CN116374862A - Anti-shaking system suitable for folding arm crane - Google Patents
Anti-shaking system suitable for folding arm crane Download PDFInfo
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- CN116374862A CN116374862A CN202310313866.7A CN202310313866A CN116374862A CN 116374862 A CN116374862 A CN 116374862A CN 202310313866 A CN202310313866 A CN 202310313866A CN 116374862 A CN116374862 A CN 116374862A
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- platform
- damper
- folding arm
- arm crane
- crane
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- 238000013016 damping Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 5
- 230000005284 excitation Effects 0.000 claims description 2
- 230000002265 prevention Effects 0.000 claims 2
- 230000003044 adaptive effect Effects 0.000 claims 1
- 230000007704 transition Effects 0.000 claims 1
- 230000003068 static effect Effects 0.000 abstract description 22
- 230000000694 effects Effects 0.000 abstract description 8
- 239000010720 hydraulic oil Substances 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- -1 ferrous metals Chemical class 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/68—Jibs foldable or otherwise adjustable in configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
- B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides an anti-shake system suitable for a folding arm crane, which is arranged at the tail end of the folding arm crane and comprises a static platform, a damper, a movable platform, a tail end clamp and a control unit, wherein the static platform is connected with the tail end of a rotary joint of the folding arm crane, the static platform is connected with the movable platform through a plurality of dampers, the bottom end of the movable platform is connected with the tail end clamp for clamping a workpiece, hooke's joints are arranged at the joints of the damper and the static platform, a limiting rod is arranged at the center of the static platform and the movable platform, a central Hooke's joint is arranged at the joint of the limiting rod and the static platform, an angle sensor is arranged at the joint of the central Hooke's joint and is used for acquiring the angle information of swing of a crane, the angle sensor is connected with the control unit, and the control unit adjusts the output state of each damper in real time based on the acquired angle information of swing of the crane so as to reduce the relative motion between the movable platform and the static platform. According to the invention, the energy of swing of the crane is consumed through the arranged damper, so that the anti-shake effect of the system is realized.
Description
Technical Field
The invention relates to the technical field of anti-shake of a folding arm crane, in particular to an anti-shake system suitable for the folding arm crane.
Background
The crane plays an indispensable role in the hoisting and transferring process. The folding arm crane is used for transferring the hanging weight, is influenced by external load, can generate the phenomenon that the hanging weight is difficult to position, is serious, and can drop off due to large-frequency and large-amplitude swing when the hanging weight is absorbed by an electromagnet, so that the life is influenced. The mechanical arm type transfer apparatus of the folding arm type crane adopts a motion compensation platform to be placed under a crane base so as to realize the anti-shake of the crane weight by compensating external excitation, and also adopts an electronic anti-shake scheme to control the movement of a crane slewing mechanism and a folding arm so as to realize the anti-shake, wherein the former two have the characteristics of high energy consumption and complex control strategy, and the practical application fields are not more.
Disclosure of Invention
According to the technical problem set forth above, an anti-sway system suitable for a folding arm crane is provided. According to the invention, the anti-swing platform is arranged at the tail end of the folding arm crane, and the anti-swing of the hoisting weight is realized aiming at the movement of the tail end clamp relative to the hoisting point of the crane, so that the anti-swing scheme of the folding arm crane with low energy consumption is provided. The invention adopts the following technical means:
the utility model provides an anti-shake system suitable for folding arm crane, sets up in folding arm crane's end, includes quiet platform, attenuator, moving platform, terminal anchor clamps and control unit, quiet platform is connected in folding arm crane's gyration joint's end, links to each other through a plurality of attenuator between quiet platform and the moving platform, moving platform's bottom is connected and is used for the centre gripping work piece terminal anchor clamps, attenuator and quiet platform, moving platform junction are provided with the hook joint, the center of quiet platform and moving platform is provided with the gag lever post, gag lever post and quiet platform, moving platform junction are provided with center hook joint, center hook joint is provided with angle sensor, it is used for acquireing the angle information of hanging weight swing, and it links to each other with control unit, control unit adjusts the output state of each attenuator in real time based on the angle information of hanging weight swing that acquires to reduce the relative motion between moving, quiet platform.
Further, the terminal clamp is detachably connected to the movable platform, a transfer groove is formed in the bottom of the movable platform, and the terminal clamp is adaptively replaced based on different hanging weights.
Further, the number of the dampers is four, and the circumferences of the dampers are uniformly distributed between the static platform and the movable platform.
Further, the damper takes the form of a piston cylinder-piston rod.
Further, the damper adopts a spring damping mode, and the piston head and the bottom of the piston cylinder are both connected with springs.
Further, the damper comprises a magneto-rheological damper, the control unit outputs corresponding current to the exciting coil of the magneto-rheological damper according to the angle signal, and the magnetic field at the damping gap of the damper is changed to consume the energy of the movement of the piston rod relative to the damper cylinder barrel.
Further, the damper is connected with a hydraulic cylinder type active anti-shake system, and the control unit changes the working condition of the hydraulic circuit according to the angle signal output by the angle sensor to control the action of the piston rod.
The invention uses the anti-shake platform to replace the flexible rope in the prior art, and simultaneously cooperates with the damping action of the damper to achieve the effect of restraining the swing of the crane and ensure that the system has certain flexibility. The suspended weight can react to the motion of the movable platform due to inertia, the movable platform moves relative to the static platform, and further the piston rod of the damping device is driven to displace relative to the cylinder barrel, and the energy of the suspended weight swinging can be consumed due to the action of the damper for preventing the relative motion of the piston rod of the damping device, so that the anti-shaking effect of the system is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic view of an anti-sway system (the end clamps are jaws) suitable for use in a folding arm crane according to the present invention.
Fig. 2 is a schematic view of the invention gripping an elongated tubular.
Fig. 3 is a schematic view of the anti-sloshing platform of the present invention.
FIG. 4 is a schematic view of a central hook of the present invention.
FIG. 5 is a schematic view of a mobile platform according to the present invention.
FIG. 6 is a schematic diagram of a spring anti-sway damper according to an embodiment of the present invention.
FIG. 7 is a schematic view of a magnetorheological anti-sway damper according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of an active hydraulic cylinder type anti-sway damper according to an embodiment of the present invention.
In the figure: 1. a crane base; 2. a first folding arm; 3. a second folding arm; 4. a swivel joint; 5. an anti-shake mechanism; 5.1, a static platform; 5.1.1 Hooke's joint; 5.1.2, a central Hooke's joint; 5.1.2.1 angle sensor; 5.1.2.2, cross; 5.2, a damper; 5.2.1, damper piston cylinder; 5.2.2, damper piston rod; 5.3, moving the platform; 5.3.1, hooke's joint; 5.3.2, a transfer groove; 5.4, end clamps; 5.5, a limiting rod; 6.1, an outer cylinder; 6.2, cylinder barrel; 6.3, flanges; 6.4, a piston; 6.5, a spring; 6.6, a guide ring groove; 7.1, an outer cylinder; 7.2, a piston rod; 7.3, an electromagnetic iron core; 7.4, flanges; 7.5, a sealing ring and a dustproof ring groove; 8.1, an outer cylinder; 8.2 sealing rings and guiding ring grooves; 8.3 a piston; 8.4, a hydraulic oil port; 8.5, flange.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the operation process of the crane, the phenomenon that the transferred hoisting weight of the tail end clamp 5.4 of the folding arm crane is difficult to position can occur due to the influence of external load. For this reason, as shown in fig. 1 to 5, the embodiment of the invention discloses an anti-shake system suitable for a folding arm crane, wherein a first folding arm 2 and a second folding arm 3 are connected to the upper part of a crane base 1, a rotary joint 4 is arranged at the position of a second arm head of the folding arm crane, the anti-shake system 5 is arranged at the tail end of the folding arm crane, the anti-shake system comprises a static platform 5.1, a damper 5.2, a movable platform 5.3, a tail end clamp 5.4 and a control unit, the static platform 5.1 is connected to the tail end of the rotary joint of the folding arm crane, and the arrangement mode can enable the tail end clamp 5.4 to be positioned more accurately when transferring and lifting. The fixed platform 5.1 is connected with the movable platform 5.3 through a plurality of dampers 5.2, the bottom end of the movable platform 5.3 is connected with the tail end clamp 5.4 for clamping a workpiece, hooke hinges 5.3.1 are arranged at the joints of the dampers 5.2 and the fixed platform 5.1 and the movable platform 5.3, a limiting rod 5.5 is arranged at the center of the fixed platform 5.1 and the movable platform 5.3, a central Hooke hinge 5.1.2 is arranged at the joint of the limiting rod 5.5 and the fixed platform 5.1 and the movable platform 5.3, an angle sensor 5.1.2.1 is arranged at the central Hooke hinge 5.1.2 and is used for acquiring angle information of hanging weight swinging, and specifically detecting the corners of a cross shaft 5.1.2.2 in the middle of the Hooke hinge 5.1.1, namely the inner angle and the outer angle of the plane when hanging weight swinging. The control unit is connected with the control unit, and the control unit adjusts the output state of each damper 5.2 in real time based on the acquired angle information of the swing of the crane so as to reduce the relative movement between the movable platform 5.1 and the static platform 5.1.
The limit lever 5.5 has two functions: firstly, when the tail end clamp 5.4 does not work, the movable platform 5.1 and the static platform 5.1 are in a coaxial state, and the piston of the damping piston rod is ensured to be positioned at the middle position of the damping piston cylinder; secondly, the limiting rod 5.5 drives the cross shaft 5.1.2.2 of the central Hooke joint 5.1.2 to rotate relative to the Hooke joint, and the rotating angle of the movable platform 5.3 relative to the static platform 5.1 is transmitted to the angle sensor 5.1.2.1.
According to different operating conditions, the types of the clamps can be exchanged, specifically, the tail end clamp 5.4 is detachably connected to the movable platform 5.3, the bottom of the movable platform 5.3 is provided with a transfer groove 5.3.2, and the tail end clamp 5.4 is adaptively exchanged based on different hanging weights. Specifically, the device can comprise a clamping jaw, a grab bucket, an electromagnet and the like. Such as jaws for elongate rods; grab bucket is selected for sand, coal and other materials, electromagnet is selected for ferrous metals and the like. The transfer groove 5.3.2 at the bottom of the movable platform 5.3 is convenient for replacing various end clamps.
The number of the dampers 5.2 is four, and the circumferences of the dampers 5.2 are uniformly distributed between the static platform 5.1 and the movable platform 5.3.
The damper 5.2 takes the form of a piston cylinder-piston rod. Specifically, the static platform 5.1 is connected with four damper piston cylinders 5.2.1 through Hooke hinges 5.1.1, and four Hooke hinges 5.1.1 distributed along the circumference are arranged at the top of the movable platform 5.3 and are used for connecting piston rods 5.2.2 of dampers.
The damper 5.2 can be designed according to practical application scenes, and can be made into passive, semi-active, active damping and the like according to practical requirements, wherein the damper comprises springs, magnetorheological types, hydraulic cylinders and the like. When the damper adopts an active mode and a semi-active mode, the angle sensor 5.1.2.1 transmits the measured angle signal to the control unit. When the damper adopts an active or semi-active mode, the angle sensor 5.1.2.1 on the Hooke hinge 5.1.2 at the center of the static platform 5.1 transmits the measured angle signal to the control unit, and the control unit outputs a corresponding control signal to control the current of the magnetorheological damper or control the working condition of each valve element of the hydraulic circuit.
Specifically, as an alternative embodiment, the damper adopts a spring damping form, and as shown in fig. 6, the spring damper is composed of an outer cylinder 6.1, a cylinder 6.2, a flange 6.3, a piston 6.4, a spring 6.5 and the like. The spring is fixedly connected with the bottom of the piston cylinder and one end of the piston head. When the anti-shake platform is in an initial state, the springs are also in original length, when the hanging weight swings under the inertia effect, the movable platform is driven to swing relative to the static platform, during the period, the piston rod of the spring damper can move relative to the cylinder barrel, the piston head extrudes or stretches the springs, and at that time, due to the existence of spring resistance, the energy of hanging weight swing can be consumed and converted into spring potential energy, so that the anti-shake effect is realized.
As a second alternative, the damper comprises a magneto-rheological damper, as shown in fig. 7. Comprises an outer cylinder 7.1, a piston rod 7.2, an electromagnetic iron core 7.3, a flange 7.4, a sealing ring and a dust ring groove 7.5. The wire of magneto-rheological damper is twined on the iron core by the slot that opens on urceolus 7.1 through piston rod central channel and the aperture in the middle of the electromagnetic core, later, the opposite route is worn out from the urceolus, be connected to external power supply on, before the work, be full of magneto-rheological fluid in the inside of damper, when hanging heavy pendulum, main hoist cable drives movable platform and produces ball pendulum motion relative to quiet platform, and then drive the piston rod of magneto-rheological damper and take place rectilinear motion relative to cylinder, control unit gives magneto-rheological damper exciting coil according to the corresponding electric current of angle signal output, change the magnetic field of damper damping gap department, the magneto-rheological damper of damping gap department can change under the effect of external magnetic field its shearing yield strength, external magnetic induction strength is big, the shearing yield strength of magneto-rheological fluid is big, the relative cylinder motion of piston rod tends to make magneto-rheological fluid flow through damping gap, thereby consume the energy that the piston rod moves relative to the damper cylinder, and then realize anti-shake effect.
As another alternative embodiment, the damper is connected with a hydraulic cylinder type active anti-shake system, and the hydraulic cylinder is schematically shown in fig. 8. The hydraulic cylinder comprises an outer cylinder 8.1, a hydraulic cylinder 8.2, a piston head 8.3, a hydraulic oil port 8.4 and a flange 8.5. Wherein the piston head 8.3 opens a piston ring groove for placing the oil scraper ring and the guide ring. When the crane swings, the sling can drive the movable platform to swing relative to the static platform, meanwhile, the swing angle condition can be transmitted to the angle sensor 5.1.2.1, the control unit changes the working condition of the hydraulic circuit in real time according to the angle signal output by the angle sensor, the action of the piston rod is controlled by controlling parameters such as the inlet and outlet of the hydraulic oil port 8.4, the flow and the like, and the piston rod outputs torque to the movable platform 5.3 to inhibit the swing of the crane, so that the anti-swing effect is realized. Specifically, hydraulic oil on two sides of a piston head in a hydraulic cylinder is regulated, and reverse moment is output to a movable platform 5.3 aiming at swing of a lifting weight, so that anti-shake is realized.
After the technical scheme is adopted, taking the grabbing of the slender round pipe as an example, the anti-shake system suitable for the folding arm crane adopts a hydraulic active anti-shake scheme. After the tail end clamp 5.4 grabs the slender round tube, the round tube is transported to a designated position by the folding arm crane, and is affected by external load, so that the round tube is difficult to position. At this time, the round tube swings due to inertia existing in the round tube, and then reaction force is provided for the movable platform 5.3, the movable platform 5.3 swings relative to the static platform, during the period, the piston rod of the damper moves relative to the cylinder barrel of the damper, meanwhile, the limit rod 5.5 transmits the swing angle condition of the slender round tube to the angle sensor 5.1.2.1 of the central Hooke hinge 5.1.2, the angle sensor 5.1.2.1 transmits an angle signal to the control unit in real time, after the control unit sorts the signal, the control unit controls the working condition of the valve element of the hydraulic circuit, further controls the front and back hydraulic oil of the piston head to enter and exit, so as to control the movement of the piston rod, the piston rod transmits the pressure of the hydraulic oil to the movable platform 5.3, so that real-time moment is formed, the relative movement between the movable platform and the static platform is counteracted, and the inhibition of the swing of the round tube is realized.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (7)
1. The utility model provides a prevent shaking system suitable for folding arm crane, its characterized in that sets up in folding arm crane's end, including quiet platform, attenuator, moving platform, terminal anchor clamps and control unit, quiet platform is connected in folding arm crane's gyration joint's end, link to each other through a plurality of attenuator between quiet platform and the moving platform, moving platform's bottom is connected and is used for the centre gripping work piece terminal anchor clamps, attenuator and quiet platform, moving platform junction are provided with the hook joint, the center of quiet platform and moving platform is provided with the gag lever post, gag lever post and quiet platform, moving platform junction are provided with center hook joint, center hook joint is provided with angle sensor, it is used for acquireing the angle information that hangs heavy swing, and it links to each other with control unit, control unit is based on the angle information of hanging heavy swing that acquires adjusts the output state of each attenuator in real time to reduce the relative motion between moving, quiet platform.
2. The anti-sway system of claim 1 suitable for use with a folding arm crane wherein the end clamps are removably connected to a mobile platform having a transition slot at the bottom thereof for adaptive replacement based on differences in hoist weights.
3. The anti-sway system of claim 1 suitable for use with a folding arm crane wherein the number of dampers is four and the dampers are circumferentially evenly distributed between the stationary and movable platforms.
4. A sway prevention system suitable for use with a folding arm crane according to any one of claims 1-3 wherein said damper is in the form of a piston cylinder-piston rod.
5. The sway prevention system of claim 4 suitable for use with a folding arm crane wherein the damper is in the form of a spring damper and the piston head and piston cylinder bottom are both spring-coupled.
6. The anti-sway system of claim 4 suitable for use with a folding arm crane wherein the damper comprises a magnetorheological damper and the control unit outputs a corresponding current to the magnetorheological damper excitation coil based on the angle signal to vary the magnetic field at the damper damping gap to dissipate energy of the piston rod relative to the damper cylinder movement.
7. The anti-sway system of claim 4, wherein the damper is connected with a hydraulic cylinder type active anti-sway system, and the control unit changes the working condition of the hydraulic circuit according to the angle signal output by the angle sensor to control the action of the piston rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310313866.7A CN116374862A (en) | 2023-03-28 | 2023-03-28 | Anti-shaking system suitable for folding arm crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310313866.7A CN116374862A (en) | 2023-03-28 | 2023-03-28 | Anti-shaking system suitable for folding arm crane |
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| CN116374862A true CN116374862A (en) | 2023-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310313866.7A Pending CN116374862A (en) | 2023-03-28 | 2023-03-28 | Anti-shaking system suitable for folding arm crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117087818A (en) * | 2023-07-10 | 2023-11-21 | 大连海事大学 | A-shaped frame submersible vehicle cloth-laying, recycling and swing-reducing device and working method thereof |
-
2023
- 2023-03-28 CN CN202310313866.7A patent/CN116374862A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117087818A (en) * | 2023-07-10 | 2023-11-21 | 大连海事大学 | A-shaped frame submersible vehicle cloth-laying, recycling and swing-reducing device and working method thereof |
| CN117087818B (en) * | 2023-07-10 | 2024-05-07 | 大连海事大学 | A-shaped frame submersible vehicle cloth-laying, recycling and swing-reducing device and working method thereof |
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