KR102054666B1 - Method of controlling an oil amount of a construction machine and system for performing the same - Google Patents

Abstract

According to the flow rate control method of the construction machine, it is possible to detect the rotational position of at least one of the work machine including the boom, the arm and the attachment of the construction machine. It may be determined whether the detected rotation position of the work machine reaches the maximum position. When the rotational position of the work machine reaches the maximum position, the flow rate supplied to the work machine may be blocked. Therefore, since the flow rate supplied to the work machine reaching the maximum position is cut off, the flow rate can be prevented from being wasted.

Description

Flow control method of construction machinery and system for performing the same {METHOD OF CONTROLLING AN OIL AMOUNT OF A CONSTRUCTION MACHINE AND SYSTEM FOR PERFORMING THE SAME}

The present invention relates to a method for controlling the flow rate of a construction machine and a system for performing the same, and more particularly, to a method for controlling the flow rate supplied to the working machines of an excavator, and a system for performing such a method.

In general, excavators may include work machines such as booms, arms, attachments, and the like. The boom can be operated by the boom cylinder. The arm can be rotatably connected to the boom. The arm can be actuated by an arm cylinder. The attachment may be rotatably connected to the end of the arm. The attachment can be actuated by an attachment cylinder. The cylinders described above can be operated by hydraulic pressure.

According to the related arts, the boom and the arm and the attachment may have an angle that can rotate at maximum. Therefore, the maximum position can be set in each of the boom, the arm and the attachment. For example, if the attachment has reached its maximum position, the attachment at its maximum position can no longer rotate, even if the flow rate continues to be supplied to the attachment. Therefore, unnecessary flow rate continues to be supplied to the attachment in the maximum position, and the flow rate may be wasted.

The present invention provides a method for controlling the flow rate of a construction machine that can prevent waste of flow rate.

The present invention also provides a system for performing the method described above.

According to the method for controlling the flow rate of a construction machine according to an aspect of the present invention, it is possible to detect a rotation position of at least one of the work machines including the boom, the arm and the attachment of the construction machine. It may be determined whether the detected rotation position of the work machine reaches the maximum position. When the rotational position of the work machine reaches the maximum position, the flow rate supplied to the work machine may be blocked.

In example embodiments, sensing the rotational positions may include sensing an angle of the work machine or sensing a displacement of a cylinder that operates the work machine.

In exemplary embodiments, blocking the flow rate to the work machine may include controlling the spool of an EPPR valve independent of the output voltage from the electric joystick controlling the work of the work machine. Can be.

In example embodiments, the control method may further include gradually decreasing the flow rate supplied to the work machine before the work machine reaches the maximum position.

In example embodiments, the control method may further include reducing a discharge amount of the pump corresponding to the blocked flow rate.

In example embodiments, the control method may further include supplying the blocked flow rate to at least one of the work machines that have not reached the maximum position.

In exemplary embodiments, the construction machine may include an excavator.

A flow control system of a construction machine according to another aspect of the present invention may include a sensing unit, an operation unit, a main control valve (MCV) controller and a main controller. The sensing unit may detect a rotational position of at least one work machine among the work machines including the boom, the arm and the attachment of the construction machine. The operation unit can generate an operation signal for driving the work machines. The main control valve controller may control the hydraulic pressure of the cylinder by moving the spool according to the operation signal of the operation unit. The main controller may sense the rotational position of the work machine and block the flow rate supplied to the cylinder of the work machine when the work machine reaches the maximum position.

In example embodiments, the sensing unit may include an angle sensor for detecting an angle of the working machines or a displacement sensor for detecting a displacement of a cylinder for operating the working machines.

In exemplary embodiments, the main controller is controlled by the main control valve (MCV) controller which controls the spool of the EPPR valve regardless of the output voltage from the electric joystick controlling the operation of the work machine. You can send a signal.

In example embodiments, the main controller may gradually reduce the flow rate supplied to the work machine before the work machine reaches the maximum position.

In example embodiments, the main controller may reduce the discharge amount of the pump corresponding to the blocked flow rate.

In example embodiments, the main controller may supply the blocked flow rate to at least one of the work machines that have not reached the maximum position.

In exemplary embodiments, the construction machine may include an excavator.

According to the present invention described above, since the flow rate supplied to the work machine reaching the maximum position is cut off, it is possible to prevent the flow rate is wasted. In addition, since the discharge amount of the pump can be reduced by the amount corresponding to the blocked flow rate, the load on the engine of the construction machine can be reduced. In addition, since the flow rate corresponding to the blocked flow rate can be supplied to another work machine, the performance of the excavator due to the increase in the operating speed of the other work machine can be improved.

1 is a block diagram showing a flow control system of a construction machine according to an embodiment of the present invention.
2 is a perspective view showing the maximum positions of the working machines of the excavator to which the flow control system shown in FIG. 1 is applied.
3 is a graph showing the change of the output voltage with respect to the stroke of the joystick of the construction machine.
4 is a graph showing a change in flow rate proportional to the output voltage of the joystick.
5 is a graph showing a change in flow rate according to the angle of the work machine controlled by the control device of the present embodiment.
6 is a flowchart sequentially illustrating a method of controlling the flow rate of a construction machine using the system shown in FIG. 1.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific form disclosed, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described on the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Flow control system of construction machinery

1 is a block diagram showing a flow control system of a construction machine according to an embodiment of the present invention, Figure 2 is a perspective view showing the maximum positions of the working machines of the excavator to which the flow control system shown in FIG.

1 and 2, the flow control system of the construction machine according to the present embodiment may include a sensing unit, an operation unit, a main control valve (MCV) controller 150, and a main controller 110.

In this embodiment, the construction machine may comprise an excavator. The excavator may include a swing structure and working machines which are operated by hydraulic pressure. The work machines may include a boom B, an arm A, an attachment T, and the like. One side of the boom B may be rotatably coupled to the revolving body about the first rotating shaft. The boom B can be operated by the boom cylinder. One side of the arm (A) may be rotatably coupled to the other side of the boom (B) about a second axis of rotation. Arm A can be actuated by an arm cylinder. One side of the attachment (T) is rotatably coupled to the other side of the arm (A) around the third rotation axis, it can perform an excavation work. The first to third rotation axes may be in the same direction. Alternatively, the two rotation axes of the first to third rotation axes may be in the same direction and the other rotation axis may be in another direction. Also, the first to third rotation axes may be in different directions. Attachment T may be actuated by an attachment cylinder. Attachment T may include a bucket. As another embodiment, the construction machine may include other construction machines, such as wheel loaders, forklifts, etc., in addition to the excavator.

The sensing unit may detect a rotational position of at least one of the work machines including the boom B, the arm A, and the attachment T. In the present embodiment, the sensing unit may include a first sensor 130, a second sensor 132, and a third sensor 134.

The first sensor 130 may detect the rotational position of the boom B. The boom B can rotate from the maximum downward position B1 to the maximum upward position B2. When the boom B reaches the maximum lowered position B1, the boom B can no longer be rotated down. On the other hand, when the boom B reaches the maximum raised position B2, the boom B can no longer be rotated up. Therefore, the maximum lowered position B1 and the maximum raised position B2 may correspond to the maximum positions of the boom B.

In the present embodiment, the first sensor 130 may include an angle sensor for detecting the rotation angle of the boom (B). In another embodiment, the first sensor 130 may include a displacement sensor for detecting a displacement of the boom cylinder for operating the boom B.

The second sensor 132 may detect the rotational position of the arm A. The arm A can rotate from the maximum lowered position A1 to the maximum raised position A2. When arm A reaches the maximum lowered position A1, arm A can no longer be rotated down. On the other hand, when arm A reaches the maximum raised position A2, arm A can no longer be rotated up. Thus, the maximum lowered position A1 and the maximum raised position A2 may correspond to the maximum position of the arm A. FIG.

In the present embodiment, the second sensor 132 may include an angle sensor for detecting the rotation angle of the arm (A). As another example, the second sensor 132 may include a displacement sensor for detecting the displacement of the boom cylinder for operating the arm (A).

The third sensor 134 may detect the rotation position of the attachment T. The attachment T can rotate from the maximum falling position T1 to the maximum rising position T2. Once attachment T has reached the maximum falling position T1, attachment T can no longer be rotated down. On the other hand, when attachment T reaches the maximum raised position T2, attachment T can no longer be rotated up. Therefore, the maximum falling position T1 and the maximum rising position T2 may correspond to the maximum positions of the attachment T.

In the present embodiment, the third sensor 134 may include an angle sensor for detecting the rotation angle of the attachment (T). As another example, the third sensor 134 may include a displacement sensor for detecting a displacement of the attachment cylinder for activating the attachment (T).

Rotation position of the boom B detected by the first sensor 130, rotation position of the arm A detected by the second sensor 132, and rotation position of the attachment T detected by the third sensor 134. May be transmitted to the main controller 110.

The operation unit can generate an operation signal for driving the work machine including the boom B, the arm A and the attachment T. In this embodiment, the operation unit may include a first electric joystick 140 and a second electric joystick 142.

The main controller 110 may receive an output voltage according to the stroke of the first electric joystick 140 and / or the second electric joystick 142. The main controller 110 may input a control signal according to the output voltage to the main control valve (MCV) controller 150. The MCV controller 150 may move the spool 170 of the EPPR valve 160 to control the flow rate supplied to the work machines. The operator may control the operation of the main controller 110 through the instrument panel 120.

The main controller 110 determines which work machine among the boom B, the arm A and the attachment T has reached the maximum position from the information transmitted from the first to third sensors 130, 132, and 134. can do. The main controller 110 may block the flow rate supplied to the work machine reaching the maximum position. That is, the main controller 110 may set the flow rate supplied to the work machine reaching the maximum position to zero. Therefore, the flow rate is no longer supplied to the moved work machine that has reached the maximum position, so that the flow rate can be prevented from being wasted.

3 is a graph showing a change in output voltage with respect to the stroke of the joystick of the construction machine, FIG. 4 is a graph showing a change in flow rate proportional to the output voltage of the joystick, and FIG. 5 is controlled by the control device of the present embodiment. It is a graph showing the change of flow rate according to the angle of working machine.

As shown in FIG. 3, the output voltage of the joysticks 140 and 142 may increase in proportion to the strokes of the joysticks 140 and 142. The main controller 110 may receive the output voltages of the joysticks 140 and 142 to increase the supply of the flow rate to the working machines, as shown in FIG. 4.

On the other hand, when the work machine reaches the maximum position, as shown in FIG. 5, the main controller 110 may block the supply of the flow rate to the work machine that reaches the maximum position. In particular, when the flow control system of the present embodiment is operated, the main controller 110 may block the flow rate supplied to the work machine that reaches the maximum position regardless of the output voltage of the joystick (140, 142). Therefore, in the state in which the flow rate control system of the present embodiment is operating, even if the operator operates the joysticks 140 and 142, the main controller 110 may not change the output voltage according to the strokes of the joysticks 140 and 1420. Flow control can be performed. In addition, the main controller 110 may gradually reduce the flow rate before the work machine reaches the maximum position. When the work machine reaches the maximum position, the main controller 110 may completely block the flow rate to the work machine. That is, the flow rate supplied to the work machine reaching the maximum position may be zero.

In addition, the flow control device may include a performance improvement mode and a fuel economy reduction mode. The performance improvement mode and the fuel economy reduction mode may be displayed on the instrument panel 120.

When the operator selects the performance improvement mode, the main controller 110 may supply a flow rate corresponding to the flow rate not supplied to the work machine reaching the maximum position to another work machine. In particular, the flow rate corresponding to the blocked flow rate can be transferred to another work machine that requires a fast work speed.

When the operator selects a fuel saving mode, the main controller 110 may reduce the pump discharge amount corresponding to the flow rate that is not supplied to the work machine reaching the maximum position. Therefore, since the flow rate corresponding to the blocked flow rate is not discharged from the pump, fuel economy can be reduced.

For example, when the boom B reaches the maximum lowered position B1 or the maximum raised position B2, the boom B can no longer be rotated even when the flow rate is supplied to the boom B. Therefore, the main controller 110 may block the flow rate supplied to the boom B. Therefore, the flow rate supplied to the boom B having reached the maximum position may be zero. When the operator selects the performance improvement mode, the main controller 110 may move the flow amount corresponding to the flow rate not supplied to the boom B, which has reached the maximum position. ) Can be supplied. Working machines that require a high working speed can be recognized from the strokes of the joysticks 140 and 1420. When the operator selects a fuel saving mode, the main controller 110 may reduce the pump discharge amount corresponding to the flow rate not supplied to the boom B reaching the maximum position. Therefore, since the flow rate corresponding to the blocked flow rate is not discharged from the pump, fuel economy can be reduced.

When the arm A reaches the maximum lowered position A1 or the maximum raised position A2, the arm A can no longer be rotated even when the flow rate is supplied to the arm A. Therefore, the main controller 110 may block the flow rate supplied to the arm A. FIG. Therefore, the flow rate supplied to the arm A having reached the maximum position may be zero. When the operator selects the performance improvement mode, the main controller 110 may apply a flow rate corresponding to the flow rate not supplied to the arm A that reaches the maximum position, such as a boom (B) or an attachment (T). ) Can be supplied. Working machines that require a high working speed can be recognized from the strokes of the joysticks 140 and 1420. When the operator selects the fuel economy reduction mode, the main controller 110 may reduce the pump discharge amount corresponding to the flow rate which is not supplied to the arm A reaching the maximum position. Therefore, since the flow rate corresponding to the blocked flow rate is not discharged from the pump, fuel economy can be reduced.

When the attachment T reaches the maximum falling position T1 or the maximum rising position T2, the attachment T can no longer be rotated even when the flow rate is supplied to the attachment T. Therefore, the main controller 110 may block the flow rate supplied to the attachment T. Therefore, the flow rate supplied to the attachment T reaching the maximum position may be zero. When the operator selects the performance improvement mode, the main controller 110 may move the flow rate corresponding to the flow rate that is not supplied to the attachment T that reaches the maximum position. ) Can be supplied. Working machines that require a high working speed can be recognized from the strokes of the joysticks 140 and 1420. When the operator selects the fuel saving mode, the main controller 110 may reduce the pump discharge amount corresponding to the flow rate which is not supplied to the attachment T reaching the maximum position. Therefore, since the flow rate corresponding to the blocked flow rate is not discharged from the pump, fuel economy can be reduced.

Flow control method of construction machinery

6 is a flowchart sequentially illustrating a method of controlling a flow rate of a construction machine using the apparatus shown in FIG. 1.

1 and 6, in step ST210, the first sensor 130 may detect a rotation position of the boom B. FIG. The second sensor 132 may detect the rotational position of the arm A. The third sensor 134 may detect the rotation position of the attachment T.

Rotation position of the boom B detected by the first sensor 130, rotation position of the arm A detected by the second sensor 132, and rotation position of the attachment T detected by the third sensor 134. May be transmitted to the main controller 110.

In step ST220, the main controller 110 is the maximum position of any work machine among the boom (B), arm (A) and attachment (T) from the information transmitted from the first to third sensors (130, 132, 134) It can be determined whether

If none of the boom B, arm A and attachment T has reached the maximum position, then again, as in step ST210, the first sensor 130, the second sensor 132 and the third sensor 134. ) May detect the rotation position of the boom B, the rotation position of the arm A and the rotation position of the attachment T again.

If the work machine of any one of the boom B, the arm A and the attachment T is found to have reached the maximum position, in step ST230, the main controller 110 checks the flow rate supplied to the work machine that has reached the maximum position. You can block. That is, the main controller 110 may set the flow rate supplied to the work machine reaching the maximum position to zero. Therefore, the flow rate is no longer supplied to the moved work machine that has reached the maximum position, so that the flow rate can be prevented from being wasted. In addition, the blocking of the flow rate supplied to the work machine may mean reducing the ratio up to a predetermined ratio or reducing the maximum amount up to zero. That is, the flow rate supplied to the work machine to the predetermined ratio can be reduced as much as possible in consideration of the error of the sensor or the flow rate control.

In addition, when the flow rate control method of the present embodiment is operated, the main controller 110 may block the flow rate supplied to the work machine reaching the maximum position regardless of the output voltages of the joysticks 140 and 142. Therefore, in the state in which the flow rate control device of the present embodiment is in operation, even if the operator operates the joysticks 140 and 142, the main controller 110 may not change the output voltage according to the stroke of the joysticks 140 and 1420. Control can be performed. In addition, the main controller 110 may gradually reduce the flow rate before the work machine reaches the maximum position. When the work machine reaches the maximum position, the main controller 110 may completely block the flow rate to the work machine. That is, the flow rate supplied to the work machine reaching the maximum position may be zero.

For example, when the boom B reaches the maximum lowered position B1 or the maximum raised position B2, the boom B can no longer be rotated even when the flow rate is supplied to the boom B. Therefore, the main controller 110 can block the supply of the flow rate to the boom B. Therefore, the flow volume supplied to the boom B which reached the maximum position can be interrupted | blocked.

When the arm A reaches the maximum lowered position A1 or the maximum raised position A2, the arm A can no longer be rotated even when the flow rate is supplied to the arm A. Therefore, the main controller 110 can block the supply of the flow rate to the arm A. Therefore, the flow volume supplied to the arm A which reached the maximum position can be interrupted | blocked.

When the attachment T reaches the maximum falling position T1 or the maximum rising position T2, the attachment T can no longer be rotated even when the flow rate is supplied to the attachment T. Therefore, the main controller 110 may block the flow rate supplied to the attachment T. Therefore, the flow volume supplied to the attachment T which reached the maximum position can be interrupted | blocked.

In step ST240, it may be confirmed whether the fuel saving mode is selected. When the fuel consumption saving mode is selected, in step ST250, the main controller 110 may reduce the pump discharge amount corresponding to the flow rate that is not supplied to the work machine reaching the maximum position. Therefore, since the flow rate corresponding to the blocked flow rate is not discharged from the pump, fuel economy can be reduced.

For example, when the work machine reaching the maximum position is the boom B, the main controller 110 may reduce the pump discharge amount corresponding to the flow rate not supplied to the boom B reaching the maximum position. Therefore, since the flow rate corresponding to the blocked flow rate is not discharged from the pump, fuel economy can be reduced.

When the work machine that reaches the maximum position is the arm A, the main controller 110 may reduce the pump discharge amount corresponding to the flow rate that is not supplied to the arm A that reaches the maximum position. Therefore, since the flow rate corresponding to the blocked flow rate is not discharged from the pump, fuel economy can be reduced.

When the work machine reaching the maximum position is the attachment T, the main controller 110 may reduce the pump discharge amount corresponding to the flow rate not supplied to the attachment T reaching the maximum position. Therefore, since the flow rate corresponding to the blocked flow rate is not discharged from the pump, fuel economy can be reduced.

If the fuel saving mode is not selected, it may be checked whether the performance improvement mode is selected in step ST260.

When the performance improvement mode is selected, in step ST270, the main controller 110 may supply a flow rate corresponding to the flow rate that is not supplied to the work machine reaching the maximum position to another work machine. In particular, the flow rate corresponding to the blocked flow rate can be transferred to another work machine that requires a fast work speed.

For example, if the work machine reaching the maximum position is the boom B, the main controller 110 requires a high working speed for the flow rate corresponding to the flow rate not supplied to the boom B reaching the maximum position. Can be supplied to the arm (A) or attachment (T). Working machines that require a high working speed can be recognized from the strokes of the joysticks 140 and 1420.

When the work machine that reaches the maximum position is the arm (A), the main controller 110 is a boom (B) that requires a high working speed flow rate corresponding to the flow rate that is not supplied to the arm (A) has reached the maximum position ) Or attachment (T). Working machines that require a high working speed can be recognized from the strokes of the joysticks 140 and 1420.

When the work machine that reaches the maximum position is the attachment T, the main controller 110 uses a boom B for which a high working speed is required for the flow rate corresponding to the flow rate that is not supplied to the attachment T that reaches the maximum position. ) Or arm (A). Working machines that require a high working speed can be recognized from the strokes of the joysticks 140 and 1420.

As described above, according to the present embodiment, since the flow rate supplied to the work machine reaching the maximum position is blocked, the flow rate can be prevented from being wasted. In addition, since the discharge amount of the pump can be reduced by the amount corresponding to the blocked flow rate, the load on the engine of the construction machine can be reduced. In addition, since the flow rate corresponding to the blocked flow rate can be supplied to another work machine, the performance of the excavator due to the increase in the operating speed of the other work machine can be improved.

As described above, although described with reference to the preferred embodiments of the present invention, those skilled in the art will be variously modified without departing from the spirit and scope of the invention described in the claims below. And can be changed.

110; Main controller 120; Instrument panel
130; First sensor 132; Second sensor
134; Third sensor 140; 1st electric joystick
142; Second electric joystick 150; MCV Controller
160; EPPR valve 170; spool

Claims (14)

Detecting a rotational position of at least one work machine among the work machines including the boom, arm and attachment of the construction machine;
Determine whether the detected rotational position of the work machine reaches a maximum position;
When the rotational position of the work machine reaches the maximum position, shut off the flow rate supplied to the work machine; And
And performing an improved mode of supplying the blocked flow rate to at least one of the work machines that have not reached the maximum position. The method of claim 1, wherein sensing the rotational positions comprises sensing an angle of the work machines or sensing a displacement of a cylinder that operates the work machines. 2. The construction machine of claim 1, wherein said blocking of said flow rate to said work machine includes controlling a spool of an EPPR valve independent of the output voltage from an electric joystick controlling the operation of said work machine. Flow control method. The method of claim 1, further comprising gradually decreasing the flow rate supplied to the work machine before the work machine reaches the maximum position. delete The method according to any one of claims 1 to 4,
Confirming the selection of any one of the performance improvement mode and a fuel saving mode;
When the performance enhancing mode is selected, supply the blocked flow rate to at least one of the working machines that have not reached the maximum position,
And when the fuel economy mode is selected, reducing the discharge amount of the pump corresponding to the blocked flow rate. delete A sensing unit for sensing a rotational position of at least one work machine among the work machines including the boom, the arm and the attachment of the construction machine;
An operation unit for generating an operation signal for driving the work machines;
A main control valve (MCV) controller for controlling the hydraulic pressure of the cylinder by moving the spool according to the operation signal of the operation unit; And
And a main controller for detecting a rotational position of the work machine to block the flow rate supplied to the cylinder of the work machine when the work machine reaches the maximum position.
And the main controller performs an improved mode of supplying the blocked flow rate to at least one of the work machines that have not reached the maximum position. 10. The flow control system of claim 8, wherein the sensing unit comprises an angle sensor for sensing an angle of the work machines or a displacement sensor for detecting a displacement of a cylinder for operating the work machines. 9. The main controller of claim 8, wherein the main controller sends a control signal to the main control valve (MCV) controller that controls the spool of the EPPR valve regardless of the output voltage from the electric joystick that controls the operations of the work machines. Flow control system of construction machinery to transmit. 9. The flow control system of claim 8, wherein before the work machine reaches the maximum position, the main controller gradually reduces the flow rate supplied to the cylinder of the work machine. delete According to any one of claims 8 to 11, The main controller confirms the selection of any one of the performance improvement mode and the fuel economy mode,
When the performance enhancing mode is selected, the main controller supplies the blocked flow rate to at least one of the work machines that do not reach the maximum position,
And when the fuel economy mode is selected, the main controller reduces the discharge amount of the pump corresponding to the blocked flow rate. 9. The flow control system of claim 8, wherein the construction machine comprises an excavator.

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