFSMNoB4T1JIyQG3njrkFp33kUwXTCvIY6M+5DGPW2tllfEsWCCBdhqgSXexHsoBhCecvggjuXEcShW+RsxDpUBxBFxZHYGBsQwgPCUU4yJYzlxDFUMaDf9PxQDiCPSIEYahgKdv8WRCBGecvqZOJYTR/IOcZTIAOKIOCKOMCCGAYSnnEJNHMuJo0Rp4JhgA3FEGsRIAwmNhIbwlMMAcSwnjuQk4iiRAcQRcUQcYcBbBg6994Ha+/Sz6pZb71C33Ha7uuqaG9Q99+5Sz337lY5tRnjKKdTEsZw4SpQGjgk2EEekoWMBJjmQHOpmYP6xC1Wj0Wg+Ro4cpcaMGdN839s7Xl22+VMt/CI85XBLHMuJY91jiP3Tjy4YQBwRx5bC6wIytknyysvAcctXJIJ47nkXqpdefq2F0YM/e189+sUn1cJFi5N11n/84ubfEZ5yWCOO5cQxL/esT9xDYABxRBybRTcEYGljHIn1rLPXJVJ44kmnDBJHzYCWx4s3Xpqss2Dh4ibDCE85fBDHcuJIviKOEhlAHBHHZtGVCDjHFG7iPmfdhWr06MOnpvUp6lGjR6uJEyeqceN6EmHUp7GnTZuu3vzJO02GEZ5y+ps4lhNH8g9xlMgA4og4NouuRMA5pvAT95e+uk/dfOvn1Dnnnq/OOOtcdenmq9Qjj+1RWm7a+xfhKae/iWM5cWznk/fEVQIDiCPiOKj4SgCbY5CRoPc985K69vqb1XHLl6tlxx2vlh23XJ159rlq++d3qtd+9NNB7CI85fQ7cSwnjuQh4iiRAcQRcRxUfCWCzjGFlcCf2ve8Gj9+QnJKevTo0aqvr19NnToteUyc2Nc8Vb1g4SKlb9mT9i/CU04/E8dy4phyyTPxlMQA4og4NouuJLA5lrAT9YwZM9WIESPUnXfd3ZFPfXHMhR/bkAjkqStXNddBeMrpd+JYThzJQ8RRIgOII+LYLLoSAeeYwkzcl22+KpHCSZMmq8/dsV3t+9Z3kiupdX8efPt9pX/3eOzCRck6a9ae1WQY4Smnv4ljOXEk/xBHiQwgjohjs+hKBJxjCjdxb7n9j5QWx+xNwLOve3p61Jq1Z7bwi/CU09/EsZw4kn+Io0QGEEfEsaXwSoScYwo7eevT0nu+8jX1+XsfTP7d4MAfP6le+cGbHblFeMrpa+JYThzJPcRRIgOII+LYsQBLhJ1jCiuJ73zwMTX/mGPV9KNmqDfeOqRuuPFWNWXqNDVhwsTkwpnFS5apz9x2Rwu/CE85fUwcy4kjOYc4SmQAcUQcWwqvRMg5pvCS98c2XJycoh43bpw6ev4xavHipcn7yVOmKH0xzNJly1V6dfX5F65vMozwlNPXxLGcOJJ7iKNEBhBHxLFZdEMGvPHhaSrPI+RjjaHtWgpHjRrVZFP/tlHPNLYfu77yetKkSc3lCE85hZo4lhPHdl55T1wlMIA4Io7Nohsy0HmkUa8b8rHG0PbLrzh8VfXEvj518SWXNi+SmTVrjlp7xtnqpJNPVb2945NZyAcefKzZnwhPOYWZOJYTxxjGKscYHyuII+LYLLohJwDEUV7y2vXwbjVnzlzV09M76MrqsePGqXnzj1GPfvHJFn4RnnI4II7lxDHknErbYaAbA4gj4thSeLuB4vtyxFF+knvzJ+807+XYjUeEpxwOiGM5cezGKcuJb8gMII6II+IIAyIY0IkY4SmnIBPHcuIYshzQdhjoxgDiiDSIkIZkxrHRGHRKM3vD6OZrfuMoos87JTWEp5xiRxzLiWMnRllGbENnAHFEHEVIhBbHgYEBo4deN/SBS/s7Fx+Ep3Nc8vJCHMuJY964sz5xD4EBxBFxFCFR/MaRhKsTLsJTDgfEsZw4hiABtJG+zssA4og4Io4wIIIBxLG8Aog4lhfLvEWZ9Ym97wwgjkiDCGlgxpFkiziWxwDiWF4sfZcA2kdf52UAcUQcEUcYEMEA4lheAUQcy4tl3qLM+sTedwYQR6RBhDQw40iyRRzLYwBxLC+WvksA7aOv8zKAOCKOIsQxL/isLzNZIjzl9CtxLCeO5BniKJEBxBFxRBxhQAwDCE85hZo4lhNHidLAMcEG4og0iJEGEhoJDeEphwHiWE4cyUnEUSIDiCPiiDjCgBgGEJ5yCjVxLCeOEqWBY4INxBFpECMNJDQSGsJTDgPEsZw4kpOIo0QGEEdPxXH9ht+pRkMlD/1aInwck99JNUQGEZ5ymCKO5cSRHEccJTKAOHoojtmCncrj2jP/d/Xi/gM8iEElDGjeUvbS5xC+wCA85RRq4lhOHCVKA8cEG4hjIOLYaLysGo0GD2JQEQOaNz3j/eeq0bggeUydeq5auWqN14/lJ5yoRo0aNWQbd+/Zywz+MHkPcUQOEEQY6MYA4jhMAu0WOJfLO8049vS+qebOXcSDGDhnYOasxWr06LeOiONvVaNxKHmsWv2menrfC14/rr7uxkSsh2rnG28dQhyHyXuII9Lgssax7bD5QhyHSaB1Ad7f/4fmqcIZM36fvF695tdq567/ST35lTd4EIPSGdBsacb0TOPFl/y9WrzkvzUZDOE0tR6rt995dyKOdY1bKftFHMMu7FI45Dj85BBx9FQcly77t6Rob7/nnUQQBv74L9S5636BQCKMzoUx/WKy5fb/mPC2ctW/BDNDd8mmKxJx1OJD0bEvOoijfezgjthJZwBxDEQc02KOQDLbmrJQ9Ll9hrF9eyGK4+lrz2qeqpaevF0eH+KI/Ljki22HzRfiGJg4psUdgUQgUxbyPg8njOn2QhTHBQsXJ+K4c9cAM44FchviGHZhR8zoP5cMII4FkqvLjmk/VZ0W8/ZnBBKBbGei23tTYUw/H6I4zpg5KxHHa667CXEskNsQR8TDZX1j22HzhTgWSK4u4TcVx7TII5AIZMpC+3NeYUw/H6I4presWnfeRYhjgdyGOIZd2F3WJrYNG4hjgeTqcgDlFce02COQCGTKgq0wpp8PTRy17KTiuHTZcsSxQG5DHJEDl/WNbYfNF+JYILm6hN9WHNOinxVILRDpcp7jEMsLLvp5ckW0vq2ObZ+HJo763o2pOPb19SOOBXKbFscFI0YQwwIxdFkf2HbY4hV6/yGOniaGouKYysLje35sLQ7pNngOTzbvvOu9wv0emjjqC2JScdTPoSfnOtv/l4/tUQsaDfV3+14gjp7WiDr5YN9xiyvi6GlSKEsc26Xv2us/TG7yzCxkeDLY3pfpe92XWvLS92U9hyaOW7ftaBFHPWtGgbMrcP/LpisScfwnLjKCIU9rJGPbbmyXETfE0dNB4Uoc9Qxk9kbi+pR2WaLBdqqV0exvGC+7/G9K78fQxHHjps0t4qhPXZeRJGPcxt8vXJyI47/wW1EY8rRGxjgufTlmxNHTQeFKHFO5S38Dmf5nmnQ5z9XKX5F4T536r8m/BiyyjaE+G5o4rly1pkUcuZej/YzErxqNRBz1D2V9KVa0w74/iR2xK5MBxDFScewmDA898pelz1x12xfL/ZbU0MRx9py5LeLIvRztiqX+XWNWHPmdo10cyyzUbIs+8IkBxBFxbIqinn1sNBS/gfTs/2Gnp6TPOOtXzb6qQrpDE8fshTH6NfdytCu2+neNWXHkd452cfSp0NMW+rBMBhBHxLFFRtJT2Ahk/bOBqTDqvihyWx1byQxJHLP3cEwFcu7R8zjNapHf9O8as+LI7xyRjjKlg22FzxPiaJFYqwDf9W8ch5MJBLI+caxbGFM2QhJHPSa33X2/+vTNt6n+/klKX2H9x098FXG0yG/6tENWHP+fmbOIo0Ucq6gT7CN8CQuxDxFHTxNC3eKYygMCWZ1A+iKMad+HJo46AfMfT8oppMkNwLkwBmH2tD6GKFuS2ow4ejowfBHHVCIQSHcC6Zswpn2OOJYjYSEWDMQx3r4PkVfaXC2viCPi2PIbx1Qauj0jkOUJpK/CmPY94lhtMvap+CGO8fa9TxzSFj85RBwRx1zimEqFbwLZ+PA0ZfxoNJrHbPwZvf3M59I42Dz7LozpMSGOfibtKoop4hhv31fBF/sImy/EEXFsSlQqDHmefRFIYwFsNNSWLVuax2z7uTwxStcNRRjT9iKOYSf3IsUZcYy374tww2fj4AZxRBybEpUKg81zViAvuOjnpWwzTzuMBPCINOp1023bfi79vMmzvqn66jW/Tu6RWcdtdUza2GkdxDGOItCp2COO8fZ9Jx5YBg9ZBhBHxLEpUZ3kIe8yLZB33vVeqds0acOwApiRxlzi2OVzJm1K19HxCEkY03YjjvEWC8Qx3r7PCgKv4aATA4gj4uhc8m659a+UPk2bComL507iuH379uR3ifpZn57OrpO2IbssfW3yufTznZ61PHdaHtoyxDHeooE4xtv3nUSBZfCQZQBxRBydS865637h/F8ZptKXPmv5e/fddxNZ1M+JDGYuoEklLl0/fTb9XPr57HP2N4wS/uc34hhvsUAc4+37rCDwGg46MYA4Io7OxVHLVfobyBkzf+9kf6n4NZ8bjZYZxuTf0BmIY/t67e+zoph9fe31Hwb3G8Zs+zu9RhzjLRqIY7x930kUWAYPWQYQR8TRich1EhGXy5rCeEQOTWcObT/XfiwSZhjbjwlxjLdYII7x9n1WEHgNB50YQBwRx1rFUV9trB9FfwPZLoB6pjA5PZ15zq6TSlJ2WfI6s376+ew6+nO6rZdd/je1xi1tv8tnxDHeooE4xtv3nUSBZfCQZQBxRBxrFaD0FHajoQoJZFbutDS2XwyTvM+cvk6FK+/nQrytTnqseZ8Rx3iLBeIYb99nBYHXcNCJAcQRcaxVHFOZKSqQTQHsII3p37LymO43/Vsn2Uz/lv1ciLfVSY817zPiGG/RQBzj7ftOosAyeMgygDgijl6IYyo1tgKZSN4Q0tgugen+bD+Xfl7yM+IYb7FAHOPt+6wg8BoOOjGAOCKOXoljKmK2Apl+vshz9rY6Mc0wtscMcYy3aCCO8fZ9J1FgGTxkGUAcEUcvxTGVmCoFEmF8o4UFxDHeYoE4xtv3WUHgNRx0YgBxDFgc09Ovps+pjIX47FIgEcZWYUz5MBVHU/7S9TolorKWaeGZPWeuKmt7sW4HcUQYYmWf4x6efcRRmjg2GmpgYKD15tdH7m2YCkHIz2UKJMLYWRhTPgqJ4xAcukzMiOPwSd8k/ohjOXE0iTXrEOvQGEAcEceW05OpNPj+3C6Q+r1pmxHGoYUxjSPiGG9BQxzj7fvQJIb2Vs8q4og4GgtXKhQ+PacCuf2ed5Lj0PeDTNvX6bVeXy+P+aKXND7DPSOO1SfkuougHhy6De3imC6vu33sPz4m6XP/+lykOK7fcLFK/sdwo6H06xDBW7rs3xLBSYWoU5FPfzPW8jzEKcJO25C4TIuh/heAqTimzxKP1eUxIY7+JewqcpkeOEfP+4RaoG+YrwfPEZls3/c/jZyn/r7nFPXW8jvVn297Jcg8235MvI+Tefo9X7+LE8esNKby2N8/SS1dtjyox7ieU1SjsVLNmLFEzZ27qOOjRRiP/I5RH3O33zh224605TNnLU6k8UjNU5MmHd8xftKOu+zjmT59acLg+PGnDDl28nLociwuWLhYjRkzZsj2uty/hG3rfPmrRkPNbTTUoSPyuGr1WvX0vhdaHvpv7Y9vj12sHp9/qRrYvKtl3fbP8r41lsSDeLy4/0AwX76iEMdUIMU9p7KYfR5CHMUd/5Gi1npcyQRJizimAtm63uHZFJaVEIcsf+nr6DksIa4d+Xa73XTg/N+NhvpEo6EuKPBY1xilVq5aw4MYwMCqNcns/dLjlneNxTXX3YQ41jX122nGce2Z5yht8yE9jjn2r1Sj8dfquuufU9vv2dvxkXemp9t2JC7/SBaVum3LNzrGT+Jxl3lMm698MWHwuOP/45BjJy+HLsfhl766T00/asaQ7XW5fwnb1vkyFUj9rL9cdfrJT3ad9DWnrvOd8qurTrLf6vtJj6NHHtsTjBwOxYi4GUd9sFl57JTwhgqIL3/jN45mV/7q3/jp3zM+vufHgy6K0fKo/54+p78H1BfG6Cur0/c8d441v3Gsvrj4kH/0gJkxc1Yij7rY6fed2vVPo/iNY6e4sCzOcTNUv+uLzfRYuv3OuzuOpaE+6+PfRIqjj4HO2ybEsbPMZCUve1ud9CKirCR2e33uul8kMrl6za8RyK90jzPiGF8BTCVx3XkXJcK4e8/epNCly/PmMdaPjyH6fHCf69+wanG8ZNMViCOADAakrJggjt2FJiuMQ91WJyuOWeHUr9Pb+Oh1EMjOsUYc3Y3vsvKEq+20i6Or/bDdeBmLqe937hpIxPH0tWchjjF1fNXHai2O6cUJHZ7b5Sm096bCmOe4EMjO0qhjWEgcO/CX/hbS5VjSp4T4l4PFZUSLo54hSWccXfYZ2y7eX8TQ7xjqC1/0eNJ3fZDQV5yqDvgG4HkEKeR1XQhjezwQyMECaSqOPiVCxLGcAoo4lhNHn8YGbamvT9PxNGHiRMQREN2BaDLj2C4/0t5XIYztMUMgPxJIxNHd+PY9d6aFjhnHeBnwndGQ2qfv76pnHPUjpHZ3ayszjsw4end1sY0wpqdBjZ4bjWGPuUyBNGpT5tRuu8zW9R5xjEMacvEppPB1K4gsj4P5qvu5r6+/KY76rEjV+y97f4gj4jisRFUlLjbCmLbNuPg1GmrLli3Gx1yGQBq37Yg8psdU9zPiGEcRNebzyNgpuwixvTg4i7mf09lG/ayvsA49Fogj4mgsUa5Epogwpm0yKn5HCp9eN/2c6XMRgTRqGzOOpSRTfuOYX0KM+MyMndCLHu3Pzwgxs4+ZzklZcdRXWIceT8QRccwtUaayZbKevp2OviXOULfVMdnOsMUvU/hsxDFtQyqQo0f/fy03HU//3ul52LZlpLFI2zrtu8gyZhzti0VIhWFYPtvGTkjHRlvjYNjnfk7v4ZjKY0j/WrBbXBFHxLFWcdxx36FS9t+p+G3fvj35pqef9enp7DpFhCrvZ7P7NXmdd/uu1kcc4yi6nZgcaux0KyYsj4MX+jlfP6f3cEzFUV94FnoMEUfEsRRxM5EXfUr6ssv/xsn+2oufLnzvvvtuIov6OSmEmZk9k/bmWWfDx/+x643Ek7YduaIuTR5dny1Oo+dpZ551Ecd8BSLUYpB37IR6nLQ7Dp596+f0Ho5pztdXWPvWxrztQRwRRycilxWUMn7DmN1ep9ftxS8ZpBlRbH/faRtFlqWnsNP/RNPyv7M/PE0NDAwYPfRxFGlHmZ9FHOMotHnHTt4iw/pxcEQ/d+7n9NZWqTjqK6xDjxXiiDg6F5VFi/+58G8YhxOi9uJX9Yxj2j4tkO2/12xv23Dv023V/Yw4di4EoSf99va38zjc2Gn/PO/j4IR+tuvnJUuPa7k4Rgtk6LFEHBFH5+JYhQC1Fz89OJPT05nn7DpVtCndR3a/Jq/Tz9X9jDjaFYrQisIgJjNjJh1D2XVCOz7aGwfHvvbzqStXKz3LOHLkSKX/c8ys2XPUofc+CFoeEUfEsTRxTE9JH7f8v5a2TVN5yhY2LY3tF8Mk7/XvDI+cvjbdbhnrpfs0fS5jn2VsA3GMo+C2cGkwdnwt0LQrDl5D7efZc+YqCTf/1vFHHBHHwpKXCmMZt9WxFZ5m8etQ+NK/ZeXRdj82n0v3b/pssw8Xn0Ec4yjETS4Nx06ohZt2x8Gzr/2MOHoqW74CY9OuEP5XtQ/CmApTUvyGKHxpcUzlMf1cFc/pvk2fq2iTyT4QxzgKbd6xY5PP+EwcLNHP3fsZcUQcnf8+wWdx9EkYTQTIx3Xar8LWMfWtnYhj9yIgvUCmV4Lu3rPXea6THkuOL95xlO17xBFxdJ5MfRRHhPGN0uXOZ4FEHOMteIhjvH2flR1el8cB4og4RiWOCGP5wtg+u+ijQCKO5RWN0Aow4h8FKssAACAASURBVBhv34fGaijtRRwRxyjEEWF0L4w+C2Ro4qhvcfHSn72mZs6arQ6+/X7wt7yosyAijohjnfxJ3DfiiDiKFkeEsXph9FEgQxJHLYrpf2ZInxcvWeZ8nEoscPqYEEfEUSrbdR0X4og4Oi9IdfzGUZ8uXb3m16rO2+q0C1Ts77OnsF39n+9uMQ5JHHUxSIUxfV65ao3zcVpXEXK9X8QRcXTNWGzbRxwRR+cFqQ5xfOiRvxz07/K6SQXLq52V1AK5475DpV+cM1Q/hiaO+r8zpNKonzdu2ux8nEotfogj4iiV7bqOC3FEHJ0XpCrEUYviUOLA36qVw7zx1v8TW/+sIO/nTNcPTRyXLlveIo5bt+1wPk7rKkKu94s4Io6uGYtt+4gj4ui8ILkUx+xvGLff844z8TAVFNazE9Rz1/0i+VmB/nmBC4EMTRxT2UlnHbkHob38pLEkhvYxjE2MON6hWUEcEcdgxfGWW/+K3zB+xU7UfBTc9DeQLv4/eGjieM11N7XMOL64/4DzcSq1WCKOQ0uA1H7nuNz1O+KIODovSK5mHB/f82NmGAWJYzeZLaOfQxPHnbsGWsRRX2lNIbQrhIijXdzgjbh1YwBxRBydF6QyxFGfvjzjrF8hihGIYrtALlr8z8kV8kVOYYcmjk/ve6FFHLslcJYPX9wRx+FjBEfEKA8DiCPi6LU4Zn/DqC+gaJcK3ss5Vd2tL9NT2PrWSra/gQxNHA+8frApjjpJ50nqrNsqAYhjazzgg3gUZQBxRBydFyWbGUeEUb4QdhPFbsuLCGRo4qgTe3phDPdwLFboEcdi8SsqGXxeXvwRR8TRK3FEGBHGbuKYLrcRyBDFccLEiYk8cg/HYoUXcSwWP8SP+LUzgDgijl6II8KIMKZiaPqcRyBDFMcFCxcn4sg9HIsVbsSxWPzapYH3xBNxRBxrFUeEEWE0FcVu65kIZIjiePrasxJx5P6DxQo14lgsfogi8WtnAHFEHGsRR4QRYewmgrbLhxLIEMXxkk1XJOLIPRyLFW7EsVj82qWB98QTcUQcnYtjf/8fkht166tij1/x2+TKWP2aq6SRR1tJHOpznQRy8ZL/1mRw/YbfOWe+jOJ6+513J+LIPRyLFWrEsVj8ymCZbcjqA8QRcXRaRHWR1pKYfUye8rfqyqvu4kEMnDKw6bLtaumyJ1Sj8csW/jSLIcjjI4/tScSRolus6CKOxeIHf8SvnQHEEXGsQBx/pRqNfZni/XJSENPbjfDcIB4NlzHQvOkvL1epRmOSajSmqDFjJqu+vn6vH+PHT1AjRowYso36P8y0J3XetxZ6xLE1HvBBPIoygDgijk4Lz+EZx0Oq0bigKY5zj35X6VuM8CAGVTCgeTssjitVo6Ff/05dcOGvlT4FHPqjaAGI4fOII6IUA+dVHiPiiDg6FUcN86rVbzbFMYRThFUOQPZVTVE7/AVGi+NfB3GaGi7K4wJxLC+WcEksNQOII+LoXBz1/93lv1+QcOouOkuXLVdcoRwfh4hjfH1ed66Rvn/EEXFEHGHAOQM+JFLEMU6BQBzj7Hcfco7UNiCOSINzaWDGkcTtQwJFHOPkEHGMs999yDlS24A4Io6IIww4Z8CHBIo4xikQiGOc/e5DzpHaBsQRaXAuDcw4krh9SKCIY5wcIo5x9rsPOUdqGxBHxBFxhAHnDPiQQBHHOAUCcYyz333IOVLbgDgiDc6lgRnHfIm78eFpKs9DanIq+7gQx3wclh3/uraHOMbZ73XxFsN+EUfEEXH0jIE80qjXjSFRlXGMiGOcAoE4xtnvZeQMttGZHcTRM2mQCCozjp0HX7e+RhzzxatbHNuXI45u4toeZ9/eI45x9rtvHEpqD+KIODqfsUIc8yVuxDFfvEwTMuLoJq6m8a9rPcQxzn6vi7cY9os4Io6Io2cMII5uCh3i6CauvhdKxDHOfvedy5Dbhzh6Jg0hw9St7cw45kvciTg2Gqph8uA3jsZffBDHfBx2G8+hLUcc4+z30DgNqb2II+JoXHhtwUYc8yVuLY4DAwNGD72ubb/E9jnEMR+HUvhAHOPsdyn8+ngciCPi6Fw8EMd8iZtT1fniZZpYEUc3cTWNf13rIY5x9ntdvMWwX8QRcUQcPWMAcXRT6BBHN3H1vVAijnH2u+9chtw+xNEzaQgZpm5tZ8YxX+JGHPPFqxt37csRRzdxbY+zb+8Rxzj73TcOJbUHcUQcmXH0jAHE0U2hQxzdxNX3gog4xtnvvnMZcvsQR8+kIWSYurWdGcd8iRtxzBevbty1L0cc3cS1Pc6+vUcc4+x33ziU1B7EEXFkxhEGnDPgQ9JEHOMUCMQxzn73IedIbQPiiDQ4lwZmHEncPiRQxDFODhHHOPvdh5wjtQ2II+KIOMKAcwZ8SKCIY5wCgTjG2e8+5BypbUAckQbn0sCMI4nbhwSKOMbJIeIYZ7/7kHOktgFxRBwRRxhwzoAPCRRxjFMgEMc4+92HnCO1DYgj0uBcGphxJHH7kEARxzg5RBzj7Hcfco7UNiCOiCPiCAPOGfAhgSKOcQoE4hhnv/uQc6S2AXFEGpxLAzOOJG4fEijiGCeHiGOc/e5DzpHaBsQRcUQcYcA5Az4kUMQxToFAHOPsdx9yjtQ2II5Ig3NpYMaRxO1DAkUc4+QQcYyz333IOVLbgDgijogjDDhnwIcEijjGKRCIY5z97kPOkdoGxBFpcC4NzDiWn7j3feulQf32nZd/qB4eeKLj8tvv2D5o+b5vfUc99viXBy2XmuwQx/I5DIEVxDHOfg+BzVDbiDgijs7FAXEsN3Fffd2NqtFoqAOvH2z23U23bEmW6eXHLFjYXP6nX39ejRo1KvnbsQsXNZdvu2dnc/2LN13WXB5qIjNpN+JYLocmMfdhHcQxzn73gT2pbUAcEUfn0oA4lpe43/zJO2rEiBGDxLG3t1dNmjxFLVy0JPnbl7/6jaRfFyxcokaPHq3mHD3v8Gd+dFg2J0ycqCZOnKgmT56ixo8f75wBHxIo4lgehz70p2kbEMc4+92UD9bLzwfiiDg6lwbEMf/AHCqZbbrsUy3i+L0f/jh5/8BDX0z6Us8w3rrlzuS1noH85MZL1aH3PkjW2br9XqVnIfXye3c+rB794pPJ62e//YpzDoY6pir+hjiWy2EVfVbGPhDHOPu9DHbYRmd2EEfE0bkwII6dB59tUtLxzJ6q/saz303eH/zZ+0lfjuvpUR/7+MVKy6BeT8uh3tfEvn51zroL1d07vpAs1zKpl+t17t7xgHMObI+3rM8hjuVyWFa/uN4O4hhnv7vmKubtI46Io3NhQBzLTdzt4vjmX7yjZs2ek8wqPvnlryUieP2nP6MeeWxP8vrAkdPTM2fOViesOEldcukVSstlmvjGjh2nbrn19ub7dLm0Z8SxXA5D4QNxjLPfQ+EzxHYijoijc2FAHMtN3O3imCaebXffr/RvHUeNGq307KN+r2cT079PnTpNzT16vlqz9kw1bty45nK9/qbLrmy+T9eX9ow4lsthKHwgjnH2eyh8hthOxBFxdC4MiGO5ibuTOF52+eHfPU6YMEE98NBjSZ/e98AjiTimp7D7J01S5553oTr/wvVq/PgJzX5PTlV//gvN9yEmMpM2I47lcmgScx/WQRzj7Hcf2JPaBsQRcXQuDIhjuYl7z5HT0dnb8ehTz1OmTE368robblH68dKfvZaI41Nfey5ZPmbMGHXjzZ9t/sZRJ7V0nb1PP+ucg7qTKOJYLod196fp/hHHOPvdlA/Wy88H4og4OhcGxDH/wBwqmV1x1bWHf7t45D6O3335z5P3d9x1d9KXy5YtV8uPX5G81rOJn7r6evXQwOPJOvrG4S/tP5C8fuDBx9SlR2Yqh9qflL8hjuVyGAoXiGOc/R4KnyG2E3FEHBHHwBiYNWt2In7fefm1pO8eHviT5P2cuUerBQsXJ/d5nH7UjORvRx89X40cOTL53WNf/6RmX/f0HP4tpL4n5HHLT2guDzGJmbYZcYxTIBDHOPvdNC+wXn4+EMfApCFEyJlxzD8wh+rnnQ8OJKKobwau1/vms/sTMdSyqB+TJk9WetZR/+25l76vxo4bl9wEfPuOnU1BvGv7vYlQ9vaOV9/93mEBHWqfEv6GOJbLYShMII5x9nsofIbYTsQRcWzKhCuAEcfyE/d9Ox923m+ueKhru4hj+RzW1Zd59os4xtnveRhh3XyMII6Io3MBySOOB99+X724/4DavWev2rpth9q4abM6+dTTkquBGdz5Bre0eJ2+9iy1ctWahAnNhmZEs6KZMTlWxDFOfhDHOPvdJCewjh0biCPiaFR0iwywrDh2EkMtAxpEfSFHt4f+XV+RNvBZuwThU9wmTuzryofmRjM0lFgijuEzYMMj4hhnv9uwwmfMWEEcEUfnQqbFsZsQmi7Xt5LRhZ9HvDHQ/4PblJdO6+kLgfQMJcXBrDhIiRPiGFd/S+HW5+NAHBFH54VUi+Mxxy5ITj1ffe2n1TnrLkhuF6Mv5OhU4Dst0+vqos8j3hjom5t3YqPTMs2LviWRZk0zp09tz5w1C3GMMN8hjoijzxIWYtsQxwgTadWgZk9Vd9q3yenrufPmOxfcTm1jmT9FZ/r0o5riONxp6U79xqlqf/qyU/+4WoY4xtnvrnhiu3+b/Cwo+w8oQo5JI+TGS277cOI43LFrsTS9AGK4bfH3cIvIG28dKsQB4hhu3xcZt4hjnP1ehBk+OzQzzDgy4+h8Jq+oODKIhx7ExMcsPoijWZyk8YQ4xtnv0jj26XgQR8QRcYQB5wz4kPQQxzgFAnGMs999yDlS24A4Ig3OpYEZRxK3DwkUcYyTQ8Qxzn73IedIbQPiiDgijjDgnAEfEijiGKdAII5x9rsPOUdqGxBHpMG5NOhb6Fxz3U3O9yN1kHJc5RS+9RsuVlKuBIQJcyYQR/NYwRWxMmEAcUQcEToYgAEYEMsA4ogMmcgQ65hzgjhSMMQWDBKBeSIgVsRKKgOII2xLZbuu40IcEUfEEQZgAAbEMoA4Io51CZbU/SKOFAyxBUPqoOW4KIQwYM4A4mgeK7giViYMII6II+IIAzAAA2IZQByRIRMZYh1zThBHCobYgkEiME8ExIpYSWUAcYRtqWzXdVyII+KIOMIADMCAWAYQR8SxLsGSul/EkYIhtmBIHbQcF4UQBswZQBzNYwVXxMqEAcQRcUQcYQAGYEAsA4gjMmQiQ6xjzgniSMEQWzBIBOaJgFgRK6kMII6wLZXtuo4LcUQcEUcYgAEYEMsA4og41iVYUveLOFIwxBYMqYOW46IQwoA5A4ijeazgiliZMIA4Io6IIwzAAAyIZQBxRIZMZIh1zDlBHCkYYgsGicA8ERArYiWVAcQRtqWyXddxIY6II+IIAzAAA2IZQBwRx7oES+p+EUcKhtiCIXXQclwUQhgwZwBxNI8VXBErEwYQR8QRcYQBGIABsQwgjsiQiQyxjjkniCMFQ2zBIBGYJwJiRaykMoA4wrZUtus6LsQRcUQcYQAGYEAsA4gj4liXYEndL+JIwRBbMKQOWo6LQggD5gwgjuaxgitiZcIA4og4Io4wAAMwIJYBxBEZMpEh1jHnBHGkYIgtGCQC80RArIiVVAYQR9iWynZdx4U4Io6IIwzAAAyIZQBxRBzrEiyp+0UcKRhiC4bUQctxUQhhwJwBxNE8VnBFrEwYQBwRR8QRBmAABsQygDgiQyYyxDrmnCCOFAyxBYNEYJ4IiBWxksoA4gjbUtmu67gQR8QRcYQBGIABsQwgjohjXYIldb+IIwVDbMGQOmg5LgohDJgzgDiaxwquiJUJA4gj4og4wgAMwIBYBhBHZMhEhljHnBPEkYIhtmCQCMwTAbEiVlIZQBxhWyrbdR0X4og4Io4wAAMwIJYBxBFxrEuwpO4XcaRgiC0YUgctx0UhhAFzBhBH81jBFbEyYQBxRBwRRxiAARgQywDiiAyZyBDrmHOCOFIwxBYMEoF5IiBWxEoqA4gjbEtlu67jQhwRR8QRBmAABsQygDgijnUJltT9Io4UDLEFQ+qg5bgohDBgzgDiaB4ruCJWJgwgjogj4ggDMAADYhlAHJEhExliHXNOEEcKhtiCQSIwTwTEilhJZQBxhG2pbNd1XIgj4og4wgAMwIBYBhBHxLEuwZK6X8SRgiG2YEgdtBwXhRAGzBlAHM1jBVfEyoQBxBFxRBxhAAZgQCwDiCMyZCJDrGPOCeJIwRBbMEgE5omAWBErqQwgjrAtle26jgtxRBwRRxiAARgQywDiiDjWJVhS94s4UjDEFgypg5bjohDCgDkDiKN5rOCKWJkwgDgijogjDMAADIhlAHFEhkxkiHXMOUEcKRhiCwaJwDwRECtiJZUBxBG2pbJd13Ehjogj4ggDMAADYhlAHBHHugRL6n4RRwqG2IIhddByXBRCGDBnAHE0jxVcESsTBhBHxBFxhAEYgAGxDCCOyJCJDLGOOSeIIwVDbMEgEZgnAmJFrKQygDjCtlS26zouxBFxRBxhAAZgQCwDiCPiWJdgSd0v4kjBEFswpA5ajotCCAPmDCCO5rGCK2JlwgDiiDgijjAAAzAglgHEERkykSHWMecEcaRgiC0YJALzRECsiJVUBhBH2JbKdl3HhTgijogjDMAADIhlAHFEHOsSLKn7RRwpGGILhtRBy3FRCGHAnAHE0TxWcEWsTBhAHBFHxBEGYAAGxDKAOCJDJjLEOuacII4UDLEFg0RgngiIFbGSygDiCNtS2a7ruBBHxBFxhAEYgAGxDCCOiGNdgiV1v4gjBUNswZA6aDkuCiEMmDOAOJrHCq6IlQkDiCPiiDjCAAzAgFgGEEdkyESGWMecE8SRgiG2YJAIzBMBsSJWUhlAHGFbKtt1HRfiiDgijjAAAzAglgHEEXGsS7Ck7hdxpGCILRhSBy3HRSGEAXMGEEfzWMEVsTJhAHFEHBFHGIABGBDLAOKIDJnIEOuYc4I4UjDEFgwSgXkiIFbESioDiCNsS2W7ruNCHBFHxBEGYAAGxDKAOCKOdQmW1P0ijhQMsQVD6qDluCiEMGDOAOJoHiu4IlYmDCCOiCPiCAMwAANiGUAckSETGWIdc04QRwqG2IJBIjBPBMSKWEllAHGEbals13VciCPiiDjCAAzAgFgGEEfEsS7BkrpfxJGCIbZgSB20HBeFEAbMGUAczWMFV8TKhAHEEXFEHGEABmBALAOIIzJkIkOsY84J4kjBEFswSATmiYBYESupDCCOsC2V7bqOC3FEHBFHGIABGBDLAOKIONYlWFL3izhSMMQWDKmDluOiEMKAOQOIo3ms4IpYmTCAOCKOiCMMwAAMiGUAcUSGTGSIdcw5QRwpGGILBonAPBEQK2IllQHEEbalsl3XcSGOiCPiCAMwAANiGUAcEce6BEvqfhFHCobYgiF10HJcFEIYMGcAcTSPFVwRKxMGEEfEEXGEARiAAbEMII7IkIkMsY45J4gjBUNswSARmCcCYkWspDKAOMK2VLbrOi7EEXFEHGEABmBALAOII+JYl2BJ3S/iSMEQWzCkDlqOi0IIA+YMII7msYIrYmXCAOKIOCKOMAADMCCWAcQRGTKRIdYx5wRxpGCILRgkAvNEQKyIlVQGEEfYlsp2XceFOCKOiCMMwAAMiGUAcUQc6xIsqftFHCkYYguG1EHLcVEIYcCcAcTRPFZwRaxMGEAcEUfEEQZgAAbEMoA4IkMmMsQ65pwgjhQMsQWDRGCeCIgVsZLKAOII21LZruu4EEfEEXGEARiAAbEMII6IY12CJXW/iCMFQ2zBkDpoOS4KIQyYM4A4mscKroiVCQOII+KIOMIADMCAWAYQR2TIRIZYx5wTxJGCIbZgkAjMEwGxIlZSGUAcYVsq23UdF+KIOCKOMAADMCCWAcQRcaxLsKTuF3GkYIgtGFIHLcdFIYQBcwYQR/NYwRWxMmEAcUQcEUcYgAEYEMsA4ogMmcgQ65hzgjhSMMQWDBKBeSIgVsRKKgOII2xLZbuu40IcEUfEEQZgAAbEMoA4Io51CZbU/SKOFAyxBUPqoOW4KIQwYM4A4mgeK7giViYMII6II+IIAzAAA2IZQByRIRMZYh1zThBHCobYgkEiME8ExIpYSWUAcYRtqWzXdVyII+KIOMIADMCAWAYQR8SxLsGSul/EkYIhtmBIHbQcF4UQBswZQBzNYwVXxMqEAcQRcUQcYQAGYEAsA4gjMmQiQ6xjzgniSMEQWzBIBOaJgFgRK6kMII6wLZXtuo4LcUQcEUcYgAEYEMsA4og41iVYUveLOFIwxBYMqYOW46IQwoA5A4ijeazgiliZMIA4Io6IIwzAAAyIZQBxRIZMZIh1zDlBHCkYYgsGicA8ERArYiWVAcQRtqWyXddxIY6II+IIAzAAA2IZQBwRx7oES+p+EUcKhtiCIXXQclwUQhgwZwBxNI8VXBErEwYQR8QRcYQBGIABsQwgjsiQiQyxjjkniCMFQ2zBIBGYJwJiRaykMoA4wrZUtus6LsQRcUQcYQAGYEAsA4gj4liXYEndL+JIwRBbMKQOWo6LQggD5gwgjuaxgitiZcIA4og4Io4wAAMwIJYBxBEZMpEh1jHnBHGkYIgtGCQC80RArIiVVAYQR9iWynZdx4U4Io6IIwzAAAyIZQBxRBzrEiyp+0UcKRhiC4bUQctxUQhhwJwBxNE8VnBFrEwYQBwRR8QRBmAABsQygDgiQyYyxDrmnCCOFAyxBYNEYJ4IiBWxksoA4gjbUtmu67gQR8QRcYQBGIABsQwgjohjXYIVwn7vuXeXWnHiyWre/GNVX/8k1dPTq46eN08tXrJU3bnt8+rQex8Myg2IIwVjEBQhwE4bKQYwAAMmDCCOcGLCSWzrHPzZ+6q3d7xqNBqqv79fLV22XJ2+9mx1/oUb1OLFy9Ss2XOTv40YMVJdc/1NLZ6AOCKOLUDENng4XooKDMhmAHGU3b+MX7v+veqa6xMxPOnkU7s6wIHXD6rRo0erkSNHtqyDOCKOLUAwCO0GIXEjbjDgJwOIo5/9wnipt1/e/Mk7aszYsYk8zp+/QF1y6WZ15133qC88/EX1pa/uU9ff8Bm1ZOmy5O+zZ89t8QTEEXFsAYLBXO9gJv7EHwbKZQBxLDee8CkrnhdctEFNnDgxEUR92jr7mD79KHXl1dcPcgTEEXEcBAWJQVZioD/pz5gZQBzhP2b+8xz7m3/xjvrmc99VB350cEgvQBwRxyEByQMd65KgYQAGfGMAcYRJ35j0pT2vHHhTffwTF6spU6aqnt7e5mxjb2+v6unpUWecfY7a98xLgxwBcUQcB0HhC9S0g4QPAzBQlAHEEYaKMiTx86/84MfJRS/6wpdFi5eoT119ndpx/0Pq8/ftUtdef7Natfp0NX78hEQm16w9q8UTEEfEsQUIiQOEY6JwwEC8DCCO8fY9475733/6xtsSKTz5lFVDOsCYMWOS9bKxRBwRxyGhycLC6+6DkNgQGxjwkwHE0c9+YbzU3y/Tpk1PpFCfml64aLE665x1asMnLknu27hs2XLV3z8p+fvKVWtaPAFxRBxbgGAw1z+Y6QP6AAbKYwBxLC+WcCkvlvd/4VG1ePFSNX36jOTqan3fxrFjx6qjZsxUa9aeqR58ePcgR0AcEcdBUJAc5CUH+pQ+jZUBxBH2Y2Xf9rj1f5XR93ns9nnEEXHsCkc3aFhOIoYBGAiFAcQRVkNhtcp2vvHWITVixAh11/Z7EwfQsrjixJOS2cbsvRznzp2nnn/x+y2egDgiji1AVAku+yKhwwAMuGYAcYQx14yFuP17dz6c/H5x67YdiQNoadTCuGrNGerue3aqnQ8OqIsvuUyNGjVK9fX1t3gC4og4tgAR4gCgzRQGGICBbgwgjrDRjY3Yl0+YOFFt3LQ5cYDJU6YqfQV1e0z6J01O5DG7HHFEHAeBkgWE1yRdGICBkBlAHOE3ZH5dtf2bz+1PZhhHjRqt+vr7E2nUM4769PV3Xn5NrTv/ouTG4HrZsuOOb/EExBFxbAHCFaRsl+QNAzBQBwOII9zVwZ3v+zzw+kE1dep0teKkk9UnN16mLrzo42rZsuNV7/jx6tB7H6jJk6eoKVOmqU2Xf2qQIyCOiOMgKHwHnvZRCGAABkwZQBxhxZQV1jvMyrLjlqvzL1jf1Q0QR8SxKxwMIhIuDMBA6AwgjjAcOsMu2q+vor7tc3cpfXFM9nH71u3JKex5849pLu+fNCmZhUzbgTgijogjDMAADIhlAHFEHFPh4fkjFr70lX2JIGZvvZO+1r9zTP/VYPq7xxdeerWZIxBHCkYTBgbVR4OKWBALGJDBAOIoox8Zj+X348G331ebr7xWjRvXk0jknLlHq527BtRZZ69T+t8Q6pjr3zu2xx5xRBwHQdEOCe/LH7DElJjCQDUMII7VxBmew47z7j171ZJlxzVnIfX9G7v99xjEEXFEHGEABmBALAOIY9hCg5BW238v7j+QXFk9YcIE9cMf/bRjXkAcKRgdwWCwVjtYiTfxhgE3DCCObuIKr/HGFXFEHBFHGIABGBDLAOIYr+Agt276HnGkYIgtGCQNN0mDuBLXkBhAHOE1JF5DaCviiDgijjAAAzAglgHEEXEMQcZCaiPiSMEQWzBCGoi0leIGA24YQBzdxBVe440r4og4Io4wAAMwIJYBxDFewUFu3fQ94kjBEFswSBpukgZxJa4hMYA4wmtIvIbQVsQRcUQcYQAGYEAsA4gj4hiCjIXURsSRgiG2YIQ0EGkrxQ0G3DCAOLqJK7zGG1fEEXFEHGEABmBALAOIY7yCg9y66XvEkYIhtmCQNNwkDeJKXENiAHGE15B4DaGtiCPiiDjCAAzAgFgGEEfEMQQZC6mNiCMFQ2zBCGkg0laKGwy4YQBxdBNXeI03rogj4og4wgAMwIBYBhDHeAUHuXXT94gjBUNswSBp4f8fdAAAIABJREFUuEkaxJW4hsQA4givIfEaQlsRR8QRcYQBGIABsQwgjohjCDIWUhsRRwqG2IIR0kCkrRQ3GHDDAOLoJq7wGm9cEUfEEXGEARiAAbEMII7xCg5y66bvEUcKhtiCQdJwkzSIK3ENiQHEEV5D4jWEtiKOiCPiCAMwAANiGUAcEccQZCykNiKOFAyxBSOkgUhbKW4w4IYBxNFNXOE13rgijogj4ggDMAADYhlAHOMVHOTWTd8jjhQMsQWDpOEmaRBX4hoSA4gjvIbEawhtRRwRR8QRBmAABsQygDgijiHIWEhtRBwpGGILRkgDkbZS3GDADQOIo5u4wmu8cUUcEUfEEQZgAAbEMoA4xis4yK2bvkccKRhiCwZJw03SIK7ENSQGEEd4DYnXENqKOCKOiCMMwAAMiGUAcUQcQ5CxkNqIOFIwxBaMkAYibaW4wYAbBhBHN3GF13jjijgijogjDMAADIhlAHGMV3CQWzd9jzhSMMQWDJKGm6RBXIlrSAwgjvAaEq8htBVxRBwRRxiAARgQywDiiDiGIGMhtRFxpGCILRghDUTaSnGDATcMII5u4gqv8cYVcUQcEUcYgAEYEMsA4hiv4CC3bvoecaRgiC0YJA03SYO4EteQGEAc4TUkXkNoK+KIOCKOMAADMCCWAcQRcQxBxkJqI+JIwRBbMEIaiLSV4gYDbhhAHN3EFV7jjSviiDgijjAAAzAglgHEMV7BQW7d9D3iSMEQWzBIGm6SBnElriExgDjCa0i8htBWxBFxRBxhAAZgQCwDiCPiGIKMhdRGxJGCIbZghDQQaSvFDQbcMIA4uokrvMYbV8QRcUQcYQAGYEAsA4hjvIKD3Lrpe8SRgiG2YJA03CQN4kpcQ2IAcYTXkHgNoa2II+KIOMIADMCAWAYQR8QxBBkLqY2IIwVDbMEIaSDSVoobDLhhAHF0E1d4jTeuiCPiiDjCAAzAgFgGEMd4BQe5ddP3iCMFQ2zBIGm4SRrElbiGxADiCK8h8RpCWxFHxBFxhAEYgAGxDCCOiGMIMhZSGxFHCobYghHSQKStFDcYcMMA4ugmrvAab1wRR8QRcYQBGIABsQwgjvEKDnLrpu8RRwqG2IJB0nCTNIgrcQ2JAcQRXkPiNYS2Io6II+IIAzAAA2IZQBwRxxBkLKQ2Io4UDLEFI6SBSFspbjDghgHE0U1c4TXeuCKOiCPiCAMwAANiGUAc4xUc5NZN3yOOFAyxBYOk4SZpEFfiGhIDiCO8hsRrCG1FHBFHxBEGYAAGxDKAOCKOIchYSG1EHCkYYgtGSAORtlLcYMANAybi2PjwNJXnQV+56SviGkZcEUfEEXGEARiAAbEMWItjo6EGBgY6CiWCE4bg0E9u+glxpGCILRgkDTdJg7gS15AYQBzhNSReQ2gr4og4Io4wAAMwIJYBxBFxDEHGQmoj4kjBEFswQhqItJXiBgNuGEAc3cQVXuONK+KIOCKOMAADMCCWAcQxXsFBbt30PeJIwRBbMEgabpIGcSWuITGAOMJrSLyG0FbEEXFEHGEABmBALAOII+IYgoyF1EbEkYIhtmCENBBpK8UNBtwwgDi6iSu8xhtXxBFxRBxhAAZgQCwDiGO8goPcuul7xJGCIbZgkDTcJA3iSlxDYgBxhNeQeA2hrYgj4og4wgAMwIBYBqzFcYh/QxhCcaeNCLMrBhBHCobYguFq0LBdEjIMhMOAiTjSn+H0J31Vf18hjogj4ggDMAADYhlAHOsXDWRPVh8gjhQMsQWDZCUrWdGf9KcNA4gj3Nhww2e6c4M4Io6IIwzAAAyIZQBx7C4AyBGxsWEAcaRgiC0YNgOCz5BIYUAWA4ijrP5kfNbfn4gj4og4wgAMwIBYBhDH+kUD2ZPVB4gjBUNswSBZyUpW9Cf9acMA4gg3Ntzwme7cII6II+IIAzAAA2IZQBy7CwByRGxsGEAcKRhiC4bNgOAzJFIYkMUA4iirPxmf9fcn4og4Io4wAAMwIJYBxLF+0UD2ZPUB4kjBEFswSFaykhX9SX/aMIA4wo0NN3ymOzeII+KIOMIADMCAWAYQx+4CgBwRGxsGEEcKhtiCYTMg+AyJFAZkMYA4yupPxmf9/Yk4Io6IIwzAAAyIZQBxrF80kD1ZfYA4UjDEFgySlaxkRX/SnzYMII5wY8MNn+nODeKIOCKOMAADMCCWAcSxuwAgR8TGhgHEkYIhtmDYDAg+QyKFAVkMII6y+pPxWX9/Io6II+IIAzAAA2IZQBzrFw1kT1YfII4UDLEFg2QlK1nRn/SnDQOII9zYcMNnunODOCKOiCMMwAAMiGUAcewuAMgRsbFhAHGkYIgtGDYDgs+QSGFAFgOIo6z+ZHzW35+II+KIOMIADMCAWAYQx/pFA9mT1QeIIwVDbMEgWclKVvQn/WnDAOIINzbc8Jnu3CCOiCPiCAMwAANiGUAcuwsAckRsbBhAHCkYYguGzYDgMyRSGJDFAOIoqz8Zn/X3J+KIOCKOMAADMCCWAcSxftFA9mT1AeJIwRBbMEhWspIV/Ul/2jCAOMKNDTd8pjs3iCPiiDjCAAzAgFgGEMfuAoAcERsbBhBHCobYgmEzIPgMiRQGZDGAOMrqT8Zn/f2JOCKOiCMMwEDADHzn5dfUF5/4yqA+/Oaz+9XBn70/aPlTX39+0DLJxRhxrF80JPMV47EhjgEXjBiB5ZgpAjDwEQOfvf2PVKPRSB6LlyxrCuEVV12XLBs1apR67PEvN5efeOLJyfLe8ePVmz95p7lcckwRx494kdzPHFt1/Yw4Io5RFA+SSnVJhVhXF2stgOPGjVMnnHBSIoTpDOPo0aNVf/8kpcXx2GMXJWP8y3u/kaxz1FEzkudPbrw0irGPOFbHI2M/jlgjjohjFMWDhBZHQoupn5/6+nOJAA7sfjIZw3rmceeDj6k7tt6TLH/+xe+riy+5NJFHHZd1512YSKZ+Pf+YBWrS5ClRjH3EkbEfU16o4lgRR8QxiuJRxWBiHxSoKhm46ZbPJoJ4w023qo9tuFgdffR8deD1g2r9hk+qnp7eZFw/9fVnk3Ve+9FP1ZQpU9XcuUcny6+6+gY1ZszYKMY+4si4rHJcxrAvxBFxjKJ4xDCYOca4CuSFH/t4IoXpbxxnzZ6bjOUlS49Tk6dMTV7rC2f035/86j41blyPOnXl6mT59nvuT5anp7Yls4M4xjUuJLPsy7Ehjogj4ggDMBAgA1ddc4MaMWKEWrr0OHXt9TcnIvilr+5T06YfpaZNn5706RtvHUqW77j/ITVmzBh15lnrkuX37PgC4hhgn/siDrQjbhlHHEkeSAMMwECADFy2+erDsvjUN5P+0xfE3HDjrWrmzNlqzpzDp6Sf/fYryTr6lPXo0WPUx9Z/Mln3ru33JsvLEAB9elwLahnbcrGNEGYcn3l+vzr03gfextBFv7DNcOUTcQywYDDgwh1w9B19VxYDd23bcVgKv/ZcIhx6RvGa625Sp512upoxY0ay7P4vPJKso09JT5t2lDp15apk+XkXfEyNHz++FFHR+9y6bUcp2yorNtnthCCOS5ctVy/uP+BtDLPx5DU5DHFEHElWMAADATLw3JHZxM/dsS3pP/1bxhtv+azacse25mziCStOVr29hwXx1NNWJ7fo0YV/ytRp6phjF5bS74hjcZFAHIvHEKGtLoaIY4AFgwFS3QAh1sTaZwYmT56ienrHq0mTJiey+MqBN5W+glpLZF9fX/J8yaVXJoL44CO7k/cT+/qT50ce24M4epL/EUfyjM95pr1tiKMniaO9Y3hPIoEBGBiOgQcf3q30bxu1KC4/fkVTBE9bvSZZpm8Ont2GPoWt1z1qxsyW5dl18r5mxrE4p4hj8Rjm5Zb17WOOOCKOpRUQBqL9QCR2xK4IA1/75rcHjePvfu+1Qcv0Pl546dWOy233jzgWZxdxLB5DW375XP7YI46IY6lFhEGYfxASM2IWMgN5xVFfhf30vhfU7j17k4tqLlr/CbXr4T92loequDjm8iuuVhs3bU6ORx+XvtDl4NvvGx8T4kgOCCkHII6Io3FyCwls2koihoFqGGgXx1QMd+4aSK7y1uK2ctUapYuNPk3e6XHGmec4y0NViOOECRM7Hpc+Vn3c+viHEkvEsRpWyQnlxBlxRBydJWwGaTmDlDjGHcfNV16jtPz4+pg6bboaOXJk8ugkhSbLph81w9nx6W3rNhy/4iRn+9D3yDQ5zk7r6N+o6vhxO564x3lIeR5xRBwRRxiAAY8ZSE/r6lOgPj5WrV6rFi1eovSsoZazOXOPVr29vblESn/O1bGdcMJJSVuuu+FmZ/vIe7xTpk5VCxctUaetPl2tO/8iNWnyZMTR4zEYktRV0VbEEViRBhiAARiwZqD9VHW2cHU6ba1Py+rCk519S29Mnv1sWa+rOFXd09PTcjz6+IY7PZ09Pk5VM9uY5cH314gjBcO6YPgON+0jGcOAewaGEsfh4p+Kpct/WViFOL786hu5L4jJxgZxdM9pNt68LhZvxBFxRBxhAAZgwJqBIuJYRQGvQhyLHgfiWExkisafz+eLP+JIwbAuGAy2fIONeBEviQwgjsW5RhyLx1Di2PL1mBBHxBFxhAEYgAFrBhDH4tKDOBaPoa+SJbFdiCMFw7pgSBwQHBMJHAbyMYA45otXJ74Qx+Ix7BRXlrmJK+KIOCKOMAADMGDNAOJYvDgjjsVjiCRWF0PEkYJhXTAYqNUNVGJNrH1lAHEszibiWDyGvo4Pie1CHBFHxBEGYAAGrBlAHItLD+JYPIYSBc3XY0IcKRjWBcNXqGkXSRgGqmMAcSwea8SxeAwZ89XFEHFEHBFHGIABGLBmAHEsXrARx+IxRByriyHiSMGwLhgM1OoGKrEm1r4ygDgWZxNxLB5DX8eHxHYhjogj4ggDMAAD1gwgjsWlB3EsHkOJgubrMSGOFAzrguEr1LSLJAwD1TGAOBaPNeJYPIaM+epiiDgijogjDMAADFgzgDgWL9iIY/EYIo7VxRBxpGBYFwwGanUDlVgTa18ZQByLs4k4Fo+hr+NDYrsQR8QRcYQBGIABawYQx+LSgzgWj6FEQfP1mBBHCoZ1wfAVatpFEoaB6hhAHIvHGnEsHkPGfHUxRBwRR8QRBmAABqwZQByLF2zEsXgMEcfqYog4UjCsCwYDtbqBSqyJta8MII7F2UQci8fQ1/EhsV2II+KIOMIADMCANQOIY3HpQRyLx1CioPl6TIgjBcO6YPgKNe0iCcNAdQwgjsVjjTgWjyFjvroYIo6II+IIAzAAA9YMII7FCzbiWDyGiGN1MUQcKRjWBYOBWt1AJdbE2lcGEMfibCKOxWPo6/iQ2C7EEXFEHGEABmDAmgHEsbj0II7FYyhR0Hw9JsSRgmFdMHyFmnaRhGGgOgYQx+KxRhyLx5AxX10MEUfEEXGEARiAAWsGEMfiBRtxLB5DxLG6GCKOFAzrgsFArW6gEmti7SsDiGNxNhHH4jH0dXxIbBfiiDgijjAAAzBgzQDiWFx6EMfiMZQoaL4eE+JIwbAuGL5CTbtIwjBQHQOIY/FYI47FY8iYry6GiCPiiDjCAAzAgDUDiGPxgo04Fo8h4lhdDBFHCoZ1wWCgVjdQiTWx9pUBxLE4m4hj8Rj6Oj4ktgtxRBwRRxiAARiwZgBxLC49iGPxGEoUNF+PCXGkYFgXDF+hpl0kYRiojgHEsXisEcfiMWTMVxdDxBFxRBxhAAZgwJoBxLF4wUYci8cQcawuhogjBcO6YDBQqxuoxJpY+8oA4licTcSxeAx9HR8S24U4Io6IIwzAAAxYM4A4FpcexLF4DCUKmq/HhDhSMKwLhq9Q0y6SMAxUxwDiWDzWiGPxGDLmq4sh4og4Io4wAAMwYM0A4li8YCOOxWOIOFYXQ8SRgmFdMBio1Q1UYk2sfWUAcSzOJuJYPIa+jg+J7UIcEUfEEQZgAAasGUAci0sP4lg8hhIFzddjQhwpGNYFw1eoaRdJGAaqYwBxLB5rxLF4DBnz1cUQcUQcEUcYgAEYsGYAcSxesBHH4jFEHKuLIeJIwbAuGAzU6gYqsSbWPjKwfsPvVKOxQzUaX1H6tY9tXHfeRarRaKjde/Z62b7DMVypGo2/9jaGPvYrbaovJyKOiKOXyZSkUF9SIPbE3oSBw8KjmuLYaCgvxcdncfwohofF0dcYmvDAOvHkDcQRcUQcYQAGYCA3Ax9Jz27VaOxTWnqmTvsfauWqf/HqMXnKpmTGceGiV4zadcaZvx8Ui+wxDff37LrDvdbx0nFrNE5UjcbpqtG4QE2deq5auWpNVI/+/knqpFNWdj3mG2/+7KA+QVTrE1XEkYLBgIQBGICB3Ax8JI5afA4/Vq3+F/X0vl959Tj5lA2JOH7mtmeM2vXM878cFIvsMQ339+y6w73W8Tocu9+qRuNQ8li1+k319L4XonronxJsu/v+rsf88qtvDOoTxBFxLIOBRhkbYRv1wUjsiT0MhMVAVh6PX/GvXhZ3n09Va95nzPx/m+Kt4xnbGDj49vuJ2D/06BPRHXuofc2MIzMNDFYYgAEYsGZAX1V91bV71ew5/269DZcF1GdxfHH/L1Rf3x9UzFdVv7j/QCKOt33uLi/5cclmqNtGHCkYDFYYgAEYsGYgvR2P/j3fzl2/sd6OqyLqsziuO++/q63bfhu1OOqr3fWp6g2f2OgdO66YDH27iCMFg8EKAzAAA9YMpOKoZ898nHX0VRzT2UYtETHPOG7dpm/n1FAnn3KaNYOhi1ho7UccKRgMVhiAARiwZiAVR138fJx19FUc09nG2MVx46bNiTjOmjXbmsHQxCv09iKOFAwGKwzAAAxYM5AVRx9nHX0Ux+xsY+ziqG89pGcc9SN0oYql/YgjBYPBCgMwAAPWDGTFURdO32YdfRTH7Gxj7OKoJSQVR32FdSzyFfJxIo4UDAYqDMAADFgz0C6Odc46Nj48TeV51FG822cbYxfHVBr1s77Cuo4+YZ/5bgOGOFIwGKgwAAMwYM1AuzjqIlzXrGMeadTr1iEM7bONug2xXhyT3sMxlUdf/594HZz4vE/EkYJRS/L0eVDQtnzfPolX3PHqJI51zTr6Lo6dZhv1+IlVHNN7OKbiqK+wJp/4n08QR8SRgQoDMAAD1gx0Ekdd/OuYdfRdHDvNNsYsjuk9HFNx1FdYI46IY5UM8C8HKX4kHRiAgYoZ6CaOdcw6+iyO3WYbYxbH9B6OqTjqK6yrlAb2ZSepzDhWnGQB1Q5U4kbcYMBPBrqJo+6vqmcdE3E8cmuXVEa6Plf8G8dus406TrGeqk7v4Zj2kRYSxrmf4zzbL4gj4shAhQEYgAFrBoYSx6pnHbU4DgwMGD30utli6PL1ULONer+ximP2Ho6pPLrsB7ZdjpQijhSMypIng7acQUsciaNPDAwljrqdVc46+nqqeqjZRh2jWMVxytSpzXs4puLIvRz9z2+II+KIOMIADMCANQPDiWOVs44+iuNws40xi+OeL39N6d85jhvXo2773F1q564Baw59+jIlvS2IIwWDgQoDMAAD1gwMJ466iG7c9H+pA6//J+t9mBZiH8VxuNlGfWyxzjim/drX16+YafR/pjHtL8SRguE8maew8RxOYqCv6CtTBkzE0XRbRdfzURyfef6Xw+ZYxBFxLMp+lZ9HHBHHYZNalUCyL4QFBsJiAHEs3l+II+IYUt5DHBFHxBEGYAAGrBnwSRw7Fd91512UXIDh87+zQxwRx07s+roMcaRgWBcMX6GmXcVnQIghMTRlII84bt32W7Vz128qzTl1iaPJKeo0xogj4piyEMIz4og4VprEQxgUtBFpggFzBvKIY5VXWKd9WIc4mlxJnbZPPyOOiGOWB99fI46II+IIAzAAA9YM5BFHXRCrvK+j3l8d4mhyJXVWDhBHxDHLg++vEUcKhnXB8B1u2mc+a0SsiJUtA3nFUc/G6dvz2O4v7+eqFse8s436eBBHxDEv13WujzgijpUl8DpBZ9+IEQy4YSCvOFbdD1WL48G3/0E9ve9XufIq4og4Vj0uiuwPcUQccyW4IrDxWTeFm7gS1zoZQByL84c4Io51juG8+0YcEUfEEQZgAAasGUAcEce84tG+Pv85pjhD7TF1+R5xpGBYFwyXYLLtsBIJ/RVvf9mK46H3/k6t3/A75/mnqlPV+hS17TiQPON48GfvDxsXxDGs/IE4Io7DDmrbZMjnwkoG9Bf9ZcOArTjqfVVxhXVV4qivpH7ksf9slU+liOMrB95U56y7QPVPmqzGjetJbrzeaDRUT0+v6unpUWvOOFu9tP/AoBghjmHlHsQRcRw0iG2KB58Ja+DTX/RXWQwUEccq7utYhTjaXEmdjb8EcdRCOHLkyORxwoqT1NXXfFrdc98u9fn7HlSXX3m1On3tWYk8apFcveaMlrqDOIaVjxBHxLFlAGeTGa/DGsz0F/1VBwNFxFG31/WsYxXimPe+je39JEEcP3X1DckM49nnnD9kTRkzZkwil9kYII5h5S7EEXEccpBnBzevwxrc9Bf9VQUDRcXR9ayja3EsOtuo+0iCOB567wM1bdr0RB7Hj5+glixZptasPUtt+MQl6prrb1JLlx2n+vr6kr+fvvbslrqDOIaVqxBHxLFlAFdRaNhHWEmC/qK/hmLgwOsH1RtvHSqUR1zOOroWx6KzjTq2L+4/oLR4DRXnUP62474H1cJFS9TUadPV+PHj1ahRo9S4nl41Y8bM5PePu/9k76DjRBzDyjGII+I4aBCHkqBoZ1jJhv6iv7ox4HLW0aU4ljHb2C0moS9/5Qc/Vk9++evqoYEnOl4Qkz0+xDGs3IA4Io6IIwzAAAzUzoCrWUeX4ljGbGNWoEJ/vfWPdqij581vXk2tL4TJPuYePU/dtf3eQawhjohjXew36tox+w0LevqL/oIB/xhwNevoShyZbWxl6KFHH08kcezYserGm29TT33tOfXKD95Ueubx0S8+qW773F1qztx5yTr6VHZ2DCKOrbHMxsbH18w4MtPQMoB9hJQ2hZVU6K+4+mvnrgG1e8/g363ZcOBi1tGVOJY526gvMNK/FbWJmS+fufmWLYkUnnzKyq7HoW8GPmrUaK6qDtw7EMfAO9CXpEE74pIF+pv+ThkoelV1uh397GLW0YU4lj3bKOGqat1/K046uXlqun/SpOSCmLnz5qllxx2vJk6c2PzbTbdsaZFLZhzDyieII+LYMoCzSZzXYQ1m+ov+qoOBMsVRt7/sWUcX4ljmbKM+ZiniqI/ltR/9VF151fXJFdTHLlikJk+ZqubOm69WrVqrtu94oOPV44hjWLkLcUQcEUcYgAEYsGagbHEse9axbHEse7ZRmjjq49GnpN/8yTstTOlbNunbDj346G71vR/+uOVviCPiqLmp48HFMTUFvo7OZp/1DDLiTtzbGSjjPo7t2yxz1rFscSx7tlEfu5T7ON50y2fVhAkfnZIePXq0OnXl6kQI0puDp/+7OtvniGNYeYUZR2SrFsvPJg1eh5U06C/6yzUDZc46limOLmYbXceyqu3v+9ZLyW8YJ02eojZuulzpW/PMnDU7WXbJps1JnTn49vuqp6dXnXzKaS11B3EMK6cgjohjywCuKsmwn7ASBf1Ff1XNQFmzjmWKo4vZxqrj6mp/n77ptkQSzz73gpaacuKRC2ZuvvX2ZPn0o2aoBQsXt6yDOIaVXxBHxLFlALtKKmw3rMRAf9FfdTNQ1qxjWeLIbOPwY6J3/IREHnt6epL/W/2Zz96ZXAyTnr4eM2as0o/p049qqTuI4/CxrXs8ZvePOCKOLQM4CwevwxrM9Bf9VQcDZd7Hsb39etbxkcf+c6EcVZY4upxtlHAfx7Tv7th6t1p63HJ17ILF6u4dDzT7btvdO9UJJ5yk5s8/Vp2yclVzuf4c4hhW7kIcEceWAZwOfp7DGsj0F/1VFwNlX1WdPY433vpHdfDtfyiUo8oQR92Opcv+rVA7ssfV/lrS7Xjaj83kPeIYVv5CHBFHZ8nQJGGwTlgJg/6iv9oZcCmO7fuyeV+GONrsN89nEMd+pS+cyRMz1q0vFyGOiCODFQZgAAasGUAcixdwCeL41NeeVZMmTU7+H/XR8+ar9of+P9XTps9Q06fPUPr/Wesbhafyx4xjcYbSWFbxjDhSMJqDtwrg2EdYCYL+or+GY6AqcTzw+n+yylXMOFbDsJ4xnDxlSnJxzOIlS9Xy41e0PBYuWqImHPm3gxMn9rXcIBxxrKaPhhvLpn9HHBFHq2RsChjrhZUQ6C/6Ky8DVYjjy6/+XM2e8+9WuaqIOOr93nPvf7Hab544SphxTI/3jLPOVfq/xKTvTZ4Rx7DyDuKIOOYa4CZJgHXCSgL0F/1VhIEqxFG3z/a+jkXE0eWV1NmYSxLH7HGZvkYcw8pBiCPiiDjCAAzAgDUDVYmj7X0dbcWxyvs2Io5cHGMq2T6shzhSMKwLhg8A04awvqnSX/L6qypx1Ozo08aH3vu7XDnLVhw3X/l/qq3bfptrX7Z8I46Ioy07dXwOcUQcK0mMdcDNPuVJCn3qX59WKY42/W8rjjb7sv0M4og42rJTx+cQR8QRcYQBGIABawYQx+IyjzgijnUIoO0+EUcKhnXBsIWOzxUvNMSQGPrCAOJYnEXEEXH0ZTybtANxRBwRRxiAARiwZqAOcVy/4Xdq567fGLU576lqvd28v6M0KbZDrYM4Io5D8eHb3xBHCoZR8vUNXNpTfJaDGBLDMhioQxzzXGGdRxyrvJI6G3vEEXHM8uD7a8QRcUQcYQAGYMCagTrEURdW0/s65hHHqu7b2C4GiCPi2M6Ez+8RRwqGdcHwGWzaxmwaDFTDQF3iaDrraCqOdc02ak4RR8QxpHyFOCKOiCMMwAAMWDNQlzjqQts+69j48DRl/Gg0msds/Bm9/cznyir2iCPiWBZLVWwHcaRgNJNnFcDz917AAAAZ5ElEQVSxj2pmgYgzca6KgTrFsX3W0VgAGw21ZcuWZu6z/VxZMUYcEceyWKpiO4gj4thMnlUAxz4QGhiQxUCd4qhZys46GgngEWnU66Ys2n4u/XzRZ8QRcSzKUJWfRxwRx2byrBI89iVLHujPePuzbnHMzjoOK4AZaUzFUX/e5nNlMo84Io5l8uR6W4gj4og4wgAMwIA1A3WLoy6S6axjJwHcvn178rtE/axPT2fX0Z/VV1Jnl6Wvh/tcmcUZcUQcy+TJ9bYQRwqGdcFwDSfbj3cWi74Pp+99EMd01jGVvvRZy9+7776biKF+TmQwcwGN/lxf3x8GieNwnyubT8QRcSybKZfbQxwRR8QRBmAABqwZ8EEcdZHUs46pMDafG43WZW3v0/s2NtdPpbJtPX0ldXadsosy4og4ls2Uy+0hjhQM64LhEky2Hc6ME30Vd1/5Io6dfqs43Myhnm3U/GalUL8e7nNlM484Io5lM+Vye4gj4og4wgAMwIA1A76IYycB1DOFyenpzHNWErdu+21HcRzuc2UXZcQRcSybKZfbQxwpGNYFwyWYbDvuWSz6P5z+91Yc266g1sKYXByTOe2ccpaVSS2N7RfRdPtc+vmiz4gj4liUoSo/jzgijogjDMAADFgz4KU4dpC/VA6zEpgW2/RvnaQx/Vunz6WfL/qMOCKORRmq8vOIIwXDumBUCSr7CmcGir6Kq6+8E8chpLFdAlNWk+UWn0s/X/QZcUQcizJU5ecRR8QRcYQBGIABawZ8Ese0eKb3ddTv1513UXIfx9179ibHmF5Jna7rwzPiiDj6wKFpGxBHCoZ1wTCFjPXimoGiv+Pqbx/FUV9hfcaZvz8iih+JY3rfRt8YRRwRR9+YHKo9iCPiiDjCAAzAgDUDJuKYniI2fR6qaOX9W3bG8eVXf6527/m19bHm3bfp+ibiaBq7dD3TffuwXl8f4uhDP5i2AXGkYHiXRE3hZb24Zrbobz/721ocGw01MDAw6B6KWnzK7OusOJa53TK3ZS2OFcWwzGPttC3E0c+x3amv9DLEEXEsNUl3A43lYSUG+ov+MmXAV3FsNFSS2w6Lo1LpbxzT5abHV8V6iCMzjlVwVtY+EEfEEXGEARiAAWsGfBVHXSS1JM4/5uLkWYujj9Ko24k4Io5lSV0V20EcKRjWBaMKQNkHM18w4DcDPoujZkfLYvrwlSXEEXH0lc1O7UIcEUfEEQZgAAasGfBVHFNZ7PTcqRjWuQxxRBzr5C/vvhFHCoZ1wcgLG+v7PXNE/9A/Ngz4Ko7psWTFMV3m2zPiiDj6xuRQ7UEcEUfEEQZgAAasGfBZHLU0zpm7kd84es43V1WH9aUVcfR8QA1l/fwtrMFGf9FfEhnwVRy1NOp4c1W1/+MOcfS/j7K5C3FEHK1nGrIg8TqsgU9/0V9lMeCrOKbH1y6O6XKfnjlVzalqn3gcri2II+KIOMIADMCANQNhiGMjuY+j/s8xzzz/S+tjHa6g2v4dcUQcbdmp43OIIwXDuyRax0Bgn8zAwYAdA9bi+OFpHf9rTBn/OUb/T+r1G36X5Lbsf47Ry2fP+Xfvcp61ODqMYZXjgVPVdmOvyj7K7gtxRBy9S6JZQHkdVkKhv+LrLxNxrJqLdef9d7V1228HiaNux8pV/6J27vqNV3nPRByrjmGV+0Mcw8obiCPi6FUCrTJZsa+wkhX95Wd/+SaOelaxr+8PzbyWnXHUDPk464g4cqo6pPyGOCKOzQQbEri01U+JoF/i6xefxFGf5jZ+NBre5D7EEXEMKXcijoijN8kzpIFDW+MTJPq8c58HKY6NhtqyZYs3uQ9xRBxDyi+II+LoTfIMaeDQ1s4SQVzii0tw4nhEGvXMpC+/dUQcEceQcifiiDgijjAAAzBgzYAv4qh/uzjsaeqMNOp1fbnCGnFEHBHHer50N0IKPG2tBxLiTtxhoFwGfBFHfSV1J3Hcvn27ajQaSj/r09PZdXy5whpxRBxDykvMODLTYD3TEBLotLVcWSCexDNlwAdxTK+kzkqhfq1l8d13301kUT8nEpm5gMaXK6wRR8QxHU8hPCOOiCPiCAMwAAPWDPggjul9G9vFUc80tixre6+LtA+zjogj4hiCMKZtRBwpGNYFI4WIZ2afYCBeBuoWx3S2UTPYIokGM476Mz7MOiKOiGNIORRxRBwRRxiAARiwZuDA6wfVG28dsv580YKZzjZ2Esf0t43Z56xcpvuue9bxxf0H1KH3Pqgthmkc6nrmP8eE9cUTcaRgRJus6kqS7DesJEl/+dtf2dlG3U9ZKdSy2H4xTPI+c7o67VsfZh3TtsT4jDj6O8Y68Yg4Io6IIwzAAAwEyUB2tlEXuKY4dpDG9G9ZecwWxbpnHbNtie014og41sU8t+Oh+AVZ/OoaMOw3rGRNf7X2V/tso45PIodDSGO7PGZjyqxja3yzsXH9GnGsL/Y2fcuMI7KFbMEADMCANQM7dw2o3Xv2Wn/epnDpz7TPNnbbzrrzLkru42jSxrpmHfUFRvq3ot2OQfpyxBFxrItxZhwpftEm3roGHfsNK+G76K86rqruNNvY7djyiGNds45cVc1V1d349XE5M47IFrIFAzAAA9YM1CGOprONuujmEUe9/j33/hd18O1/sI6HTaFHHBFHG27q+gziSMGoNEHWBTr7ZWYMBtwwUIc4vvHWPxrnrbziWAcniCPiWAd3tvtEHBFH4wRsCxmfc1OwiStx9YGBuu/jOFwMQhBH7uOIOA7HsU9/RxwRR8QRBmAABsQyEII4+iQFdbSFi2PC+hKMOFIwxBaMOhIg+wwrAdJfYfXXl/b+b7nzla04XnPdP6udu36Te38wlZ8pxDF/zOrkDHFEHEmMMAADMOA9A3mupM4WVVtxrOsK62zbY3mNOCKOdbHO7Xgoft4Xv7oGB/sNKzGH1F9V3ccxz5XU2fjZiqPeRlX3deQ+jvzGMcus76+ZcUS2kC0YgAEYsGagiquqX37156qv7w9WbSwijnq/N978f1jtN0/x56pqxDEPL3WvizhSMJwnxbohZ//MtsGAOwaqEEfdf888/0urXFVEHKviBnFEHKtirYz9II6Io1UyLgM+tuGumBNbYlsVA1WJo+3xII7+jwV+4+h/H2XHH+KIOCKOMAADMGDNAOJYvOgz48iMY1bMfH+NOFIwrAuG73DTvuIFjRgSw+EYcCmO+l//Ff33f2XMOOo26AtlhouF7d8RR8TRlp06Poc4Io7OkmEdQLNPRAcGqmXApTjqK6n1/44u0qdliKPev8srrBFHxLEI41V/FnFEHAsl5aqBZX/VSgHxJt7DMeBKHG3v29je3rLE0eV9HRFHxLGdW5/fI46II+IIAzAAA9YMuBJH2/s2thfcssRRb9fVrCPiiDi2c+vze8SRgmFdMHwGm7YxUwYD1TDgQhzLmm3UDJQpjq5mHRFHxDGkfIU4Io6IIwzAAAxYM+BCHMuabSxbHPX2XMw6Io6II+JYzRfd9jjzLwcpftbFrx0m3tcziIl7eHEvWxzLnG3UPJU546i352LWEXFEHEPKfcw4IlvIFgzAAAxYM1C2OJY52+hCHPU2y551RBwRR8Sxni/NzDhS/KyLX0iDlrbWk2CIe+e4lymOZc826j4re8ZRb7PsWUfEEXEMKb8w44hsIVswAAMwYM1AmeJY9myjK3HU2y1z1hFxRBwRx85fTF3HhRlHip918XMNJ9uvJykQd/dxL0scXcw26v53MeOot1vmrCPiiDiGlKuYcUS2kC0YgAEYsGagLHF0MdvoUhz1tsuadUQcEUfE0f2X3E4xZsaR4mdd/DoBxbJ6BjJxDyvuZYijq9lGzZKrGUe97bJmHRFHxDGkvMeMI7KFbMEADMCANQNliKOr2UbX4qi3X8asI+KIOCKO9XxhZsaR4mdd/EIatLS1ngRD3DvHvag4upxt1H3mcsZRb7+MWUfEEXEMKb8w44hsIVswAAMwYM1AUXF0OdtYhTjqfRSddUQcEUfEsfMXU9dxYcaR4mdd/FzDyfbrSQrE3X3ci4ij69lG3f+uZxz1PorOOiKOiGNIuYoZR2QL2YIBGIABawaKiKPr2caqxFHvR8867t7za6s4Io6II+Lo/ktupxgz40jxs0ranWBiWT2DmLiHF3dbcTz49j8oLY6u+7yKGUd9DPp4bI8FcUQcbdmp43PMOCJb1smuDmDZZ3hiQZ/J7jNbcayKi6rEscjxII6IYxF+qv4s4og4Io4wAAMwYM0A4lj8iwHiiDhWLX9F9oc4UjCsC0YR8Phs8WJDDImhDwwgjq0c6lPW+mKZPH2DOCKOeXipe13EEXHMleDqBpb9txYp4kE86mYgrzhqqVq/4XeV5Z2qT1XbXGGNOCKOdY/jPPtHHBHHyhJ4HjBZFyGCgTAYyCuOVVxJnWWnanHU+857X0fEEXHMMuv7a8QRcUQcYQAGYMCagTziqGfj+vr+YL0vm4JahzjmnXVEHBFHG7br+gziSMGoNInXBTr7DWP2in4Kr5/yiONnb/+vauu231aac+oQR83xM8//0vg4EUfEMaTchzgijsbJLSSwaWt4AkKfhdlnecSxjj6uSxzzHCviiDjm4aXudRFHxBFxhAEYgAFrBhDH4sKPOCKOdctgnv0jjhQM64KRBzTWLV5ciCEx9JEBxHFoLt946x+HzbGII+Lo49ju1ibEEXEcNql1g4flQxcM4kN8YmDARBz1bxtNBMpFvOo+VW1yhTXiiDi6YN/VNhFHxBFxhAEYgAFrBoYTxzqupM4WzLrF0eQK61jF8eVX31C79+xVvb296qFHn1Bf++a3rTnM9jmv3X5pRxwpGAxUGIABGLBmYDhxrPq+je3SULc46vYMN+sYqzhOmjxFNRqNlseh9z6wZrG973nvRiARRwoGgxQGYAAGrBkYShzrnm3U4uCDOA436xirOK5ctaZFGrVEIntuZK/MuCKOFAwGKgzAAAxYMzCUONY92+iLOOp2DDXrGKs4bty0uUUctZCUKThsy42EIo4UDAYqDMAADFgz0E0cfZht9Ekch5p1jFUct27b0SKOegYS2XMje2XGFXGkYDBQYQAGYMCagW7i6MNso0/iqNvSbdYxVnHUF8Zkf+OoZyDLFBy25UZCEUcKBgMVBmAABqwZ6CSOvsw2+iaO3WYdYxXHF/cfaBFHPQOJ7LmRvTLjijhSMBioMAADMGDNQCdx9GW20Tdx1O3pNOsYqzgefPv9FnHUM5BlCg7bciOhiCMFg4EKAzAAA9YMtIujT7ONPopjp1nHWMVR90/2VLWegUT23MhemXFFHCkYDFQYgAEYsGagXRx9mm30URx1m9pnHWMWRy0hqTzqGcgyBYdtuZFQxJGCwUCFARiAAWsGsuLo22yjr+LYPusYszhm7+WI6LkRvbLjijhSMKwLRtkwsr0wkgb9RD9lGciKo2+zjbqdPtwAPBuv9HV21jFmcUzv5Thr1mxqUSA+gjgG0lFpsuGZog0DMOATA6k4+jjbqOPkqzhmZx1jFsf0Xo4nn3Ia4hiIjyCOgXSUT4WCtiAuMAADKQOpOPo426jb6Ks46rals44xi2N6L8cNn9iIOAbiI4hjIB2VJmmeKdgwAAM+MaDF8apr96q+vj94Wfh9Fsd01jFmcXx63wvJxTG3fe4uL/nxaaz50hbEEXFksMIADMCAFQPrN/xONRoqeSxd9m9W23BdDH0WR33sU6f9j2YMdTxdx8O37R94/WAijg89+kR0x+5bX5i2B3GkYDBYYQAGYCA3A1lpTOVx7Zm/V3oWzafHaavWJ2Kydds3jNr18qs/HxSL7PEM9/fsusO91vE6HDst4H+dPM44412l72cY00PfjueBBwe6HrOWS1OpYT33Z2QQRwoGAxIGYAAGcjPQSRz7+/+g9MyjT4+JfZcm4jhnzveN2rXixH8dFIvs8Qz39+y6w73W8Tosjn+uGo2VyaO//2SlT13H9Ojp6VGLlyzresz65xAIoXshNI0x4kjBYEDCAAzAQG4GOomjj6dafT5VHUoMTYWC9fyRO5d9gThSMHIXDJdAsu04Eg/9LKOfs+LjozRqznwWR92+EGLIeJUxXsvqR8QRcUQcYQAGYEAsA76LY1nFnO0gd1UxgDhSMMQWjKoGEfshYcOAvwwgjv72DeMmzL5BHBFHxBEGYAAGxDKAOIYpJ0ilv/2GOFIwxBYMEo+/iYe+oW+qYgBxhLWqWItlP4gj4og4wgAMwIBYBhBHxDEWoavqOBFHCobYglHVIGI/FCYY8IOBxoenqTwP+s2PfqMfwuoHxBFxRBxhAAZgQAQDeaRRr4uwhCUs9Jcf/YU4UjBInjAAAzAgggHE0Q+xQPBk9wPiSMEQUTBIVLITFf1L/5owgDjCiQknrFOME8QRcUQcYQAGYEAEA4hjMSFAqIifCQOIIwVDRMEwgZ11SIowIJuBRBwbDdUwefAbR3I/9d+KAcQRcKzAoQDLLsD0L/0bIgNaHAcGBoweet0Qj5E2MzbrZgBxRBxJnjAAAzAgggFOVSNVdUtVDPtHHCkYIgpGDIOVY6QowsDQDCCOQ8cHfohPGQwgjogj4ggDMAADIhhAHBGjMsSIbQzNEeJIwRBRMBjoQw904kN8YmAAcYTzGDiv+xgRR8QRcYQBGIABEQwgjohj3VIVw/4RRwqGiIIRw2DlGCmKMJCfgXXnXZTcnmf3nr3kOuodDJTAAOJYQhBJ5vmTOTEjZjAAA1UwgDjCWRWcxbQPxBFx5BsYDMAADIhlAHFEHGOSuiqOFXGkYIgtGFUMIPZBUYIBvxlAHP3uH8ZPeP2DOCKOiCMMwAAMiGUAcQxPTJBJv/sMcaRgiC0YJB+/kw/9Q/9UwQDiCGdVcBbTPhBHxBFxhAEYgAGxDCCOiGNMUlfFsSKOFAyxBaOKAcQ+KEow4DcDiKPf/cP4Cad/rr3hFqXHU09Przp97Vnq/AvXq0PvfRC0QzQAMBwA6Sv6CgZgoAoGEEc4q4KzGPZx7IJFyT1RG41G8/ng2+8jjjF0PsdIIoUBGIiFAcQR1mNh3fVxpmMpK46u9+l6+8w4cto96G8+rgcI26eAxshAWuz4zzHwHyP/ZR7zNdfd1Jxp1PKof+tY5vbr2BbiiDgGD3EdA4d9UlAlM4A4wrdkvqs8tp27BlrEceWqNcHXXMQRcQwe4iqTAPuioMbAAOII5zFwXsUxPr3vhRZx3Lhpc/A1F3FEHIOHuIrBzz4opDExgDjCe0y8uzzWA68fbBHHrdt2BF9zEUfEMXiIXQ56tk0BjZEBxBHuY+Te1TFnL4yR8LthxBFxRBxhAAZgoIUBxBFxdCVRMW63r6+/Oev44v4DLWMtxHggjhSM4CEOceDRZgqzzwwgjvDpM5+htW3psuVNcQz9Ho469ogj4og4wgAMwEALA4gj4hianPnc3nQ86VPWPrfTtG2IIwVDBMimwLMeBREGhmcgLXQSfo9Ffw/f38TIbYzSeznOmDlLRL1FHBFHESCT+NwmPuIbV3wRx7j6m/Httr/TezmuOPFkEfUWcUQcRYBM4nOb+IhvXPFFHOPqb8a32/5O7+V4wUUbRNRbxBFxFAEyic9t4iO+ccUXcYyrvxnfbvs7vZfjp2++TUS9RRwRRxEgk/jcJj7iG1d89W+x0nvPrd9wMTmCOgEDBRnQ42nH/Q+JiCPiWBAGCmpcBZX+pr+lM6BFMZXG9FnfTkT/xwsexAAG7BjQY2n9JzZ2HUMhXYiGOCKOIr4BSS/mHB/CWhUDncTx2GMXKn1lKA9iAAN2DKxas3bI8aMvoKlqjBfdD+KIOAYDa1HY+TzyBQPDM9BJHDldPXzcYIsYxcIA4og4Io4wAAMw0MJAVh6RRoQoFiHiOM1YRxwpGC0Fg4FjNnCIE3GCARiAARiIkQHEEXFEHGEABmAABmAABmDAiAHEEVCMQInxWxXHzGwCDMAADMAADLQygDgijogjDMAADMAADMAADBgxgDgCihEofONq/cZFPIgHDMAADMBAjAwgjogj4ggDMAADMAADMAADRgwgjoBiBEqM36o4ZmYTYAAGYAAGYKCVAcQRcUQcYQAGYAAGYAAGYMCIAcQRUIxA4RtX6zcu4kE8YAAGYAAGYmQAcUQcEUcYgAEYgAEYgAEYMGIAcQQUI1Bi/FbFMTObAAMwAAMwAAOtDCCOiCPiCAMwAAMwAAMwAANGDCCOgGIECt+4Wr9xEQ/iAQMwAAMwECMDiCPiiDjCAAzAAAzAAAzAgBEDiCOgGIES47cqjpnZBBiAARiAARhoZQBxRBwRRxiAARiAARiAARgwYgBxBBQjUPjG1fqNi3gQDxiAARiAgRgZQBwRR8QRBmAABmAABmAABowYQBwBxQiUGL9VcczMJsAADMAADMBAKwOII+KIOMIADMAADMAADMCAEQOII6AYgcI3rtZvXMSDeMAADMAADMTIAOKIOCKOMAADMAADMAADMGDEAOIIKEagxPitimNmNgEGYAAGYAAGWhlAHBFHxBEGYAAGYAAGYAAGjBhAHAHFCBS+cbV+4yIexAMGYAAGYCBGBhBHxBFxhAEYgAEYgAEYgAEjBhBHQDECJcZvVRwzswkwAAMwAAMw0MoA4og4Io4wAAMwAAMwAAMwYMQA4ggoRqDwjav1GxfxIB4wAAMwAAMxMoA4Io6IIwzAAAzAAAzAAAwYMYA4AooRKDF+q+KYmU2AARiAARiAgVYGEEfEEXGEARiAARiAARiAASMGEEdAMQKFb1yt37iIB/GAARiAARiIkQHEEXFEHGEABmAABmAABmDAiIH/f6MNx9GEQlRCGYm9qlE/j44mjKaB0TQwmgZG08BoGkBNAwBbORk9HO94mAAAAABJRU5ErkJggg==


人在曹营心在汉 发表于 2021-7-12 14:40:42

长1.2宽0.6 泡沫塑料?几公斤?

giants 发表于 2021-7-12 14:53:00

条件太少了 ,这是个啥,平面走 还是上下走,需要怎么走?
AGV可以走,
滚筒输送线也可以走
天车也可以,

新手在此 发表于 2021-7-12 15:18:46

人在曹营心在汉 发表于 2021-7-12 14:40
长1.2宽0.6 泡沫塑料?几公斤?

铁皮盒子,没啥强度要求,重量根据盒子自重而定,货物重量可不计,保证这个铁皮盒子可以转角运动到对应位置,还能再原路返程。地面留个轨道槽即可,轨道在地面下方。

新手在此 发表于 2021-7-12 15:26:26

giants 发表于 2021-7-12 14:53
条件太少了 ,这是个啥,平面走 还是上下走,需要怎么走?
AGV可以走,
滚筒输送线也可以走



一个铁皮盒子作为载体,货物重量可忽略,盒子只能在水平面上沿对应轨道往复运动,其他自由度被限制死。我考虑的是利用滑块滑轨来实现,但动力装置不知道咋搞。

xue428032 发表于 2021-7-12 16:32:19

本帖最后由 xue428032 于 2021-7-12 17:57 编辑

没精度链条直接拉过来就行,做过好几个类似的 ,就是板下面装几个轮子,轮子可以左右摆动的,导轨就是普通矩形管焊接的,转弯处没加工能力,用板切的,链条买的是悬挂链那种链条,挂个电机直接拉了

lgh999111 发表于 2021-7-12 16:56:34

条件太少,表述不清.要是真就几公斤,地上开个槽,二个轴承导向,4个万向轮承重,踢一脚就行了.

新手在此 发表于 2021-7-12 18:55:27

xue428032 发表于 2021-7-12 16:32
没精度链条直接拉过来就行,做过好几个类似的 ,就是板下面装几个轮子,轮子可以左右摆动的,导轨就是普 ...

这个可以,能发几个类似的图过来参考下吗?


补充内容 (2021-7-13 12:09):
视频看了,这个可以,就是有些细节没搞清。。。。

新手在此 发表于 2021-7-12 18:58:09

lgh999111 发表于 2021-7-12 16:56
条件太少,表述不清.要是真就几公斤,地上开个槽,二个轴承导向,4个万向轮承重,踢一脚就行了.

没有啥要求,就是板车拉货,运动轨迹需要拐弯,能有动力来回运动就行,不能是人力。

远祥 发表于 2021-7-14 00:18:27

只能改圆弧过渡,你这样直来直去怎么转呢?
页: [1] 2
查看完整版本: 求个直线可以转弯的运动结构