CN101906988A - Remote-control underground gas extraction drilling machine - Google Patents

Remote-control underground gas extraction drilling machine Download PDF

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Publication number
CN101906988A
CN101906988A CN2010102343991A CN201010234399A CN101906988A CN 101906988 A CN101906988 A CN 101906988A CN 2010102343991 A CN2010102343991 A CN 2010102343991A CN 201010234399 A CN201010234399 A CN 201010234399A CN 101906988 A CN101906988 A CN 101906988A
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China
Prior art keywords
drilling machine
remote control
electromagnetic valve
information
control
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Granted
Application number
CN2010102343991A
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Chinese (zh)
Other versions
CN101906988B (en
Inventor
刁文庆
王清峰
陈松林
鲁远祥
辛德忠
万军
李文树
肖玉清
黄昌文
陈久福
罗明华
王宇
蒲剑
陶勇
陈小平
杨燕鸽
薛彦波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Research Institute Co Ltd of China Coal Technology and Engineering Group
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Chongqing Institute of China Coal Research Institute
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Priority to CN 201010234399 priority Critical patent/CN101906988B/en
Publication of CN101906988A publication Critical patent/CN101906988A/en
Application granted granted Critical
Publication of CN101906988B publication Critical patent/CN101906988B/en
Active legal-status Critical Current
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Abstract

The invention discloses a remote-control underground gas extraction drilling machine. The drilling machine comprises a host machine of the drilling machine and an electric control system, wherein the electric control system is used for controlling the operation of the host machine of the drilling machine and comprises a main control station, a remote control station and a communication device; and the communication device is used for transferring information between the remote control station and the main control station. In the remote-control underground gas extraction drilling machine provided by the invention, the operation of the host machine of the drilling machine is controlled by the remote control station arranged on the ground, so unmanned operation of the host machine of the drilling machine is realized, an operator does not need to enter a site of a severe environment and the life safety of the operator is guaranteed; at the same time, the operation process of the host machine of the remote-control drilling machine is fully automatic operation, so the operation efficiency is high; and signals acquired by a video acquisition device and a sensor which are arranged on the host machine of the drilling machine can help the operator in the remote control station to know the operation condition of the host machine of the drilling machine at any time, so the reliable operation of the host machine of the drilling machine can be guaranteed.

Description

The underground gas extraction drilling machine of Long-distance Control
Technical field
The present invention relates to a kind of gas pumping rig, particularly a kind of underground gas extraction drilling machine of Long-distance Control.
Background technology
Gas is the resource of a preciousness, is embedded in the coal layer, has colorless and odorless, can not help to breathe, reach finite concentration characteristic such as easily blast, thereby its exploitation is had certain risk.Gas explosion accident takes place in coal mining operation often, causes serious life and property loss.In the prior art, gas pumping mainly is that operating personnel's direct control rig carries out field operation under mine, and operator's life security can't be guaranteed.
Therefore need a kind of gas pumping rig, can realize the extraction operation of operator's rig under ground just can control well, make the operator away from operation field, to guarantee its life security.
Summary of the invention
In view of this, the purpose of this invention is to provide a kind of underground gas extraction drilling machine of Long-distance Control, realize on-the-spot unmanned operation by electric control system controls rig main frame, the personal safety that guarantees operating personnel is to reduce the mine disaster loss.
The underground gas extraction drilling machine of Long-distance Control of the present invention comprises the electric-control system that rig main frame and control rig main frame move; Described electric-control system comprises master station, Remote Control Station and transmit the communication device of information between Remote Control Station and master station;
Described master station comprises:
A, master station PLC are used for that the rig main frame is transmitted information and pass to Remote Control Station by communication device, and Remote Control Station is passed to main frame by the control command that communication device sends,
B, video acquisition device are used to gather rig main frame field data and information are passed to Remote Control Station by communication device,
C, be arranged on the sensor on the rig main frame, be used to gather rig main frame operation information and information is passed to master station PLC;
Described Remote Control Station comprises:
A, Remote Control Station PLC are used to receive master station PLC and transmit information and send control instruction to it,
B, Industrial Personal Computer (IPC) are used for receiving and demonstration master station video acquisition device sends information,
C, display screen are used to show that Remote Control Station PLC receives information,
D, guidance panel are used for the input control order to Remote Control Station PLC;
Described communication device comprises mainly the communication looped network is made up of switch and the wireless interconnecting device of transmission information between switch and master station;
The control circuit of described rig main frame inserts master station PLC.
Further, described rig main frame comprises the crawler travel chassis, is arranged on promotion part on the crawler travel chassis, is arranged on unit head on the promotion part, is arranged on the drilling rod charging crane on the crawler travel chassis and the hydraulic power unit of pressure oil is provided to crawler travel chassis, promotion part, unit head, drilling rod charging crane;
Further, described master station PLC is provided with PLC network communication module I, be used for sensor information is converted into ethernet signal and the control instruction of ethernet signal form is converted into the executable instruction of master station PLC, described Remote Control Station PLC is provided with PLC network communication module ii, but is used for control command is converted into ethernet signal and the sensor information of ethernet signal form is converted into Remote Control Station PLC identifying information;
Further, described wireless interconnecting device comprises wireless network transceiver I that is arranged on communication looped network one side and the wireless network transceiver II that is arranged on Remote Control Station one side;
Further, described crawler travel chassis is by the walking fluid motor-driven;
Further, described promotion part comprises the frame that is fixedly installed on the crawler travel chassis, is fixedly installed on line slideway on the frame, is arranged in mode sliding back and forth and is used on the line slideway that the planker of unit head is installed and is fixedly installed on be used to drive the PF cylinder pressure group that planker reciprocatingly slides along line slideway on the frame;
Further, described unit head comprises tool joint, be fixedly installed on the planker rotary hydraulic motor and with the reducer of rotary hydraulic motor power transmission to tool joint, described tool joint is threaded with the reducer power output shaft;
Further, described drilling rod charging crane comprises two clampers of the jaw type that is driven by clamper hydraulic cylinder group and the drilling rod storage conveying mechanism that is driven by transmission hydraulic motor and jacking cylinder group;
Further, described hydraulic power unit comprises fuel tank, Variable plunger pump, be arranged on UNICOM's walking hydraulic motor and the ducted electromagnetic valve I of Variable plunger pump, be arranged on UNICOM's PF cylinder pressure group and the ducted electromagnetic valve II of Variable plunger pump, be arranged on the ducted electromagnetic valve II I of UNICOM's rotary hydraulic motor and Variable plunger pump, be arranged on UNICOM's clamper hydraulic cylinder group and the ducted electromagnetic valve I V of Variable plunger pump, be arranged on UNICOM's transmission hydraulic motor and the ducted electromagnetic valve V of Variable plunger pump, being arranged on UNICOM passes jacking cylinder group and the ducted electromagnetic valve VI of Variable plunger pump and is used to drive the drive motors that Variable plunger pump rotates; The control circuit of described electromagnetic valve I, electromagnetic valve II, electromagnetic valve II I, electromagnetic valve I V, electromagnetic valve V, electromagnetic valve VI and drive motors inserts master station PLC; Described drive motors power output shaft is connected by the cydariform shaft coupling with the Variable plunger pump power input shaft;
Further, in order to the pressure that detects oil pressure pressure change sensor, in order to the speed probe that detects drill speed, in order to the oily temperature fuel level sensor that detects the gentle oil level of hydraulic oil oil in the fuel tank with in order to detect the gas concentration sensor of on-the-spot gas density.
Beneficial effect of the present invention: the underground gas extraction drilling machine of Long-distance Control of the present invention, the rig host work is by the Remote Control Station control that is arranged on ground, realized the unmanned operation of rig main frame, the operator need not enter the abominable scene of environment, has guaranteed operator's life security; The rig main frame of while Long-distance Control, its operation process is full-automatic operation, the operating efficiency height; Be arranged on the operator that signal that video acquisition device on the rig main frame and sensor gather can help at Remote Control Station and understand rig main frame operating condition at any time, can ensure rig main frame reliability service.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described.
Fig. 1 is the electric-control system schematic diagram; Fig. 2 is a rig main frame front view; Fig. 3 is that the A of Fig. 2 is to view;
Fig. 4 is the promotion part front view; Fig. 5 is that the B of Fig. 4 is to view; Fig. 6 power head structure schematic diagram;
Fig. 7 is a hydraulic power unit power part structural representation; Fig. 8 is a hydraulic system principle figure.
The specific embodiment
Fig. 1 is the electric-control system schematic diagram; Fig. 2 is a rig main frame front view; Fig. 3 is that the A of Fig. 2 is to view; Fig. 4 is the promotion part front view; Fig. 5 is that the B of Fig. 4 is to view; Fig. 6 power head structure schematic diagram; Fig. 7 is a hydraulic power unit power part structural representation; Fig. 8 is a hydraulic system principle figure.
The underground gas extraction drilling machine of Long-distance Control of the present invention comprises the electric-control system that rig main frame and control rig main frame move as shown in the figure; Described electric-control system comprises master station, Remote Control Station and transmit the communication device of information between Remote Control Station and master station;
Described master station comprises:
A, master station PLC are used for that the rig main frame is transmitted information and pass to Remote Control Station by communication device, and Remote Control Station is passed to main frame by the control command that communication device sends,
B, video acquisition device are the intrinsic safety type video camera in the present embodiment, be used to gather rig main frame field data and information passed to Remote Control Station by communication device with information,
C, be arranged on the sensor on the rig main frame, be used to gather rig main frame operation information and information is passed to master station PLC;
Described Remote Control Station comprises:
A, Remote Control Station PLC are used to receive master station PLC and transmit information and send control instruction to it,
B, Industrial Personal Computer (IPC) are used for receiving and show that the master station video acquisition device sends information, and operating personnel are by watching video understanding rig main frame site work environment and main frame operating condition,
C, display screen are the HMI touch-screen in the present embodiment, are used to the information that shows that Remote Control Station PLC receives, operating personnel are by reading the information that Remote Control Station PLC receives, understanding rig main frame operating condition, and send control instruction to the rig main frame according to the information that Remote Control Station PLC receives
D, guidance panel are used for operating personnel to Remote Control Station PLC input control order;
Described communication device comprises mainly the communication looped network is made up of switch and the wireless interconnecting device of transmission information between switch and master station;
The control circuit of described rig main frame inserts master station PLC.
In the present embodiment: described rig main frame comprises crawler travel chassis 1, be arranged on promotion part 2 on the crawler travel chassis, be arranged on unit head 3 on the promotion part 2, be arranged on the drilling rod charging crane on the crawler travel chassis and the hydraulic power unit of pressure oil is provided to crawler travel chassis 1, promotion part 2, unit head 3, drilling rod charging crane.
In the present embodiment: described master station PLC is provided with the PLC network communication module I that control information is converted into ethernet signal, and described Remote Control Station PLC is provided with the PLC network communication module ii that control information is converted into ethernet signal.
In the present embodiment: described master station PLC is provided with PLC network communication module I, be used for sensor information is converted into ethernet signal and the control instruction of ethernet signal form is converted into the executable instruction of master station PLC, described Remote Control Station PLC is provided with PLC network communication module ii, but is used for control command is converted into ethernet signal and the sensor information of ethernet signal form is converted into Remote Control Station PLC identifying information.
In the present embodiment: described crawler travel chassis 1 is driven by walking hydraulic motor 1a.
In the present embodiment: described promotion part 2 comprises and is fixedly installed on the The One On The Chassis frame 2a of crawler travel, is fixedly installed on line slideway 2b on the frame, is arranged in mode sliding back and forth and is used on the line slideway 2b that the planker 2c of unit head 3 is installed and is fixedly installed on be used to drive the PF cylinder pressure group 2d that planker 2c reciprocatingly slides along line slideway 2b on the frame 2a.
In the present embodiment: described unit head 3 comprises tool joint 3a, be fixedly installed on the planker 2c rotary hydraulic motor 3b and with the reducer 3c of rotary hydraulic motor 3b power transmission to tool joint 3a, described tool joint 3a is threaded with reducer 3c power output shaft; Screw connection structure is simple, often stuck phenomenon of oild chuck can not occur.
In the present embodiment: described drilling rod charging crane comprises two clamper 4a of the jaw type that is driven by clamper hydraulic cylinder group 4a1 and the drilling rod storage conveying mechanism 4b that is driven by transmission hydraulic motor 4b1 and jacking cylinder group 4b2, and drilling rod is easy to loading and unloading quick.
In the present embodiment: described hydraulic power unit comprises fuel tank 5a, Variable plunger pump 5b, be arranged on walking hydraulic motor 1a of UNICOM and the ducted electromagnetic valve I 5c of Variable plunger pump 5b, be arranged on PF cylinder pressure group 2d of UNICOM and the ducted electromagnetic valve II 5d of Variable plunger pump 5b, be arranged on rotary hydraulic motor 3b of UNICOM and the ducted electromagnetic valve II I5e of Variable plunger pump 5b, be arranged on clamper hydraulic cylinder group 4a1 of UNICOM and the ducted electromagnetic valve I V5f of Variable plunger pump 5b, be arranged on transmission hydraulic motor 4b1 of UNICOM and the ducted electromagnetic valve V5g of Variable plunger pump 5b, being arranged on UNICOM passes jacking cylinder group 4b2 and the ducted electromagnetic valve VI5h of Variable plunger pump 5b and is used to drive the drive motors 5i that Variable plunger pump 5b rotates; The control circuit of described electromagnetic valve I 5c, electromagnetic valve II 5d, electromagnetic valve II I5e, electromagnetic valve I V5f, electromagnetic valve V5g, electromagnetic valve VI5h and drive motors 5i inserts master station PLC, and the instruction of Remote Control Station PLC by sending the control electromagnetic valve action to master station PLC is with the action of each executing agency of control rig main frame; Described drive motors 5i power output shaft is connected by cydariform shaft coupling 5j with Variable plunger pump 5b power input shaft.
In the present embodiment: described sensor comprises that the pressure in order to detect oil pressure pressure changes sensor, in order to detect the speed probe of drill speed, in order to the oily temperature fuel level sensor of the gentle oil level of hydraulic oil oil in the detection fuel tank with in order to detect the gas concentration sensor of on-the-spot gas density, sensor is passed to master station PLC with institute's detection signal, master station PLC passes to Remote Control Station PLC by communication device with detection information, the information that the sensor that operating personnel demonstrate by the HMI touch-screen transmits can be understood the working condition of each executing agency of rig main frame, and can send the order of control rig main frame executing agency according to the information that sensor transmits to master station PLC.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.

Claims (10)

1. the underground gas extraction drilling machine of a Long-distance Control is characterized in that: the electric-control system that comprises rig main frame and the operation of control rig main frame; Described electric-control system comprises master station, Remote Control Station and transmit the communication device of information between Remote Control Station and master station;
Described master station comprises:
A, master station PLC are used for that the rig main frame is transmitted information and pass to Remote Control Station by communication device, and Remote Control Station is passed to main frame by the control command that communication device sends,
B, video acquisition device are used to gather rig main frame field data and information are passed to Remote Control Station by communication device,
C, be arranged on the sensor on the rig main frame, be used to gather rig main frame operation information and information is passed to master station PLC;
Described Remote Control Station comprises:
A, Remote Control Station PLC are used to receive master station PLC and transmit information and send control instruction to it,
B, Industrial Personal Computer (IPC) are used for receiving and demonstration master station video acquisition device sends information,
C, display screen are used to the information that shows that Remote Control Station PLC is received,
D, guidance panel are used for the input control order to Remote Control Station PLC;
Described communication device comprises mainly the communication looped network is made up of switch and the wireless interconnecting device of transmission information between switch and master station;
The control circuit of described rig main frame inserts master station PLC.
2. the underground gas extraction drilling machine of Long-distance Control according to claim 1 is characterized in that: described rig main frame comprises crawler travel chassis (1), be arranged on promotion part (2) on the crawler travel chassis, be arranged on unit head (3) on the promotion part (2), be arranged on the drilling rod charging crane on the crawler travel chassis and the hydraulic power unit of pressure oil is provided to crawler travel chassis (1), promotion part (2), unit head (3), drilling rod charging crane.
3. the underground gas extraction drilling machine of Long-distance Control according to claim 2, it is characterized in that: described master station PLC is provided with PLC network communication module I, be used for sensor information is converted into ethernet signal and the control instruction of ethernet signal form is converted into the executable instruction of master station PLC, described Remote Control Station PLC is provided with PLC network communication module ii, but is used for control command is converted into ethernet signal and the sensor information of ethernet signal form is converted into Remote Control Station PLC identifying information.
4. the underground gas extraction drilling machine of Long-distance Control according to claim 3 is characterized in that: described wireless interconnecting device comprises wireless network transceiver I that is arranged on communication looped network-side and the wireless network transceiver II that is arranged on Remote Control Station one side.
5. the underground gas extraction drilling machine of Long-distance Control according to claim 4 is characterized in that: described crawler travel chassis (1) is driven by walking hydraulic motor (1a).
6. the underground gas extraction drilling machine of Long-distance Control according to claim 5 is characterized in that: described promotion part (2) comprise the frame (2a) that is fixedly installed on the crawler travel chassis (1), be fixedly installed on line slideway (2b) on the frame, be arranged on the planker (2c) that is used to install unit head (3) on the line slideway (2b) and be fixedly installed in mode sliding back and forth and be used to drive the PF cylinder pressure group (2d) that planker (2c) reciprocatingly slides along line slideway (2b) on the frame (2a).
7. the underground gas extraction drilling machine of Long-distance Control according to claim 6, it is characterized in that: described unit head (3) comprises tool joint (3a), be fixedly installed on the planker (2c) rotary hydraulic motor (3b) and with the reducer (3c) of rotary hydraulic motor (3b) power transmission to tool joint (3a), described tool joint (3a) is threaded with reducer (3c) power output shaft.
8. the underground gas extraction drilling machine of Long-distance Control according to claim 7 is characterized in that: described drilling rod charging crane comprises two clampers (4a) of the jaw type that is driven by clamper hydraulic cylinder group (4a1) and the drilling rod storage conveying mechanism (4b) that is driven by transmission hydraulic motor (4b1) and jacking cylinder group (4b2).
9. the underground gas extraction drilling machine of Long-distance Control according to claim 8, it is characterized in that: described hydraulic power unit comprises fuel tank (5a), Variable plunger pump (5b), be arranged on UNICOM's walking hydraulic motor (1a) and the ducted electromagnetic valve I of Variable plunger pump (5b) (5c), be arranged on UNICOM's PF cylinder pressure group (2d) and the ducted electromagnetic valve II of Variable plunger pump (5b) (5d), be arranged on UNICOM's rotary hydraulic motor (3b) and the ducted electromagnetic valve II I of Variable plunger pump (5b) (5e), be arranged on UNICOM's clamper hydraulic cylinder group (4a1) and the ducted electromagnetic valve I V of Variable plunger pump (5b) (5f), be arranged on UNICOM's transmission hydraulic motor (4b1) and the ducted electromagnetic valve V of Variable plunger pump (5b) (5g), be arranged on UNICOM's jacking cylinder group (4b2) and the ducted electromagnetic valve VI of Variable plunger pump (5b) (5h) and be used to drive the drive motors (5i) that Variable plunger pump (5b) rotates; The control circuit of described electromagnetic valve I (5c), electromagnetic valve II (5d), electromagnetic valve II I (5e), electromagnetic valve I V (5f), electromagnetic valve V (5g), electromagnetic valve VI (5h) and drive motors (5i) inserts master station PLC; Described drive motors (5i) power output shaft is connected by cydariform shaft coupling (5j) with Variable plunger pump (5b) power input shaft.
10. the underground gas extraction drilling machine of Long-distance Control according to claim 9 is characterized in that: in order to the pressure commentaries on classics sensor of detection oil pressure pressure, in order to the speed probe of detection drill speed, in order to the oily temperature fuel level sensor of the gentle oil level of hydraulic oil oil in the detection fuel tank with in order to detect the gas concentration sensor of on-the-spot gas density.
CN 201010234399 2010-07-23 2010-07-23 Remote-control underground gas extraction drilling machine Active CN101906988B (en)

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Application Number Priority Date Filing Date Title
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CN102720478A (en) * 2012-06-07 2012-10-10 中煤科工集团西安研究院 Multi-terminal parameter monitoring system for coal mine underground tunnel drilling rig
CN102841593A (en) * 2012-09-21 2012-12-26 煤炭工业济南设计研究院有限公司 Mine remote broadband visual remote control universal controller
CN102968102A (en) * 2012-11-09 2013-03-13 中国地质大学(武汉) Remote monitoring device of trenchless drilling machine
CN103291274A (en) * 2012-03-01 2013-09-11 江阴中科矿业安全科技有限公司 Intelligent display control system for coal mine deep hole drilling vehicle
CN103470243A (en) * 2013-09-26 2013-12-25 中煤科工集团重庆研究院有限公司 Drilling machine ground monitoring system
CN103580977A (en) * 2012-07-26 2014-02-12 成都泰瑞美科技有限公司 Drilling machine ring network communication system and drilling machine ring network communication method
CN103609391A (en) * 2013-11-20 2014-03-05 中国矿业大学 Alarm system of reel sprinkling machine and monitoring method implemented by alarm system
CN104278981A (en) * 2014-10-31 2015-01-14 中煤科工集团重庆研究院有限公司 Underground gas extraction drilling machine

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CN101705785A (en) * 2009-10-30 2010-05-12 煤炭科学研究总院重庆研究院 Mining linkage all-hydraulic drilling machine

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CN103291274A (en) * 2012-03-01 2013-09-11 江阴中科矿业安全科技有限公司 Intelligent display control system for coal mine deep hole drilling vehicle
CN103291274B (en) * 2012-03-01 2016-08-31 江阴中科矿业安全科技有限公司 Intelligent display control system for coal mine deep hole drilling vehicle
CN102720478A (en) * 2012-06-07 2012-10-10 中煤科工集团西安研究院 Multi-terminal parameter monitoring system for coal mine underground tunnel drilling rig
CN102720478B (en) * 2012-06-07 2015-04-01 中煤科工集团西安研究院 Multi-terminal parameter monitoring system for coal mine underground tunnel drilling rig
CN103580977A (en) * 2012-07-26 2014-02-12 成都泰瑞美科技有限公司 Drilling machine ring network communication system and drilling machine ring network communication method
CN102841593A (en) * 2012-09-21 2012-12-26 煤炭工业济南设计研究院有限公司 Mine remote broadband visual remote control universal controller
CN102968102A (en) * 2012-11-09 2013-03-13 中国地质大学(武汉) Remote monitoring device of trenchless drilling machine
CN103470243B (en) * 2013-09-26 2016-02-24 中煤科工集团重庆研究院有限公司 A kind of rig ground monitoring system
CN103470243A (en) * 2013-09-26 2013-12-25 中煤科工集团重庆研究院有限公司 Drilling machine ground monitoring system
CN103609391A (en) * 2013-11-20 2014-03-05 中国矿业大学 Alarm system of reel sprinkling machine and monitoring method implemented by alarm system
CN104278981A (en) * 2014-10-31 2015-01-14 中煤科工集团重庆研究院有限公司 Underground gas extraction drilling machine
CN104278981B (en) * 2014-10-31 2017-04-05 中煤科工集团重庆研究院有限公司 Underground gas extraction drilling machine

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