EP1045941B1 - Mobile loading machine with front loading equipment - Google Patents

Abstract

The invention relates to a mobile loading machine with front loading equipment, especially a construction machine. The inventive loading machine has a lifting frame (1) which is mounted with its rear end on a front frame part (13) of the loading machine (L), in such a way that it can pivot in a lifting frame pivot point (14). Said lifting frame (1) can be raised and lowered by means of at least one lifting cylinder (2). A working shovel (5), fork (5') or similar is connected to the front end of the lifting frame(1) in a shovel pivot point (6) and a tilt lever (3) is connected in a middle area of the lifting frame (1) in a tilt lever pivot point (15). The bottom end of the tilt lever (3) is flexibly connected to a tilt ram (7) in a tilt ram articulation point (8). At the other end, said tilt ram (7) is connected to a frame part (13) in a tilt ram pivot point (11). The top end of the tilt ram (7) is connected to a tilt bar (4) in a tilt bar pivot point (17). The tilt bar (4) is connected to the working shovel (5) by its other end, in a tilt lever articulation point (21) above the shovel pivot point (6). The aim of the invention is to improve the kinematics system. This is achieved by means of special geometrical ratios.

Description

The invention relates to a mobile loading machine with Front loading equipment, in particular construction machine, with a with the rear end on a front frame part of the Loading machine rotatably mounted in a Hubrahmendrehpunkt Lifting frame, by means of at least one lifting cylinder can be raised and lowered, wherein at the front end of the lifting frame in a bucket fulcrum a working bucket, fork or the like. Is hinged and being in a middle Range of the lifting frame in a rocker arm pivot point Toggle holder is hinged to a rocker arm whose lower end articulated in a Kippzylinderanlenkpunkt connected to a tilting cylinder at the other end articulated in a tilt cylinder pivot point on the frame part is, and its upper end in a tilt rod fulcrum hinged on a tilt rod, with her other End above the blade fulcrum in a Kippstangenanlenkpunkt is hinged to the working bucket.

Wheel loaders are essentially divided into two areas of use, namely earthmoving and industrial use. For the former application is the so-called Z-kinematics common. The Z-kinematics meets the requirements the earth movement in an advantageous manner, since they are in the area the lower Hubrahmenstellung has large breaking forces and the bucket tilts back while lifting to Transport to avoid material losses, and in the upper Lifting area when dumping the bucket enough holding forces having. The course of the holding force over the Bucket angle in the upper position of the lifting frame is however so that it is at the furthest forward position of the blade's center of gravity, the minimum value of the holding force reached. That this still in this position is sufficient, that in this position already a large part of the material fell out of the shovel is, so that the load is greatly reduced Has. This makes this system for industrial use unsuitable, since here the Umschlaggut, such as pipes, tree trunks, etc. until reaching the maximum Auskippwinkels held or when recording from the pile for transition into the transport position must be tilted back. Another Disadvantage of Z-kinematics is the course of the angular velocity of the implement in the upper position range the lifting frame. The speed decreases in the Range large dumping angle off sharply and thus is a Knocking out material residues sticking in the blade only conditionally possible.

Another feature of Z-kinematics is that on the Demands of loosening of material designed tear force their maximum in the area of horizontal bucket (ground) position has, however, with increasing tilt angle falls sharply. The breaking force in the maximum tilt angle is in the usual transport height for lifting the bucket far enough, that with strong braking delays and / or very uneven terrain the shovel no longer can be pressed with the necessary force, which is strong Blows connected with corresponding noise causes.

For industrial purposes is usually a parallel kinematic used. Such a parallel kinematics allows a parallel over the lifting movement of the lifting frame Blade guide, also results in a more favorable course the holding forces in the upper lifting frame area when dumping. Also is a continuous increase in angular velocity just in the last angle range when dumping given, whereby the knocking in of the blade adhesive material is allowed. The disadvantage is in this system, that for releasing the material of or the tilting cylinders only on their annular surface with hydraulic pressure be acted upon so that they are correspondingly large must be dimensioned.

Another disadvantage of the parallel kinematics is that the Tipping cylinder on the front frame of the loader considerably over the articulation point of the lifting frame must be arranged resulting in a columnar structure of the front frame results, which affects the view of the implement.

These reasons have led, among other things, that own Kinematics systems developed for industrial use which were predominant because of the Z kinematics Benefits based on this, but the shortcomings at the described Auskippvorgang in upper Eliminate lifting frame position with additional elements. This happens mainly by attaching an additional Articulated quadrilateral between which the characteristic Z forming links and the implement. In order to can over the entire angular range of the implement the required holding force can be achieved. The industrial use Requires when using the forklift fork a largely parallel startup of this, while the Use with shovel or clamp to tilt back advantageous is to bring the load center closer to the vehicle introduce. Because the realization of each other contradictory claims without further precautions is not possible, one is in the interpretation of such Systems forced to compromise. By clever Designing the kinematic system can be achieved that with only moderately acceptable withdrawal of the At the beginning of the horizontal forklift fork, the back tilted Shovel or clamp during lifting in targeted Way more withdrawn. Which by the additional Number of links given to the kinematic chain Possibilities allow a substantial, albeit with Certainly the requirements of the respective application are reduced fulfilling solution. Also here are systems with two tipping stations opposite those with only one tipper. The former have the disadvantage that their elements over the lifting frame cheeks and the driver's view the lateral ends of the cargo in industrial use largely obscure. That's why solutions are cheaper, which have only one centrally arranged tipping mechanism, that leaves open the view of the ends of the load. These kinematic systems are, however, by their additional elements consuming and reduce, as they are arranged in the front Hubrahmenbereich, the tipping load and thus also the permissible payload.

From GB 2,266,291 A is a generic loading machine known with front-loading equipment, which in principle consists of only a three-part kinematic chain, namely from a tilt cylinder, a rocker arm and a tilt rod, wherein the tilting cylinder on the rocker arm in different Location can be fixed so that different Kinematikgeometrien are feasible to to meet different requirements. In the Practice has been found, however, that these known Kinematics is still much in need of improvement.

From US-A-3,642,159 a blade return system is known, in which the blade from the upper Auskippstellung automatically returned to the lower scoring position becomes. It is via a measuring device on Bucket tilting cylinder in the attitude control of the blade intervened, in which the measurement signal the spool of the Shovel operated.

The object of the invention is the kinematics of a generic loading machine to improve to all advantageous properties of Z-kinematics, parallel kinematics and industrial kinematics unite and avoid their disadvantages, the Effort and thus the costs of those of a conventional Z-kinematics should not exceed.

This task comes with a mobile loading machine Initially designated type according to the invention by the characterizing features of claim 1 solved.

In practice, after lengthy research work proved that by this particular inventive Design, i. by the exact location of the fulcrums to each other, the leverage and the exact Lengths of the individual components in their special arrangement the known kinematics are significantly improved can, while still only a simple three-part kinematic chain is needed, which consists of a tilting cylinder, a rocker arm and a tilting rod consists.

Preferably, it is also provided that on the rocker arm a second tilt cylinder pivot point for the tilt cylinder is provided, wherein the distance of the second upper Tilting cylinder pivot point related to the tilting pivot point to the Hubrahmenlänge between 0.01 and 0.12. By simply repositioning the tilt cylinder can be the Kinematics thus of the motion sequence as in a Z-kinematics for earthmoving on an industrial kinematic with Change the parallel guide of the implement. It is the lower tilt cylinder linkage point preferably for Earthmoving provided. In the upper position of the lifting frame the holding force is then in the range of the highest Demand sufficient and follows approximately to the maximum Auskippwinkel the itself reducing needs according to the decreasing Load torque. This also leads to that in the upper Hubrahmenstellung already at horizontal position of the implement the tear forces are great and those in lower ones Hubrahmenstellung are comparable.

In contrast to Z-kinematics, this is where the breaking forces remain approximately constant over the lifting height of the lifting frame. Therefore, with the inventive system Release the material from a solid wall even in the upper stroke area this still be broken with high breaking strength. The tipping is done by introducing hydraulic oil in the tilt cylinder annulus.

The Auskippgeschwindigkeit of the implement decreases in last rotation angle range disproportionately, which the bucket up to the Auskippwinkel of 30 to 35 °, in which the material is largely emptied, in by the driver easy to control speed, but the Stops at the maximum Auskippwinkel with a high Speed reached, which knocked the knocking Material remains possible. Through this speed course also takes the tipping back of the emptied Shovel up to about its horizontal position quickly, although here the full cylinder piston surface applied becomes.

Advantageously, the lifting frame on a cross-beam, between the rocker fulcrum and the blade fulcrum is arranged and by means of Kipphebelhalterung the Rocker arm carries. In this case, this cross-beam is preferred located at a distance from the rocker fulcrum, which is greater than the distance of Kippzylinderanlenkpunktes to the tilting fulcrum.

It is advantageous to improve the driver's view on the Bucket of the tilting cylinder approximately parallel to the Hubrahmenlängsachse arranged.

When emptying the bucket in a transport vehicle there is a risk of damage to the ship's side the rocker arm. To avoid this is the rocker arm corresponding far from the blade fulcrum and as high as possibly arranged above the frame axis, namely such that the ratio of the distance from Kippzylinderanlenkpunkt to the rocker arm pivot point to the Hubrahmenlänge between Rocker arm pivot point and vane fulcrum between 0.4 and 0.5 lies.

Further embodiments emerge from the subclaims 6 and 7.

In lower Hubrahmenstellung when. Release the material with the requirement of high tensile forces, these are by applying the full surface of the tilt cylinder with the Applied hydraulic pressure. The breaking forces fall with increasing Tilt angle less than with the Z-kinematics. It is a characteristic of the invention Kinematics that approximately at a tilt angle between 35 and 40 °, the tearing forces rise again, while at the Z-kinematics fall to zero on further tipping would. This will in the transport position of the blade the front end of the piston rod of the tilt cylinder with high force against the tilting rod in the area of the tilting rod pivot point pressed on the blade, so that this also at higher deceleration values due to braking or uneven terrains does not solve the attack, but their position relative to the lifting frame and thus also to Vehicle maintains. Moreover, the property of the Recovery of tear strength from the specified range the tilt angle the execution of a larger maximum Tilt angle, whereby heaped material with reduced Risk of partial loss even on uneven terrain can be transported. The while tilting the implement to the rear pivoting upper part of the rocker arm Free up a larger mounting space for this in the Z-kinematics by the forward moving Rocker arm is restricted.

The possible due to the given Kippzylinderhubes Leaping angle when placed on the ground blade cutting edge is so big that the angle is not only due to the Tilting cylinder, but through the stops between the blade and lifting frame is limited. This means in this Blade position a Auskippwinkel of significantly more as 90 °, causing both a vertical parting off Excavation walls is made possible as well as the support by tilting the bucket around the impassable To free terrain stuck loader again. Since the Z-kinematics in ground level of the blade only one Auskippwinkel of about 70 °, the dissolves in the Ground stabbed blade quickly during tilting movement out of this. When removing the soil with downwardly projecting Teeth or blade cutting edge in forward motion this is the blade on the lifting frame, so that the large, resulting from the feed force such as also from the uneven yielding of the soil originating shocks directly on the blade stops be directed into the vehicle. When peeling off with the shovel in reverse has the inventive Kinematics a much higher holding power than the previously known embodiments, so that they are not by response the pressure relief valve of the tilting cylinder yields.

To transport during transport as well as material and goods handling to reduce the load center as far as possible the implement is tilted back during the lifting process. Around in the forklift operation, raise the forks in parallel can, by the change of the articulation point of the Tilting cylinder eye at the lower part of the rocker arm this Parallelism can be achieved. This can be done either by plugging of the tilt cylinder in the second upper Kippzylinderanlenkpunkt done or by moving the pivot point inside the two tabs of the rocker arm by conventional technical means.

Although it is the holding power is reduced, it exceeds but still the requirements that are out The payload permitted for the machine with forklift use result.

In the inventive embodiment of the kinematics offers the possibility of the crossbar in the raised Stroke position for optimum visibility on the tools as close as possible to the blade fulcrum to arrange. The arrangement of the tilt cylinder in its position to the lifting frame is chosen so that its longitudinal axis approximately parallel and below the Hubrahmenachse is in each Hubrahmenstellung and thereby in the upper stroke area, in which the emptying of Shovel takes place in the transport vehicles, through the selected Position results in favorable visibility, because only the relatively thin piston rod of the tilt cylinder in the driver's field of vision. Also in lower lifting frame position at the material intake is the tilt cylinder thereby in a situation that does not obstruct the view.

All of these advantages of the invention, partially in Conflicting each other can be surprisingly by the special kinematics according to the invention with their exact Dimensions of the individual elements and their relative position be reached each other. Starting point for the definition the aspect ratio is the length of the lifting frame, the conditions are the more favorable, the farther the pivot point of the rocker arm to the front Hubrahmenende, measured horizontally on the connecting line of the two Bearings at the ends comes to rest.

Fig. 1

in Seitenansicht eine erfindungsgemäße mobile Lademaschine im Schaufelbetrieb für Erdbewegung,

Fig. 2

die Lademaschine nach Fig. 1 im Gabelbetrieb für Industrieeinsatz,

Fig. 3 bis 5

die kinematischen Verhältnisse der erfindungsgemäßen Lademaschine,

Fig. 6

in Seitenansicht eine erfindungsgemäße Lademaschine im Baggerbetrieb beim Befüllen eines Transportfahrzeuges und

Fig. 7

eine Seitenansicht der Kinematik mit Hubrahmen und angekippter Schaufel in Transportstellung.

The invention is explained in more detail below with reference to the drawing, for example. This shows in

Fig. 1

in side view a mobile loading machine according to the invention in the blade operation for earth movement,

Fig. 2

the loading machine according to FIG. 1 in fork operation for industrial use,

Fig. 3 to 5

the kinematic conditions of the loading machine according to the invention,

Fig. 6

in side view of a loading machine according to the invention in excavator operation when filling a transport vehicle and

Fig. 7

a side view of the kinematics with lifting frame and tipped bucket in transport position.

In Figs. 1 and 2, a mobile loading machine is general denoted by L. This loading machine L has a front frame part 13, on which the actual invention Universal kinematics is articulated, whose more accurate Structure of Figures 3 to 6 apparent.

The kinematics initially has a lifting frame 1, whose Hub frame axis is designated 16. This lifting frame 1 is at its rear end in a Hubrahmendrehpunkt 14 rotatably mounted on the frame part 13 of the loading machine. In this case, the lifting frame 1 is usually made two parallel frame parts. On the frame part 13 is above In addition, only an indicated lift cylinder 2 rotates mounted, hinged at its other end on the lifting frame 1 is. By actuating the lifting cylinder 2 is thus the lifting frame 1 can be raised and lowered, namely to the Hubrahmendrehpunkt 14.

At the front end of the lifting frame 1 is in a blade fulcrum 6 a working bucket 5 hinged and in the area the front end, the lifting frame 1 near the Vane fulcrum 6 is a cross-beam 10 is arranged, at the two parallel Kipphebelhalterungen 11 in Direction of the center of the lifting frame 1 are arranged on their near the middle of the lifting frame 1 lying ends Kipphebel pivot 15 for a rocker arm 3 is provided is. The lower end of the rocker arm 3 is in a lower first tilt cylinder pivot point 8 or above located upper second Kippzylinderanlenkpunkt. 9 articulated with a tilt cylinder 7 connected to his other end in a tilt cylinder pivot 11 am Frame part 13 of the loading machine is articulated. The top End of the rocker arm 3 is in a tilt rod pivot 17 hinged to a tilt rod 4, with their other End above the blade fulcrum 6 in a Kippstangenanlenkpunkt 21 hinged to the working blade 5 is.

While by operating the lifting cylinder 2 of the lifting frame 1 can be raised and lowered, can by off or Retracting the piston rod 12 of the tilting cylinder 7 of the Rocker arm 3 are moved with the tilting rod 4 and thus the blade 5 are pivoted.

If the piston rod 12 of the tilting cylinder 7 in Kippzylinderanlenkpukt 8 hinged to the rocker arm 3, so is the Kinematics suitable for a bucket function, it is then the function given as in a Z-kinematics (Fig. 1).

In contrast, the piston rod 12 of the tilting cylinder 7th hinged in the upper second Kippzylinderanlenkpunkt 9, What is possible by simple change, the Blade cutting edge or fork guided parallel to the top, This is shown in Fig. 2.

l =

Hubrahmenlänge des Hubrahmens 1,

l₁ =

Länge der Projektion der Verbindungslinie zwischen Kipphebeldrehpunkt 15 und Schaufeldrehpunkt 6 auf die Linie der Hubrahmenlänge 1,

a =

Abstand vom Kipphebeldrehpunkt 15 zum Kippstangendrehpunkt 17,

b =

Abstand vom Kippzylinderanlenkpunkt 8 zum Kipphebeldrehpunkt 15,

c =

Abstand vom Kippstangenanlenkpunkt 21 zum Schaufeldrehpunkt 6,

h =

Höhe des Kipphebeldrehpunktes 15 über der Hubrahmenachse 16,

s =

Länge der Kippstange 4,

g =

Horizontaler Abstand des Kippzylinderdrehpunktes 18 zum Hubrahmendrehpunkt 14,

f =

Vertikaler Abstand des Kippzylinderdrehpunktes 18 zum Hubrahmendrehpunkt 14,

b₁ =

Abstand des Kippzylinderanlenkpunktes 9 vom Kipphebelpunkt 15,

d =

Lichter Abstand von Hubrahmentraverse 10 zum Kipphebeldrehpunkt 15,

k =

Länge des ausgefahrenen Kippzylinders 7.

The essential advantages of the kinematics according to the invention listed above are achieved by special geometric dimensions or lever ratios, which are shown in detail in FIG. The following names are used:

l =

Stroke frame length of the lifting frame 1,

l ₁ =

Length of the projection of the connecting line between rocker pivot 15 and blade pivot point 6 on the line of Hubrahmenlänge 1,

a =

Distance from rocker pivot 15 to tilt rod pivot 17,

b =

Distance from tilting cylinder pivot point 8 to tilting pivot pivot 15,

c =

Distance from the tilt rod pivot point 21 to the blade fulcrum 6,

h =

Height of the rocker pivot 15 above the Hubrahmenachse 16,

s =

Length of the tilting bar 4,

g =

Horizontal distance of the tilt cylinder pivot point 18 to the Hubrahmendrehpunkt 14,

f =

Vertical distance of tilting cylinder pivot point 18 to lifting frame pivot point 14,

b ₁ =

Distance of the tilt cylinder pivot point 9 from the rocker arm point 15,

d =

Distance from the lifting frame cross member 10 to the tilting pivot 15,

k =

Length of the extended tilt cylinder 7.

l₁/l = 0,25 bis 0,4,

a/l = 0,3 bis 0,35,

b/l = 0,14 bis 0,17

c/l = 0,2 bis 0,3,

h/l = 0,08 bis 0,12,

s/l = 0,4 bis 0,5,

g/l = 0,07 bis 0,08,

f/l = 0,06 bis 0,07,

b₁/l = 0,01 bis 0,12,

b/l₁ = 0,4 bis 0,5,

k/l = 0,65 bis 0,75.

Based on the length 1 of the lifting frame 1, the following dimensions are provided according to the invention:

l ₁ / l = 0.25 to 0.4,

a / l = 0.3 to 0.35,

b / l = 0.14 to 0.17

c / l = 0.2 to 0.3,

h / l = 0.08 to 0.12,

s / l = 0.4 to 0.5,

g / l = 0.07 to 0.08,

f / l = 0.06 to 0.07,

b ₁ / l = 0.01 to 0.12,

b / l ₁ = 0.4 to 0.5,

k / l = 0.65 to 0.75.

It is also provided that the distance d of the cross-beam 10 between the rocker pivot 15 and the Bucket pivot 6 is greater than b + r.

As is apparent from Fig. 5, an enlarged detail A FIG. 4 shows a stop 19 of the eye of the piston rod 12 of the tilting cylinder 7 against the eye of the tilting rod 4 or provided against the blade 6. In addition are, as shown in Fig. 4, two blade stops 20 provided against the lifting frame 1 in Auskippstellung.

Fig. 6 shows a loading machine according to the invention in a bucket function when loading a transport vehicle 22 with side walls 23. It can be seen on the one hand that the arrangement of the rocker arm in the ratio c / l ₁ = 0.4 to 0.5 preventing a sidewall collision of Rocker arm 3 is guaranteed. In addition, it can be seen that the design according to the invention provides particularly good visibility for the driver of the loading machine L. These visibility conditions are indicated by the reference symbol S, the driver can easily see both the bucket 5 and the transport vehicle 22 or the side walls 23.

Finally, in Fig. 7, the universal kinematics according to the invention with lifting frame 1 and tilted blade 6 in Transport position shown. It is for application large holding forces in the dumped state of the blade. 6 provided that in upper Hubrahmenstellung the ratio the distance m of the axis of the piston rod 12 of the Tilting cylinder 7 to the tilting fulcrum 15 to the distance n the axis of the tilting rod 4 to the blade fulcrum 6, ie m / n is on the order of 0.65 to 0.7.

Claims (7)

1. Mobile loading machine with frontal loading gear, more particularly a construction machine, having a lifting chassis (1) which is pivotably mounted by the back end in a lifting chassis fulcrum (14) on a frontal chassis section (13) of the loading machine (L), said lifting chassis (1) being adapted to be raised and lowered by means of at least one lifting cylinder (2); an operating shovel (5), fork (5') or the like being articulated on the front end of the lifting chassis (1) in a shovel fulcrum (6); and a tipping lever (3) being articulated in a central zone of the lifting chassis (1) in a tipping lever fulcrum (15) of a tipping lever mount (11), the bottom end of said tipping lever (3) being flexibly joined in a tipping cylinder articulation point (8) to a tipping cylinder (7) which at the other end is articulated in a tipping cylinder fulcrum (11) on the chassis section (13), and the top end of said tipping lever (3) being articulated in a tipping bar fulcrum (17) on a tipping bar (4) which by its other end is articulated above the shovel fulcrum (6) in a tipping bar articulation point (21) on the operating shovel (5),
   characterised in that the following geometrical ratios are provided, based in each case on the length 1 of the lifting chassis (1) between the shovel fulcrum (6) and the lifting chassis fulcrum (14):

   length l₁ of the connecting line projected between the tipping lever fulcrum (15) and the shovel fulcrum (6) onto the line of the lifting chassis length l: l₁/l = 0.25 to 0.4,

   distance a from the tipping lever fulcrum (15) to the tipping bar fulcrum (17): a/l = 0.3 to 0.35,

   distance b from the tipping cylinder articulation point (8) to the tipping lever fulcrum (15): b/1 = 0.14 to 0.17,

   distance c from the tipping bar articulation point (21) to the shovel fulcrum (6): c/l = 0.2 to 0.3,

   height h of the tipping lever fulcrum (15) above the lifting chassis axis (16): h/l = 0.08 to 0.12,

   length s of the tipping bar (4) between the tipping bar articulation point (21) and the tipping bar fulcrum (17): s/l = 0.4 to 0.5,

   horizontal distance g from the tipping cylinder fulcrum (18) to the lifting chassis fulcrum (14): g/l = 0.07 to 0.08,

   vertical distance f from the tipping cylinder fulcrum (18) to the lifting chassis fulcrum (14): f/l = 0.06 to 0.07.
2. Loading machine according to claim 1, having a second tipping cylinder articulation point (9) for the tipping cylinder (7) on the tipping lever (3), characterised in that the distance b₁ of the second, upper tipping cylinder articulation point (9) from the tipping lever fulcrum (15) is 0.01 to 0.12, based on the lifting chassis length b₁/l.
3. Loading machine according to claim 1 or 2,
   characterised in that the lifting chassis (1) incorporates a crossbar (10) which is arranged between the tipping lever fulcrum (15) and the shovel fulcrum (6) and supports the tipping lever (3) by means of the tipping lever mount (11).
4. Loading machine according to claim 1 or a following claim,
   characterised in that the tipping lever (3) is so arranged that the ratio b/l₁ = 0.4 to 0.5.
5. Loading machine according to claim 1 or a following claim,
   characterised by the provision of two shovel limit stops (20) against the lifting chassis (1) in the dumping position and a limit stop (19) for the boss of the connecting rod (12) of the tipping cylinder (7) against the boss of the connecting rod (4) or against the shovel (6).
6. Loading machine according to claim 1 or a following claim,
   characterised in that the maximum excursion length k of the tipping cylinder (7) is 0.65 to 0.75, based on the lifting chassis length k/l.
7. Loading machine according to claim 1 or a following claim,
   characterised in that the ratio, m/n, of the distance m from the axis of the connecting rod of the tipping cylinder (7) to the tipping lever fulcrum (16), to the distance n from the axis of the tipping bar (14) to the shovel fulcrum (6), is 0.65 to 0.7 in the upper lifting chassis position.

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