CN109969278A - A kind of container climbs wall trolley check device - Google Patents
A kind of container climbs wall trolley check device Download PDFInfo
- Publication number
- CN109969278A CN109969278A CN201711439969.9A CN201711439969A CN109969278A CN 109969278 A CN109969278 A CN 109969278A CN 201711439969 A CN201711439969 A CN 201711439969A CN 109969278 A CN109969278 A CN 109969278A
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- wheel
- body frame
- chassis
- vehicle body
- shaft
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
- H02G3/02—Details
- H02G3/04—Protective tubing or conduits, e.g. cable ladders or cable troughs
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
The invention belongs to the non-destructive testings of the large containers such as nuclear reactor safety shell and similar devices and maintenance technique field, and in particular to a kind of container climbs wall trolley check device；The device includes vehicle body frame, magnetic suction disc, video check module and drive module；The drive module is all-wheel drive device, and the drive module setting is located at vehicle body frame center at the sideline of front and back, the video check module is arranged in vehicle body frame front top in vehicle body frame bottom in vehicle body frame two sides, the magnetic suction disc setting；Magnetic suction disc, which generates adsorption capacity, is adsorbed on vehicle body frame on wall, and drive module provides the driving force moved along wall, and video check module carries out video check to wall.Permanent magnetism non-contact adhesion mode of the present invention can be suitably used for the video check of containment vessel wall part, and has and preferably creep and obstacle climbing ability.The present invention can also carry a variety of probes such as Liquid Penetrant, ultrasound, implement relevant nondestructive testing means.
Description
Technical field
The invention belongs to the non-destructive testing of the large containers such as nuclear reactor safety shell and similar devices and maintenance technique field,
Wall trolley check device is climbed more particularly to a kind of container.
Background technique
Large container visual inspection reality primarily directed to large container appearance situation, coating state and degree of corrosion
It applies, typical detected object is nuclear reactor safety shell.Sight check is implemented to large containers such as nuclear reactor safety shells, because of it
Examined area range spans are big, implement the environmental condition multiplicity of sight check, different regions is needed using different inspection hands
Section.Sight check for containment wall part, because scaffold can not be built and can not arbitrarily dismantle air baffle etc.
Component, personnel can not be close to the direct sight check of progress, and the space of examined area is limited, is not available large-scale picture pick-up device.
For example nuclear reactor safety shell diameter has aboutOuter surface has coating and support weld seam.Tested region is divided
It is segmented into several partitions.As depicted in figs. 1 and 2, detection zone height is more than 40 meters, and distance is narrow between container and air baffle
Only about 300mm.
Wall type mobile platform of climbing most of at present belongs to rail mounted permanent magnetism crawling device, and part ultrasonic inspection apparatus uses
Non- rail mounted permanent magnetism crawling device, but crawling wheel is hard permanent-magnet materials.And in bulk container visual inspection process into
When row climbs wall movement, it is contemplated that the directly contact of the protection of examined area surface covering, track and hard permanent-magnet materials is not
It is preferably to select.In addition, the movement of creeping for climbing wall type mobile platform needs to protect during large container implements sight check
It holds vertical state and moves longer distance, therefore need to adjust the direction of motion of offset in time in moving process, and current
Bulk container climbs wall type mobile platform all without such function.
Summary of the invention
The purpose of the present invention is to provide a kind of containers to climb wall trolley check device, completes nuclear power scene nuclear reactor safety
Shell sight check and other similar large container sight check.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that:
A kind of container climbs wall trolley check device, which includes vehicle body frame, magnetic suction disc, video check module and drive
Dynamic model block；
The drive module is all-wheel drive device, and the drive module setting is inhaled in vehicle body frame two sides, the magnetic force
Disk setting is located at vehicle body frame center at the sideline of front and back, the video check module is arranged in vehicle in vehicle body frame bottom
At the top of body frame front end；Magnetic suction disc, which generates adsorption capacity, makes vehicle body frame non-contact adhesion on wall, and drive module provides edge
The driving force of wall movement, video check module carry out video check to wall.
The vehicle body frame includes dust cover, trolley shell and chassis；The chassis is major bearing structures, the magnetic force
Sucker, video check module and drive module setting are on chassis；Trolley shell is mounted on chassis, and trolley shell is as magnetic force
The external protective structures of sucker and drive module, the dust cover setting are covered trolley shell and were not covered in chassis rear and front end
The installation position of the magnetic suction disc of lid.
The vehicle body frame is process using extra super duralumin alloy.
The drive module includes two driving motors, synchronous pulley, four wheel modules, shaft coupling and synchronous belt；Two
Platform driving motor is symmetricly set on chassis, and respectively single wheel module provides driving force, and every side driving motor passes through connection
Axis device is connect with synchronous pulley, and driving motor is passed to two ipsilateral wheel modules by synchronous belt by synchronous pulley.
The wheel module includes wheel, shaft, locking nut, mounting rack, wheel hub and bearing；
The shaft outer segment installs wheel, connect in the middle part of shaft inner segment with shaft synchronous pulley, shaft synchronous pulley passes through
Synchronous belt is connect with synchronous pulley；The wheel inner holes are in tooth form, and wheel inner holes are inlayed with wheel hub outer ring tooth form to be connect；Described turn
Axis outer segment is machined with external screw thread, and shaft external screw thread is connect with hub centre hole screw-internal thread fit, and shaft outer end passes through locking nut
It is fixed on wheel hub；Shaft inner segment is mounted on mounting rack by bearing, and mounting rack is arranged in chassis side.
The rapidoprint of the wheel is polyurethane material；The synchronous pulley and shaft synchronous pulley are to exempt from the torsion of key superelevation
Square type belt wheel.
The magnetic suction disc includes permanent magnet, rotary shaft, spring pin, mask frame and steel bushing；The mask frame passes through rotation
Shaft and spring pin are mounted on tray bottom, and mask frame can be rotated around rotary shaft, and permanent magnet covers in mask frame, and outermost layer is set
Set steel bushing protection.
The magnetic suction disc further includes sucking disk clutch, and sucking disk clutch setting is stretched out outside dust cover at the mask frame back side, carried out
When the switching of working condition, sucking disk clutch is pulled, permanent magnet is rotated around rotary shaft, and keep permanent magnet front parallel relative to chassis,
Position limitation protection is carried out by spring pin, permanent magnet and tested surface generate magnetic line of force closure at this time, positive pressure suction is generated, generation
Frictional force, which is greater than, climbs wall trolley self gravity, and climbing wall trolley will not drop；When pulling sucking disk clutch, permanent magnet is perpendicular relative to chassis
When rising, the magnetic line of force that permanent magnet generates can not be formed into a loop far from detection faces, will not generate suction.
The video check module includes camera, bracket, cross bar and adjustable joint bracket；
Described cross bar one end is arranged by bracket in chassis front end top side, and the cross bar other end vacantly stretches out chassis two
Side；Multiple cameras are arranged on the cross bar, each camera is furnished with an adjustable joint bracket, adjustable joint bracket
Adjust the setting angle and mounting height of camera.
The device further includes anti-fall device, and the anti-fall device includes ratchet, rotating cylinder, sheave, strand oscillator, handle and branch
Seat；
Rotating cylinder is set on the bracket, and rotating cylinder side connects handle, also sets up sheave and strand oscillator on the bracket, lead
Rope sheave and strand oscillator are located at the rotating cylinder other side, and safety steel cable is wrapped on rotating cylinder by the way that sheave and strand oscillator are orderly, turns
Ratchet is arranged in cylinder connection handle side, and when unexpected magnetic suction disc demagnetization occurs, safety steel cable can hold car body and be unlikely to
Falling from high altitude.
Of the invention has the technical effect that:
(1) a kind of container of the present invention, which climbs wall trolley check device permanent magnetism non-contact adhesion mode, can be suitably used for containment appearance
The video check of wall parts, and have and preferably creep and obstacle climbing ability.As video inspection device carrying platform, the present invention
Picture pick-up device can be carried and implement indirect sight check.The present invention can also carry a variety of probes such as Liquid Penetrant, ultrasound, implement phase
The nondestructive testing means of pass.
(2) a kind of container of the present invention climbs wall trolley check device, protects cable using cable protective sleeve, it is ensured that power and logical
News cable can pass through.
(3) to avoid climbing wall trolley under magneticaction, since tire material is excessively soft, cause chassis and vessel surface away from
It is excessive from changing, its steep bank formed by weld seam is reduced, the present invention selects the suitable polyurethane of hardness as tire material, increases
The ability for climbing wall trolley obstacle detouring is added.
(4) a kind of container of the present invention climbs wall trolley check device, and permanent magnet is covered in mask frame, is installed in steel bushing, base
Other than face magnetic force is enhanced where magnetic pole of the magnetic suction disc in addition to being exposed in this structure, other cladding face magnetic force of magnet are equal
It is greatly reduced, increases safety of the invention.
Detailed description of the invention
Fig. 1 is that a kind of container of the present invention climbs wall trolley check device schematic diagram；
Fig. 2 is that a kind of container of the present invention climbs wall trolley check device schematic internal view；
Fig. 3 is that a kind of container of the present invention climbs wall trolley check device wheel module schematic diagram；
Fig. 4 is that a kind of container of the present invention climbs wall trolley check device magnetic suction disc schematic diagram；
Fig. 5 is that a kind of container of the present invention climbs wall trolley check device magnetic suction disc overturning schematic diagram；
Fig. 6 is that a kind of container of the present invention climbs wall trolley check device video check module diagram；
Fig. 7 is that a kind of container of the present invention climbs wall trolley check device anti-falling structure schematic diagram；
In figure: 01- air baffle, 02- check partition, 03- support；1- vehicle body frame, 2- magnetic suction disc, 3- video
Check module, 4- drive module, 5- sucking disk clutch, 6- dust cover, 7- trolley shell, 8- camera, the chassis 9-, 10- driving electricity
Machine, 11- synchronous pulley, 12- wheel module, 13- wheel, 14- shaft coupling, 15- synchronous belt, 16- shaft, 17- locking nut,
18- mounting rack, 19- wheel hub, 20- bearing, 21- permanent magnet, 22- rotary shaft, 23- spring pin, 24- mask frame, 25- steel bushing,
26- bracket, 27- cross bar, 28- adjustable joint bracket, 29- ratchet, 30- rotating cylinder, 31- sheave, 32- strand oscillator, 33- handle,
34- support.
Specific embodiment
Wall trolley check device is climbed to a kind of container of the present invention with attached drawing With reference to embodiment to be described in detail.
As shown in Figure 1, a kind of container of the present invention climbs wall trolley check device, including vehicle body frame 1, magnetic suction disc 2, video
Check module 3 and drive module 4；
The drive module 4 is all-wheel drive device, and the drive module 4 is arranged in 1 two sides of vehicle body frame, the magnetic force
The setting of sucker 2 is located at 1 center of vehicle body frame at the sideline of front and back, the video check module 3 is set in 1 bottom of vehicle body frame
It sets in 1 front top of vehicle body frame；Magnetic suction disc 2, which generates adsorption capacity, makes 1 non-contact adhesion of vehicle body frame on wall, drives mould
Block 4 provides driving force, and a kind of container of the driving present invention climbs wall trolley check device and creeps along wall surface, and video check module 3 is to wall
Wall carries out video check；
As shown in Figure 1, the vehicle body frame 1 includes dust cover 6, trolley shell 7 and chassis 9；The chassis 9 is mainly to hold
Weight structure, the magnetic suction disc 2, video check module 3 and drive module 4 are arranged on chassis 9；Trolley shell 7 is mounted on bottom
On disk 9, external protective structures of the trolley shell 7 as magnetic suction disc 2 and drive module 4, the dust cover 6 is arranged on chassis 9
Rear and front end, the installation position for the magnetic suction disc 2 that masking trolley shell 7 had not covered；
In order to reduce car body weight, the vehicle body frame 1 is process using extra super duralumin alloy；
As shown in Fig. 2, the drive module 4 include two driving motors 10, synchronous pulley 11, four wheel modules 12,
Shaft coupling 14 and synchronous belt 15；Two driving motors 10 are symmetricly set on chassis 9, and respectively single wheel module 12 provides drive
Power, every side driving motor 10 are connect by shaft coupling 14 with synchronous pulley 11, and synchronous pulley 11 will be driven by synchronous belt 15
Dynamic motor passes to two ipsilateral wheel modules 12；
As shown in figure 3, the wheel module 12 includes wheel 13, shaft 16, locking nut 17, mounting rack 18, wheel hub 19
With bearing 20；
16 outer segment of shaft installs wheel 13, connect in the middle part of 16 inner segment of shaft with shaft synchronous pulley, shaft synchronous belt
Wheel is connect by synchronous belt 15 with synchronous pulley 11；13 inner hole of wheel is in tooth form, 13 inner hole of wheel and 19 outer ring tooth of wheel hub
Shape inlays connection, and contact surface is simultaneously bonded by adhesive；16 outer segment of shaft is machined with external screw thread, 16 external screw thread of shaft with
The connection of 19 centre bore screw-internal thread fit of wheel hub, 16 outer end of shaft are fixed on wheel hub 19 by locking nut 17；16 inner segment of shaft
It is mounted on mounting rack 18 by bearing 20, mounting rack 18 is arranged in 9 side of chassis；
The rapidoprint of the wheel 13 is polyurethane material；
For the interior wall construction of different-diameter size, the wheel 13 of replaceable different-diameter size avoids chassis 9 and is tested
It scratches caused by face contact or stranded；
The synchronous pulley 11 and shaft synchronous pulley are to exempt from key superelevation torque type belt wheel；
As shown in Figure 4 and Figure 5, the magnetic suction disc 2 includes permanent magnet 21, rotary shaft 22, spring pin 23, mask frame
24 and steel bushing 25；The mask frame 24 is mounted on 9 bottom of chassis by rotary shaft 22 and spring pin 23, and mask frame 24 can be around rotation
Shaft 22 rotates, 21 sets of permanent magnet in mask frame 24, outermost layer is protected by steel bushing 25；
Other than 21 place face magnetic force of permanent magnet of the magnetic suction disc 2 in addition to being exposed to is enhanced, permanent magnet 21 other
Cladding face magnetic force is greatly reduced, and increases safety of the invention；
The magnetic suction disc 2 further includes sucking disk clutch 5, and the setting of sucking disk clutch 5 stretches out dust cover 6 at 24 back side of mask frame
Outside, when carrying out the switching of working condition, sucking disk clutch 5 is pulled, permanent magnet 21 is rotated around rotary shaft 22, keeps permanent magnet 21 positive
It is parallel relative to chassis 9, position limitation protection is carried out by spring pin 23, permanent magnet 21 generates the magnetic line of force with tested surface and closes at this time
It closes, generates positive pressure suction, produce the frictional force for being greater than and climbing wall trolley self gravity, climbing wall trolley will not drop；It is inhaled when pulling
Disk spanner 5, when permanent magnet 21 is holded up relative to chassis 9, the magnetic line of force that permanent magnet 21 generates can not be formed back far from detection faces
Road will not generate suction；
As shown in fig. 6, the video check module 3 includes camera 8, bracket 26, cross bar 27 and adjustable joint bracket 28；
Described 27 one end of cross bar is arranged by bracket 26 in 9 front top side of chassis, and 27 other end of cross bar vacantly stretches out
9 two sides of chassis；Multiple cameras 8 are arranged on the cross bar 27, each camera 8 is furnished with an adjustable joint bracket
28, the setting angle and mounting height of the adjustable camera 8 of adjustable joint bracket 28；
As shown in fig. 7, causing car body high-altitude to prevent the adsorption capacity of magnetic suction disc 2 because the reasons such as unpredictability disappear
It falls, the invention also includes anti-fall device, above the quasi- inspection area of the present invention, anti-fall device passes through for the anti-fall device setting
Safety steel cable bolts on chassis 9；
The anti-fall device includes ratchet 29, rotating cylinder 30, sheave 31, strand oscillator 32, handle 33 and support 34；
Rotating cylinder 30 is set on the bracket 34, and 30 side of rotating cylinder connects handle 33, also sets up sheave on the bracket 34
31 and strand oscillator 32, sheave 31 and strand oscillator 32 are located at 30 other side of rotating cylinder, and safety steel cable passes through sheave 31 and winding displacement
Device 32 is orderly to be wrapped on rotating cylinder 30, and rotating cylinder 30 connects 33 side of handle and ratchet 29 is arranged, and unexpected magnetic suction disc 2 is occurring
When demagnetization, safety steel cable can hold car body and be unlikely to falling from high altitude.
Claims (10)
1. a kind of container climbs wall trolley check device, it is characterised in that: the device includes vehicle body frame, magnetic suction disc, video inspection
Look into module and drive module；
The drive module is all-wheel drive device, and the drive module setting is set in vehicle body frame two sides, the magnetic suction disc
It sets in vehicle body frame bottom, is located at vehicle body frame center at the sideline of front and back, the video check module is arranged in car body frame
Frame front top；Magnetic suction disc, which generates adsorption capacity, makes vehicle body frame non-contact adhesion on wall, and drive module is provided along wall
The driving force of movement, video check module carry out video check to wall.
2. a kind of container according to claim 1 climbs wall trolley check device, it is characterised in that: the vehicle body frame includes
Dust cover, trolley shell and chassis；The chassis is major bearing structures, the magnetic suction disc, video check module and driving
Module is arranged on chassis；Trolley shell is mounted on chassis, and trolley shell is protected as magnetic suction disc and the external of drive module
Protection structure, the dust cover setting cover the installation position for the magnetic suction disc that trolley shell had not covered in chassis rear and front end.
3. a kind of container according to claim 1 or 2 climbs wall trolley check device, it is characterised in that: the vehicle body frame
It is process using extra super duralumin alloy.
4. a kind of container according to claim 2 climbs wall trolley check device, it is characterised in that: the drive module includes
Two driving motors, synchronous pulley, four wheel modules, shaft coupling and synchronous belt；Two driving motors are symmetricly set on chassis
On, respectively single wheel module provides driving force, and every side driving motor is connect by shaft coupling with synchronous pulley, synchronous belt
Driving motor is passed to two ipsilateral wheel modules by synchronous belt by wheel.
5. a kind of container according to claim 4 climbs wall trolley check device, it is characterised in that: the wheel module includes
Wheel, shaft, locking nut, mounting rack, wheel hub and bearing；
The shaft outer segment installs wheel, connect in the middle part of shaft inner segment with shaft synchronous pulley, shaft synchronous pulley passes through synchronization
Band is connect with synchronous pulley；The wheel inner holes are in tooth form, and wheel inner holes are inlayed with wheel hub outer ring tooth form to be connect；Outside the shaft
Section is machined with external screw thread, and shaft external screw thread is connect with hub centre hole screw-internal thread fit, and shaft outer end is fixed by locking nut
On wheel hub；Shaft inner segment is mounted on mounting rack by bearing, and mounting rack is arranged in chassis side.
6. a kind of container according to claim 5 climbs wall trolley check device, it is characterised in that: the processing material of the wheel
Material is polyurethane material；The synchronous pulley and shaft synchronous pulley are to exempt from key superelevation torque type belt wheel.
7. a kind of container according to claim 4 climbs wall trolley check device, it is characterised in that: the magnetic suction disc includes
Permanent magnet, rotary shaft, spring pin, mask frame and steel bushing；The mask frame is mounted on chassis by rotary shaft and spring pin
Bottom, mask frame can be rotated around rotary shaft, and permanent magnet covers in mask frame, and outermost layer is arranged steel bushing and protects.
8. a kind of container according to claim 7 climbs wall trolley check device, it is characterised in that: the magnetic suction disc also wraps
Sucking disk clutch is included, sucking disk clutch setting stretches out outside dust cover at the mask frame back side, when carrying out the switching of working condition, pulls suction
Disk spanner, permanent magnet rotate around rotary shaft, keep permanent magnet front parallel relative to chassis, carry out limit guarantor by spring pin
Shield, permanent magnet and tested surface generate magnetic line of force closure at this time, generate positive pressure suction, and the frictional force of generation, which is greater than, climbs wall trolley itself
Gravity, climbing wall trolley will not drop；When pulling sucking disk clutch, when permanent magnet is holded up relative to chassis, magnetic force that permanent magnet generates
Line can not be formed into a loop far from detection faces, will not generate suction.
9. a kind of container according to claim 7 climbs wall trolley check device, it is characterised in that: the video check module
Including camera, bracket, cross bar and adjustable joint bracket；
Described cross bar one end is arranged by bracket in chassis front end top side, and the cross bar other end vacantly stretches out chassis two sides；Institute
It states and multiple cameras is arranged on cross bar, each camera is furnished with an adjustable joint bracket, the adjustment of adjustable joint bracket
The setting angle and mounting height of camera.
10. a kind of container according to claim 2 climbs wall trolley check device, it is characterised in that: the device further includes preventing
Fall device, the anti-fall device include ratchet, rotating cylinder, sheave, strand oscillator, handle and support；
Rotating cylinder is set on the bracket, and rotating cylinder side connects handle, also sets up sheave and strand oscillator, sheave on the bracket
It is located at the rotating cylinder other side with strand oscillator, safety steel cable is wrapped on rotating cylinder by the way that sheave and strand oscillator are orderly, and rotating cylinder connects
Ratchet is arranged in connecting handle side, and when unexpected magnetic suction disc demagnetization occurs, safety steel cable can hold car body and be unlikely to high-altitude
It falls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439969.9A CN109969278A (en) | 2017-12-27 | 2017-12-27 | A kind of container climbs wall trolley check device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439969.9A CN109969278A (en) | 2017-12-27 | 2017-12-27 | A kind of container climbs wall trolley check device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109969278A true CN109969278A (en) | 2019-07-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711439969.9A Pending CN109969278A (en) | 2017-12-27 | 2017-12-27 | A kind of container climbs wall trolley check device |
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| Country | Link |
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| CN (1) | CN109969278A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113066593A (en) * | 2021-03-23 | 2021-07-02 | 三门核电有限公司 | Magnetic adsorption wall surface crawling device for containment inspection of nuclear power plant |
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