CN115182957B - An active electromagnetic compliance device and method for vibration suppression of grouting hose - Google Patents

Abstract

The invention discloses an active electromagnetic compliance device and method for vibration suppression of grouting hoses, which are suitable for the field of intelligent construction robot equipment. Including 3RPS parallel connection module, active electromagnetic damping and vibration reduction module, linear spring limiter module. Based on the 3RPS parallel connection module and the concrete grouting hose to ensure the connection, the active electromagnetic damping and vibration reduction module actively complies with the pulsating vibration of the concrete grouting hose based on the electromagnetic force, and the linear spring limiter module limits the control range of the active electromagnetic compliance device to ensure the safety of the device sex. With perfect functions, it can be widely used in concrete pouring projects, liberating manpower, and providing guarantee for human-machine safety cooperation in concrete grouting operations.

Description

An active electromagnetic compliance device and method for vibration suppression of grouting hose

technical field

The invention relates to an active electromagnetic compliance device and method for suppressing the vibration of a grouting hose, which is especially suitable for the use of concrete grouting hoses in the construction industry, and belongs to the field of intelligent construction robot equipment.

Background technique

With the development of my country's economy, the domestic construction industry has made rapid progress, and the number of high-rise buildings is increasing. Most high-rise buildings use reinforced concrete structures, so the application of concrete is also increasing. During the construction of high-rise buildings, due to the large amount of concrete required, the concrete pump truck is often used to pump the concrete to the high-rise building through the boom system for pouring operations. A grouting hose should be installed at the end of the boom system, and the grouting uniformity should be ensured by manual dragging. However, under the impact of concrete pumping, the grouting hose is prone to pulsation impact, and it is difficult to control it by manual dragging, which is easy to cause personal injury, and such reports often appear.

The problem of accurate positioning and movement of grouting hoses has been studied. For example, Chinese patent CN201310563846.1 discloses a hose follower. The end is fixed on the end of the delivery hose through the mounting seat, and the cylinder ends of the four sets of driving cylinders are installed on the guide ring that can slide relative to the grouting hose. Through the movement of the four sets of driving cylinders, the purpose of driving the movement of the grouting hose is realized. The device can suppress the vibration of the grouting hose to a certain extent, but the high impact frequency of concrete pumping results in a higher vibration frequency band of the grouting hose, and the vibration control effect is limited due to the slow response speed of the oil cylinder. On the other hand, the boom system of the pump truck is composed of multiple mechanical arms, and the length can reach tens of meters or even hundreds of meters. The equipment must have the characteristics of light weight and strong reorganization ability, but the hose follower based on hydraulic cylinder drive proposed in this invention does not meet the above requirements, so this solution has problems such as limited control effect.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention provides an active electromagnetic compliance device and method for vibration suppression of grouting hoses. The electromagnetic active adjustment method is adopted, which can quickly respond to and overcome the vibration problem of concrete grouting hoses. The inner diameter of the tight arc soft plate is adjustable, which can be applied to concrete grouting hoses of different sizes.

In order to achieve the above object, an active electromagnetic compliance device for grouting hose vibration suppression according to the present invention is characterized in that it includes a suppression structure and an electric control system installed on the outside of the grouting hose, wherein the suppression structure includes a columnar shell , the casing includes a left casing and a right casing that are connected by bolts or buckles, and an upper plate, a middle partition and a lower plate of a ring structure are arranged around the grouting hose in the casing, and the upper plate, the middle partition and the lower plate surround the grouting hose Pipe installation, the upper plate, the middle partition and the lower plate are centrally symmetrical with three sets of connection and fixing devices connected to each other, in which the top of the upper plate and the bottom of the lower plate are equipped with 3RPS parallel connections for clamping grouting hoses The connecting module is provided with an acceleration sensor for detecting the acceleration state on the upper plate; an active electromagnetic damping vibration reduction module is provided on the middle partition, and the acceleration sensor is sequentially connected with a data acquisition module, a signal processing module, a control module, a D/ A conversion module and power module, the power module supplies power to the active electromagnetic damping and vibration reduction module;

The active electromagnetic damping and vibration reduction module includes multiple groups of iron core units arranged symmetrically on the upper and lower sides of the middle partition and arranged along the middle partition. Each group of iron core units includes three iron cores arranged next to each other in a fan shape. Coil units are wound on the cores, and there are intervals between each group of iron core units. The upper and lower parts of each group of iron core units are respectively provided with sector-shaped permanent magnets at the corresponding positions below the upper plate and above the lower plate. The sector-shaped permanent magnets There is no contact with the core unit;

Three sets of linear spring limiter modules are arranged between the upper plate and the middle partition, and between the middle divider and the lower plate, and each set of linear spring limiter modules is arranged in the gap between two sets of iron core units.

Further, three holes are arranged at equal angles on the intermediate partition, and the connection and fixing device includes guide columns arranged in the holes. A bearing seat is installed on the hole of the intermediate partition through screws, and a linear bearing is arranged on the bearing seat. Three guide columns Through the linear bearing, the upper plate and the lower plate are fixedly connected by screws.

Further, the left shell and the right shell are fixedly connected by bolts, four suspension rings are evenly installed on the left shell and the right shell by screws to facilitate the connection of rope suspension, and the middle partition is connected by screws to the left shell and the right shell .

Further, the 3RPS parallel connection module includes a spring damper, one end of the spring damper is connected to the upper plate through the rotating pair and the spring damping bracket, and the other end of the spring damper is connected with a clamping arc soft for clamping the grouting hose through a ball joint. plate.

Further, the coil unit on the active electromagnetic damping and vibration reduction module arranged on the same surface of the intermediate partition is formed by sequentially winding a wire, and the winding method of the coil unit on the core unit is symmetrical with respect to the intermediate partition;

Further, the linear spring limiter module includes a spring stop cylinder, the spring stop cylinder is connected with a linear spring through a spring guide rod, wherein one end of the spring guide rod penetrates into the central circular hole of the spring stop cylinder, and the linear spring is sleeved on the spring guide rod And it is fixedly connected with the other end of the spring guide rod; the linear spring limiter module is set between the upper plate and the middle partition, the spring stopper is connected to the top of the middle partition, and the linear spring is connected to the bottom of the upper board; the middle partition is connected to the lower In the linear spring limiter module arranged between the plates, the spring stopper is connected to the bottom of the middle partition, and the linear spring is connected to the top of the lower plate; three sets of upper and lower spring stoppers and three sets of iron core units are arranged at intervals.

Further, the winding directions of the coil units on each iron core on the same surface of the intermediate partition are consistent.

An active electromagnetic compliance method for vibration suppression of grouting hoses, comprising the following steps:

Step 1. Pass the grouting hose connected to the boom system of the concrete pump truck through the active electromagnetic compliance device, and use the clamping arc soft plate to hold the grouting hose, and tighten the matching bolts for clamping the arc soft plate so that The grouting hose is fixedly matched with the clamping arc soft plate, tighten the matching bolts between the left shell and the right shell, and tighten the matching screws between the middle partition and the left shell and the right shell;

Step 2. After the concrete pump truck works, use the data acquisition module to collect the output signal of the acceleration sensor, and obtain the vibration displacement signal in the vertical direction of the grouting hose through the signal processing module;

Step 3. Use the power supply module to apply alternating current with a linear change in size to the coil unit, use the acceleration sensor to detect the acceleration signal of the grouting hose in real time, obtain the vibration displacement signal in the vertical direction of the grouting hose according to the signal processing module, and then use the control module to draw The relationship curve between the current value of the power supply module input to the active electromagnetic damping and vibration reduction module and the vibration displacement signal of the grouting hose, and through the data fitting of the least square method, the algebraic relationship between the input current value and the vibration displacement signal of the grouting hose is obtained, so as to determine the active Electromagnetic compliance device linear scope;

Step 4. During the grouting operation, use the rope to connect the lifting ring to suspend the traction active electromagnetic compliance device. According to the actual measurement and conversion of the vertical vibration displacement signal of the grouting hose, the control module is based on the linear scope of the active electromagnetic compliance device determined in step 3. The input control current value of the coil unit is obtained, and the two channels of the power module are driven by the D/A conversion module: channel Ⅰ and channel Ⅱ, which are respectively connected to control the active electromagnetic damping and vibration reduction module located under the middle partition to generate an induced magnetic field and generate The induced magnetic field interacts with the inherent magnetic field of the fan-shaped permanent magnet to generate electromagnetic force, thereby effectively compensating the vertical vibration displacement of the concrete grouting hose and effectively suppressing the vibration of the grouting hose during the concrete grouting operation.

The current signals output by the power module through channel I and channel II are equal in magnitude and opposite in direction.

Beneficial effects: the active electromagnetic compliance device of the present invention has a fast response speed, and can quickly suppress the vibration generated by the grouting hose during the concrete pumping process; the active electromagnetic compliance device of the present invention can change the center radius and Existing concrete grouting hoses of different sizes are connected, which has strong reorganization ability and wide application range; manually dragging the rope connected with the active electromagnetic compliance device of the present invention can make the concrete grouting hoses move at a constant speed, while working safely Ensure the quality of concrete pouring.

Description of drawings

Fig. 1 is a structural schematic diagram of an active electromagnetic compliance device for grouting hose vibration suppression according to the present invention;

Figure 2 is a schematic diagram of the external structure of the active electromagnetic compliance device of the present invention;

3 is a schematic diagram of the overall structure of the internal structure of the active electromagnetic compliance device of the present invention;

Fig. 4 is a side view of the internal structure of the active electromagnetic compliance device of the present invention;

Fig. 5 is a schematic diagram of the 3RPS parallel connection module in the active electromagnetic compliance device of the present invention;

Fig. 6 is a schematic diagram of the active electromagnetic damping and vibration reduction module in the active electromagnetic compliance device of the present invention;

Fig. 7 is a schematic diagram of the linear spring limiter module in the active electromagnetic compliance device of the present invention;

Fig. 8 is a schematic diagram of an embodiment of the active electromagnetic compliance device for grouting hose vibration suppression of the present invention;

Fig. 9 is a control flow diagram of the active electromagnetic compliance device for grouting hose vibration suppression according to the present invention.

In the figure: 1-left shell, 2-right shell, 3-upper plate, 4-middle partition, 5-lower plate, 6-guiding column, 7-bearing seat, 8-linear bearing, 9-spring damping bracket, 10-3RPS parallel connection module, 11-active electromagnetic damping and vibration reduction module, 12-linear spring limiter module, 13-acceleration sensor, 14-data acquisition module, 15-signal processing module, 16-control module, 17-D/ A conversion module, 18 - power supply module, 19 - active electromagnetic compliance device, 20 - grouting hose, 21 - lifting ring, 10-1 - spring damper, 10-2 - clamping arc soft plate, 11-1 - iron Core unit, 11-1-1-iron core, 11-2-sector permanent magnet, 11-3-coil unit, 12-1-linear spring, 12-2-spring retaining cylinder, 12-3-spring guide rod.

Detailed ways

Embodiments of the present invention will be further described below in conjunction with accompanying drawings:

As shown in Figure 1, Figure 2 and Figure 3, an active electromagnetic compliance device for grouting hose vibration suppression according to the present invention includes a left shell 1, a right shell 2, an upper plate 3, a middle partition 4, and a lower plate 5. 2 sets of 3RPS parallel connection modules 10, 6 sets of active electromagnetic damping and vibration reduction modules 11, 2 sets of parallel linear spring limiter modules 12, 3 guide columns 6, acceleration sensors 13, data acquisition modules 14, signal processing modules 15, A control module 16, a D/A conversion module 17, and a power supply module 18. The left shell 1 and the right shell 2 are fixedly connected by bolts, and four lifting rings 21 are evenly installed on the left shell 1 and the right shell 2 through screws, and the middle partition 4 is connected with the left shell 1 and the right shell 2 by screws , three holes are evenly arranged on the middle partition plate 4, and three bearing seats 7 are installed inside by screws, and three linear bearings 8 fit in the three bearing seats 7, and three guide posts 6 pass through the linear bearings 8 and The upper plate 3 and the lower plate 5 are fixedly connected by screws; the upper plate 3 is uniformly fixed and connected with three groups of spring damping brackets 9 by screws; the acceleration sensor 13 is installed on the upper plate 3, and the acceleration sensor 13 passes through the data acquisition module 14 sequentially , the signal processing module 15, the D/A conversion module 17 are connected to the power module 18, the power module 18 supplies power to the coil unit 11-3 in the active electromagnetic damping and vibration reduction module 11, and the current output by the channel I and channel II of the power module 18 The signals are equal in magnitude and opposite in direction.

As shown in Figures 4 and 5, the 3RPS parallel connection module 10 includes a spring damper 10-1, a clamping arc soft plate 10-2, and one end of the spring damper 10-1 passes through the rotating pair and the spring damping bracket 9 connection, the other end of the spring damper 10-1 is connected with the clamping arc soft plate 10-2 through a ball joint,

As shown in Figure 4 and Figure 6, the active electromagnetic damping and vibration reduction module 11 includes an iron core unit 11-1, a sector-shaped permanent magnet 11-2, and a coil unit 11-3, and the iron core unit 11-1 consists of three Composed of iron core 11-1-1, the coil unit 11-3 is wound on the iron core 11-1-1 composed of silicon steel sheet; three groups of active The electromagnetic damping and vibration reduction module 11, and the iron core units 11-1 of the three active electromagnetic damping and vibration reduction modules 11 are evenly arranged on the middle partition 4, and the upper plate 3 is evenly arranged on the surface opposite to the middle partition 4. Three groups of active The sector-shaped permanent magnets 11-2 of the electromagnetic damping and vibration reduction module 11 are facing the iron core unit 11-1. The three sets of sector-shaped permanent magnets 11-2 and the three sets of linear springs 12-1 are symmetrically arranged alternately. The coil units 11-3 on the three groups of active electromagnetic damping and vibration reduction modules 11 arranged on the same side of the partition 4 are formed by sequentially winding one wire, and each iron core 11-1-1 on the same side of the middle partition 4 The winding directions of the coil units 11-3 are consistent.

As shown in Figure 4 and Figure 7, the parallel linear spring limiter module 12 includes 3 sets of linear springs 12-1, 3 sets of spring stop cylinders 12-2, 3 sets of spring guide rods 12-3, 3 sets of spring stop cylinders 12-2 is fixed on the surface opposite to the upper plate 3 and the middle partition 4 by screws, one end of the linear spring 12-1 is fixed on the surface opposite to the middle partition 4 and the upper plate 3, and the spring guide rod 12-3 passes through the linear The spring 12-1 is fixed on the spring retaining cylinder 12-2 by screws, and the three sets of linear springs 12-1 are symmetrically arranged on the surface opposite the upper plate 3 and the intermediate partition 4. The three sets of spring retaining cylinders 12 - 2 and 3 sets of iron core units 11-1 are arranged symmetrically.

As shown in FIG. 4 , the overall structure of the active electromagnetic compliance device is arranged symmetrically with respect to the middle partition 4 .

As shown in Figure 8 and Figure 9, the working process of the embodiment of the active electromagnetic compliance device 19 for vibration suppression of the grouting hose 20 of the present invention is as follows:

Step 1. Fixedly connect the active electromagnetic compliance device 19 with the grouting hose 20: pass the grouting hose 20 connected to the boom system of the concrete pump truck through the gap in the clamping arc soft plate 10-2, and tighten the clamp Tighten the matching bolts of the arc soft plate 10-2, make the grouting hose 20 and the clamping arc soft plate 10-2 fixedly fit, tighten the matching bolts between the left shell 1 and the right shell 2, and tighten the middle partition 4 Cooperating screws with the left shell 1 and the right shell 2;

Step 2, using the data acquisition module 14 to collect the output signal of the acceleration sensor 13, and obtaining the vibration displacement signal in the vertical direction of the grouting hose 20 through the signal processing module 15;

Step 3: The active electromagnetic compliance device 19 adjusts and calibrates the performance parameters, and determines the linear scope of the active electromagnetic compliance device 19: the coil unit 11-3 is supplied with an alternating current of varying magnitude through the power module 18, and the acceleration sensor 13 is used to detect the grouting hose 20 in real time The acceleration signal of the grouting hose 20 is used to draw the relationship curve between the input current value and the vibration displacement signal of the grouting hose 20, and through the data fitting of the least square method, the algebraic relationship between the input current value and the vibration displacement signal of the grouting hose 20 is obtained, and the active electromagnetic compliance device is determined. 19 linear scope;

Step 4. During the grouting operation, the worker pulls the active electromagnetic compliance device 19 through the rope connected to the suspension ring 21. According to the actual measurement and conversion of the vertical vibration displacement signal of the grouting hose 20, the control module 16 is based on the active electromagnetic compliance determined in step 3. The compliance device 19 has a linear range, and the input control current value of the coil unit 11-3 is obtained, and the D/A conversion module 17 drives the power module 18 to control the coil units 11-3 of the two active electromagnetic compliance devices 19 through channels I and II. 3. Generate an induced magnetic field, interact with the inherent magnetic field of the fan-shaped permanent magnet 11-2, generate electromagnetic force, compensate the vibration displacement of the concrete grouting hose 20 in the vertical direction, and suppress the grouting during the concrete grouting operation by using the active electromagnetic compliance device 19 Vibration of the hose 20.

The control process is shown in Figure 9, the acceleration sensor 13 detects the acceleration signal of the grouting hose 20 in real time, the data acquisition module 14 collects the output signal of the acceleration sensor 13, and obtains the vibration displacement signal of the grouting hose 20 in the vertical direction through the signal processing module 15 , and then the control module 16 drives the power module 18 through the D/A conversion module 17 to control the coil units 11-3 of the two sets of active electromagnetic compliance devices 19 to generate an induced magnetic field, which is inherent to the sector-shaped permanent magnet 11-2 The magnetic fields interact to generate electromagnetic force to compensate the vibration displacement of the grouting hose 20 in the vertical direction.

Claims (6)

1. An active electromagnetic compliance device for grouting hose vibration suppression, characterized in that: it includes a suppression structure and an electric control system installed on the outside of the grouting hose, wherein the suppression structure includes a columnar shell, and the shell includes bolts or The left shell (1) and the right shell (2) are snap-connected, and the upper plate (3), the middle partition plate (4) and the lower plate (5) of the ring structure are arranged around the grouting hose in the shell, and the upper plate ( 3), the middle partition (4) and the lower board (5) are arranged around the grouting hose, and the upper board (3), the middle partition (4) and the lower board (5) are centrally symmetrically provided with three connecting parts. A group connection and fixing device, wherein the upper plate (3) and the lower plate (5) are provided with 3RPS parallel connection modules (10) for clamping the grouting hose (20), and the upper plate (3) is also provided with There is an acceleration sensor (13) for detecting the acceleration state; the middle partition (4) is provided with an active electromagnetic damping vibration reduction module (11), and the acceleration sensor (13) is sequentially connected with a data acquisition module (14), signal processing The module (15), the control module (16), the D/A conversion module (17) and the power module (18), the power module (18) supplies power to the active electromagnetic damping and vibration reduction module (11); The active electromagnetic damping and vibration reduction module (11) includes a plurality of sets of iron core units (11-1) arranged symmetrically on the upper and lower sides of the middle partition (4) along the middle partition (4), and each group of iron core units ( 11-1) It includes three iron cores (11-1-1) that are arranged close to each other in a fan shape, and each iron core (11-1-1) is wound with a coil unit (11-3), and each group of iron cores Spaces are left between the units (11-1), and sector-shaped permanent magnets are provided above and below each group of iron core units (11-1) at corresponding positions below the upper plate (3) and above the lower plate (5) (11-2), there is no contact between the sector-shaped permanent magnet (11-2) and the iron core unit (11-1); Three sets of linear spring limiter modules (12) are arranged between the upper plate (3) and the middle partition (4), and between the middle divider (4) and the lower plate (5), and each set of linear spring limiter modules ( 12) Set in the gap between two sets of core units (11-1); There are three holes arranged at an equal angle on the middle partition (4), and the connection and fixing device includes a guide column (6) arranged in the hole, and a bearing seat (7) is installed on the hole of the middle partition (4) through screws, and the bearing The seat (7) is provided with a linear bearing (8), and three guide columns (6) pass through the linear bearing (8) and are fixedly connected with the upper plate (3) and the lower plate (5) by screws; The left shell (1) and the right shell (2) are fixedly connected by bolts, and the left shell (1) and the right shell (2) are uniformly installed with four suspension rings (21) which are convenient for connecting ropes for suspension, and the middle interval The plate (4) is connected with the left casing (1) and the right casing (2) by screws; The 3RPS parallel connection module (10) includes a spring damper (10-1), one end of the spring damper (10-1) is connected to the spring damper bracket (9) through a rotating pair, and the other end of the spring damper (10-1) is connected through The ball joint is connected with a clamping arc soft plate (10-2) for clamping the grouting hose. 2. The active electromagnetic compliance device for grouting hose vibration suppression according to claim 1, characterized in that: the coil unit on the active electromagnetic damping and vibration reduction module (11) arranged on the same surface of the middle partition (4) (11-3) is formed by sequentially winding a wire, and the winding manner of the coil unit (11-3) on the iron core unit (11-1) is symmetrical with respect to the middle partition (4). 3. The active electromagnetic compliance device for grouting hose vibration suppression according to claim 1, characterized in that: the linear spring limiter module (12) includes a spring stopper (12-2), a spring stopper ( 12-2) A linear spring (12-1) is connected through a spring guide rod (12-3), wherein one end of the spring guide rod (12-3) penetrates into the central circular hole of the spring stop cylinder (12-2), linear The spring (12-1) is sleeved on the spring guide rod (12-3) and fixedly connected with the other end of the spring guide rod (12-3); the linear spring arranged between the upper plate (3) and the middle partition (4) Limiting module (12), its spring retainer (12-2) is connected to the top of the middle partition (4), and the linear spring (12-1) is connected to the bottom of the upper plate (3); the middle partition (4) is connected to the lower The spring stopper (12-2) of the linear spring limiter module (12) set between the plates (5) is connected to the bottom of the middle partition (4), and the linear spring (12-1) is connected to the bottom of the lower plate (5). The top is connected; the upper and lower sets of spring retaining cylinders (12-2) and the three sets of iron core units (11-1) are arranged at intervals. 4. The active electromagnetic compliance device for grouting hose vibration suppression according to claim 1, characterized in that: the coil unit ( 11-3) in the same winding direction. 5. A method of using the active electromagnetic compliance device for grouting hose vibration suppression according to any one of the preceding claims, characterized in that it comprises the following steps: Step 1. Pass the grouting hose (20) connected to the boom system of the concrete pump truck through the active electromagnetic compliance device (19), and use the clamping arc soft plate (10-2) to hug the grouting hose (20) , tighten the matching bolts of the clamping arc soft plate (10-2), make the grouting hose (20) and the clamping arc soft plate (10-2) fixedly fit, tighten the left shell (1) and the right shell (2), tighten the matching screws between the middle partition (4) and the left housing (1) and the right housing (2); Step 2. After the concrete pump truck works, use the data acquisition module (14) to collect the output signal of the acceleration sensor (13), and obtain the vertical vibration displacement signal of the grouting hose (20) through the signal processing module (15); Step 3. Use the power supply module (18) to apply alternating current with a linearly varying magnitude to the coil unit (11-3), use the acceleration sensor (13) to detect the acceleration signal of the grouting hose (20) in real time, and obtain The vibration displacement signal of the grouting hose (20) in the vertical direction, and then use the control module (16) to draw the current value input by the power module (18) to the active electromagnetic damping vibration reduction module (11) and the vibration displacement of the grouting hose (20) The relationship curve of the signal, and the algebraic relationship between the input current value and the vibration displacement signal of the grouting hose (20) is obtained through data fitting by the least square method, so as to determine the linear scope of the active electromagnetic compliance device (19); Step 4. During the grouting operation, use the rope to connect the lifting ring (21) to suspend the traction active electromagnetic compliance device (19). According to the actual measurement and conversion of the vertical vibration displacement signal of the grouting hose (20), the control module (16) is based on The linear scope of the active electromagnetic compliance device (19) determined in step 3 is used to obtain the input control current value of the coil unit (11-3), and the two channels of the power supply module (18) are driven by the D/A conversion module (17): channel Ⅰ and channel Ⅱ are respectively connected to control the active electromagnetic damping and vibration reduction module (11) located on the upper and lower sides of the middle partition (4) to generate an induced magnetic field, and the generated induced magnetic field interacts with the inherent magnetic field of the sector-shaped permanent magnet (11-2) to generate an electromagnetic force, thereby effectively compensating the vibration displacement of the concrete grouting hose (20) in the vertical direction, and effectively suppressing the vibration of the grouting hose (20) during the concrete grouting operation. 6. The method according to claim 5, characterized in that the current signals output by the power module (18) through channel I and channel II are equal in magnitude and opposite in direction.

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