KR20230028002A - Steam Generator Tube Inspection Apparatus Having Probe Assembly Having Tilting Unit - Google Patents

Abstract

A steam generator tube inspection apparatus comprising a probe assembly having a tilting unit according to the present invention comprises: the probe assembly equipped with a video probe for inspecting tubes provided in a steam generator; and a traveling assembly configured to allow a feeding assembly to be coupled and traveling along an inner wall of the steam generator, wherein the probe assembly includes a feeding unit including the video probe, a rotating unit rotating the feeding unit, a connector unit connecting the rotating unit to the traveling assembly, and the tilting unit provided to change the angles of the rotating unit and the feeding unit with respect to the traveling assembly. Accordingly, the steam generator tube inspection apparatus can carry out inspection at various angles on a current traveling position.

Description

Steam Generator Tube Inspection Apparatus Having Probe Assembly Having Tilting Unit}

The present invention relates to a steam generator customs inspection device, and more particularly, to a steam generator including a tilting unit provided to tilt a feeding unit equipped with a video probe for inspecting a steam generator customs tube to vary an angle with respect to a traveling assembly. It relates to a generator customs inspection device.

Nuclear power plant steam generator tubules transfer heat between primary and secondary system water passing through a nuclear reactor, generate steam that drives a turbine generator, and at the same time play an important role as a radiation barrier.

Such steam generator customs have a very high possibility of occurrence of defects due to the nature of their operation, and in fact, have a great impact on the lifespan management of nuclear power plants.

Accordingly, in order to inspect the tubes of steam generators of nuclear power plants, a device for inspecting by inserting a video probe equipped with an imaging device between a plurality of tubes while driving along the inner wall of the steam generator is used.

Such a steam generator customs inspection device is manually inserted through a handhole formed at a predetermined position of the steam generator and attached to the inner wall, and then the inspection is performed through external control.

However, since the conventional steam generator customs inspection device has a method of linearly pulling out the video probe, there is a limit to inspecting only an area located on a straight line from the current driving position.

In particular, when the video probe is pulled out for a long time, a phenomenon in which the video probe is lowered due to its own weight occurs, but it is very difficult to perform driving control to correct this.

Therefore, a method for solving these problems is required.

The present invention was made to solve the above-mentioned problems of the prior art, and the feeding unit equipped with a video probe for inspecting the steam generator customs can be tilted to perform inspection at various angles with respect to the current driving position It is an object to provide a steam generator customs inspection device capable of compensating for the deflection of the video probe due to its own weight.

The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, the steam generator customs inspection device including the probe assembly equipped with the tilting unit of the present invention is equipped with a video probe for inspecting the customs provided in the steam generator. The probe assembly and the feeding assembly can be combined. and a traveling assembly formed to travel along an inner wall of the steam generator, wherein the probe assembly includes a feeding unit including the video probe, a rotating unit rotating the feeding unit, and the rotating unit and a tilting unit configured to change an angle between a connector unit connected to the traveling assembly and the rotating unit and the feeding unit with respect to the traveling assembly.

At this time, the tilting unit includes a drive motor that generates a driving force, a worm rotated by the driving force of the driving motor, and a thread formed around the circumference, and a gear tooth fixed to the side of the rotating unit and meshed with the thread of the worm. It is formed in, rotates in conjunction with the rotation of the worm by the driving force of the driving motor and may include a worm wheel gear that rotates the rotating unit and the feeding unit together.

The feeding unit further includes a probe housing having a winding space formed therein, and the video probe includes an extension plate formed to be inserted into or drawn from the winding space while being wound around the probe housing; and A probe head provided at an end of the extension plate to acquire image information may be included.

At this time, the cross-sectional area of the probe housing is formed to be larger than the cross-sectional area of the rotating unit, and the worm wheel gear may be formed to have a cross-section having a cross section of a cross section partially cut along the boundary between the rotating unit and the probe housing. .

In addition, the tilting unit may further include a worm housing provided to accommodate the drive motor and the worm therein, and including a gear fixing part to one side of which a shaft enabling rotation of the worm wheel gear is fixed.

Meanwhile, the probe assembly may further include a fixing unit that forms rotational axes of the rotating unit and the worm wheel gear and is fixed to the connector unit.

Here, the fixing unit may include a connector fixing part connected to the connector unit and a pair of connecting parts divided into both sides from the connector fixing part to form a rotating shaft on both sides of the rotating unit and connected to each other.

The tilting unit further includes a worm housing provided to accommodate the driving motor and the worm therein, and including a gear fixing part to which a shaft for enabling rotation of the worm wheel gear is fixed to one side, wherein the fixing The unit may further include a housing fixing part protruding to one side, and the worm housing may include a fastening part fastened to the housing fixing part.

In addition, the feeding unit further includes an inner housing provided in the winding space formed inside the probe housing, around which the extension plate of the video probe is wound, and having a coupling part formed in the center thereof, wherein the video probe may further include a line elastic member extending from an end of the extension plate, passing through a circumference of the inner housing, and fixed to the coupler while being wound inside the circumference of the inner housing.

In addition, the feeding unit is provided to be coupled to the coupling part, and at least a part thereof is formed to protrude outward from the probe housing so as to rotate the inner housing together according to a user's rotational manipulation, thereby forming the line elastic member. It may further include a tension adjusting member formed to vary the tension of the.

In addition, the tension adjusting member has a tool insertion hole into which a tool for rotating operation is inserted, and a housing fixing portion coupled to the probe housing in a state in which at least the tool insertion hole protrudes outward from the probe housing, and the housing. It may include a rotation coupling portion protruding from the fixing portion and coupled to the coupling portion.

On the other hand, the feeding unit is provided with an intermittent gear rotatably provided in the probe housing to draw in or withdraw the extension plate, and provided on the opposite side of the intermittent gear around the extension plate in the probe housing, The housing may further include a spacing adjusting member configured to be rotatable about a rotation shaft provided in the housing and adjusting a spacing between the extension plate and the intermittent gear as the extension plate is pressed.

In this case, the present invention may further include an angle adjusting member provided in the probe housing, at least a part of which is exposed to the outside to adjust a rotational angle of the spacing adjusting member according to a user's manipulation.

In order to solve the above problems, a steam generator customs inspection apparatus including a probe assembly with a tilting unit of the present invention includes a feeding unit equipped with a video probe and a rotating unit for rotating the feeding unit for traveling As the tilting unit for varying the angle formed with respect to the assembly is provided, it has the advantage of being able to perform an inspection at various angles with respect to the position where the traveling assembly is currently traveling.

In addition, the present invention can compensate for the deflection by changing the angles of the feeding unit and the rotating unit through the tilting unit even when the video probe deflects due to its own weight during the inspection process, thereby enabling smooth inspection.

In particular, the present invention has the advantage of preventing the rotation of the worm wheel gear from being reversely transmitted to the worm side, while the tilting unit can fully transmit the driving force by including the drive motor, the worm, and the worm wheel gear.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a view showing the appearance of a steam generator customs inspection apparatus according to an embodiment of the present invention;
2 is a view showing a state of a probe assembly in a steam generator customs inspection device according to an embodiment of the present invention;
3 is a view showing a connection structure of a rotating unit, a fixed unit and a tilting unit in a steam generator customs inspection device according to an embodiment of the present invention;
4 and 5 are views showing the state of the tilting unit in the steam generator customs inspection apparatus according to an embodiment of the present invention;
6 and 7 are diagrams showing a state in which the angles of the feeding unit and the rotating unit are varied through the tilting unit in the steam generator customs inspection apparatus according to an embodiment of the present invention;
8 is a view showing the structure of a feeding unit in the steam generator customs inspection apparatus according to an embodiment of the present invention;
9 and 10 are views showing a process of adjusting the tension of the line elastic member in the steam generator customs inspection device according to an embodiment of the present invention; and
11 is a view showing how to adjust the interval between the intermittent gear and the extension plate in the steam generator customs inspection apparatus according to an embodiment of the present invention.

Hereinafter, a preferred embodiment of the present invention in which the object of the present invention can be realized in detail will be described with reference to the accompanying drawings. In describing the present embodiment, the same name and the same reference numeral are used for the same configuration, and additional description thereof will be omitted.

The steam generator customs inspection device according to an embodiment of the present invention is manually inserted through a handhole formed at a predetermined position of the steam generator and attached to the inner wall, and then travels along the inner wall of the steam generator through external control and It will perform inspection of customs equipped inside.

1 is a view showing a steam generator customs inspection apparatus according to an embodiment of the present invention, and FIG. 2 is a view of a probe assembly 100 in a steam generator customs inspection apparatus according to an embodiment of the present invention. is the drawing shown.

As shown in FIGS. 1 and 2 , a steam generator customs inspection device according to an embodiment of the present invention includes a probe assembly 100 and a traveling assembly 10 .

The probe assembly 100 has a video probe 320 that acquires image information for inspection of the customs tube provided in the steam generator, and a winding space formed therein so that the video probe 320 can be wound and drawn in or out. It includes a feeding unit 300 including a probe housing 310 to be.

At this time, the video probe 320 includes an extension plate 322 formed to be drawn into or extracted from the winding space while being wound around the probe housing 310, and provided at an end of the extension plate 322 to provide image information. It may include a probe head 321 that obtains.

In addition, in this embodiment, the probe assembly 100 includes a rotating unit 110 for rotating the feeding unit 300 and a connector electrically/physically connecting the rotating unit 110 to the traveling assembly 10 The tilting unit 200 provided to change the angle formed by the unit 150, the rotating unit 110, and the feeding unit 300 with respect to the traveling assembly 10 is further included.

That is, as the tilting unit 200 varies the angle formed by the rotating unit 110 and the feeding unit 300 with respect to the traveling assembly 10, the degree of freedom of the video probe 320 is expanded to enable smooth inspection. or, when the video probe 320 is lowered due to its own weight in a long drawn-out state, it may play a role of compensating for this.

The traveling assembly 10 includes a travel body 20 to which the probe assembly 100 is coupled, and includes a travel wheel 30 provided on the travel body 20 so as to travel along the inner wall of the steam generator. .

At this time, the traveling wheel 30 is provided with a magnet, so that it can travel while being attached to the inner wall of the steam generator.

In addition, a connection unit 25 capable of coupling the connector unit 150 may be provided on one side of the travel body 20, and various electric fields for the operation of the steam generator customs inspection device are inside the travel body 20. parts can be accommodated. Since this is obvious to those skilled in the art, a detailed description thereof will be omitted.

And in this embodiment, the connector unit 150 is provided so that it can be detachably fitted into the connected unit 25 to form an electrical contact, the connector unit 151 and the rotating unit ( 110) and a cable 152 for electrically connecting the feeding unit 300.

3 is a view showing the connection structure of the rotating unit 110, the fixing unit 160, and the tilting unit 200 in the steam generator customs inspection device according to an embodiment of the present invention, FIGS. 4 and 5 is a view showing the state of the tilting unit 200 in the steam generator customs inspection apparatus according to an embodiment of the present invention.

As shown in FIGS. 3 to 5 , in this embodiment, the tilting unit 200 includes a drive motor 240 , a worm 230 , a worm wheel gear 220 and a worm housing 210 .

The driving motor 240 is a component that generates rotational driving force, and the worm 230 is rotated by the driving force of the driving motor 240 and has a threaded shape around it.

In addition, the worm wheel gear 220 is fixed to the side of the rotating unit 110, and gear teeth meshing with the thread of the worm 230 are formed around the worm 230 by the driving force of the driving motor 240. It rotates in conjunction with rotation and serves to rotate the rotating unit 110 and the feeding unit 300 together.

In this embodiment, the worm wheel gear 220 includes a gear portion 221 having gear teeth engaged with the thread of the worm 230, and a shaft protruding from the gear portion 221 toward the rotating unit 110 to form a rotational axis. A connection part 222 is included.

In addition, in the case of this embodiment, the rotating unit 110 has a form in which the front housing 130 and the rear housing 120 are coupled to each other, and components for rotating the driving of the feeding unit 300 are provided therein .

Meanwhile, the probe assembly 100 may further include a fixing unit 160 that forms rotational axes of the rotating unit 110 and the worm wheel gear 220 and is fixed to the connector unit 150 .

Specifically, the fixing unit 160 is divided into a connector fixing part 161 connected to the connector unit 150 and both sides from the connector fixing part 161 to form a rotating shaft on both sides of the rotating unit 110 and connect each It includes a pair of connecting parts 162 and 163 to be.

The worm housing 210 is provided to accommodate the aforementioned drive motor 240 and the worm 230 therein, and has a gear fixing part 211 fixed to one side of a shaft that enables the worm wheel gear 220 to rotate. include

That is, the rotating unit 110 is fixed to have the same axis of rotation as the worm wheel gear 220 by the fixing unit 160, and the worm wheel gear 220 is connected to one side connection part 163 of the fixing unit 160 and the gear It is provided between the fixing parts 211 and is rotatably provided together with the rotating unit 110 .

And in this embodiment, the fixing unit 160 may further include a housing fixing part 164 protruding to one side, and the worm housing 210 is a fastening part 212 fastened with the housing fixing part 164 can include

In addition, in the case of the present embodiment, the cross-sectional area of the probe housing 310 is formed larger than the cross-sectional area of the rotating unit 110, and at this time, the gear portion 221 of the worm wheel gear 220 has a cross section of the rotating unit 110 and the probe It may be formed to have a partly cut arc shape along the boundary of the housing 310 .

The reason for doing this is to maximize the winding length of the video probe 320 by forming the volume of the probe housing 310 as large as possible, and at the same time to reduce the distance between the gear part 221 of the worm wheel gear 220 and the probe housing 310. This is to prevent interference.

6 and 7 are diagrams showing how the angles of the feeding unit 300 and the rotating unit 110 are varied through the tilting unit 200 in the steam generator customs inspection apparatus according to an embodiment of the present invention. am.

As shown in FIGS. 6 and 7, the present invention provides a feeding unit 300 equipped with a video probe 320 through a tilting unit 200 and a rotating unit 110 for rotating the driving. By varying the angle formed with respect to the traveling assembly 10 for the travel assembly 10, it is possible to perform an inspection at various angles with respect to a position where the traveling assembly 10 is currently traveling.

In particular, in the present invention, the tilting unit 200 includes the drive motor 240, the worm 230, and the worm wheel gear 220 to transmit the driving force completely, as well as the rotation of the worm wheel gear 220 to reverse the worm Since it can be prevented from being transmitted to the 230 side, it is possible to prevent the feeding unit 300 and the rotating unit 110 from being arbitrarily rotated by their own weight, and to prevent backlash generated when the driving motor 240 is driven. This has the advantage of increasing reliability.

Next, other features of the present invention will be additionally described.

8 is a view showing the structure of the feeding unit 300 in the steam generator customs inspection apparatus according to an embodiment of the present invention, and FIGS. 9 and 10 are steam generator customs inspection apparatus according to an embodiment of the present invention. In, it is a view showing a process of adjusting the tension of the line elastic member 323.

As shown in FIGS. 8 to 10, in this embodiment, the feeding unit 300 is provided in a winding space formed inside the probe housing 310, and the extension plate 322 of the video probe 320 is installed on the periphery. It further includes an inner housing 314 around which is wound.

And, the inside of the inner housing 314 is formed in an empty state, and a coupling part 315 is formed in the center thereof.

In addition, the video probe 320 extends from the end of the extension plate 322 wound around the outer circumference of the inner housing 314, passes through the circumference of the inner housing 314, and is introduced into the inner housing 314. , A line elastic member 323 fixed to the coupling part 315 in a wound state inside the circumference of the inner housing 314 may be further included.

The line elastic member 323 is formed of a thin metal or the like and has a predetermined tension while being wound inside the circumference of the inner housing 314 . Accordingly, when the probe housing 310 is pulled out, the tension gradually increases, and when the extension plate 322 is then recovered, the extension plate 322 is stably placed outside the circumference of the inner housing 314 again. allow it to be rolled up.

In addition, in this embodiment, the feeding unit 300 is provided to be coupled to the coupling part 315, and at least a part is formed to protrude outward through the through hole 311 formed in the center of the probe housing 310, A tension adjusting member 316 configured to rotate the inner housing 314 together with a user's rotation operation to change the tension of the line elastic member 323 is further included.

Conventionally, the user had to hold the inner housing 314 in a pre-rotated state and fix it, and put it into the probe housing 310 to perform bolting. There were many cases.

The present embodiment improves this point, and the user can at least partially protrude outside the probe housing 310 as shown in FIG. 9 while the inner housing 314 is assembled inside the probe housing 310. The inner housing 314 can be easily rotated by manipulating the tension adjusting member 316 formed to be.

More specifically, the tension adjusting member 316 has a tool insertion hole 317 into which a tool for rotating operation is inserted, and at least the tool insertion hole 317 protrudes outward from the probe housing 310. It may include a housing fixing part 316a coupled to the housing 310 and a rotation coupling part 316b protruding from the housing fixing part 316a and coupled to the coupling part 315 .

In addition, a first fastening hole 318 is formed in the housing fixing part 316a, and a second fastening hole 312 corresponding thereto is formed in the probe housing 310, and as shown in FIG. 10, the tension adjusting member ( 316) is assembled to the inside of the probe housing 310 and rotated n times, and then the first fastening hole 318 and the second fastening hole 312 are aligned and coupled by the bolt B. can

In addition, the present embodiment may further include a cover member 319 provided to cover an outer portion of the probe housing 310 to prevent the tension adjusting member 316 completely coupled to the probe housing 310 from being exposed to the outside. can

11 is a view showing how to adjust the distance between the intermittent gear 330 and the extension plate 322 in the steam generator customs inspection apparatus according to an embodiment of the present invention.

As shown in FIG. 11, in this embodiment, the feeding unit 300 further includes an intermittent gear 330 and a gap adjusting member 340.

The intermittent gear 330 is a component that is rotatably provided in the probe housing 310 and draws or retracts the extension plate 322. In the present embodiment, gear teeth are formed around the intermittent gear 330, and the extension plate 322 is extended. Drive holes are formed at predetermined intervals in the plate 322 and are sequentially engaged with the teeth of the intermittent gear 330 so that the plate 322 can be retracted/retracted.

In addition, the gap adjusting member 340 is provided on the opposite side of the intermittent gear 340 around the extension plate 322 in the probe housing 310, and around the rotation shaft 341 provided on the probe housing 310. formed to be rotatable.

That is, the spacing adjusting member 340 changes the pressing force on the extension plate 322 according to the rotation angle, and through this, the degree of adhesion can be varied by adjusting the spacing between the extension plate 322 and the intermittent gear 330. let it be This is to prevent the extension plate 322 from being separated from the gear teeth of the intermittent gear 330 and to allow the driving force of the intermittent gear 330 to be fully transmitted to the extension plate 322 .

In addition, the present embodiment may further include an angle adjusting member 342 provided in the probe housing 310 and at least partially exposed to the outside to adjust a rotational angle of the spacing adjusting member 340 according to a user's operation. .

In the case of the present embodiment, the angle adjusting member 342 is inserted into a screw hole formed at a predetermined position of the probe housing 310 and has a state engaged by a screw thread, so the user inserts a tool through the screw hole to adjust the angle member ( By adjusting the insertion depth of 342, it is possible to adjust the rotation angle of the spacing adjusting member 340 from the outside.

As described above, the preferred embodiments according to the present invention have been reviewed, and the fact that the present invention can be embodied in other specific forms without departing from the spirit or scope in addition to the above-described embodiments is a matter of ordinary knowledge in the art. It is self-evident to them. Therefore, the embodiments described above are to be regarded as illustrative rather than restrictive, and thus the present invention is not limited to the above description, but may vary within the scope of the appended claims and their equivalents.

10: Traveling assembly
20: travel body
25: connected unit
30: driving wheel
100: probe assembly
110: Rotating unit
120: rear housing
130: front housing
150: connector unit
151: connector part
152: cable
160: fixed unit
161: fixing part
162, 163: connection part
164: housing fixing part
200: tilting unit
210: worm housing
211: gear fixing part
212: fastening part
220: worm wheel gear
221: gear part
222: shaft connection
230: worm
240: drive motor
300: feeding unit
310: probe housing
311: through hole
312: second fastening hole
314: inner housing
315: joint
316: tension adjusting member
316a: housing fixing part
316b: rotation coupling
317: tool insertion hole
318: first fastening hole
319: cover member
320: video probe
321: probe head
322: extension plate
323: line elastic member
330: intermittent gear
340: spacing adjusting member
341: axis of rotation
342: angle adjustment member

Claims (13)

A probe assembly equipped with a video probe for inspecting customs provided in the steam generator; and
a traveling assembly coupled to the feeding assembly and formed to travel along an inner wall of the steam generator;
Including,
The probe assembly,
a feeding unit including the video probe;
a rotating unit which rotates the feeding unit;
a connector unit connecting the rotating unit to the traveling assembly; and
a tilting unit provided to change an angle between the rotating unit and the feeding unit with respect to the traveling assembly;
including,
Steam generator customs inspection device. According to claim 1,
The tilting unit,
a drive motor that generates a driving force;
a worm rotated by the driving force of the driving motor and having a thread around the worm; and
It is fixed to the side of the rotating unit, and gear teeth engaged with the screw thread of the worm are formed around the circumference to rotate in conjunction with the rotation of the worm by the driving force of the driving motor, and the rotating unit and the feeding unit rotate together Letting worm wheel gear;
including,
Steam generator customs inspection device. According to claim 2,
The feeding unit,
Further comprising a probe housing in which a winding space is formed,
The video probe,
an extension plate formed to be inserted into or drawn out of the winding space while being wound around the probe housing; and
a probe head provided at an end of the extension plate to obtain image information;
including,
Steam generator customs inspection device. According to claim 3,
The cross-sectional area of the probe housing is formed larger than the cross-sectional area of the rotating unit,
The worm wheel gear is formed such that a cross section has a shape of a truncated arc along the boundary of the rotating unit and the probe housing.
Steam generator customs inspection device. According to claim 2,
The tilting unit,
Further comprising a worm housing provided to accommodate the drive motor and the worm therein, and including a gear fixing part to which a shaft for enabling rotation of the worm wheel gear is fixed to one side,
Steam generator customs inspection device. According to claim 3,
The probe assembly,
Further comprising a fixing unit that forms a rotation axis of the rotating unit and the worm wheel gear and is fixed to the connector unit.
Steam generator customs inspection device. According to claim 6,
The fixed unit is
a connector fixing part connected to the connector unit; and
a pair of connecting parts that are divided into both sides from the connector fixing part to form rotational axes on both sides of the rotating unit and are connected to each other;
including,
Steam generator customs inspection device. According to claim 7,
The tilting unit,
Further comprising a worm housing provided to accommodate the drive motor and the worm therein, and including a gear fixing part to which a shaft rotatable to the worm wheel gear is fixed to one side,
The fixing unit further includes a housing fixing part protruding to one side,
The worm housing includes a fastening part fastened with the housing fixing part,
Steam generator customs inspection device. According to claim 3,
The feeding unit,
An inner housing provided in the winding space formed inside the probe housing, around which the extension plate of the video probe is wound, and having a coupling part formed in the center thereof;
The video probe,
Further comprising a line elastic member extending from the end of the extension plate, passing through the circumference of the inner housing and fixed to the coupling part in a state of being wound inside the circumference of the inner housing,
Steam generator customs inspection device. According to claim 9,
The feeding unit,
It is provided to be coupled to the coupling part, and at least a part thereof is formed to protrude outward from the probe housing so as to rotate the inner housing together according to a user's rotational manipulation so as to change the tension of the line elastic member. Further comprising a tension adjusting member formed,
Steam generator customs inspection device. According to claim 10,
The tension adjusting member,
a housing fixing part having a tool insertion hole into which a tool for rotating operation is inserted, and coupled to the probe housing in a state in which at least the tool insertion hole protrudes outward from the probe housing; and
a rotation coupling portion protruding from the housing fixing portion and coupled to the coupling portion;
including,
Steam generator customs inspection device. According to claim 3,
The feeding unit,
an intermittent gear rotatably provided in the probe housing to withdraw or retract the extension plate; and
It is provided on the opposite side of the intermittent gear around the extension plate in the probe housing, and is formed to be rotatable around a rotational axis provided in the probe housing, and pressurizes the extension plate so that the extension plate and the intermittent gear Spacing adjusting member for adjusting the spacing between;
Including more,
Steam generator customs inspection device. According to claim 12,
It is provided in the probe housing, and at least a part thereof is exposed to the outside and further comprises an angle adjusting member for adjusting a rotational angle of the spacing adjusting member according to a user's operation.
Steam generator customs inspection device.

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