JP6736439B2 - Overhead crane equipment - Google Patents

Description

The present invention relates to an overhead crane equipment, more specifically, for example, a raw material container for charging the raw ore into an electric furnace used for melting treatment of the raw ore in dry smelting of steel and non-ferrous metals. Concerning overhead crane equipment for transportation.

Examples of overhead cranes for transporting raw material containers include those used for dry smelting of steel and non-ferrous metals.

For example, in ferronickel smelting used for reduction melting treatment of nickel oxide ore, nickel oxide ore such as saprolite ore is used as a raw material ore. For example, as shown in FIG. 1, the raw material ore is fired in a rotary kiln 101 to become a ore, and then charged into a raw material container 103 via a surge hopper 102, and a ceiling provided with a suspending tool by a transport carriage 104. After being transported to the position of the crane equipment 105, the overhead crane equipment 105 transports it to just above the raw material hopper 107 for supplying the ore into the electric furnace 106. Then, when the discharge port at the bottom of the raw material container 103 is opened by the overhead crane equipment 105, the burned ore is charged from the hatch on the upper part of the raw material hopper 107, and is introduced into the electric furnace 106 through the raw material throwing pipe 108. It is continuously input.

By the way, in the overhead crane equipment where automatic operation control is performed, when moving the raw material container to the position of the crane shaft or the raw material hopper, misalignment occurs due to detection failure of the traveling position or traverse position, The target position may not be reached (hereinafter, this is also referred to as "positioning failure").

Conventionally, in an overhead crane, generally, the traveling position and the traverse position are detected by mounting an absolute encoder or the like on the shafts of the traveling wheel and the traverse wheel and integrating the output pulse signals. However, if an error occurs due to wear or slip of the traveling wheels or the traverse wheels, deformation of the traveling rails or the traverse rails, etc., positional deviation occurs.

When the displacement of the raw material container drops in the crane shaft, the raw material container on the shaft may fall off the hanger when the raw material container descends, and the ore may be separated from the hatch at the top of the raw material hopper. Trouble such as being discharged may occur.

Although it is effective to detect a positioning error in order to prevent these serious troubles, for example, a position detection switch ("fixed position detection device") is provided before and after the target traveling position and traverse position. (Also called), and when the overhead crane equipment cannot be moved within that range, it is determined as “positioning failure” and the automatic operation control of the overhead crane equipment is stopped.

Positioning failure occurs repeatedly until the cause is identified, and the automatic operation control of the overhead crane equipment is frequently stopped, which greatly affects productivity. Further, when a positioning error occurs, it is necessary to manually operate the overhead crane to move it to the initial position, which further reduces the productivity.

However, there are various causes of the positioning error, such as a problem of the traveling device and the traverse device, a problem of the traveling rail and the traverse rail, a defect of the position detection switch, and the like, and it is extremely difficult to quickly identify the cause.

Here, for example, as shown in FIG. 2, an overhead crane facility 1 includes a main winding device 2 for hoisting or hanging a raw material container, and a traveling device 3 for transporting the raw material container in the X direction (X direction in the drawing). An overhead crane 10 having a traverse device 4 for transporting the raw material container in the Y direction (Y direction in the drawing) is provided.

The traveling device 3 of the overhead crane equipment 1 has traveling wheels 32 attached to a girder 31, as shown in FIG. 3, and a traveling drive shaft 34 connected to a traveling drive motor 33, and a traveling drive motor 33. And a driven shaft 35 that is not driven. An absolute encoder 36 is incorporated in the traveling driven shaft 35. Further, the traverse device 4 of the overhead crane equipment 1 has traverse wheels 42 attached to a trolley 41 as shown in FIG. 4, for example, and a traverse drive shaft 44 connected to a traverse drive motor 43 and a traverse drive motor 43. And a traverse driven shaft 45 that is not connected to the shaft. Further, an absolute encoder 46 is incorporated in the traverse driven shaft 45.

As a method for detecting a positioning error in such an overhead crane facility 1, as described above, there is a method of installing a position detection switch and stopping the automatic operation control of the overhead crane facility 1. Specifically, for example, as shown in FIG. 5, in the overhead crane equipment 1, a plurality of position detection switches 51 are arranged along the traveling rail 5, and a plurality of position detection switches 61 are arranged along the traverse rail 6. To do. The position detection switch 51 and the position detection switch 61 as described above are arranged in front of and behind the raw material hopper 107 around the crane shaft 110 and the electric furnace 106, as shown in FIG. 6, for example. In addition, the positions of the raw material hopper 107 around the crane shaft 110 and the electric furnace 106 are stored in advance in the controllers of the absolute type encoders 36 and 46 of the traveling device 3 of the overhead crane equipment 1 and the traverse device 4.

For example, as shown in FIG. 7, in the overhead crane equipment 1 in which automatic operation control is performed, when the raw material container 103 is to be transported to the target raw material hopper 107T, first, the traveling device 3 and the traverse device 4 are moved. Then, the raw material container 103 is conveyed above the target raw material hopper 107T stored in the controllers of the absolute encoders 36 and 46 in advance. Then, when the traveling device 3 and the traverse device 4 are stopped, two position detection switches 51A and 51B along the traveling rail 5, which are before and after the position of the target raw material hopper 107T, and two along the traverse rail 6, are detected. It is automatically confirmed that the raw material container 103 is located at the intermediate portions M1 and M2 of the position detection switches 61A and 61B, and the process proceeds to the next automatic operation process.

However, the traveling wheels and the traverse wheels are worn, the traveling rail 5 and the traverse rail 6 are worn and deformed such as unevenness, the zero points of the absolute encoders 36 and 46 of the traveling devices 3 and 4 are deviated, and the traveling rail 5 and the traversing device are traversed. A situation may occur in which the automatic operation control does not function normally due to various factors such as failure of the position detection switches 51 and 61 along the rail 6 and wiring failure.

In the conventional method, if the automatic driving control does not proceed to the next automatic driving process even after the preset time elapses, it is judged that an abnormality has occurred, the automatic driving control is stopped, and an alarm is issued as a process congestion. It informs the workers by reporting it, and then investigates the cause and takes measures.

However, in such a conventional method, since the process congestion warning is issued and the cause is investigated after stopping the automatic operation control, it takes a lot of time to perform an appropriate measure, During that time, automatic operation control cannot be performed. As a result, a worker needs to manually operate the crane, which significantly deteriorates work efficiency.

When such a problem occurs, the absolute encoder of the traveling device and traverse device can be automatically diagnosed by checking whether the position detection switch is abnormal or not. The position information of the detection switch is stored in advance, and when the position detection switch does not operate even if the position detection switch is moved beyond the set range, it is determined that the position detection switch is abnormal and an alarm prompting inspection is output.

In addition, in order to prevent misalignment due to abnormalities in the traveling device and traverse device and the traveling rail and traverse rail, the absolute encoder of the traveling device and traverse device uses the position information of the traveling rail and position detection switches along the traverse rail. The position information of the absolute encoder of the traveling device and the traverse device and the position of the position detection switch stored in advance are stored every time the position detection switch operates while the overhead crane moves in the automatic operation control. It is determined whether or not there is a discrepancy more than the set range with the information. When a deviation of more than the set value is found in the position information, it is highly likely that a positioning error will occur due to deformation of the traveling rail and traverse rail, wear of traveling wheels and traverse wheels, etc. Is output.

In this way, when the guide message is output, it is possible to prevent or reduce the stop of the automatic operation control of the overhead crane due to the positioning error by inspecting the location.

However, the traveling wheels and the traverse wheels are worn, the traveling rail 5 and the traverse rail 6 are worn and deformed such as unevenness, the zero points of the absolute encoders 36 and 46 of the traveling device 3 and the traverse device 4 are deviated, and the traveling rail 5 and the traverse wheel 4 are traversed. In a situation where automatic operation control does not function normally due to various factors such as failure of the position detection switches 51 and 61 along the rail 6 and wiring failure, it is not possible to quickly determine the cause and take corrective action.

For example, Patent Document 1 discloses a device that uses a magnetic rod to detect the traveling position of an automatic traveling crane in which a plurality of cranes are arranged on the same traveling rail and each crane is automatically traveling. Although this device can measure the position with high accuracy, it requires many magnetic rods to be placed on the traveling rail, and it also requires double installation of magnetic rods for backup (switching) in the event of an abnormality. As a result, the system configuration becomes expensive. Also, in the logic to detect an abnormality, it is judged as abnormal if the data from the magnetic rod exceeds the upper limit or the lower limit, or the deviation exceeds the set value. In the actual situation where it is necessary to identify the cause of not only the wiring failure but also the positioning failure due to the deformation of the traveling rail and the traverse rail and the wear of the traveling wheel and the traverse wheel and prevent the trouble by early inspection. It is difficult to apply the technology as it is.

JP, 2009-166986, A

The present invention has been made to solve such a situation, and is caused by a problem of a traveling device and a traversing device, a traveling rail and a traversing rail, a defect of a position detection switch, or the like in automatic operation control of an overhead crane. It is an object of the present invention to provide a method capable of easily identifying the cause of misalignment.

(1) A first invention of the present invention is an overhead crane comprising: a traveling device that moves an object to be transported in the X direction and a traverse device that moves the object to be transported in the Y direction; A traveling rail on which the traveling device in the overhead crane moves, and a traversing rail on which the traversing device in the overhead crane moves; and a traveling position and a traversing position on the drive shafts of the traveling device and the traversing device, respectively. An encoder for continuous measurement is provided, and a fixed position for detecting a fixed position on the traveling rail and the traverse rail at an arbitrary position corresponding to the transportation position for transporting the transported object and the crane shaft. A detection device is provided, and further, when the traveling rail and the traverse rail have a discrepancy between the position information measured by the encoder and the fixed position information detected by the fixed position detection device. The overhead crane equipment is provided with a non-contact type or contact type sensor capable of detecting the occurrence of displacement between the traveling position and the traverse position.

(2) A second aspect of the present invention is the first aspect of the present invention, wherein the non-contact type or contact type sensor is provided in plural on each of the traveling rail and the traverse rail, and position information can be mutually monitored. The above is the overhead crane equipment that identifies the abnormal sensor when a deviation occurs in the position information.

According to the present invention, in automatic operation control of an overhead crane, it is possible to easily identify the cause of positional deviation due to problems of the traveling device and traverse device, traveling rail and traverse rail, defective position detection switch, and the like.

It is a figure for demonstrating the flow until the burned ore obtained by the rotary kiln is charged into an electric furnace. It is a figure which shows the structure of the overhead crane in overhead crane equipment. It is a figure which shows the structure of the traveling device in overhead crane equipment. It is a figure which shows the structure of the traverse device in an overhead crane equipment. It is a figure which shows the structure of an overhead crane equipment, Comprising: It is a figure which shows the structure of the traveling rail and traverse rail in which the position detection switch was provided. It is a block diagram when overhead crane equipment is seen from the upper part. It is a block diagram when overhead crane equipment is seen from the upper part. It is a block diagram when overhead crane equipment is seen from the upper part. It is a block diagram when an overhead crane equipment is seen from the upper part, and is a figure for explaining detection of position shift occurrence. It is a block diagram when an overhead crane equipment is seen from the upper part, and is a figure for explaining detection of position shift occurrence. It is a block diagram when an overhead crane equipment is seen from the upper part, and is a figure for explaining detection of position shift occurrence.

Hereinafter, specific embodiments of the present invention (hereinafter, referred to as “this embodiment”) will be described in detail. The present invention is not limited to the following embodiments, and various modifications can be made without changing the gist of the present invention.

The overhead crane equipment according to the present embodiment includes an overhead crane having a traveling device that moves and transports a load in the X direction, and a traverse device that moves and transports the load in the Y direction. It is provided with a traveling rail on which the traveling device moves and a traversing rail on which the traversing device in the overhead crane moves. The X direction and the Y direction indicate the moving directions of the overhead crane, and the X direction and the Y direction are in a relationship orthogonal to each other when seen in a plan view.

Here, such an overhead crane equipment is, for example, used in the process equipment for the dry smelting of ferrous nickel and nonferrous metals such as ferronickel smelting as described above, and the burned ore discharged from the rotary kiln is It is equipment used for transporting the burnt ore to a predetermined raw material hopper provided at the upper part of the electric furnace for charging into the electric furnace (see, for example, FIG. 1 ). In the following, a concrete description will be given with an example of a case in which a transported object transported by this overhead crane equipment is “burnt ore” and the burned ore is transported to a raw material hopper of an electric furnace.

<About the structure of overhead crane equipment>
FIG. 8: is a schematic diagram which shows the structure of the overhead crane equipment 1A which concerns on this Embodiment. As shown in FIG. 8, the overhead crane facility 1A includes an overhead crane 10, a traveling rail 5 that moves the overhead crane 10 in the X direction, and a traverse rail 6 that moves the overhead crane 10 in the Y direction. Further, in the overhead crane equipment 1A, the overhead crane 10 includes a traveling device 3 for moving and transporting the burned ore, which is a transported object, along the traveling rails 5 in the X direction and a traverse rail 6 along the traverse rails 6 in the Y direction. And a traversing device 4 for moving and transporting.

[Overhead traveling crane]
(Traveling device)
In the overhead crane 10, the traveling device 3 has traveling wheels 32 attached to a girder 31 as shown in FIG. 3, and a traveling drive shaft 34 connected to a traveling drive motor 33 and a traveling drive motor 33. And a driven shaft 35 that is not driven. Further, an absolute encoder 36 is incorporated in the traveling driven shaft 35. The absolute encoder 36 provided on the traveling driven shaft 35 is for continuously measuring the position where the traveling device 3 moves in the X direction.

(Trolling device)
As shown in FIG. 4, in the traverse device 4, the traverse wheels 42 are attached to the trolley 41, and the traverse drive shaft 44 connected to the traverse drive motor 43 and the traverse drive motor 43 are not connected. The traverse driven shaft 45 is provided. An absolute encoder 46 is incorporated in the traverse driven shaft 45. The absolute encoder 46 provided on the traverse driven shaft 45 is for continuously measuring the position where the traverse device 4 moves in the Y direction.

The encoders 36 and 46 provided on the driven shafts 35 and 45 of the traveling device 3 and the traverse device 4 are absolute type encoders, but the encoders are not limited to these encoders, and may be incremental encoders, for example. Good.

[Traveling rail, traverse rail]
The traveling rail 5 is a rail that guides the movement of the traveling device 3 in the X direction. The traverse rail 6 is a rail that guides the movement of the traverse device 4 in the Y direction.

The traveling rail 5 and the traverse rail 6 are respectively provided with a plurality of fixed position detecting devices for detecting their fixed positions at arbitrary positions corresponding to the transportation position for transporting the ore and the crane shaft. Specifically, as shown in FIG. 8, on the traveling rail 5, a plurality of fixed position detecting devices 51 are provided along the traveling rail 5. Then, as the fixed position detection device 51, of the raw material hoppers 107 provided around the electric furnace 106, for example, at a position corresponding to a specific raw material hopper 107A, on a line corresponding to the edges of both ends of the raw material hopper 107A. Fixed position detection devices 51A and 51B are provided. Further, as the fixed position detecting device 51, fixed position detecting devices 51C and 51D are provided at positions corresponding to the crane shaft 110 on lines corresponding to edges of both ends of the crane shaft 110.

Further, as shown in FIG. 8, the transverse rail 6 is provided with a plurality of fixed position detection devices 61 along the rail 6. Then, as the fixed position detection device 61, of the raw material hoppers 107 provided around the electric furnace 106, for example, at a position corresponding to a specific raw material hopper 107A, on a line corresponding to the edges of both ends of the raw material hopper 107A. Fixed position detectors 61A and 61B are provided. Further, as the fixed position detection device 61, fixed position detection devices 61C and 61D are provided at positions corresponding to the crane shaft 110 on lines corresponding to edges of both ends of the crane shaft 110.

The fixed position detection devices 51, 61 are provided at arbitrary positions corresponding to the transportation position for transporting the ore and the crane shaft as described above, and detect the fixed position, and the overhead crane 10 travels and moves. It can be configured by a sensor or the like arranged so as to operate when it traverses and passes. For example, it can be configured by a diffuse reflection type or transmission type photoelectric sensor, a non-contact type sensor, a contact type sensor, or the like.

Here, the overhead crane equipment 1A is characterized in that the traveling rail 5 and the traverse rail 6 are further provided with a non-contact type or a contact type sensor. For example, as shown in FIG. 8, in the traveling rail 5, a plurality of non-contact type or contact type sensors 55 are provided at specific locations, and in the traverse rail 6, a non-contact type or contact type sensor 65 is provided. Plural are provided in a specific place.

The non-contact type or contact type sensors 55, 65 are not particularly limited, but examples of the non-contact type sensor include optical type and laser type sensors. Further, examples of the contact-type sensor include sensors such as a roller lever type limit switch and a fork lever type limit switch.

Such non-contact type or contact type sensors 55, 65 are position information measured by encoders 36, 46 provided on the driven shafts 35, 45 of the traveling device 3 and the traverse device 4, respectively, and fixed position detection. When a deviation occurs between the fixed position information detected by the devices 51 and 61, it is possible to detect that the traveling position and the transverse position are displaced.

Further, a plurality of non-contact type or contact type sensors 55 and 65 are provided along the traveling rail 5 and the traverse rail 6, respectively, whereby it is possible to mutually monitor the position information and When the deviation occurs, the abnormal sensors 55 and 65 can be identified.

<Regarding detection of misalignment>
Specifically, a case where fork lever type limit switches, which are contact type sensors 55 and 65, are installed in the traveling rail 5 and the traverse rail 6 will be described as an example with reference to FIGS. 8 to 11. In addition, below, it describes with "fork lever type limit switches 55 and 65."

The fork lever type limit switches 55 and 65 are provided on the front side of the crane shaft 110 and the raw material hopper 107 in order to switch to the low speed movement for the purpose of improving the positioning accuracy when the overhead crane 10 moves by the automatic operation control. Will be placed.

For example, as shown in FIG. 8, in the traveling rail 5, in order to switch the overhead crane 10 to a low speed and sufficiently decelerate the crane shaft 110 and the specific raw material hopper 107A that is a target destination. The fork lever type limit switches 55A and 55B are respectively arranged apart from the required distances D1 and D2. Also in the traverse rail 6, the fork lever is separated from the crane shaft 110 and the target specific raw material hopper 107A by separating the distances D3 and D4 required for switching the overhead crane 10 to the low speed movement and sufficiently decelerating. Type limit switches 65A and 65B are arranged, respectively.

On the other hand, as described above, the traveling rail 5 and the traverse rail 6 are provided with a plurality of fixed position detection devices 51 and 61 for detecting fixed positions, and are provided at positions before and after the crane shaft 110 and the raw material hopper 107. It is arranged. For example, in the example shown in FIG. 8, in the traveling rail 5, when the ore is charged by opening the discharge port at the bottom of the raw material container to the hatch above the raw material hopper 107B to be transported, Fixed position detection devices 51A and 51B are arranged at both end positions of the range R1 in which the spill does not spill out of the hatch, and fixed position detection is performed at both end positions of the range R2 where the raw material container moving up and down within the crane shaft 110 does not contact the crane shaft 110. Devices 51C and 51D are arranged. Further, in the traverse rail 6, a range in which the ore is not spilled when the ore is charged by opening the discharge port at the bottom of the material container to the hatch at the upper part of the material hopper 107B to be transported. Fixed position detection devices 61A and 61B are arranged at both end positions of R3, and fixed position detection devices 61C and 61D are arranged at both end positions of a range R4 in which a raw material container moving up and down within the crane shaft 110 does not come into contact with the crane shaft 110. Has been done. The fixed position detecting devices 51 and 61 are configured by the roller lever type limit switch or the like, as described above.

(Abnormality occurs in the fork lever type limit switch)
FIG. 9: is a figure for demonstrating the case where the defect of the fork lever type limit switch 55 generate|occur|produces in the overhead crane installation 1A shown in FIG.

That is, for example, in the process in which the overhead crane 10 moves to the raw material hopper 107C, which is the target of transportation of the ore, the fork lever type limit switch 55A in the passage is operated, but each fork lever type limit switch 55 is operated. The state of the fork lever type limit switch 55A is exceeded even if the value of the absolute type encoder 36 in the traveling device 3 at the previous operation exceeds the value obtained by adding the range "L1" preset by each fork lever type limit switch 55. Is not changed, it is determined that an abnormality has occurred in the fork lever type limit switch 55A and is detected.

(Abnormality in fixed position detector)
FIG. 10: is a figure for demonstrating the case where the fixed position detection apparatus (roller lever type limit switch) 51 fails in the overhead crane equipment 1A shown in FIG.

That is, for example, in the process in which the overhead crane 10 moves to the raw material hopper 107C that is the target of transportation of the ore, the fork lever type limit switch 55A and the fixed position detection device 51D in the traffic route are operated. To determine the area "Z1" where the overhead crane 10 is present based on the state of the lever type limit switch 55, and to confirm the operation status of the fixed position detection device 51E in the area "Z2" where the overhead crane 10 was immediately before. Therefore, when the fixed position detection device 51E is not operating normally, it is determined that an abnormality has occurred in the fixed position detection device 51E, and the fixed position detection device 51E is detected.

(Error in encoder)
FIG. 11: is a figure for demonstrating the case where the defect of the absolute type encoder 36 in the traveling apparatus 3 generate|occur|produces in the overhead crane equipment 1A shown in FIG.

That is, for example, in the process of moving the overhead crane 10 to the raw material hopper 107C, which is the target of transportation of the ore, the fixed position detection device 51D on the traffic route is operated, but the fixed position detection is performed by measuring the fixed position in advance. If the value of the absolute encoder 36 of the traveling device 3 when the device 51 is operated exceeds the value obtained by adding the range “L2” preset in each fixed position detection device 51, the position of the absolute encoder 36 is exceeded. It is judged that an error has occurred in the information and it is detected.

As described above, in the overhead crane equipment 1A in which the automatic operation control is performed, the drive shafts of the traveling device 3 and the traverse device 4 are provided with encoders 36 and 46 for continuously measuring the traveling position and the traverse position, respectively. The traveling rail 5 and the traverse rail 6 are provided with fixed position detecting devices 51, 61 for detecting fixed positions at arbitrary positions corresponding to the transportation position for transporting the ore and the crane shaft. Further, when a deviation occurs between the traveling rail 5 and the traverse rail 6 between the position information measured by the encoders 36 and 46 and the fixed position information detected by the fixed position detection devices 51 and 61, Provided are non-contact type or contact type sensors (fork lever type limit switches) 55 and 56 capable of continuously measuring the traveling position and the traverse position to detect the occurrence of positional deviation.

With such a configuration, the sensor in which the abnormality has occurred can be automatically specified, and the time required for the cause investigation can be shortened. Thereby, the operation rate of the equipment can be improved without stopping the automatic operation control of the overhead crane 10 for a long period of time.

As described above, if an abnormality is detected in the fork lever type limit switches 55, 65, the fixed position detection devices 51, 61, the encoders 36, 36, it means that an abnormality has occurred in the display such as the CRT or the liquid crystal. Is preferably displayed. Further, for example, it is preferable to sound a buzzer or the like to warn the surroundings, and a visual display device such as a rotating indicator light may be used to visually warn.

1,1A Overhead crane equipment 2 Main winding device 3 Traveling device 4 Traversing device 5 Traversing rail 6 Traversing rail 10 Overhead crane 36,46 (Absolute type) encoder 51, 51A to E, 61, 61A to 61D Fixed position detection device (position Detection switch)
55,65 Non-contact type or contact type sensor (fork lever type limit switch)
101 Rotary Kiln 102 Surge Hopper 103 Raw Material Container 104 Conveyor Cart 105 Ceiling Crane Equipment 106 Electric Furnace 107, 107A-C, 107T Raw Material Hopper 108 Raw Material Injection Tube 110 Crane Shaft

Claims (1)

An overhead crane having a traveling device that moves and transports a transported object in the X direction, and a traverse device that moves and transports the transported item in the Y direction,
A traveling rail on which the traveling device in the overhead crane moves,
A traverse rail on which the traverse device in the overhead crane moves,
Encoders for continuously measuring the traveling position and the traverse position are provided on the drive shafts of the traveling device and the traverse device, respectively.
The traveling rail and the traverse rail are provided with a fixed position detecting device for detecting a fixed position at an arbitrary position corresponding to a carrying position and a crane shaft for carrying the carried article,
Furthermore, when the position information measured by the encoder and the information on the fixed position detected by the fixed position detection device deviate from each other on the running rail and the traverse rail, the running position and the traverse position are detected. noncontact or contact sensor capable of detecting that the position deviation of the position has occurred provided et al is,
A plurality of the non-contact or contact sensors are provided on the traveling rail and the traverse rail, respectively, and position information can be monitored mutually, and when a deviation occurs in the position information, an abnormality is detected. Overhead crane equipment that identifies the sensor

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