WO2000057067A1 - Hydraulische vorsteuerung - Google Patents
Hydraulische vorsteuerung Download PDFInfo
- Publication number
- WO2000057067A1 WO2000057067A1 PCT/EP2000/001790 EP0001790W WO0057067A1 WO 2000057067 A1 WO2000057067 A1 WO 2000057067A1 EP 0001790 W EP0001790 W EP 0001790W WO 0057067 A1 WO0057067 A1 WO 0057067A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- control
- valve
- pressure
- handle
- hydraulic pilot
- Prior art date
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
- F15B13/0406—Valve members; Fluid interconnections therefor for rotary valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/0422—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with manually-operated pilot valves, e.g. joysticks
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/07—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors in distinct sequence
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/8593—Systems
- Y10T137/86493—Multi-way valve unit
- Y10T137/86574—Supply and exhaust
- Y10T137/86638—Rotary valve
- Y10T137/86646—Plug type
- Y10T137/86654—For plural lines
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/8593—Systems
- Y10T137/87169—Supply and exhaust
Definitions
- the invention is based on a hydraulic pilot control, which has the features from the preamble of claim 1.
- Such hydraulic pilot control is e.g. known from DE 196 30 798 A1.
- This pilot control includes a pilot control device that has several pressure
- I O contains decorative valves, each of which can be used to generate a pilot pressure at a control output.
- the pilot control device has a control lever which is pivoted from a neutral division to adjust a first pressure reducing valve in a first direction and to adjust a second pressure reducing valve in a second direction opposite to the first direction
- the pilot pressure then present at the first control output is different from the pilot pressure present at the second control output when the control lever is deflected in the second direction by the same angle. This is due to the tolerances with which the individual components of a pressure reducing valve are afflicted. In particular, the tolerances of the control spring of a pressure valve are included in the pilot pressure.
- a hydraulic control arrangement for a winch in which a Swiveling the control lever from its neutral position is first a proportionally adjustable directional control valve from its central position depending on the pivoting direction of the control lever is adjusted in one direction or in the other direction. From a certain swivel angle of the control lever, the inlet orifice of the directional control valve is completely open.
- a hydraulic motor driving the winch drum is then adjusted in its swallowing volume as a function of the pilot pressure, regardless of the swivel direction of the control lever.
- This adjustment should take place from a certain swivel angle of the control lever, which the operator can feel through a pressure point. So far, a lot of adjustment work has been necessary if, on the one hand, you want to have the same pilot pressure in both control outputs after a certain swivel angle of the control lever regardless of the swivel direction and if this pilot pressure should also have a certain value.
- the invention is based on the object of further developing a hydraulic pilot control with the features from the preamble of claim 1 in such a way that one has a certain pilot pressure at one of the two control outputs in a simple manner regardless of the pivoting direction of the handle after a specific pivot angle . It is also sought to make the known hydraulic pilot control more cost-effective.
- a hydraulic pilot control with the features from the preamble of patent claim 1 according to the characterizing part of this patent claim, a pressure valve which when the handle is pivoted in the first direction and when the handle is pivoted in the second Direction is adjustable in the same sense, and has a directional control valve which, depending on the pivoting direction of the handle from a rest position which it assumes in the neutral position of the handle, in a first switching position in which it connects the control output of the pressure valve with the first control output, or can be switched into a second switching position in which it connects the control output of the pressure valve with the second control output.
- a hydraulic pilot control according to the invention, only one pressure valve is provided for two pivoting directions of the handle.
- the two control outputs are relieved of pressure by bypassing the pressure valve via a tank connection of the directional control valve.
- relief of the control outputs would also be possible via the pressure valve, since in the neutral position of the handle, the control output of the pressure valve is relieved of pressure.
- the directional control valve as a movable control element preferably has a rotary slide valve, the axis of which coincides with the axis of rotation
- the handle is aligned and can be rotated via the handle in a valve bore in a valve housing. Even with large pivoting angles of the handle, there are no difficulties in coupling the control element of the directional control valve and the handle with one another.
- the rotary valve is advantageously pressed with a 5 axial stop by a spring against a stop of the valve housing, so that it always assumes the same axial position and reliably controls the connections between individual channels opening into the valve bore.
- I 0 there is a fixed pressure reducing valve which serves for the internal control pressure supply and which is accommodated in a space-saving manner in an axial bore of the control element of the directional valve designed as a slide.
- a pressure reducing valve generates a substantially lower control pressure from a high system pressure, which is fed to an adjustable pressure valve.
- the dependence of the adjustment of the pressure valve at least over a large angle range when the handle is pivoted from the neutral position in the second direction is the same as when the handle is pivoted from the neutral position in the first direction.
- This can easily be achieved by a correspondingly designed control disk for the pressure valve which can be rotated with the handle.
- the same pilot pressure is applied to one of the two control outputs regardless of the swivel direction. This is particularly advantageous if a hydraulic device is to be controlled in the same way regardless of the pivoting direction of the handle.
- a certain pilot pressure at a certain swivel angle can be set in a particularly simple manner in that the pressure valve according to Claim 12 is adjustable from the outside after the assembly of its components in a housing.
- the claims 13 and 14 show two advantageous ways of adjusting the pressure valve.
- an adjusting spring is provided, the pretension of which can be changed by an adjustable stop, so that a total spring force acting on the control element can be adjusted which results from the force of the control spring and from the force of the adjusting spring.
- the housing-fixed control edges are axially displaced for adjustment, so that the control position of the movable control element and thus, given the axial position of the plunger, the bias of the control spring changes in the control position of the control element.
- An embodiment according to claim 15 is particularly preferred.
- the plunger is then guided in a guide sleeve.
- the control cartridge which is adjustably inserted into a housing to change the position of the control edges fixed to the housing, is extended beyond the control edges and holds the guide sleeve captively.
- the control cartridge, the guide sleeve and the moving parts of the pressure valve thus form a structural unit which can be handled as a whole and can be easily assembled as a whole in a housing. It is expressly pointed out that the design of a pressure valve according to claim 15 is also advantageous if this pressure valve is used in conventional pilot control devices, in which an adjustable pressure valve is generally available for each pivoting direction of the handle.
- An exemplary embodiment of a hydraulic pilot control according to the invention is shown in the drawing. The figures are now used to explain the invention in more detail
- FIG. 1 shows the exemplary embodiment in a circuit diagram, in which the control lever and the angular ranges in which the control lever is located during the different operating modes are also shown schematically,
- Figure 2 is a partial section through a pilot device perpendicular to the axis of the
- Control lever, the cutting plane for the reset device and the I O housing is different than that for the pilot valve
- FIG. 3 shows the shaft with cam tracks rotatable with the control lever, the pressure piece of the restoring device and a tappet of the pilot valve in a position which the parts assume when the control lever is deflected to the maximum in the direction of fines
- FIG. 4 shows the same parts as in FIG. 3 in one position, in the control lever is deflected by 1 5 degrees from its neutral position into the heave angle range
- FIG. 5 shows the same parts as in FIG. 4 after a deflection of the control lever by 25 degrees
- FIG. 6 shows the parts from FIG. 5 after a deflection of the control lever by 45 degrees up to the end of the auxiliary angle range
- FIG. 7 shows the parts from FIG. 6 after the control lever has been deflected by 57 degrees to the start of the mounting angle range
- FIG. 8 shows the parts from FIG. 7 after the control lever has been pivoted by 5 100 degrees to the end of the mounting angle range
- Figure 9 is a section along the line IX-IX of Figure 2.
- FIG. 1 the rolled-up groove pattern of the rotary valve of the directional control valve, via which the control output of the adjustable pressure valve can be connected to one, the other or both control outputs
- a winch 10 can be seen in FIG. 1, which can be driven in opposite directions via a gear 11 by an adjustable hydraulic motor 12.
- a brake 13 5 is arranged between the output shaft of the hydraulic motor and the transmission, which can be actuated via a single-acting hydraulic cylinder 14.
- the hydraulic cylinder 14 is constructed in the manner of a differential cylinder, the piston and piston rod of which can be displaced by a spring in the sense of an engagement of the brake.
- the absorption volume of the hydraulic motor 12 can be adjusted continuously as a function of a control pressure applied to the control input 16 and is smaller the greater the control pressure.
- a control cylinder 17 designed as a differential cylinder and a pump control valve 18 are provided for the adjustment. This has one
- the piston and piston rod of the stela cylinder 17 each occupy such a position that the force generated by the applied control pressure and the force generated by the springs maintain equilibrium on the piston of the pump control valve 18. In this way, a certain absorption volume of the hydraulic motor 12 can be set by the control pressure.
- the source of the pressure medium that is supplied to the hydraulic motor 12 is a variable displacement pump 25, which sucks in hydraulic oil from a tank 26 and delivers it into an inlet line 27.
- the adjusting pump 25 is provided with a pressure regulator 28, that is, when the pressure set on the pressure regulator 28 is reached in the feed line 27, swivels back to a stroke volume which is sufficient to maintain the set pressure in the feed line 27.
- a pressure relief valve 29 is connected to the inlet line 27.
- the maximum stroke volume of the variable displacement pump is designed so that it has not yet been swung out as far as it will go, even if, taking into account the simultaneous actuation of several hydraulic consumers, the maximum amount of pressure medium is requested.
- the speed at which the hydraulic motor 12 rotates and the direction of rotation can be controlled with a proportionally adjustable directional valve 35.
- This is spring centered in a central position and can be operated hydraulically. It has a total of six connections, namely an inlet connection 36 to which pressure medium can flow from the inlet line 27 via a pressure compensator 37, an outlet connection 38 which is connected directly to a tank line 39, and a second outlet connection 40 which is connected to the tank line via a brake valve 41 39 is connected, a first consumer connection 42, which is connected to the motor connection 21 via a consumer line 43, a second consumer connection 44, which is connected to the motor connection 22 via a consumer line 45, and a brake connection 46, via which the annular space 15 of the hydraulic cylinder 14 is pressurized.
- the directional control valve 35 In the spring-centered central position of the directional control valve 35, its connections 36, 40 and 44 are shut off.
- the connections 42 and 46 are connected to the connection 38 and thus to the tank 26.
- a control pressure By applying a control pressure to a first control chamber 47, the valve piston of the directional control valve 35 is shifted to a different working position, depending on the level of the control pressure, in which the drain connection 38 is shut off.
- the consumer connection 42 and the brake connection 46 are connected to the inlet connection 36 together via a metering orifice 48, the opening cross-section of which depends on the degree of displacement of the valve piston.
- the consumer connection 44 is connected to the drain connection 40 via an outlet throttle 49.
- valve piston of the directional control valve 35 moves from the central position to a different extent into a second working position, in which the consumer port 42 is connected to the drain port 38 unthrottled.
- the brake connection and the other consumer connection 44 are connected together via the metering orifice 48 to the inlet connection 36.
- the drain port 40 is shut off.
- the maximum displacement of the valve piston in the two opposite directions is limited by adjustable stops 51.
- the pressure compensator 37 is arranged according to the connections described between the various connections of the directional control valve 35 in its two working positions upstream of the metering orifice 48.
- the control piston of the pressure compensator 37 is acted upon in the direction of closing by the pressure upstream of the metering orifice and in the direction of opening by a compression spring 52 and by a pressure which is applied via a control line 53 which is connected to the brake connection of the directional control valve and thus in each case to the Flow to the hydraulic motor 12 lying consumer port 42 or 44 of the directional control valve 35 is connected.
- the pressure is therefore in each case equal to the pressure downstream of the metering orifice 48.
- the pressure compensator 37 regulates a specific force equivalent to the spring 52 Pressure difference across the orifice 48.
- the amount of pressure medium flowing through the metering orifice 48 thus only depends on the opening cross section of the metering orifice and is independent of the load pressure and the pump pressure.
- control piston of the brake valve 41 is acted upon in the opening direction by the pressure present at the consumer connection 42 of the directional control valve 35 and thus also in the consumer line 43 and at the motor connection 21 and in the closing direction by the force of a compression spring 54 and by a pilot pressure applied via a control line 55, which constant in the range of e.g. 40 bar.
- the two pressures act on surfaces of the same size, so that the brake valve 41 throttles the flow of pressure medium from the hydraulic motor 12 via the consumer line 45 in such a way that a pressure is built up in the consumer line 43 when the load is pulled together with the throttle 49 generated a force on the control piston of the brake valve, the force of the compression spring 54 and the
- a pressure relief valve 60 is arranged between the two consumer lines 43 and 45 and is set to a pressure which is 10-20 bar above the pressure regulated by the variable displacement pump 25, but below the set pressure of the pressure relief valve 29. 5
- the directional control valve 35, the pressure compensator 37, the brake valve 41 and the pressure relief valve 60 are accommodated in a valve plate 61.
- a pilot control device 65 is built onto this, via which a lockable bypass line 66 leads, which flows upstream of the pressure compensator 37 from the feed line 27 and into the User line 45 opens, ie bypasses the pressure compensator 37 and the directional control valve 35.
- the bypass line 66 there is a nozzle 67, which is located in the plate 61 and through which the amount of pressure medium that can flow to the hydraulic motor 12 via the bypass line 66 is limited to approximately 10% of the amount of pressure medium, 5 with the maximum opening of the metering orifice 48 flows via the directional valve 35 to the hydraulic motor 12.
- the pilot control device 65 contains two pressure reducing valves 68 and 69, a directional control valve 70, a check valve 71, various shuttle valves 72, 73, 74 and 75, two
- the check valve 71 is located in the bypass line 66 and blocks the supply line 27. Downstream of the check valve 71, the pressure reducing valve 68 is connected to the bypass line 66 with its pressure connection. A relief port on the pressure control valve
- the pressure reducing valve 68 is set to a fixed value and regulates, for example, the already mentioned pressure of 40 bar at its control output and in a pilot pressure supply channel 79 to which the control line 55 leading to the brake valve 41 is connected.
- the second pressure reducing valve 69 which is connected with its pressure connection 0 to the channel 79, with its relief connection to the channel 78 and with its control output to a pilot pressure channel 80, is adjustable by pivoting a control lever 81 from a neutral position.
- the pivot axis of the control lever 81 is designated 82.
- a control disk 83 is attached to the control lever with a control cam, against which an actuating tappet 5 84 of the pressure reducing valve 69 rests.
- the control curve is designed such that when the control lever is pivoted out of the neutral position, the pressure reducing valve 69 is initially adjusted in the same manner regardless of the pivoting direction.
- the pilot pressure in channel 80 starts from a swivel angle of approximately 8 degrees to a swivel angle of 45 degrees. continuously, though not necessarily with the same slope everywhere.
- the pivot angle of the control lever 81 is limited to approximately 50 degrees. In this direction, the control lever for pivoting, that is, for unrolling the hawser from the winch 10, is pivoted.
- the control lever is swiveled in the other direction for lifting purposes, ie if the hawser is to be rolled up onto the winch 10.
- the control lever 81 returns to its neutral position both when pivoting in the direction of Fieren and when pivoting in the direction of Hieven due to a restoring device acting on it when it is released.
- control lever in the direction of Hieven, can be swiveled up to a swivel angle of approximately 100 degrees, whereby when swiveled over approximately 54 degrees it remains in the position it has assumed, even if it is released. In this area, the winch 10 is operated in the mooring.
- the three angular ranges Fieren, Hieven and Mooring are hatched in Figure 1
- the control disk 83 is designed such that the pressure in the channel 80 in the mooring angle region 87 decreases with increasing pivoting angle of the control lever 81.
- the directional control valve 70 is operated mechanically by the control lever 81.
- Its movable valve element is designed as a rotary slide 181 (see FIGS. 9 and 10), the axis of rotation of which coincides with the axis 82 of the control lever 81. It can assume a total of four functionally distinguishable switching positions and has 7 connections, of which two connections 88 and 89 5 are located in the bypass line 66 downstream of the check valve 71 and upstream of the nozzle 67.
- the pilot pressure channel 80 leads to a connection 90.
- a connection 91 is connected to the leakage channel 78.
- the three remaining connections 92, 93 and 94 each lead to a first input of a shuttle valve 72 or 73 or 74.
- the second input of the shuttle valve 74 is connected to the brake 46 of the directional control valve 35 connected From the outlet of this shuttle valve leads a line 95 to the annular space 15 of the hydraulic cylinder 14.
- the second input of each of the two shuttle valves 72 and 73 is each connected to an external connection 95, which is closed in the present case, but offers the possibility that 5 winch to be controlled with a second pilot control device, which is arranged at a distance from the block consisting of the plate 61 and the pilot control device 65.
- the line is between the connection 46 of the directional control valve 35 and the shuttle valve 74 necessary because then the annular space 15 of the hydraulic cylinder 14 with this line
- IO pressure can be applied From the outlet of the shuttle valve 72 a control line 96 leads to the control chamber 50 via a steaming nozzle 76 and from the outlet of the shuttle valve 73 also via a steaming nozzle 76 a control line 97 to the control chamber 47 of the directional control valve 35.
- the shuttle valve 75 is located with an inlet at the outlet of the shuttle valve 72 and with its other
- the directional control valve 70 takes in the neutral position of the control lever! 81 a position in which the connections 88, 89 and 90 are shut off and the other connections are connected to the tank channel 78.
- the bypass line 66 is therefore blocked.
- the control lines 95, 96, 97 and 98 are relieved of pressure to the channel 78.
- the directional control valve 35 is thus in its central position.
- the hydraulic motor 12 is at maximum absorption volume.
- the brake 13 has engaged
- the control lever for gearing is now adjusted in the angular range 85.
- This brings the directional control valve 70 into a switching position in which the connections 89 and 94, the connections 90 and 93 and the connections 91 and 92 are each connected to one another 90 and 93 and the shuttle valve 73 and the control line 97, the control chamber 47 of the directional valve 35 applied with a control pressure.
- This control pressure is also applied to the control input 16 of the hydraulic motor 12 via the shuttle valve 75 and the control line 98.
- the control chamber 50 of the directional control valve 35 is relieved of pressure via the control line 96, the shuttle valve 72 and the connections 91 and 92 of the directional control valve 70 or via the relief nozzle 77.
- the directional control valve 35 is thus brought into a position in which the inlet connection 36 is connected to the consumer connection 42 and to the brake connection 46 via the metering orifice 48.
- a pressure builds up in the consumer line 43 and in the feed line 27, which is also present in the annular space 15 of the hydraulic cylinder 14 via the shuttle valve 74 and is finally sufficient to release the brake.
- Pressure medium conveyed by the hydraulic pump 25 can now via the inlet line 27, the pressure compensator 37, the directional valve 35 and the consumer line 43 to the hydraulic motor 12 and from there via the consumer line 25 the throttle opening 49 of the directional valve 35 and via the brake valve 41 to the tank 26 stream.
- the hawser is unwound from the winch 10.
- the brake valve 41 ensures that the outflow of pressure medium from the hydraulic motor 12 to the tank can only be throttled, so that a certain pressure is maintained in the consumer line 43. This is sufficient to keep the brake 13 released.
- the speed at which the hawser is unwound is determined solely by the control pressure dependent on the deflection of the control lever 81.
- the speed of the winch 10 is influenced in two ways. Only the directional control valve 35 is adjusted up to a deflection angle of 25 degrees, but not the hydraulic motor 12. This remains at maximum swallowing volume and maximum torque. The torque is indicated in Figure 1 by the radial expansion of the fields 85, 86 and 87.
- the directional control valve 70 comes into a position in which the connections 89 and 94 are in turn connected to one another.
- the connection 90 is now connected to the connection 92 and the connection 91 connected to the connection 93
- the control chamber 47 is relieved of pressure and the control chamber 50 of the directional control valve 35 is acted upon by a pilot pressure dependent on the deflection angle of the IO control lever 81. This pressure is also present at the control input 16 of the hydraulic motor 12.
- the directional valve reaches its second division of labor, in the pressure medium required by the variable displacement pump 25 can flow to the hydraulic motor 12 via the supply line 27, the pressure compensator 37, the connections 36 and 44 with the metering orifice 48 in between and via the consumer line 45.
- the pressure medium flows out from the hydraulic motor 12 via the consumer line 43 and the connections 42 and 38 de s
- Directional control valve 35 to the tank 26 A load-dependent pressure builds up in the consumer line 45 and in the feed line 27, which is sufficient to release the brake 13.
- the hawser is now wound onto the winch 10
- the directional valve 70 reaches a switching position in which the connections 88 and 94 are connected to the connection 89. Accordingly, the bypass line 66 is open for the flow of pressure medium and the annular space 15 of the Hydraulic cylinder 14 is connected to the bypass line downstream of the check valve 71. The port 91 of the directional control valve 70 is blocked. The ports 92 and 93 are therefore connected to the port 90 with the control output of the pressure reducing valve 69.Therefore, the same pilot pressure is present in both control chambers of the directional control valve 35, so that due to its centering returns. The pilot pressure is also present at the inlet 16 of the hydraulic motor 12.
- the control curve of the control disk 83 is designed such that the pilot pressure is so high at the beginning of the mooring angle range that the hydraulic motor is set to its minimum absorption volume. The torque that can be exerted by the hydraulic motor 12 is thus minimal. With increasing deflection of the control lever 81 in the mooring angle region 87, the pilot pressure decreases continuously, so that the swallowing volume and thus the torque that can be exerted by the hydraulic motor 12 are continuously increased. This is favorable in terms of work physiology.
- the control lever 81 is fastened to a shaft 183 protruding from the housing 101 of the pilot device 65, with which, as can be seen from FIG. 2, a cam disk 102 with a cam track 104 cooperating with a resetting device 103 and which axially directly adjoins the housing 101
- Cam 102 connecting control disk 83 with one with the tappet 84 of the pressure reducing valve 69 cooperating control curve 105 are coupled against rotation.
- the cam track 104 and the control cam 105 are each part-cylindrical surfaces that extend axially to a certain extent.
- the cam disk 102 and the control disk 83 are located in a larger cavity 99 of the housing 101, in which diametrically opposite, but also axially offset from one another, corresponding to the axial offset of the cam disk 102 and control disk 83, two housing bores 106 and 107 open.
- the housing bore 106 receives the parts of the reset device 103.
- the pressure reducing valve 69 is inserted into the housing bore 107.
- This pressure reducing valve 69 can be adjusted from the outside in such a way that a specific pilot pressure is present in the channel 80 at a selected deflection angle of the control lever 81. At this selected deflection angle, the directional valve 35 should be completely open and the adjustment of the hydraulic motor 12 should begin.
- the pressure reducing valve 69 has a control cartridge 108 for adjustment, which is screwed into the housing bore 107 from the outwardly open end of the housing bore 107.
- the control cartridge 108 is stepped on the outside in three stages and has a seal 109, 110 and 111 in each step. Between the seal 109 with the smallest diameter and the middle seal 110, an annular space is formed between the control cartridge 108 and the housing 110, which is part of the 1 in FIG.
- a further annular space which belongs to the pilot pressure channel 80 from FIG. 1, is located axially between the two seals 110 and 111 on the outside of the control cartridge 108.
- Another annular space between the control cartridge 108 and the housing 101 is created in front of the seal 109, this annular space belonging to the leakage channel 78 from FIG. 1.
- the central passage 112 through the control cartridge 108 has sections lying axially one behind the other with different cross sections.
- a bore section with the smallest diameter is located approximately axially between the seals 109 and 110 and is open to the annular space 5 79 via two radial bores 113.
- a grub screw 115 is screwed into the bore section, by means of which the mentioned bore sections are closed to the outside. Beyond the grub screw 115
- the passage is designed as an internal polygon, on which one can engage with a tool for rotating and thus for axially adjusting the control cartridge 108.
- a guide bushing 118 is inserted for the tappet 84 of the pressure control valve 69 and is captively secured therein by a grub screw 121.
- the guide bushing has radial bores 119, via which, together with an annular space located between the control cartridge 108 and the guide bushing 118, a between the control cartridge 108, the guide bushing 118 and the
- the passage section into which the radial bores 1 13 open serves as a guide bore for a control piston 125 and controls together with the Re ⁇
- the control piston 125 is a hollow piston with an axial blind bore 126 that leads to the radial bores 114 open and connected to the outside of the control piston via a plurality of radial bores 127.
- the radial bores 127 merge into an annular groove 128 on the outside.
- the axial extent of the annular groove, including the radial bores 127, is slightly smaller than the clear axial distance between the 5 control edges on the control cartridge 108 , so that it is possible to separate the blind bore 26 with a positive overlap both from the radial bores 113 and from the spring chamber 120.
- the control piston 125 extends through the spring chamber 120 and projects with a head 129 into a blind bore 130 of the pushing ice 84 engages behind a disc 131 with the head 129, which
- a return spring 133 for the plunger 84 received by the spring chamber 120 is supported on the one hand on the control cartridge 108 and on the other hand via the spring plate 132 and the disk 131 on the plunger 84 and continues to print the plunger against the cam 105
- a control spring 134 is received by the spring chamber 120, which is clamped between a spring plate 135 resting on a shoulder of the control piston 125 and the spring plate 132 and which ensures that the head 129 rests on the disk 131 in the rest position of the ice cream 84 shown
- the pressure relief valve 69 is arranged with respect to the axis of the control lever 81 so that the axis of the push rod 84 perpendicularly intersects the axis 82 of the control lever 81.
- the control curve 105 is based on a central neutral line in which its distance from the axis 82 is minimal and on which the tappet 84 rests in the neutral position of the control lever 81, initially of the same design on both sides. Your distance from the axis 82 increases continuously.
- the control curve 105 ends in a radially outwardly extending flat section 140, for which the plunger 84 acts as a stop and which therefore limits the pivoting angle of the control lever 81 in one direction.
- This preload and thus also the pilot pressure in the given tappet position can be adjusted.
- the control cartridge 108 is screwed somewhat into or out of the housing 101. This also changes the control position of the control piston 125 and thus, for a given tappet position, the preload of the control spring 134 and thus the level of the pilot pressure.
- the pilot pressure increases, and when it is unscrewed it decreases. A certain pilot pressure can thus be adjusted for a selected position of the control lever 81.
- specimen scatter can occur, since the rigidity of the control springs used in different specimens vary.
- the resetting device 103 comprises a pressure piece 145 which is guided with a cylindrical section 146 in the housing bore 106 and with a double surface 147, the flat surfaces of which are oriented perpendicular to the axis 82, protrudes into the cavity 99 and with its end face running parallel to the axis 82 148 is pressed against the back curve curve 104.
- a pressing force is exerted by a return spring 149 in the entire swivel range.
- a further pressure spring 150 acts in the mooring angle region designated by 87 in FIG. 1.
- the springs are located in a spring space between the pressure piece 145 and a screw plug 151 screwed into the housing bore 106.
- the pressure piece 146 has a Locking screw 151 towards blind hole 152, between the bottom and locking screw 151 of which the return spring 149 is clamped. Within the return spring 149 there is a bush 153, which is also open towards the locking screw 151 and in the blind hole of which the pressure spring 150 is largely accommodated. In the position of the pressure piece 145 shown in FIG. 2, in which it is at its greatest distance from the locking screw 151, the pressure spring 150 is completely relaxed. Only after a certain path of the pressure piece 145 towards the locking screw 151 does the pressure spring 150 become effective.
- the pressure piece 145 has on its outside diametrically opposite two axially extending grooves 154 and 155, which are of different lengths, but start at the same distance from the end of the pressure piece 145 facing the screw 151.
- a pin 156 which is held in the housing 101, engages in the groove 154 with little play.
- the pressure piece 145 is secured against rotation by the pin 156.
- the groove 154 is so long that the axial movement of the pressure piece 145 is not limited by the pin 156.
- the cam track 104 is essentially composed of four areal curve sections that can be distinguished from one another.
- a curve section 160 extends over 180 degrees around the axis 82 and is curved in a circular cylinder, that is to say it is at the same distance from the axis 82 everywhere.
- FIG Axial plane 164 which passes through the axis 82 and the ends of the curve section 160, perpendicular to the axis of the pressure piece 145.
- the middle curve section 161 of these three curve sections extends at a short distance from the plane 164 parallel to the latter.
- the two curve sections 162 and 163 run obliquely from curve section 161 to curve section 160.
- the end face 148 of the pressure piece 145 facing the cam track 104 has two flat surface sections 168 and 169 which are in alignment with one another and perpendicular to the axis of the pressure piece 145 and which extend inwards to different extents from the round side surface sections of the double flat face 147.
- the surface section 169 is substantially longer than the surface section 168.
- a cutout 170 is made in the end face 148 which extends perpendicularly to the flat sides and which starts from the inner end of the surface section 168 a uniformly curved surface 171 is delimited, the curvature of which is equal to the curvature of the curve section 160 of the curved track 104.
- a groove 172 adjoins the surface 171 and lies centrally in the end face of the pressure piece. One side of the groove 171 goes into a stop surface 173 into the flat surface section 169
- the spring IO space receiving the springs 149 and 150 is thus fluidly connected to the cavity 99 of the housing 101
- the cavity 99 in turn lies in the leakage line 78
- the control lever 81 is pivoted into the fiering angle region 85 according to FIG. 1 for the purpose of fiering, that is, for unwinding the hawser.
- the reset device 103 When the control lever 81 is released in the heave angle range, the reset device 103 is able to return the control lever to its neutral position, since any further deflection of the control lever in this area is associated with an increase in the pretension of the return spring 149.
- FIG. 7 shows a state in which the tappet 84 has just overcome the elevation 141 of the control cam 105 and the cam section 160 of the cam track 104 is slightly immersed in the recess 170 and bears against the surface 171 there.
- the pressure piece 145 is now pressed against the cam section 160 of the cam track 104 by the force of the spring 149 and additionally by the force of the spring 150.
- the control lever is located in the mooring angle region 87.
- the distance between the heat angle region 5 and the mooring angle region is approximately 10 degrees, in which the tappet 84 overcomes the elevation 141 of the control curve 105.
- the increase in the pilot pressure that occurs has no effect on the directional control valve 35 and the hydraulic motor 12, since at the end of the auxiliary angle range the directional control valve 35 is fully open and the hydraulic motor 12 is set to its smallest absorption volume IO.
- the cam section 168 of the cam track 104 abuts the stop surface 173 of the recess 170, as shown in FIG. A further pivoting of the control lever 81 is no longer possible.
- control curve 105 is designed in the area 142 so that with further extension of the control lever, the tappet 84 continues to emerge from the guide bush 118, so that the springs of the pressure reducing valve 69 have a torque in the sense of a further deflection on the control lever Exercise 81.
- the frictional forces between the pressure piece 145 and the cam disk 102 and between the tappet 84 and the control disk 83 are so great that the control lever maintains its position in the mooring angle range, even when it is released.
- the meaning of the groove 172 in the recess 170 of the pressure piece 145 is also apparent from FIG. 8.
- This channel ensures a pressure medium exchange between the spring chamber with the springs 149 and 150 and the cavity 99 in the housing 101 in a simple manner even when the control lever 81 is pivoted to the end of the mooring angle range.
- the groove 155 in the pressure piece 145 is of no importance for a control arrangement with mooring operation of the winch. However, not every winch is also intended for mooring operations.
- the groove 155 allows the pressure piece 145 to be used for a winch without mooring operation. For this purpose, it is installed in the housing 101 only in comparison to the state shown in FIG. 2 rotated by 180 degrees about its longitudinal axis.
- the pin 156 then engages in the groove 155. Because of the shortness of this groove, the pin 156 limits the path that the pressure piece 145 can be moved towards the locking screw 151. This gives you a stop for the control lever at the end of the heave angle range. At the end of
- the pin 156 can also be effective. Depending on the length of the groove 155, however, the plunger 84 may already hit the surface 140 of the control cam 105 beforehand.
- the groove 155 thus makes it possible to use a pilot control device for a winch without mooring operation and a winch with mooring operation with the same pressure piece 145 build up.
- An existing winch can also be
- the housing 101 has a valve bore 180, in which the movable control element of the directional control valve 70, which is designed as a rotary slide valve 181, and in which the various lines or line sections leading to the directional valve 70 according to FIG Bores are formed in the housing 101, as will be described with reference to FIG 10.
- the valve bore 180 widens at one end to the cavity 99 in which the cam plate 102 and the control plate 83 are located.
- Cam 102 and control disc 83 are made in one piece with the 5 rotary valve 181.
- the cavity 99 is closed by a housing cover 182, in which the shaft 183, which projects beyond the cover 182 and to which the control lever 81 is fastened, is rotatably mounted centrally and in alignment with the axis of the rotary slide valve 181.
- the shaft ends within the housing 101 in a stop collar 184 which bumps against a step in the cover 182 and prevents the shaft 183 from detaching from the housing 101.
- Shaft 183 and rotary slide 181 are coupled to one another in a rotationally secure manner via two pins 85, each of which engages axially in a bore in the rotary slide and the shaft.
- a compression spring 186 is accommodated, which is supported on the bottom of the blind bore and via a ball 187 on the rotary slide 181 and axially pushes the shaft 183 and rotary slide 181 apart, so that on the one hand the shaft 183 abuts the cover 182 and the rotary valve 181 via the cam 102 on the housing 101 and the two parts largely assume fixed axial positions.
- valve bore 180 opens into an enlarged end space 188, which is closed to the outside by a screw plug 189.
- the cavity 99 and the space 188 are connected to one another and to the leakage oil line 19, as is indicated by the dashed line 15 and the reference number 78 from FIG.
- a second annular space 194 is the inlet connection of the pressure reducing valve.
- connection 90 opens into the valve bore 180 at a point at which an annular groove 201 rotates around the rotary slide valve 181.
- one side of the connection 90 opens axially on FIG. 5 and at a distance from this the connection 92 and on the other side the connection 93 into the valve bore 180.
- Axially at the level of the connection 92 there are two equally long finite grooves in the rotary valve 181 202 and 203, which are connected to the annular groove 201 via axial grooves.
- each of which is fluidly connected to the cavity 99 and thus to the leakage line via a radial bore 206 with a central axial bore 207 and a further radial bore 208 of the rotary slide valve 181.
- FIG. 10 shows the rotary slide 181 in a position which it assumes in the neutral position of the control lever 81. It can be seen that the grooves 204 and 209 cover the connections 92 and 93, so that these two connections are relieved of pressure. If the rotary slide in the view according to FIG. 10 is now moved downward for the operating mode hoisting the winch, the connection 92 is separated from the groove 204 and, after a short distance, overlaps with it the groove 202. The connection 92 is now connected to the control output of the pressure reducing valve 69. The connection 93 initially remains in register with the groove 209 and is thus relieved of pressure. This constellation remains until the end of the Hieven angle range 86 from FIG. 1. Then the connection 93 comes out of the area of the groove 209 and overlaps with the groove 213. The same pilot pressure is present at it as at the connection 92.
- connection 92 When the control lever is pivoted in the direction of fiering, the connection 92 remains in overlap with the groove 204, while the connection 93 is covered with the groove 211.
- the rotary slide 181 also has a circumferential groove 215, from which radial bores 216 extend, which open into the blind bore 190 before the pressure reducing valve 68 inserted in the rotary slide 181, that is to say are connected to the control outlet of the pressure reducing valve 68 .
- the groove 215 and the radial bores 216 thus lie in the channel 79 according to FIG. 1, via which a largely constant supply control pressure is present at the inlet connection of the pressure reducing valve 69.
- a groove 217 runs around the rotary slide valve 181, which is connected via axial grooves to two short grooves 218 which are diametrically opposite one another.
- the grooves 218 overlap with the connections 88, so that pressure medium can flow 5 through the bypass line 66 from FIG.
- the grooves 218 and thus the groove 217 are connected via a further annular groove 219 to two diametrically opposed grooves 220, with which the connection 94 overlaps when the control lever is pivoted out of the neutral position, so that the annular space 15 of the cylinder 14 system pressure can be applied from FIG.
- connection 94 is via a small radial bore 221 of the Rotary valve 181 connected to the axial bores 193 and thus relieved to the tank.
- the annular space 194 open to the annular groove 219, the annular space 194, that is to say the pressure input of the pressure reducing valve 68, is connected to the annular groove 217 and thus to the bypass line 66.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Fluid-Pressure Circuits (AREA)
- Mechanically-Actuated Valves (AREA)
- Servomotors (AREA)
- Safety Valves (AREA)
- Multiple-Way Valves (AREA)
- Mechanical Control Devices (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/937,323 US6481461B1 (en) | 1999-03-24 | 2000-03-02 | Hydraulic pilot control |
DE50004983T DE50004983D1 (de) | 1999-03-24 | 2000-03-02 | Hydraulische vorsteuerung |
JP2000606908A JP2002540353A (ja) | 1999-03-24 | 2000-03-02 | 液圧式のパイロット制御装置 |
EP00910754A EP1163454B1 (de) | 1999-03-24 | 2000-03-02 | Hydraulische vorsteuerung |
KR1020017012130A KR20010109320A (ko) | 1999-03-24 | 2000-03-02 | 유압 파일럿 컨트롤 |
NO20014575A NO20014575D0 (no) | 1999-03-24 | 2001-09-20 | Hydraulisk forstyring |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19913276.3 | 1999-03-24 | ||
DE19913276A DE19913276A1 (de) | 1999-03-24 | 1999-03-24 | Hydraulische Vorsteuerung |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000057067A1 true WO2000057067A1 (de) | 2000-09-28 |
Family
ID=7902205
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2000/001790 WO2000057067A1 (de) | 1999-03-24 | 2000-03-02 | Hydraulische vorsteuerung |
Country Status (7)
Country | Link |
---|---|
US (1) | US6481461B1 (de) |
EP (1) | EP1163454B1 (de) |
JP (1) | JP2002540353A (de) |
KR (1) | KR20010109320A (de) |
DE (2) | DE19913276A1 (de) |
NO (1) | NO20014575D0 (de) |
WO (1) | WO2000057067A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003080496A1 (de) | 2002-03-22 | 2003-10-02 | Bosch Rexroth Ag | Steuerung |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100706497B1 (ko) * | 2003-10-01 | 2007-04-10 | 현대중공업 주식회사 | 압력전환 밸브를 이용한 유압장치 |
US7152627B2 (en) * | 2004-04-05 | 2006-12-26 | R. H. Sheppard Co., Inc. | Control valve for a hydraulic power steering system |
DE102010048068B4 (de) | 2010-04-16 | 2022-11-10 | Robert Bosch Gmbh | Ventilanordnung |
DE102012012297A1 (de) | 2012-03-30 | 2013-10-02 | Atlas Copco Construction Tools Gmbh | Ventil |
CN102878142B (zh) * | 2012-10-31 | 2015-03-18 | 南通润邦重机有限公司 | 一种比例恒张力液压阀组 |
US10207905B2 (en) | 2015-02-05 | 2019-02-19 | Schlumberger Technology Corporation | Control system for winch and capstan |
CN104632746B (zh) * | 2015-03-04 | 2017-11-24 | 徐州重型机械有限公司 | 切换阀、切换液压系统以及起重机 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2523532A (en) * | 1947-04-30 | 1950-09-26 | Peter J Harinck | Hydraulic control valve |
DE4316229A1 (de) * | 1993-05-14 | 1994-11-24 | Rexroth Mannesmann Gmbh | Handbetätigtes Druckregelventil |
DE19630798A1 (de) | 1996-06-22 | 1998-01-02 | Rexroth Mannesmann Gmbh | Vorsteuerung für zwei hydraulisch betätigbare Wegeventile |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE116080C (de) | ||||
US3150685A (en) * | 1963-02-21 | 1964-09-29 | Caterpillar Tractor Co | Hydraulic control with mechanically vented pump unloading means |
DE1601720A1 (de) * | 1968-01-29 | 1971-01-07 | Fendt & Co Xaver | Hydraulikanlage fuer mehrere Verbraucher |
DE2003584A1 (de) * | 1969-02-26 | 1970-09-10 | Mita Srl | Einrichtung zur Druckmittelverteilung |
US3847180A (en) * | 1971-12-23 | 1974-11-12 | Caterpillar Tractor Co | Low effort, proportional control valve |
DD116080A2 (de) * | 1974-05-29 | 1975-11-05 | ||
US4436020A (en) * | 1982-03-11 | 1984-03-13 | Caterpillar Tractor Company | Dual input pressure compensated fluid control valve |
DE19654547C2 (de) * | 1996-12-27 | 1999-03-18 | Kaessbohrer Gelaendefahrzeug | Verfahren zum Betreiben einer Winde und zugehörige Vorrichtung |
-
1999
- 1999-03-24 DE DE19913276A patent/DE19913276A1/de not_active Withdrawn
-
2000
- 2000-03-02 US US09/937,323 patent/US6481461B1/en not_active Expired - Fee Related
- 2000-03-02 JP JP2000606908A patent/JP2002540353A/ja active Pending
- 2000-03-02 EP EP00910754A patent/EP1163454B1/de not_active Revoked
- 2000-03-02 DE DE50004983T patent/DE50004983D1/de not_active Expired - Fee Related
- 2000-03-02 KR KR1020017012130A patent/KR20010109320A/ko not_active Application Discontinuation
- 2000-03-02 WO PCT/EP2000/001790 patent/WO2000057067A1/de not_active Application Discontinuation
-
2001
- 2001-09-20 NO NO20014575A patent/NO20014575D0/no not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2523532A (en) * | 1947-04-30 | 1950-09-26 | Peter J Harinck | Hydraulic control valve |
DE4316229A1 (de) * | 1993-05-14 | 1994-11-24 | Rexroth Mannesmann Gmbh | Handbetätigtes Druckregelventil |
DE19630798A1 (de) | 1996-06-22 | 1998-01-02 | Rexroth Mannesmann Gmbh | Vorsteuerung für zwei hydraulisch betätigbare Wegeventile |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003080496A1 (de) | 2002-03-22 | 2003-10-02 | Bosch Rexroth Ag | Steuerung |
DE10213010A1 (de) * | 2002-03-22 | 2003-10-02 | Bosch Rexroth Ag | Steuerung |
Also Published As
Publication number | Publication date |
---|---|
NO20014575L (no) | 2001-09-20 |
US6481461B1 (en) | 2002-11-19 |
DE19913276A1 (de) | 2000-09-28 |
EP1163454B1 (de) | 2004-01-07 |
KR20010109320A (ko) | 2001-12-08 |
JP2002540353A (ja) | 2002-11-26 |
DE50004983D1 (de) | 2004-02-12 |
NO20014575D0 (no) | 2001-09-20 |
EP1163454A1 (de) | 2001-12-19 |
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