JP3664775B2 - Cylindrical loading device - Google Patents

Description

[0001]
[Industrial application fields]
This invention is a cylinder used as a cylindrical product or material in which a certain length of a sheet such as a plastic sheet, rubber sheet, paper, etc. is wound around a core body such as a steel pipe, a paper tube, or a plastic tube. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus that loads a pallet (hereinafter referred to as a cylindrical body) on a pallet for storing and transporting, and aligns the ends of the cylindrical body.
[0002]
[Prior art]
For example, when a rubber sheet is wound around a paper tube and loaded on a pallet, when the cylinder is light, it is necessary to manually perform the operation. Loading work is being done. As shown in FIG. 8B, when the pallet has a flat plate shape, the pallet is loaded in a so-called stacking manner, and on the pallet 10 provided with a support column (side plate 30) for preventing collapse. There is a method (FIG. 8 (a)) in which the number is alternately changed for each stage.
[0003]
[Problems to be solved by the invention]
However, in the cylindrical loading apparatus or loading method as described above, manual work by an operator is required in all work. Further, it is difficult to align the positions of the cylinders loaded on the pallet, and the ends of the cylinders may jump out or retract out of the loading pallet. At this time, not only the appearance is bad, it is necessary to take a wide storage place and transport passage, and further, the fixed body around the passage hits the protruding cylindrical body when transferring, and the cylindrical body is damaged and defective. In the case of a flat pallet, cargo collapse may occur. In addition, other articles around the passage may be damaged. In the case of a pallet having a side plate, it is necessary for the operator to load the side plate beyond the side plate, which increases the burden on the operator and increases the work time when using a manual hoist.
[0004]
The present invention has been made in view of the above-described points, and an object of the present invention is to provide a cylindrical body loading apparatus that can automatically load a cylindrical body on a pallet with the ends aligned, and can reduce the labor burden on the operator. .
[0005]
[Means for Solving the Problems]
In order to achieve the above-described object, the cylindrical body stacking apparatus of the present invention is a) an apparatus for stacking a cylindrical body on a pallet with its ends aligned, and b) a cylindrical body receiving apparatus such as a roller conveyor. A traveling rail installed between the upper side of the pallet and the upper position of the pallet loading position, and c) a lifting shaft mounted on the traveling rail, provided with traveling means, and moved up and down via the driving means at the center. A traveling frame attached to be vertically movable up and down; and d) a loading pipe connected to a lower end portion of the lifting shaft by a connecting means such as a connecting pin so as to be slidable and connected to the lower end portion of the connecting pipe. An arm; and e) a pulling spring that connects the loading arm and the lifting shaft, and biases the loading arm in a direction to contact the lifting shaft when there is no load, and f) the loading arm with respect to the lifting shaft. position to detect the And a load detecting switch for detecting whether or not holding the cylindrical body to the loading arm.
[0006]
As described in claim 2, a) a device for loading a cylindrical body on a pallet with its ends aligned, and b) from above a cylindrical body receiving device such as a roller conveyor, A traveling rail installed between the upper side and c ′) A traveling rail that is mounted on the traveling rail, includes traveling means, and a lifting shaft that is lifted and lowered via a driving means is attached to the central portion so as to be vertically movable. A connecting pipe is connected to the lower end of the elevating shaft, and the connecting shaft is slidably fitted to the connecting pipe by connecting means such as a connecting pin, and connected to the lower end of the connecting shaft. A loading arm; e) a pulling spring that connects the loading arm and the lifting shaft, and biases the loading arm in a direction in which the loading arm abuts the lifting shaft when there is no load; and f) the loading arm with respect to the lifting shaft The position of May be by knowledge and a load detecting switch for detecting whether or not holding the cylindrical body to the loading arm.
[0007]
According to a third aspect of the present invention, g) a clamp is provided at both ends of the stacking arm, the upper end of the clamp arm of the clamp is connected to the extension drive means attached to the upper surface of the stacking arm, and the side of the lower end of the clamp arm It is preferable to have a protrusion on the inside and attach the middle of the protrusion to the end of the loading arm so as to be pivotable.
[0008]
According to a fourth aspect of the present invention, it is preferable that the h) cylindrical body receiving device includes a roller conveyor that travels in a direction orthogonal to the traveling rail.
[0009]
As described in claim 5, i) a traveling motor used as the traveling means is equipped with a rotary encoder, a lower limit is provided on a support of the traveling rail, an upper limit switch and an origin detection switch are provided on the traveling rail. It is good to provide each.
[0010]
[Action]
According to the cylindrical body loading apparatus of the present invention having the above configuration, the cylindrical body can be loaded on the pallet mechanically and without causing unevenness of the end portions. That is, since the traveling rail is installed between the upper side of the cylindrical body receiving device and the upper side of the pallet loading position, the traveling frame mounted on the traveling rail is connected to the cylindrical body receiving device and the pallet loading position. You can drive between.
[0011]
The traveling frame mounted on the traveling rail and provided with traveling means has a lifting shaft provided with driving means vertically attached at the center thereof. Since the travel frame includes travel means, the travel frame can travel and stop at a free position on the travel rail. As the traveling means, for example, a roller with a hook is attached to both ends of the traveling frame, and the traveling frame is caused to travel through a part of the traveling frame through a screw shaft driven by a traveling motor. Since the elevating shaft provided with the driving means is provided in the central portion, the loading arm connected to the lower portion of the shaft is raised and lowered in the vertical direction. Although the stacking arm can be lifted and lowered stably without swinging left and right by using two lifting shafts, it can be lifted and lowered by one lifting shaft by using a guide shaft. The driving means rotates, for example, a female screw rotatably attached to the traveling frame by a lifting motor, and lifts the lifting shaft fitted on the female screw.
[0012]
A connecting pipe is slidably connected to the lower end of the lifting shaft by connecting means such as a connecting pin, and a loading arm connected to the lower end of the connecting pipe is connected. An elongated hole is formed in the lower part of the upper and lower direction, and a connecting pipe having a loading arm connected to the lower part is fitted to the lower part of the lifting shaft, and the connecting pipe and the elongated hole are slidably connected by a connecting pin. There is a way. Thus, the stacking arm connected to the connecting pipe can be moved up and down by the length of the long hole in the positional relationship with the lifting shaft. The loading arm includes means for holding the cylindrical body at both ends.
[0013]
When the loading arm and the lift shaft are connected by a pull spring and the loading arm is urged to contact the upper limit of the slidable connection tube when no load is applied, the loading arm holds the cylindrical body ( When loaded), the loading arm is pulled downward, and when not holding (when no load is applied), the loading arm is lifted upward. That is, when the cylindrical body is not held on the loading arm, or when the weight of the cylindrical body is supported by, for example, the pallet even when the cylindrical body is held (when the cylindrical body is lowered onto the pallet) The loading arm is located at the upper limit by a tension spring.
[0014]
The load detection switch is attached to the lifting shaft close to the loading arm, and detects whether the loading arm is in a loaded state or a no-load state by detecting a change in the distance between the loading arm and the lifting shaft. As a result, the raising / lowering of the lifting shaft is instructed, and the opening / closing of a clamp described later is instructed. In particular, it is effective for automatically detecting a predetermined position on the pallet that changes depending on the number of cylindrical bodies (a position where the cylindrical body should be released).
[0015]
The apparatus according to claim 2 is another mode in which the means for slidably connecting the lifting shaft and the stacking arm in the cylindrical stacking apparatus of claim 1 is changed, and the same operation as the above apparatus is performed. Have
[0016]
In the stacking arm of the apparatus according to claim 3, by providing clamps at both ends of the stacking arm, it becomes easy to hold the cylindrical body on the stacking arm and to release the gripped cylindrical body on a roller conveyor described later. The position of the cylinder can be corrected.
[0017]
The clamp has a clamp arm, the upper end of which is connected to the telescopic drive means (air cylinder, oil cylinder, solenoid, etc.) attached to the upper surface of the loading arm, and the middle upper part is attached to the end of the loading arm so that it can pivot. Therefore, the lower part of the clamp arm is greatly opened and closed in accordance with an instruction from a load detection switch or the like. The clamp arm has a protrusion on the inside of the side of the lower end of the clamp arm and a protrusion on the inside of the side of the lower end of the clamp, so it is inserted into a space (concave) such as a paper tube at the center of the cylinder and lifted Sometimes the cylinder does not come off.
[0018]
According to a fourth aspect of the present invention, there is provided a roller conveyor that travels in a direction perpendicular to the traveling rail as the cylindrical body receiving device of the cylindrical stacking apparatus according to the first to third aspects. Since the cylindrical body received by the roller conveyor is placed in the traveling direction of the roller conveyor, when the stacking arm perpendicular to the traveling rail is lowered, both are parallel, and both ends of the cylindrical body are clamped by the clamp arms. It will be a position that can. When the clamp arm is closed and the cylinder is held, even if there is a slight shift in the position of the cylinder, the position of the cylinder can be easily moved and corrected by the force of the clamp arm to the center of the loading arm. Can be held.
[0019]
In the apparatus according to claim 5, the travel frame is measured between the cylindrical body receiving position and the pallet loading position (loading position) by measuring the travel distance of the travel frame with a rotary encoder of a travel motor used as a travel means. Can be moved and stopped accurately, and the cylindrical body can be loaded at a predetermined position on the pallet. In addition, the position of the traveling frame and the loading arm is detected by the lower limit, the upper limit, the origin detection limit, etc., and the traveling frame is traveled according to the work procedure, the lifting shaft is moved up and down, and the clamp is opened and closed. Thus, the entire loading operation is controlled.
[0020]
【Example】
Embodiments of a cylindrical stacking apparatus according to the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing an outline of a cylindrical stacking apparatus according to an embodiment of the present invention, FIG. 2 is a front view showing an outline of the cylindrical stacking apparatus according to an embodiment of the present invention, and FIG. It is the elements on larger scale which show the side of the clamp which has an expansion-contraction drive means concerning an Example. FIG. 4 is a partially enlarged view showing the connecting portion according to the embodiment of the present invention. 5, FIG. 6 and FIG. 7 are conceptual diagrams showing work procedures of the cylindrical stacking apparatus according to the embodiment of the present invention. FIG. 8 shows a state in which the cylinder 15 is loaded on the pallet 10 by the cylinder loading apparatus of the present invention (this embodiment uses a pallet having the side plate 30 shown in FIG. 8A).
[0021]
The cylindrical stacking apparatus of the present embodiment includes a traveling rail 2 laid over an upper portion, a traveling frame 8 (see FIG. 2) that is movably mounted on the traveling rail 2, and a lifting motor on the traveling frame 8. 11 and a loading arm 1 attached to the lower part of the lifting shaft 3.
[0022]
As shown in FIG. 1 and FIG. 2, the traveling rail 2 spans between the upper ends of the columns 30 and 30 ′ from above the cylindrical body receiving device (roller conveyor 27 and the like) to above the loading position of the pallet 10. And attached with a cantilever support (FIG. 1). Thereby, the below-mentioned traveling frame 8 mounted on this traveling rail 2 is caused to travel between the above positions. Further, since the pallet 10 placed at the loading position is released in three directions, the pallet 10 can be easily put in and out by a forklift or the like. In addition, the traveling rail 2 uses a pair of steel materials (C-shaped steel or I-shaped steel) that are usually spaced apart from each other (FIG. 2) to reduce end distortion that is likely to occur due to cantilever support. To run smoothly.
[0023]
The cylindrical body 15 as an object of the present embodiment is a cylindrical body in which a long rubber sheet is wound around a paper tube or the like to a predetermined length in the previous process, and is placed on the roller conveyor 27 by a chute or a conveyor (not shown). It is conveyed. The roller conveyor 27 is provided in a direction orthogonal to the traveling rail 2 (FIG. 1), and is provided with a guide roller or a concave portion of the roller (not shown) (not shown). Thereby, the cylindrical body 15 is placed at an accurate position in the width direction of the roller conveyor 27 (left and right direction in FIG. 1). However, some variation occurs in the traveling direction of the roller conveyor 27 (vertical direction in FIG. 1). When the lifting shaft 3 to be described later is lowered to move the loading arm 1 to point A (shown by imaginary line in FIG. 1) and the clamp arm 12 clamps both ends of the cylindrical body 15, it is pushed by the clamp arm 12. The cylindrical body 15 is moved to and held at the center position of the loading arm 1. This is because the roller conveyor 27 can be moved lightly in the traveling direction.
[0024]
The traveling frame 8 is mounted on the traveling rail 2 by attaching a roller 4 with hooks at both ends, driven by a traveling motor 5. A lifting shaft 3 driven by a lifting motor 11 is attached to the central portion so as to be vertically movable. In this example, the traveling frame 8 uses a C-shaped steel or an I-shaped steel like the traveling rail 2. The rollers with hooks attached to the both ends are attached with the traveling rails 2 sandwiched between them as a set of two at regular intervals. Therefore, four rollers 4 on one side and eight in total are used. This makes it possible to stably support the unstable lifting shaft 3 that is long in the vertical direction. As a driving means, a traveling motor can be directly attached to the roller with a hook, but a traveling motor attached to one end of the traveling rail 2 via a screw shaft or a toothed belt (not shown). 5 is running.
[0025]
As a means for raising and lowering the elevating shaft 3, the elevating motor 11 is provided at the center of the traveling frame 8 (a slight deviation is allowed) (FIG. 2), and rotates to the traveling frame 8 via couplings 22 on both sides thereof. The female screw 23 attached freely is rotated. For this power transmission means, a bevel gear or the like (not shown, see FIG. 4) is used, but it is also possible to directly transmit with a spur gear by designing the screw direction of the elevating shaft 3. Further, the lifting shaft 3 can be provided as a single shaft by preventing the swinging arm 1 from swinging or turning by attaching a guide shaft or the like.
The loading arm 1 is supported at the center by a lifting shaft 3 via a connecting portion 9 having a load detection switch 20 (see FIG. 4), and clamps having telescopic drive means (air cylinder 13 etc.) at both ends thereof. An arm 12 is provided (FIG. 2).
[0026]
As shown in FIG. 3, the clamp arm 12 is connected to an air cylinder 13 whose upper end is attached to the upper surface of the loading arm 1, and has a protrusion 14 on the inner side of the lower end of the clamp arm 12. Thus, the vicinity of the upper end is pivotably attached to the clamp fulcrum 16 at the end of the loading arm 1. The clamp arm 12 expands and contracts the air cylinder 13 and turns around the clamp fulcrum 16 as a fulcrum, and moves to the position of the imaginary line in the normal state (when no load is applied) and to the position of the solid line when loaded (when holding the cylindrical body). Is done. When the cylindrical body is lifted, the protrusion 14 is inserted into the concave portion at the center of the cylindrical body, so that the cylindrical body is securely held and is not dropped.
[0027]
FIG. 4 shows the relationship between the connecting portion 9 and the load detection switch 20. An elongate long hole 19 is provided in the lower part of the elevating shaft 3 and the connecting pipe 17 connected to the loading arm 1 is slidably fitted to the lower part of the elevating shaft 3 so that the connecting pin 18 is inserted into the elongate hole 19. And connect the two. The loading arm 1 and the elevating shaft 3 are connected by a tension spring 26, and the loading arm 1 is pulled upward so that the connecting pin 18 abuts on the upper end of the elongated hole 19 when there is no load. When the cylindrical body is suspended from the loading arm 1 (at the time of loading), the tension spring 26 is extended downward, and the connecting pin 18 comes into contact with the lower end of the long hole 19 (the distance between the loading arm 1 and the lifting shaft 3). Becomes larger). FIG. 4 shows a state under load.
[0028]
The load detection switch 20 detects the interval between the lifting shaft 3 and the loading arm 1 and detects whether or not the cylindrical body 15 is held on the loading arm 1. Between the lower end of the load detection switch 20 and the loading arm 1, there is a gap slightly larger than the movable length of the connecting pin 18 of the long hole 19. The loading arm 1 is pulled upward by the pulling spring 26 when there is no load, and the load detection switch 20 is close to the loading arm 1 and is separated when loaded. In other words, the load detection switch 20 detects whether or not the cylindrical body 15 is securely held on the loading arm 1, and the cylindrical body 15 is supported by the pallet 10 when the cylindrical body 15 is lowered onto the pallet 10. (No load) is detected. As a result, the clamp arm 12 can be released at a predetermined position on the pallet.
[0029]
The elongated hole 19 may be provided in the connecting pipe 17 and the connecting pin 18 may be provided at the lower end of the elevating shaft 3. At this time, the operation of the load detection switch 20 is reversed. Further, although not shown, a connecting pipe can be connected to the lower end of the elevating shaft 3 and a connecting shaft having a loading arm connected to the lower end can be slidably fitted and connected into the connecting pipe. Although the configuration is different from the present embodiment, the same effect can be obtained.
[0030]
As shown in FIGS. 5 to 7, the rotary encoder 6, the lower limit limit 24, and the upper limit switch are used for the column 30 and the traveling rail 2 in order to effectively operate the cylindrical loading device (referred to as this device) of this example. 21 and an origin detection switch 28 and the like. A loading operation is performed by operating them in a predetermined order.
[0031]
FIG. 5A shows a state (origin) before starting the work of the apparatus, and the cylindrical body 15 is placed on the roller conveyor 27. The elevating shaft 3 is at a position close to the origin detection switch 28 (referred to as an origin position), and the elevating shaft 3 is raised to position the stacking arm 1 at the upper limit. Note that a circle indicates a switch in an OFF state, and a circle indicates a switch in an ON state. When the load detection switch 20 is ●, it indicates that the load is not applied to the loading arm 1, and when it is ○, the clamp arm 12 (see FIG. 2) is closed and the load is applied ( FIG. 5A shows an unloaded state.
[0032]
In FIG. 5B, the elevating shaft is lowered to stop the stacking arm 1 at a position where the lower limit switch 24 is turned on. At this time, the cylindrical body 15 is sandwiched between the clamp arms 12 (see FIG. 3) of the stacking arm 1. In this state, the air cylinder 13 attached to the loading arm 1 is operated to close the clamp arm 12 and hold the cylindrical body 15.
[0033]
In FIG. 6C, the cylinder 15 is held on the loading arm 1, the elevator shaft 3 is raised, and the upper limit switch 21 is turned on to stop. The tension spring 26 is in the extended state (the state shown in FIG. 4), the load detection switch 20 is turned off, and it can be confirmed that the cylindrical body 15 is held on the stacking arm 1. Further, the lower limit switch 24 indicates an OFF state.
[0034]
FIG. 6D shows a state where the traveling frame 8 is moved above the pallet 10. In this movement, a toothed belt and a screw shaft connected to the traveling frame 8 are driven by a traveling motor 5 (see FIG. 1) attached to one end of the traveling rail 2, and a traveling distance is regulated by a rotary encoder 6 attached thereto. The travel frame 8 is stopped at a predetermined position. This predetermined position is determined by the type or loading order (number) of the pallet 10 shown in FIG.
[0035]
FIG. 7E shows a state in which the lifting / lowering shaft 3 is lowered and the cylindrical body 15 is placed on the pallet 10, and the cylindrical body 15 is supported by the pallet 10 so that the loading arm 1 is in a no-load state, and the load is detected. The switch 20 is turned on. In this state, the air cylinder 13 on the loading arm 1 is operated to release the clamp arm 12 (see the imaginary line in FIG. 3), and the cylinder 15 is released onto the pallet 10.
[0036]
FIG. 7 (f) shows a state where the lift shaft 3 is lifted after releasing the cylindrical body 15 onto the loading pallet 10, and the lift shaft 3 stops at a position where the upper limit switch 21 is turned on. Thereafter, when the traveling frame 8 is moved back to the original position, the state before the start of the work shown in FIG. 5A is entered, and the work for loading the next cylindrical body is started.
[0037]
【The invention's effect】
As is apparent from the above description, the cylindrical body loading apparatus of the present invention has the following excellent effects.
[0038]
(1) In the cylindrical body stacking apparatus according to the first or second aspect of the present invention, it is possible to load the cylindrical bodies that are sequentially fed onto the loading pallet with the end positions aligned. In particular, the position of the traveling frame is determined by a rotary encoder, and the load position on the pallet is detected by detecting the no-load state of the loading arm, so that the loading position changes for each one. Can be loaded accurately.
[0039]
(2) By providing the clamp having the expansion and contraction drive means according to claim 3, the effect of the roller conveyor according to claim 4 is also held, and the cylinder body is held at a predetermined position regardless of variations in the receiving position of the cylindrical body. In addition, the cylindrical body can be easily and securely held and released.
[0040]
(3) By incorporating parts that can be automatically controlled into each part of the loading device such as a rotary encoder as described in claim 5, the whole can be automated and the manual work of the operator can be greatly reduced.
[Brief description of the drawings]
FIG. 1 is a side view showing an outline of a cylindrical body loading apparatus according to an embodiment of the present invention.
FIG. 2 is a front view showing an outline of a cylindrical stacking apparatus according to an embodiment of the present invention.
FIG. 3 is a partially enlarged view showing a side surface of a clamp having an opening / closing means according to an embodiment of the present invention.
FIG. 4 is a partially enlarged view showing a connecting portion according to an embodiment of the present invention.
FIG. 5 and FIG. 7 are conceptual diagrams showing the procedure of the loading operation of the cylindrical loading device according to the embodiment of the present invention. FIG. FIG. 5B shows a state in which the stacking arm 1 is lowered at the origin position.
6 (c) shows a state where the loading arm 1 holding the cylindrical body 15 is raised, and FIG. 6 (d) shows a state where the loading arm 1 is moved above the loading pallet 10. FIG.
FIG. 7 (e) shows a state where the stacking arm 1 is lowered, and FIG. 7 (f) shows a state where the cylindrical body 15 is released and the loading arm 1 is raised.
8 shows a state in which the cylindrical body 15 is loaded on the pallet 10 by the cylindrical body loading apparatus of the present invention. FIG. 8 (a) shows a state in which the cylinder 15 is loaded on a pallet having side plates, and FIG. Indicates a state of being loaded on the flat pallet 10.
[Explanation of symbols]
1: Loading arm 2: Traveling rail 3: Lift shaft 4: Roller roller 5: Traveling motor 6: Rotary encoder 8: Traveling frame 9: Connecting part 10: Loading pallet 11: Lifting motor 12: Clamp arm 13: Air cylinder 14: Projection 15: Cylindrical body 17: Connection pipe 18: Connection pin 19: Long hole 20: Load detection switch 26: Pull spring

Claims (5)

A device for loading a cylindrical body on a pallet with its ends aligned, and a traveling rail installed between the cylindrical body receiving device such as a roller conveyor and above the loading position of the pallet, A traveling frame that is mounted on a traveling rail and includes traveling means, and a lifting shaft that is lifted and lowered by a driving means at the center is attached to the vertical direction, and a connecting pipe is connected to the lower end of the lifting shaft. A slidably connected by a connecting means such as a pin, and a loading arm connected to a lower end portion of the connecting pipe, and the loading arm and the lifting shaft are connected, and the loading arm is connected to the lifting shaft when no load is applied. a tension spring for urging in a direction to contact the load test for detecting whether or not to hold the cylindrical body to the loading arm by detecting a position of the supporting arm relative to the elevator shaft Loading device of the cylinder, characterized in that a switch. A device for loading a cylindrical body on a pallet with its ends aligned, and a traveling rail installed between the cylindrical body receiving device such as a roller conveyor and above the loading position of the pallet, A traveling frame that is mounted on a traveling rail, includes traveling means, and is attached to a lower portion of the elevating shaft, and a traveling frame in which an elevating shaft that is moved up and down via a driving means is attached to the central portion so as to be vertically movable. The connecting shaft is slidably fitted to the connecting pipe by connecting means such as a connecting pin, and the stacking arm connected to the lower end of the connecting shaft is connected to the stacking arm and the lifting shaft. a tension spring for biasing the loading arm in a direction to abut on the lifting shaft under load, the cylinder to the loading arm by detecting a position of the supporting arm relative to the elevator shaft Loading device of the cylinder, characterized in that a load detecting switch for detecting whether or not holds. Clamps are provided at both ends of the loading arm, the upper end of the clamp arm of the clamp is connected to a telescopic drive means attached to the upper surface of the loading arm, and there is a protrusion on the inner side of the lower end of the clamp arm. The cylindrical stacking apparatus according to claim 1 or 2, wherein the rack is pivotally attached to an end of the stacking arm. The cylindrical body loading device according to any one of claims 1 to 3, wherein the cylindrical body receiving device is a roller conveyor that travels in a direction orthogonal to the traveling rail. The travel motor used as the travel means is equipped with a rotary encoder, and a lower limit is provided on the travel rail column, and an upper limit switch and an origin detection switch are provided on the travel rail, respectively. A cylinder loading device according to claim 1.

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