EP0371417B1 - Process for automatically transporting textile material deposited in cans - Google Patents

Abstract

The invention relates to a process for the conveying of textile material deposited in recipients from a machine discharging textile material to a machine receiving textile material, by means of a self- propelled transport vehicle (F), the travelling control of which takes place from a central control unit (Z). What is disadvantageous with the known systems is that, in spite of a self-propelled transport vehicle which automatically transfers the recipients from one machine to the other, with these systems no fully automatic operation without manual intervention is possible. That means that with these systems the manual intervention in some cases has to take place within short periods of time. According to the invention, it is therefore proposed that the controlling of the transport vehicle for returning the recipients (11) to be taken away from the machine (S1, S2) receiving the textile material to the machine (K1 to K3) discharging the textile material is undertaken by the central control unit on the basis of control signals emitted to the control unit (Z) and that there is provided on the route of the transport vehicle (F) from the machine (S1, S2) receiving textile material to the machine (K1 to K3) discharging textile material a test station (L) for checking the content and/or the state of the recipients located on the transport vehicle and the test station is in connection with the control unit. <IMAGE>

Description

The invention relates to a method for the automatic transport of textile material stored in containers according to the preamble of patent claim 1.

To increase productivity and quality, the automatic transport of textile material between the individual spinning machines is becoming increasingly important.

For example, DE-A-35 32 172 shows a device, the control of a transport vehicle, the card control device and the stretch control device being connected to a central control unit. This system is additionally assigned a buffer control for the reception of full and empty cans, the buffer control also being connected to the central control unit.

This makes it possible for the machine taking up a sliver which is arranged downstream of a sliver to be automatically supplied with cans filled with sliver. The jug is transported to the subsequent machine by means of a transport vehicle which is guided over a fixed guide track.

If the known system breaks the belt, for example on the line, or if the can malfunctions due to damage, manual intervention is required.

It is therefore not possible to run this system automatically for several hours without manual intervention. Rather, it is a semi-automatic system, with individual processes being carried out by hand.

For example, if the known system signals from the route that a can is to be picked up, the corresponding can is picked up by the transport vehicle and returned to the card. The automatic system makes no provision to check whether there is still textile material in the returned can. In order to avoid malfunctions when refilling this jug on the card, it is necessary to check the jug for content and function manually. However, this check cannot be carried out during transport, but can only be carried out on delivery at the card or must already be carried out on the route before the transport process.

DE-A-36 44 537 shows a test device for checking the centricity of the cans. However, this device is not sufficient to carry out a fully automatic transport system, but it could be integrated into such a system for testing the cans.

The object of the invention is to propose a method or a device in which the transport of containers carrying textile material can be carried out fully automatically, the necessary manual interventions are limited to a minimum, the same only being necessary after longer intervals and the exchange of the containers can be done in short periods of time.

This object is achieved by the method according to the characterizing part of patent claim 1 and the device according to the characterizing part of patent claim 15.

Advantageous further developments of the method and the device can be found in the following subclaims.

The proposed method makes it possible for the corresponding can with the remaining one to occur when a belt breakage of a subsequent textile material-absorbing machine, for example a stretch, occurs Remaining quantity is fed to a test station after a reserve belt has been automatically fed from a reserve can assigned to the can.

Depending on the determined degree of filling, either the can is emptied in the test station or the beginning of the belt is searched for by a device and given back to the route to a clamping and transfer device located on the vehicle or on the container.

By installing smaller stores for defective cans that have been removed and intact cans to be replenished, as well as a store for the textile material removed from the containers, it is possible to distribute a necessary manual intervention over large intervals. Visual monitoring is only occasionally necessary during fully automatic operation.

When using different materials, for example cotton and polyester, it is proposed that the textile material removed in the test station be fed to an intermediate store corresponding to the material. This process is controlled by the central control unit, whereby it has recorded and temporarily stored the can parking space which the can to be emptied previously occupied on the route.

The method for checking the condition of the container, which is also proposed, ensures that only functional cans or containers are used in the closed transport system.

As soon as a defective can is determined in the test station according to the proposed method, or by means of the corresponding device, the defective can is exchanged for a functional can which is present in a can storage, as is also proposed. The defective can is also transferred to a memory and can from there be removed manually or also automatically.

The functionality of the jug can be checked on the one hand by a device for checking the outer shape, for example in the case of containers with a circular cross section by checking the concentricity, or on the other hand by measuring the force path of the spring supporting a can plate.

To remove a residual amount found in the container, it is proposed to use a mechanical removal device or a suction device. Both devices can be moved into a removal position and delivery position. In the delivery position, the device transfers the removed textile material to an intermediate store before it is sent for recycling. It is also conceivable to provide a device for blowing off the remaining amount from the can plate instead of the suction device.

Further advantages are described and shown in more detail using the following exemplary embodiments.

• Figur 1 schematisch eine Draufsicht auf eine Spinnereivorwerksseinrichtung mit 3 Karden und 2 Strecken und einer fahrbaren Kannentransporteinrichtung.
• Figur 2 einer weitere Ausführungsform nach Figur 1.
• Figur 3 eine schematisch dargestellte Prüfstation nach Figur 1 mit einer Einrichtung zum Prüfen des Kanneninhaltes.
• Figur 4 eine schematische Darstellung einer Prüfstation nach Figur 1 mit einer Einrichtung zum Suchen des Faserbandendes.
• Figur 5 eine schematische Ansicht einer Prüfstation nach Figur 1 mit einer Einrichtung zur Ueberprüfung der Funktion eines Kannentellers.
• Figur 6 eine schematische Draufsicht nach Figur 5 mit Speicherplätzen für leere Ersatzkannen und defekte Kannen.

Show it:

• Figure 1 schematically shows a plan view of a spinning mill with 3 cards and 2 lines and a mobile can transport device.
• 2 shows a further embodiment according to FIG. 1.
• 3 shows a schematically illustrated test station according to FIG. 1 with a device for checking the contents of the can.
• Figure 4 is a schematic representation of a test station according to Figure 1 with a device for searching the sliver end.
• 5 shows a schematic view of a test station according to FIG. 1 with a device for checking the function of a can plate.
• Figure 6 is a schematic plan view of Figure 5 with storage space for empty replacement cans and defective cans.

In Figure 1, 3 cards K1 to K3 are arranged in series. The sliver produced in the cards is placed in the cans B1 to B3 via a funnel wheel. In addition to the jug that holds the tape, there are additional spaces on the cards for empty and full jugs. These parking spaces represent an Abt buffer. In the example shown, one parking space is provided for a full and one for an empty can. However, further pitches can be arranged.

The cards K1 to K3 are followed by 2 draw frames S1, S2 which further process the textile material emitted by the cards. The cards K1 to K3 are connected to the lines S1, S2 by a transport device. The transport device is formed from a transport vehicle F guided over a guide track 1. The transport vehicle F is provided with a travel drive (not shown in more detail) and a steering device which is controlled by sensors which scan the guide track 1.

It is also possible to guide the transport vehicle F via another system, for example a rail system.

The transport vehicle F also has a can parking space 3 and a computer 2. Part of the computer 2 is used by a central control unit Z received and process received driving commands and is also responsible for the control for can loading and unloading and for the steering mechanism.

It is also possible to provide the transport vehicle with additional pitches.

A test station L is located in relation to the route of the transport vehicle F between the lines S1, S2 and the cards K1 to K3.

In the example shown, the transport vehicle only moves in one direction of travel and, after it has passed the delivery points 4 of the cards K1 to K3, along the can frames 5, 6 of the lines S1, S2 before it reaches the test station L. The transport circuit is closed after the transport vehicle F has passed the test station L and has returned to the delivery points 4 of the cards K1 to K3.

A central control unit Z is integrated in the test station L and is connected in terms of control technology to the cards K1 to K3 and the lines S1, S2 via connecting cables 9, 10. For inclusion in the overall process control, the control unit Z can be connected to a superordinate central computer 37.

The central control unit Z could also be arranged outside the test station L at any point in the transport system.

Via connection 9 it is communicated how the can positions of delivery point 4 of cards K1 to K3 are occupied and via connection 10 the central control unit Z receives a message from routes S1, S2 when a can located in can frame 5, 6 has run empty or there is no more tape due to a broken tape.

Both processes, belt break or empty can, trigger the same signal.

In the example shown in FIG. 1, it was reported via link 10 from route S2 that the can 7 located in the can frame 6 has run empty. The reserve band of the reserve jug 7a was automatically applied via a tracking device, not shown in detail. The central control unit Z transmits the control command for moving the can frame 6 to the transport vehicle F originally in a waiting position in the waiting station in order to pick up the empty can.

For precise approach to the can parking spaces, these can be provided with individual sensors or markings which interact with the travel drive of the transport vehicle via sensors attached to the transport vehicle.

After the can 7 has been picked up via a can handling device (not shown in any more detail), the transport vehicle F drives with the empty can 7 into the test station L.

In the test station L (FIG. 3), the can 58 located on the transport vehicle is checked via a fill level measuring device whether textile material 45 is still in the can.

In the example shown (FIG. 3), two optical sensors 54 and 55 are attached above the can 58. The vehicle F is positioned in a predetermined position in the test station in the test station via a position sensor 68. It is also possible to use other positioning elements such as mechanical interlocks.

As can be seen from FIG. 3, the can 58 also contains a can or sliver stick 45 with the height a. The jug stick 45 lies on the upper surface 46 of a can plate 43, which is supported by a spring 44 on the can bottom. Corresponding to the storage system for the sliver, which is common in the spinning mill, with laying down over the center of the central axis 56, a cylindrical cavity 69 is present in the center of the can stick 45. The sensor 54 is arranged exactly above this cavity 69 and can thus sense the height of the upper surface 46 of the can plate 43. The other sensor 55 is aligned with the can stick 45 and scans its upper limit.

When adding or subtracting both signals from sensors 54 and 55, the value a of the Kannenstock height can be determined. This determined value a is compared in a not shown electrical circuit with a predetermined limit.

If the value a is greater than the predetermined limit value, a tape end search device is activated.

FIG. 4 shows an embodiment of such a band end search device. This is a gripper 61 which can be pivoted into a position above the can stick 45 via swivel arms 62. The drive of the swivel arms 62 is not shown in detail and can be done in a known manner. This position of the gripper 61 is shown in broken lines. The gripper 61 has two gripping tongs 67, one arm of the gripping tongs 67 each being in the region of the can rim 57 and the other arm in the region of the cavity 69 before the upper layer 66 of the band stick 45 is gripped. The gripper 61 is located at such a vertical distance from the upper layer 66 of the jug 45 that this upper layer 66 is gripped when the gripping tongs 67 are closed. Upper layer 66 is to be understood as meaning one to four layers of sliver loops which are placed one above the other.

If the gripping tongs 67 are closed, the gripper 61 is pivoted into the position shown via the swivel arm 62 with the upper layer 66 held in place. As a result of this pivoting process, in addition to the clamped part of the upper layer 66, further fiber sliver is pulled along by the can stick 45 due to the translational movement. This creates a connecting piece in the form of a freely hanging fiber sliver 64 between the removed upper layer 66, which is clamped in the gripping tongs 67 and the can stick 45 remaining in the can.

The connecting piece 64 or the individual sliver is captured by a separating device 65. In this separating device 65, sensors (not shown in more detail) can also be provided which signal or check the presence of the sliver 64.

The separating device 65 separates the sliver 64 at a specific point, as a result of which the sliver end 48 thus formed comes to rest hanging over the edge of the can. This makes it possible to easily grasp this tape with a subsequent detection device at this positioned position in order to ensure automatic attachment to the following route.

A further possibility (not shown) is to grasp this strip end 48 immediately after the severing operation from a strip gripper located on the vehicle, which takes over the automatic depositing on the following route.

The other end of the severed sliver and the removed upper layer 66 are released into a memory SP1 by opening the gripping tongs 67. The material collected can be sent to a subsequent recycling process.

If the situation arises that the can height a is less than the predetermined limit value, then the entire remaining can 45 is removed from the can 58 via a mechanical gripping device (not shown in more detail) or via a suction device and discharged to the store SP1. The gripper device can be designed in a similar manner to that described above when searching for the end of the belt. In any case, it is advantageous, even if it is determined during the inspection of the can contents that there is no material left on the can plate 43, to clean the surface of the can plate with a suction device of any remaining band residues or fiber fly. Instead of vacuuming, the can plate could also be blown off.

The inspection of the can contents and the gripper device 61 for removing the upper layer 66 can also be integrated in a single structural unit.

It is intended to carry out the end-of-band search process several times if the end of the band has not been found the first or second time. This search process can be limited to a certain number and when this limit number is reached, the removal of the entire band stick remaining in the can can be initiated by a control.

If the system has determined that the end of the strip has been found and that the end of the strip has been released into a positioned position on the can after the cutting process, this can 58 is transported directly to one of the two lines S1 or S2 for further processing when the central control unit Z reports a corresponding need.

If there is no more material on the can plate 43, the function of the can or the can plate 43 can be checked via a test device integrated in the test station.

As shown in FIG. 5, a weight 49 that can be raised and lowered via a cable pull 51 is arranged above the can plate 43. The rope 51 is wound up and unwound via a rope drum 52 by a motor 53 and thus the weight 49 is moved. Load cells 50a, 50b, 50c distributed (FIG. 6) are attached below the weight 49. When the weight 49 is lowered, these come to rest on the upper surface 46 of the can plate 43. When the weight 49 is lowered further, the can plate 43 is pressed downward against the spring force of the spring 44. The force-displacement curve determined via the load cells 50a, 50b, 50c is compared with a predetermined curve and is a measure of the functionality of the can. For example, if the jug has a dent on its circumference, the jug plate 43 would be inclined at this point and the values of the individual load cells deviate greatly from one another. In this case, the system determines that the jug is defective. A control is then triggered which, on the one hand, moves the defective can 58 into a storage 59 and then feeds the supply of a new empty and intact can from an empty can storage 20 via a cross conveyor 60 to the can parking space on the vehicle. The drive for the conveyor elements, which is assigned to the stores 20 and 59 and the cross conveyor 60, is controlled by the control unit Z, as indicated by a connecting line.

A further possibility for checking the functionality of the can 58 is to scan (not shown) the circular can jacket in order to check the concentricity of the container.

If there is still a band stick 45 on the can plate 43, the upper layer 66 being at a negative distance from the upper can edge 57, then either the can plate 43 is jammed in the can or the spring 44 is defective. This condition can with the establishment after the Figure 3 can be determined to check the contents of the can and thus also has a possibility to check the functionality of the can.

If the can was found to be good during the functional test of the can 58, the can can be delivered to one of the cards K1 to K3 via the transport vehicle F at a parking space determined by the system. In the present example, the transport vehicle F takes a waiting position in the test station L and receives its travel order from the central control unit Z, which in this case is integrated in the test station.

On the basis of the signal transmitted to the transport vehicle F in the test station L that the full can 8 of the card K1 is ready for collection, the transport vehicle F drives to this delivery point 4 of the card K1 and takes over the full can 8. The can 8 is then returned to the original location the can 7 transferred in the can frame 6 of the route S2. After delivery of the can 8, the transport vehicle F returns to its waiting position in the test station.

The waiting position or the attachment of the central control unit could also be arranged at any other place within the transport system.

Another possibility is to provide an empty can parking space 38, indicated by dashed lines, for the can frames 5 and 6. This makes it possible to prevent the vehicle F from running empty, that is, on the way from the test station L to the route S2, the transport vehicle can take over a full can 8 from the card K1 and place it on the empty can parking space 38 of the route D2. If the vehicle F has a limited return option, the empty can 7 can then be picked up and transferred to the test station L when the full can 8 is parked.

While the vehicle is in the test station, the temporarily stored signals "get can" or "bring can" are transmitted to computer 2 of vehicle F and the route for the can parking spaces to be approached is thus predetermined.

A further embodiment is shown in FIG. 2, in which the travel paths between the route and the card partially overlap and 4 cards K1 to K4 delivering textile material are provided on a line S1 receiving textile material.

The route S1 is followed by a route S2 via a further guideline 1a, the guideline 1a ending in a guideline loop 39 of the guideline 1. The test station L is located in this guideline loop 39.

Between the cards K1 to K4 and the can frame 5 of the route S1, the guideline overlaps, while on the side opposite the guideline loop 39 another guideline loop 40 is used for the reversal or return of the transport vehicle F to the test station.

The further guideline 1a is provided with a reversing loop 41.

With this proposed arrangement, the changing operations of the cans in connection with the test station are reduced to a minimum in time.

Due to the parallel arrangement of the delivery points 4 of the cards K1 to K4 and the take-up points 36, it is possible for the full cans to be transferred quickly and directly to the take-up points of the can rack 5.

The further connection of a subsequent route S2 results in additional utilization of the installed test station.

The use of a second transport vehicle is advantageous here.

A battery charging or discharging station could also be provided within the transport system, which carries out the replacement or charging of batteries on the transport vehicle.

Reference numerals

• 1.1a lead track
• 2 computers
• 3 parking spaces
• 4 delivery point
• 5 can rack
• 6 can rack
• 7.7a jug
• 8 jug
• 9 connection cables
• 10 connecting cables
• 11 level meter
• 12 empty
• 13 functional testers
• 14 positive
• 15 <min
• 16 emptying
• 17 negative
• 18 exchange
• 19 repair memory
• 20 empty can memory
• 21> min
• 22 band search device
• 23 beginning available
• 24 Beginning not found
• 25 signal "fetch can"
• 26 signal "bring pot"
• 27 time element
• 28 Battery replacement
• 29 shop
• 30 battery reserve
• 31 test station
• 32 positive
• 33 Charge
• 34 defective
• 35 Charge control
• 36 reception point
• 37 central computer
• 38 pitches
• 39 Guideline loop
• 40 guideline loop
• 41 reverse loop
• 42 spare reserve
• 43 can plate
• 44 spring
• 45 jug stick
• 46 surface (can plate)
• 47 sliver
• 48 sliver end
• 49 weight
• 50a, 50b, 50c load cells
• 51 cable
• 52 rope drum
• 53 engine
• 54 sensor
• 55 sensor
• 56 central axis
• 57 jug rim
• 58 jug
• 59 Memory for defective cans
• 60 cross conveyors
• 61 grippers
• 62 swivel arm
• 63 swivel axis
• 64 connector
• 65 separating device
• 66 Upper layer
• 67 gripping pliers
• 68 position sensor
• 69 cavity
• a Kannenstock height

Claims (24)

1. A method of conveying textile material in receptacles (7, 8) from a machine delivering textile material to a machine receiving textile material by means of a self-propelled conveying carriage (F) whose movements are controlled by a central control unit (Z) connected to the textile material delivering machine (K1 - K3) and to the textile material receiving machine (S1, S2), characterised in that the carriage (F) is controlled for the return of receptacles (7) from the textile material receiving machine (S1, S2) to the textile material delivering machine (K1 - K3) by the central control unit (Z) on the basis of control signals delivered thereto, and a checking station (L) is provided in the path of the carriage (F) from the textile material receiving machine (S1, S2) to the textile material delivering machine (K1 - K3) to monitor the content and/or condition of the receptacle(s) (58) on the carriage (F) and is connected to the control unit (Z).
2. A method according to claim 1, characterised in that the position of a can plate (43), which bears in the receptacle (58) with spring biasing, and the top surface of the textile material (45) resting on the can plate (43) are sensed in order to monitor receptacle contents.
3. A method according to claim 2, characterised in that if the receptacle (58) is found to be partly empty to an extent not exceeding a predetermined extent of emptying, the receptacle (58) is returned by way of the carriage (F) to the textile material receiving machine (S1, S2).
4. A method according to claim 2, characterised in that if the receptacle (58) is found to be partly empty to an extent exceeding a predetermined emptying extent, the residue of textile material (45) in the receptacle (58) is removed by way of a removal or emptying facility.
5. A method according to claim 4, characterised in that the removed remainder is delivered to a store (SP1, SP2), then supplied to a reutilization process.
6. A method according to claim 3, characterised in that the textile material is in the form of a sliver (47) and the sliver end (48) of the ascertained residue (45) is searched for by means of a device and delivered to a predetermined position.
7. A method according to claim 6, characterised in that the search for the sliver end (48) is effected one or more times and if such end (48) fails to be detected after a predetermined number of searches, the remainder in the receptacle (58) is removed and supplied to a reutilization process.
8. A method according to claim 1, characterised in that the receptacles (58) are of circular cross-section and their concentricity is monitored by way of a sensing device.
9. A method according to claim 8, characterised in that for monitoring of its concentricity the receptacle (58) is rotated around its vertical axis (56) at a predetermined distance from a stationary sensing device and guided in its horizontal position by means of a positive centring.
10. A device according to claim 1, characterised in that receptacle condition is monitored by serviceability checking of the can plate (43) or of the spring (44) supporting the can plate (43) of the receptacle (58) by way of a pressure/distance pick-up which acts downwardly on the can plate (43),
11. A device according to claim 10, characterised in that by means of a weight unit (49) which can be infed downwardly by way of a pull rope (51) or the like towards the can plate (43), at least three load cells (50a, 50b, 50c) secured to the underside of the weight unit (49) can be placed onto the can plate (43) and upon further lowering of the weight unit (49) against the force of the spring (4) supporting the can plate (43) the sum of the force/distance curves detected during further lowering by the load cells (50a, 50b, 50c) can be compared with a predetermined set-value curve.
12. A method according to claim 1, characterised in that receptacle condition is monitored by sensing the position of the surface (45) of a can plate (43) supported in the receptacle (58) by way of at least one spring element (44) as compared with sensing the top edge (57) of the receptacle wall when there is no more textile (45) present in the receptacle (58).
13. A method according to one of claims 1 to 12, characterised in that the receptacle (58) remains on the carriage (F) during checking at the checking station (L).
14. A method according to claim 1, characterised in that receptacle condition is monitored at a predetermined time interval.
15. A device for carrying out the method according to claim 1, comprising a central control unit (Z), which is connected with a self-propelled conveying carriage (F) and textile material delivering and textile material receiving machines (K1-K3, S1, S2), receptacles with textile material being transferred by the carriage (F) from the textile material delivering machine (K1-K3) to the textile material receiving machine (S1, S2), characterised in that a checking station (L) connected with the control unit (Z) is arranged in the path of the carriage (F) from the textile material receiving machine (S1, S2) to the textile material delivering machine (K1-K3) and is provided with means for monitoring the content and/or condition of the receptacle (58) on the carriage (F).
16. A device according to claim 15, characterised in that the checking station (L) is provided with at least two fixedly installed or pivotably arranged optical sensors (54, 55), one sensor (54) being provided for sensing the position of a can plate (43, 46) supported in spring-loaded fashion in the receptacle (58) during the sensing process and being arranged in the region of the central axis (56) and above the receptacle (58) and the other sensor (55), for sensing the top layer (66) of textile material remaining in the receptacle (58), being arranged above the receptacle (58) in a region between the central axis (56) and the outer edge (57).
17. A device according to claim 15, characterised in that the checking station (L) is provided above the receptacle (58) supplied by the carriage (F) with a fixedly installed or infeedable ultrasonic sensor for monitoring can contents.
18. A device according to claim 15, characterised in that the residue of textile material (45) detected by the checking means exceeding a predetermined limit value is removed by means of an infeedable suction extractor.
19. A device according to claim 15, characterised in that the residue of textile material (45) detected by the checking means not exceeding a predetermined limit value is removed by way of a mechanical gripping device.
20. A device according to claim 15, characterised in that a receptacle store (20, 59) is associated with the checking station (L) and has supply and removal means for receiving defective receptacles (58) and for delivering serviceable receptacles (20) to the carriage (F).
21. A device according to one of claims 18 or 19, characterised in that at least two displaceable or rotatable stores (SP1, SP2) for receiving the delivered textile material are associated with the checking station (L) and the corresponding infeeding of the store (SP1, SP2) to deliver or receive is controlled by the central control unit (Z).
22. A device according to claim 15, the textile material being formed by a sliver, characterised in that when the residue of sliver is found to exceed a predetermined limit value the upper layer (66) of the sliver coiler (45) is removed from the receptacle (58) by means of a pivotable or displaceable mechanical device (61) or a suction device and displaced or pivoted in a horizontal direction, a device (65) for the positioned severance of the sliver (47) engaging in the region between the connecting piece (64) formed as a single sliver between the sliver coiler (45) remaining in the receptacle (58) and the removed upper layer (66) of the coiler (45).
23. A device according to claim 22, characterised in that the severed end (48) of the sliver (47), which is connected with the coiler (45) remaining in the receptacle (58), is released by the cutting device (65) and moved into a position in which a predetermined length hangs down externally over the receptacle edge (57).
24. A device according to claim 22, characterised in that the severed end (48) of the sliver (47), which is connected with the coiler (45) remaining in the receptacle (58), is delivered by a device to retaining means of the carriage (F) or receptacle (58).

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