JP2005205365A - Control apparatus of crusher - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To automatically restore normal operation mode as before by throwing an object to be crushed in the case energy saving operation of a self-propelling crusher 1 is carried out by lowering the engine rotation frequency when the crushing work load of the object to be crushed decreases. <P>SOLUTION: The apparatus comprises a proximity switch 38 in the crusher side so as to enable the low-frequency control mode such as the idle rotation control mode or wailing-frequency control mode to be changed to the normal operation control mode when the proximity switch 38 detects a bucket 40 and the loading of an object to be crushed is detected. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention belongs to the technical field of a crusher control device for crushing objects to be crushed, such as rocks and construction waste materials.

Generally, this type of crusher makes it easy to transport and reuse various types of crushed objects (gara) such as construction waste materials and rocks generated during civil engineering work when destroying structures such as buildings. In order to make it in a state, it is crushed into a predetermined range of size at the site, so that reuse of resources can be achieved in a state where costs can be reduced while facilitating construction as much as possible.
In such a crusher, the material to be crushed is fed into a hopper using a working machine such as a hydraulic excavator, and is conveyed by a feeder (vibrating feeder) and supplied to a crusher (crushing device). After being crushed to a size of 2 mm, it is discharged and conveyed outside the apparatus by a discharge conveyor such as a belt conveyor. In this case, smooth crushing of the material to be crushed requires that the material to be crushed is balanced with the supply speed to the crusher by the feeder, but the operator gets on the hydraulic excavator only. In the case of single-person work performed in the factory, it is not possible to directly operate the crusher. Therefore, conventionally, a foot switch is provided on the hydraulic excavator side, and the operation of the crusher is remotely controlled based on the operation of the foot switch. (For example, Patent Document 1).
JP 2000-225356 A

  However, in order to remotely control the crusher, the conventional one requires that the operator working on the hydraulic excavator side operate one by one, which makes the operation cumbersome and cumbersome and inferior in operability. There is a problem to be solved by the present invention.

The present invention has been created in view of the above circumstances and has been created for the purpose of solving these problems. The invention of claim 1 is directed to receiving an engine as a driving source and the driving force of the engine. A hydraulic pump that supplies pressure oil, a hopper into which the material to be crushed is input from the loading machine, a conveyance feeder that conveys the material to be crushed, and crushing that receives and crushes the material to be crushed An apparatus, a discharge conveyor for discharging the crushed crushed material out of the machine, a crushing state detection sensor for detecting a crushing state of the crushing device, and a control command corresponding to the detection result of the crushing state detection sensor In the crusher configured to output and control the crushing operation, the controller is a normal drive that is controlled in the normal working state when the crushing state is determined to be the normal working range. When the controller is configured to be capable of mode switching between the control mode and the low drive control mode in which drive control lower than the normal work state is performed when it is determined that the crushing state is below the normal work range, , The detection signal from the input detection means for detecting that the object to be crushed is input to the hopper is input, and the controller normally sets the control mode when the input detection signal is input in the low drive control mode state. A crusher characterized in that it is set to switch to a drive control mode.
According to a second aspect of the present invention, in the first aspect, the controller sets the control mode to the low drive control mode when it is determined that the crushing state is below the normal range in the normal drive control mode for a set time. A crusher characterized in that it is set to be switched.
A third aspect of the present invention is the crusher according to the first or second aspect, wherein the drive control is engine speed control.
According to a fourth aspect of the present invention, in the third aspect, the low drive control mode includes an idle speed control mode in which the engine speed is an idling speed, and a normal drive control mode that is greater than the idling speed. The crusher is characterized in that a standby rotation speed control mode is set which is set to a rotation speed smaller than the engine rotation speed.
A fifth aspect of the present invention is the crusher according to the fourth aspect, wherein the low drive control mode in which the mode is switched from the normal drive control mode is a standby rotational speed control mode.
According to a sixth aspect of the present invention, in the controller according to the fourth or fifth aspect, when the low drive control mode is the standby rotational speed control mode, the controller switches to the standby rotational speed control mode that the crushing state is below the normal range. The crusher is characterized in that it is set to switch to the idle speed control mode when it is determined that it has continued for a set time.
A seventh aspect of the present invention is that in any one of the fourth to sixth aspects, the controller sets the control mode to the normal drive control mode when the input detection signal is input in any of the standby rotational speed control mode and the idle rotational speed control mode. The crusher is characterized in that it is set so as to be switched to.
According to an eighth aspect of the present invention, in the controller according to any one of the fourth to seventh aspects, when the mode is switched from the normal drive control mode to the standby rotational speed control mode, the discharge of the hydraulic pump is accompanied by a decrease in the engine rotational speed. The crusher is configured to control the flow rate of the hydraulic pump so as to increase the flow rate.
The invention of claim 9 is the crusher according to any one of claims 1 to 8, wherein the input detecting means is a proximity sensor provided on the crusher side.
A tenth aspect of the invention is a crusher according to any one of the first to ninth aspects, wherein the crushing state detection means is a work load detection means of a crushing apparatus.
An eleventh aspect of the present invention is the crusher according to the tenth aspect, wherein the load detecting means is a hydraulic pressure detection sensor for pressure oil supplied to the crushing device.

According to the first aspect of the invention, the mode switching to the normal drive control mode is automatically performed in accordance with the detection of the input of the object to be crushed during the operation in the low drive control mode which is an energy saving state. Thus, the troublesome work of the operator working on the loading work machine is not required, and the workability is improved.
According to the invention of claim 2, the mode switching from the normal drive control mode to the low drive control mode is automatically performed, and the workability is improved.
According to the third aspect of the present invention, each drive control mode can be set by the engine speed, which is simplified.
According to the fourth aspect of the present invention, the standby rotation speed control mode and the idle rotation speed control mode can be set as the low drive control mode, and the range of mode switching increases.
According to the fifth aspect of the present invention, the low drive control mode switched from the normal drive control mode is the standby rotational speed control mode in which the engine rotational speed is larger than the idle rotational speed control mode. Returning to the normal drive control mode can be performed quickly, so that workability can be prevented from being impaired.
According to the sixth aspect of the present invention, even when the standby rotational speed control mode is set, when the crushing state is not more than the normal range for a set time, the idle rotational speed control mode is further improved and the fuel efficiency is improved. Will be measured.
According to the seventh aspect of the present invention, when there is an input detection signal in the idle rotation speed control mode, the normal drive control mode is restored without going through the standby rotation speed control mode, so that the return is promptly performed. It is possible to prevent the workability from being impaired.
With the invention according to claim 8, the crushing operation is smoothly performed when the standby rotation speed control mode is set, and the return to the normal drive control mode is quickly performed.
According to the ninth aspect of the present invention, the input detection can be easily performed by using the proximity sensor.
According to the invention of claim 10, the crushing state can be easily detected by the work load detecting means. In this case, the work load can be detected more easily by using the invention of claim 11. Will be able to.

  Next, embodiments of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a self-propelled crusher. The crusher 1 is a crusher made of a jaw crusher or the like at a substantially central portion in the front-rear direction of a base frame 3 attached to and supported by a crawler type traveling body 2. A device 4 is placed. A hopper 5 into which an object to be crushed, such as a concrete lump, is placed is arranged on the upper rear side of the crushing device 4, and a material to be crushed in the hopper 5 is disposed below the hopper 5 in the crushing device 4. A vibration feeder 6 for introduction into the inlet 4a is arranged. The vibration feeder 6 is a so-called grizzly feeder, and has a comb-like sorting body 6 a having a gap on the front half side of the bottom surface portion, and the object to be crushed in the hopper 5 is moved back and forth. By rocking (reciprocating back and forth), it is sequentially conveyed to the crushing device 4 side, and small concrete blocks or earth and sand that do not need to be crushed are dropped (fallen) downward from the gap of the sorting body 6a. And the fallen object is configured to be carried out to the left and right outside of the self-propelled crusher 1 by a side conveyor 8 arranged in a state of projecting left and right from the front half side of the vibration feeder 6. ing.

On the other hand, a control unit 10, a fuel tank 11, a hydraulic oil tank 12 and the like are arranged in front of the crushing device 4, and a power chamber 13 in which an engine, a hydraulic pump and the like (not shown) are housed is arranged in front of the crushing device 4. Yes. Further, a carry-out conveyor 14 for discharging the processed material crushed by the crushing device 4 to the outside of the machine is arranged in a state of projecting from the lower side of the crushing device 4 to the upper front of the machine body through the lower side of the power chamber 13. ing.
In the figure, reference numeral 15 denotes a magnetic separator disposed above the middle part of the carry-out conveyor 14, and the magnetic separator 15 is magnetically attached to a metal material such as a reinforcing bar contained in a concrete lump with a magnet. It is configured to discharge.

  操 縦, The control unit 10 is provided with member devices necessary for the operation of the self-propelled crusher 1, such as the travel lever 16 and the operation panel 17, but on the panel surface of the operation panel 17, Engine key switches (not shown), operation switches for crushing devices, vibration feeders, side conveyors, carry-out conveyors, magnetic separators (including pushbutton switches, changeover switches, dials, etc.), monitors, etc. are provided. ing. A controller 18 (described later) is housed in a cover on the side of the airframe in front of the control unit 10.

  Further, the crushing device 4, the vibration feeder 6, the side conveyor 8, the carry-out conveyor 14, and the magnetic separator 15 are hydraulic devices for the crusher, the vibration feeder, the side conveyor, the carry-out conveyor, and the magnetic separator. FIG. 4 shows a schematic hydraulic circuit for these hydraulic motors 19 to 23, in which 24 is a main hydraulic pump driven by an engine, and 26 to 30 are crushing devices. , Control feeders for vibration feeders, side conveyors, carry-out conveyors, and magnetic separators.

  The control valves 26 to 30 for the crushing device, the vibratory feeder, the side conveyor, the carry-out conveyor, and the magnetic separator are electromagnetic three-position switching valves, which are connected to the solenoids 26a, 26b to 30a, and 30b. Based on energization-non-energization, supply of pressure oil to the corresponding hydraulic motors 19-23 (including adjustment of the opening amount) -stop is performed, but the solenoids 26a, 26b-30a, 30b are connected to the solenoids 26a, 26b-30a, 30b. The energization / non-energization is configured based on a control command from the controller 18.

  On the other hand, as shown in FIG. 3, the crushing device 4 includes a hydraulic motor (corresponding to a driving actuator of the crushing device) 19, a flywheel 31 that rotates based on the driving of the hydraulic motor 19, and the rotation center of the flywheel 31. The swing jaw 32 is provided eccentrically with respect to the swing jaw 32, and swings back and forth in accordance with the rotation of the flywheel 31, the moving tooth 33 attached to the swing jaw 32, and fixed at a position facing the moving tooth 33. It is comprised using the receiving teeth 34 grade | etc.,. The object to be crushed carried into the inlet 4a of the crushing device 4 from the vibration feeder 6 is put between the moving teeth 33 and the receiving teeth 34 and crushed by the back and forth movement of the swing jaw 32, and the exit gap S The particle size of the crushed material is determined by the size of the outlet gap S. Incidentally, reference numeral 35 denotes a gap adjusting mechanism in which a plurality of shims 36 are detachably attached to adjust the outlet gap S.

The hydraulic circuit to the hydraulic motor 19 of the crushing device 4 is provided with a hydraulic pressure detection sensor 37 so that the hydraulic pressure of the pressure oil supplied to the hydraulic motor 19 can be detected.
On the other hand, the crusher 1 is provided with a proximity sensor 38 that detects the presence or absence of a proximity object by transmitting and receiving aerial transmission waves such as ultrasonic waves and far infrared rays. The proximity sensor 38 detects that the bucket 40 of the excavator 39 has approached the hopper 5 in order to load the object to be crushed into the crusher 1.

  The controller 18 provided in the crusher 1 is configured using a microcomputer or the like and executes various controls necessary for the crusher 1, but the description thereof is omitted here and the present invention is carried out. What is necessary to explain the embodiment of the present invention will be described. In addition to the pressure oil detection sensor 37 and the proximity sensor 38, the controller 18 includes an engine speed detection sensor 41 that detects the engine speed, and a pressure oil flow rate detection sensor 42 that detects the pressure oil flow rate discharged from the hydraulic pump 24. Are connected, and detection signals from these sensors 37, 38, 41, 42 are input. Based on these input detection signals, an increase / decrease control command for the engine speed, an increase / decrease command for the flow rate of the hydraulic pump 24, and a crushing device The control valve 26 for the No. 4, the control valve 27 for the vibration feeder, the control valve 28 for the side conveyor, the control valve 29 for the carry-out conveyor, and the control valve 30 for the magnetic separator are output. Furthermore, in this Embodiment, the notification lamp 43 for alert | reporting that it is an idling state is provided in the crusher 1, and the lighting command with respect to this notification lamp 43 is also output. Furthermore, the controller 18 outputs control commands to an accelerator control means 44 for controlling the engine speed and a swash plate angle control means 45 capable of adjusting the pump flow rate of the hydraulic pump 24.

Next, an example of the control procedure by the controller 18 will be described based on the flowcharts shown in FIGS. FIG. 6 is a flowchart of the main routine. Here, when the system is started by turning on the power and the initial setting is made, the control mode is first set to the idle speed control mode. Then, the detection signals of the sensors 37, 38, 41, 42 are read, and the averaged hydraulic pressure value A is calculated from the detection value of the hydraulic pressure detection sensor 37. Since the crushing device 4 is a jaw crusher, the average hydraulic pressure value A is calculated by averaging (smoothing) load fluctuations in the course of a series of crushing operations. Can be calculated by averaging, etc., but in performing the calculation, it is possible to adopt a stepped calculation in which a new detected value is taken in, while an old detected value is deleted.
Further, in this main routine, it is determined whether the current control mode is an idle speed control mode, a normal operation control mode, or a standby speed control mode, which will be described later, and each control mode determined here is a subroutine. It is set.

FIG. 7 shows an example of a flowchart of a subroutine of the idle speed control (idle operation control) mode. Here, it is determined whether or not a detection signal is input from the proximity sensor 38. Is changed from the idle speed control mode to the normal operation control mode and set to the normal operation control mode.
On the other hand, when it is determined that the detection signal is not input from the proximity sensor 38, it is determined that there is no work for loading the object to be crushed by the hydraulic excavator 39, and the opening amounts of the control valves 26 to 30 and the accelerator control means 44 are determined. The engine speed and the pump flow rate by the swash plate angle control means 45 are controlled so as to be the idle regulation that is previously defined (set) as idling. As the idle regulation, the control valves 26 to 30 are controlled in a closed circuit, the engine is controlled to the rotational speed of the idle mode rotation shown in FIG. 10, and the pump flow rate is also set to the minimum flow rate. Further, in this case, a lighting command is output to the notification lamp 43 to notify that it is in an idling state.

FIG. 8 shows a flowchart of a subroutine of a normal operation control (normal speed control) mode (corresponding to the “normal drive control mode” of the present invention). Here, the calculated averaged hydraulic pressure is shown. It is determined whether or not the value A is greater than or equal to a preset specified value X (A ≧ X). And when it is judged that it is more than regulation value X, ie, the load of crushing device 4 is more than the minimum value of the range which is performing normal crushing work, each crushing device 4 is carrying out normal crushing work. The control valves 26 to 30, the engine speed, and the pump flow rate are set to normal operation regulations that are defined in advance as the normal operation control mode. As a specific example, the control valves 26 to 30 are opened, and the engine speed is shown in FIG. The pump flow rate is controlled so as to be a flow rate set in advance as a normal operation rule. As the normal operation rule, only one rule may be set, but a plurality of rules may be provided corresponding to the driving load. In such a normal operation control mode, when a normal operation control mode flag F1 described later is not set to "0", it is set to "0" and the first timer for the normal operation control mode is reset. It is reset when not. Furthermore, in this case, when the control mode is changed from the idle speed control mode to the normal operation control mode, the control valve 26 to 30 is switched to the normal operation regulation by opening the unloading conveyor control valve 29 → The magnetic separator control valve 30 is opened, the crushing device control valve 26 is opened, the vibration feeder control valve 27 is opened, and the side conveyor control valve 28 is opened.
On the other hand, if it is determined that the averaged hydraulic pressure value A is smaller than the specified value X (A <X), it is determined whether the flag F1 is “0”, that is, the averaged hydraulic pressure value A is already the specified value. It is determined whether or not there is a case where the value is smaller than X. When it is determined that the average hydraulic pressure value A is smaller than the specified value X for the first time because it is “0”, the first timer is set (timer count start). At the same time, the flag F1 is set to "1", and the control valves 26 to 30, the engine speed, and the pump flow rate are controlled to the normal operation regulations.
On the other hand, if the flag F1 is not “0”, that is, it is determined that the first timer is operating (counting) and is “1”, whether or not the timer time of the first timer has elapsed When it is determined that it has not elapsed, the control valves 26 to 30, the engine speed, and the pump flow rate are controlled to the normal operation regulations. At the same time, the first timer is reset and the control mode is changed from the normal operation control mode to the standby rotation speed control mode and set.

  Finally, FIG. 9 illustrates a flowchart of the standby rotation speed control (standby operation control) mode. In this case, it is determined whether or not the proximity sensor 38 has detected the closing, and the averaged hydraulic pressure value A Is determined to be equal to or less than a specified value X (A ≦ X), and when it is determined that there is no input detection and is equal to or less than the specified value X, a flag F2 for a standby rotation speed control mode, which will be described later. Is determined to be “0”, and is determined to be “0”, that is, when it is determined that the standby rotation speed control mode has been entered for the first time, the flag F2 is set to “1” and the second timer is set to set. Further, the opening amount of each control valve 26-30, the engine speed by the accelerator control means 44, and the pump flow rate by the swash plate angle control means 45 are set to the standby rotational speed regulations that are preliminarily defined (set) as the standby rotational speed control mode. To be controlled. As an example of the standby rotation speed regulation, the opening amounts of the control valves 26 to 30 are the same as the normal operation regulation in the normal operation control mode, but the engine speed is gradually reduced to the standby mode rotation speed position shown in FIG. On the other hand, the substantial crushing device is controlled by controlling the swash plate control means 45 of the hydraulic pump 24 so as to increase the pump inclination angle gradually to compensate for the decrease in the pump flow rate accompanying the decrease in the engine speed. 4 crushing operation is compensated. The reason for executing the control to increase the swash plate angle so that the pump flow rate is not changed but the engine flow rate is decreased in this way is when the standby rotation speed control mode is changed to the normal operation control mode as will be described later. The purpose of this is to eliminate the need to accelerate the operating speed of the carry-out conveyor 14 and the crushing device 4.

On the other hand, in the standby rotation speed control mode, when the input is detected or it is determined that the average specified value A is equal to or greater than the specified value X, the load of the crushing device 4 is in the normal crushing range. As a result, the flag F2 is set to “0”, the second timer is reset, and the control mode is changed from the standby rotation speed control mode to the normal operation control mode and set to this.
On the other hand, if it is determined that the timer time of the second timer has elapsed, it is determined that the timer has elapsed, the flag F2 is set to “0”, the second timer is reset, and the control mode is changed to Change from standby rotation speed control mode to idling rotation speed control mode, and set to this.

  In the embodiment of the present invention configured as described above, when the crushing operation is performed, the crushing operation is performed in the normal operation control mode, and the operation exceeds the preset timer time of the first timer. When it is determined that the load is in the low load state, the mode is changed to the standby rotation speed control mode in which the engine rotation speed is low, and the crushing operation can be performed in the energy saving state. If the low-load work state exceeds the timer time of the second timer, the idle rotation speed control mode is entered, further energy saving operation state is achieved, and fuel consumption can be improved and noise reduction can be achieved.

  As described above, in the case where the present invention is implemented, when the low load state continues, the engine speed is automatically reduced and energy saving work can be performed. However, the proximity switch 38 is covered in the idle speed control mode. When the bucket 40 of the hydraulic excavator 39 to which the crushed material is to be thrown is detected, the mode is automatically switched to the normal operation control mode, and the notification operation of the operator working on the hydraulic excavator 39 as in the past is performed. It becomes unnecessary and improves workability.

  Moreover, in this case, as the low drive control mode that is an energy saving mode, an idle rotation speed control mode and a standby rotation speed control mode having a higher rotation speed are set, and the normal operation control mode is changed to the idle rotation speed control mode. Instead of changing the mode, the mode is temporarily switched to the standby rotational speed control mode, and when the low load state continues, the mode is automatically changed to the idle rotational speed control mode. Can be achieved.

  Also, in this case, when the standby rotational speed control mode is set, whether the mode change to the normal operation control mode is a determination that the proximity sensor 38 has detected the input, or the averaged hydraulic pressure value A is equal to or greater than a specified value X If any of these determinations is made, the mode is switched to the normal operation control mode. As a result, the operation can be performed in anticipation of an increase in the objects to be crushed by the input, thereby improving workability.

  Of course, the present invention is not limited to the above-described embodiment, and whether or not the crushing operation state is the normal operation state may be determined based on the amount of crushed material in the crushing apparatus. it can. Further, since the input detecting means only needs to be able to detect the input, it may detect an increase in the amount of objects to be crushed in the hopper, and is not limited to the proximity sensor.

It is a whole side view of a self-propelled crusher. It is a whole top view of a self-propelled crusher. It is an enlarged side view of a crusher site. It is the schematic of a hydraulic circuit. It is a block circuit diagram of a control system. It is a flowchart figure of a main routine. It is a flowchart figure in idle rotation speed control mode. It is a flowchart figure of normal driving | operation control mode. It is a flowchart figure of standby rotation speed control mode. It is a graph which shows the relationship between an engine speed and an engine output torque. It is the schematic which shows the crushing work state.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Self-propelled crusher 4 Crushing device 5 Hopper 6 Vibrating feeder 18 Controller 19 Hydraulic motor 37 Hydraulic detection sensor 38 Proximity sensor 39 Hydraulic excavator 40 Bucket 41 Engine rotation speed detection sensor 42 Pressure oil flow rate detection sensor

Claims (11)

  An engine that is a driving source, a hydraulic pump that supplies pressure oil by receiving the driving force of the engine, a hopper that receives a material to be crushed from an input work machine, and a conveyance feeder that conveys the material to be crushed A crushing device that receives and crushes the material to be crushed, a discharge conveyor that discharges the crushed crushed material outside the machine, a crushing state detection sensor that detects a crushing state of the crushing device, In a crusher configured to receive a detection result of the crushing state detection sensor and output a corresponding control command to control crushing operation, the controller determines that the crushing state is within the normal working range. A normal drive control mode in which drive control is performed in the normal work state, and a low drive control that is lower than the normal work state when it is determined that the crushing state is below the normal work range. In making the configuration capable of mode switching with the dynamic control mode, the controller is supplied with a detection signal from an input detection means for detecting that an object to be crushed is input into the hopper, A crusher configured to switch a control mode to a normal drive control mode when a closing detection signal is input in a low drive control mode state.   In Claim 1, the controller is set to switch the control mode to the low drive control mode when it is determined that the crushing state is below the normal range in the normal drive control mode for a set time. A crusher characterized by that.   3. The crusher according to claim 1, wherein the drive control is engine speed control.   4. The low drive control mode according to claim 3, wherein the engine speed is an idling speed control mode in which the engine speed is an idling speed, and is larger than the engine speed in the idling condition but smaller than the engine speed in the normal driving control mode. A crusher characterized in that a standby rotation speed control mode set to the rotation speed is set.   5. The crusher according to claim 4, wherein the low drive control mode that is switched from the normal drive control mode is a standby rotation speed control mode.   6. The controller according to claim 4, wherein when the low drive control mode is the standby rotation speed control mode, the crushing state is below the normal range for a set time after switching to the standby rotation speed control mode. A crusher characterized in that it is set to switch to an idle speed control mode when it is determined.   The controller according to any one of claims 4 to 6, wherein the controller is set to switch the control mode to the normal drive control mode when the input detection signal is input in any of the standby rotational speed control mode and the idle rotational speed control mode. A crusher characterized by   8. The hydraulic pump according to claim 4, wherein when the mode is switched from the normal drive control mode to the standby rotational speed control mode, the controller increases the discharge flow rate of the hydraulic pump as the engine rotational speed decreases. A crusher characterized in that it is set to control the flow rate.   9. The crusher according to claim 1, wherein the input detection means is a proximity sensor provided on the crusher side.   The crusher according to any one of claims 1 to 9, wherein the crushing state detecting means is a work load detecting means of a crushing apparatus.   11. The crusher according to claim 10, wherein the load detection means is a hydraulic pressure detection sensor for pressure oil supplied to the crushing apparatus.

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