JP3740348B2 - Travel restriction device for tracked work vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention includes a vehicle body having a track traveling device capable of traveling on railroad rails, a boom that is at least pivotable on the vehicle body, and a workbench attached to the tip of the boom. The present invention relates to a track traveling work vehicle that performs work, and more particularly to a travel restriction device for such a track traveling work vehicle.
[0002]
[Prior art]
The above track running work vehicles are widely used as work vehicles that run on railway rails (tracks) and perform maintenance and inspection of various facilities such as trolley wires, insulators, and signal equipment arranged along the rails. It is used. The track traveling work vehicle is provided with a track dedicated work vehicle that can travel only on railroad rails, and a track type work vehicle that can travel on ordinary roads, and a track traveling device for track traveling is provided. There is an amphibious work vehicle (hereinafter referred to as a “railway vehicle”) that can travel on both tracks.
[0003]
The track-and-rail vehicle travels on a general road using tire wheels to the vicinity of the work site, and then, for example, lifts and supports the vehicle body between the left and right rails of the railroad crossing, and turns the vehicle body parallel to the track. After that, an iron wheel for running on the track is overhanged and touched to enter the track. On the track, the iron wheel is rotationally driven using the track traveling device to travel on the track and reach the intended work site.
[0004]
At the work site, the boom arranged on the vehicle body is turned, undulated, expanded and contracted, and the work table attached to the tip of the boom is turned horizontally (also referred to as swinging) with respect to the boom. Then, the work table is moved to a desired height, and an operator on the work table performs maintenance / inspection work of various facilities. In addition, the track is moved on the track by the track traveling device in a state where the work table is raised to the vicinity of the trolley wire, and maintenance / inspection work of the trolley wire can be performed.
[0005]
In such a work vehicle capable of running on a track, a boom is provided so that when the work vehicle is run, the work table does not come into contact with various facilities such as an overhead pole and a traffic light arranged around the track. A travel regulating device that detects a projecting position of the front end side of the vehicle body and regulates the traveling movement of the work vehicle on the track when it is determined that the projecting position is not within a predetermined lateral limit region. There is something to prepare.
[0006]
[Problems to be solved by the invention]
However, in the conventional travel restriction device for a track work vehicle, the position of the boom tip is used as a reference value for determining whether or not traveling is possible, and the turning angle position of the work table with respect to the boom tip is not reflected. . That is, in the conventional travel regulating device, the lateral position (vehicle width direction position) of the boom tip with respect to the vehicle is calculated from the turning angle, undulation angle, and extension amount of the boom detected by the boom position detector. A comparative determination is made as to whether or not the position exceeds a lateral limit area preset and stored as a limit area where the vehicle can travel.
[0007]
The lateral limit area that is set and stored ensures safety regardless of the swivel angle position of the platform relative to the boom to avoid the risk of the platform contacting with surrounding structures while the vehicle is running It was set so as to be able to be performed, and was set on the basis of the turning angle position at which the work table protruded to the outermost side with respect to the tip of the boom. This means that the side safety distance is excessively secured when the work bench is at another turning angle position, and paradoxically, the work area that can be traveled is narrowed accordingly. Means.
[0008]
There are multiple standards for the width of railroad rails, that is, the pitch between left and right rails (also referred to as gauges). For example, in Japan, the narrow rails of general railway lines and the standard rails of Shinkansen lines are well known. It has been. Narrow gauge and standard gauge differ not only in the track width but also in the width of the vehicle traveling on the track, so the distance between the lines of the upper and lower lines laid in parallel, and the side distribution of various facilities such as the side overhead posts and traffic lights The installation position is also different. The track-and-rail vehicle has gauge changing means that can change the position in the width direction of the left and right track running wheels (steel wheels) so that it can enter both of these tracks, and maintenance work can be performed on either track. A gauge-changeable track-and-rail vehicle has been devised.
[0009]
However, in the conventional travel regulation device for a track work vehicle, even if the setting of the iron wheel width of the work vehicle is changed in the gauge change means, the side limit region is not switched accordingly. It remained in the limit region. This means that in a work on a standard track having a work area wider than a narrow gauge, the work area that can be inherently traveled is limited and narrowed.
[0010]
The present invention has been made in view of the above problems, and in a track traveling work vehicle that performs work while traveling on a railway track, the workable area is maximized effectively. An object of the present invention is to provide a travel regulation device that is utilized to improve work efficiency.
[0011]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides a vehicle body having a track traveling device capable of traveling on railroad rails, a boom disposed on the vehicle body so as to be pivotable at least with respect to the vehicle body, and a tip portion of the boom. A travel regulation device for a track traveling work vehicle that includes a work device having a work platform that is pivotably attached to a boom and that performs work by moving the work platform on a track of a rail for rail. In addition, in the present invention, a boom position detector that detects the position of the tip of the boom with respect to the vehicle body, and a work table turning angle detector that detects the turning angle of the work table with respect to the boom (for example, the swing angle detector 24 in the embodiment). And a gauge changing means for selectively switching the position in the width direction of the track running wheel corresponding to the track width of the railway rail to be run, and detecting the track width of the railway rail selected by the gauge changing means. Calculating the maximum projecting position of the working device relative to the vehicle body from the gauge detecting means, the position of the boom tip detected by the boom position detector and the turning angle of the worktable detected by the worktable turning angle detector; maximum protruding position is previously set and stored as the position of each corresponds to the track width to be detected movable work apparatus in the gauge detector A travel determination unit that determines whether the row enable area (control unit 30 in the example embodiment), when the maximum protruding position is determined to exceed the travelable area in the travel determination unit, vehicle And a travel regulation device (same as above) that regulates the travel of the vehicle.
[0012]
According to the above configuration, the travel determination means determines the position of the work device for the vehicle body from the position of the boom tip detected with respect to the vehicle body by the boom position detector and the turning angle of the work table detected by the work table turning angle detector. Calculate the maximum protrusion position. For example, when the boom tip is swung to the right in the direction of travel when viewed from above the vehicle and the workbench swings (turns) to the right with respect to the boom, the workbench is generally located on the rightmost side with respect to the vehicle body. . The travel determination means calculates and adds the position of the boom tip detected by the boom position detection means, the shape dimension of the workbench swung at the tip, and the protrusion amount according to the swing angle, The right side maximum protrusion position of the working device is calculated.
[0013]
On the other hand, even in the same boom turning position as described above, in the state where the workbench swings to the left in the traveling direction, the traveling determination means moves to the right side position of the boom tip and the left side with respect to this position. Work with the maximum swinging position of the working device relative to the vehicle body is the boom tip on the right side of the vehicle body or the right side of the work table, or the head is swung toward the left side in the direction of travel. The left side end of the table is calculated by calculation processing, and the larger one of the protruding amounts is determined as the maximum protruding position. Then, the maximum projecting position calculated in this way is compared with a preset travelable area, and when it is determined that the travelable area has been exceeded, the travel regulation means regulates the travel of the vehicle.
[0014]
As described above, in the present invention, not only the boom tip position but also the turning angle (swing angle) of the work table with respect to the boom is taken into account to calculate the maximum protruding position, and the maximum protruding position exceeds the travelable region. Because it is configured to determine whether or not it is possible to make maximum use of the travelable area in the workbench posture corresponding to the turning angle position of the workbench, the work area is expanded while ensuring safety It is possible to provide a travel regulation device that improves work efficiency.
[0015]
Further, in the present invention, a gauge change means for selectively switching the position in the width direction of the track running wheel in accordance with the track width of the railway rail to be run, and the railway rail track selected by the gauge change means. A distance detecting means for detecting the width, and the travel judging means is configured to store the maximum protrusion position calculated as described above in the travelable area set and stored corresponding to the track width detected by the distance detecting means. constitute a driving restriction device track traveling working vehicle to determine whether the.
[0016]
For this reason , in a work-change-type work vehicle that can be used for maintenance work on tracks with different track widths, the position of the track running wheels (steel wheels) is adjusted to the track width of the rails by means of the gauge change means. The distance detection means detects the selected track width, and the travel determination means determines the travelable area set corresponding to the detected track width and the calculated maximum protruding position. In comparison, when it is determined that the travelable area has been exceeded, the travel regulation means regulates the travel of the vehicle. Therefore, a travel regulation device that automatically selects and optimizes a travelable region that changes in accordance with the track width on which the work vehicle is intended to travel, ensures safety, and improves work efficiency. can do.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 4 shows an aerial work vehicle capable of running on a track as an example of a track running work vehicle having a travel restriction device according to the present invention. The aerial work vehicle 1 is a boom type aerial work for road and road with a work device for performing work at a high place on a vehicle body 2 of a cab-over type truck having a track traveling device 50 that travels on a track R of a railway. It is a car (railway car).
[0018]
The working device (boom device) disposed on the vehicle body 2 of the rail vehicle 1 has a swivel 4 that can be swiveled horizontally with respect to the vehicle 2 by the operation of the swivel motor 11. A boom 5 that can move up and down with respect to the vehicle body 2 is pivotally connected to the cylinder 12 by extension and contraction.
[0019]
The boom 5 includes a proximal boom 5a and a distal boom 5b that are pivotally connected to the swivel 4 and is loosely inserted into a telescope shape, and can be expanded and contracted by the operation of an expansion cylinder 13 disposed inside the boom 5. It is configured. A vertical post 6 is provided at the front end of the front end boom 5b so that the vertical post 6 is always kept vertical regardless of the undulation angle ψ of the boom 5 by operating a leveling cylinder (not shown). A work table 8 is mounted so as to be able to turn horizontally (referred to as swinging motion) via an arm 7 that can turn freely by the operation of the motor 14.
[0020]
A boom operating device 10 is disposed on the work table 8. An operator who rides on the work table 8 operates the boom operating device 10 to turn the swivel 4, and to move the boom 5 up and down and extend and retract. By swinging the platform 8 or the like, the work platform 8 can be moved to an arbitrary height in the vicinity of the track to perform a desired height operation.
[0021]
In the track traveling device 50, an iron wheel 51 that is rotatable by an operation of the track traveling motor (17) is provided on an iron wheel support 52 that is mounted so as to be swingable in the vertical direction around the swing shaft 53 by the operation of the overhang cylinder 56. Installed and configured. When traveling on a general road, the overhang cylinder 56 is contracted to store the iron wheel 51 upward, and the tire 3 is grounded to travel using the vehicle engine. When entering the railroad track, the grounding plate 15 of the turntable disposed at the lower part of the vehicle body is extended between the left and right rails at the railroad crossing near the work site to lift and support the vehicle body 2, and the vehicle body 2 is turned in parallel with the track. Thereafter, the overhang cylinder 56 is extended to swing the iron wheel 51 downward to contact the wheel, and the grounding plate 15 is stored upward to enter the track.
[0022]
The track traveling device 50 includes a gauge changing device 60 that selectively changes the position in the vehicle width direction of the left and right iron wheels in accordance with the track width (for example, narrow gauge and standard gauge) of the railway track to be run, and this gauge change. A gauge detecting device 65 for detecting a track width selected by the device is attached. FIG. 5 is a view taken along the arrow VV in FIG. 4, and the above-described two apparatus configurations will be briefly described with reference to FIG.
[0023]
The gauge changing device 60 is attached between the base plate 55 fixed to the vehicle body 2, the slider plate 54 slidably attached to the base plate 55 in the vehicle width direction, and between the base plate 55 and the slider plate 54. A gauge changing cylinder 61 for moving the slider plate 54 with respect to the base plate 55, a lock pin 62 for locking the slider plate 54 to the base plate 55 at a predetermined position corresponding to the track width, and the like. An iron wheel support 52 is swingably attached to the slider plate 54 via a rocking shaft 53. The iron wheel support 52 is braked to rotate the iron wheel 51, the iron wheel drive motor 17 that rotationally drives the iron wheel 51, and the iron wheel 51. An iron wheel drive mechanism such as a disc brake 18 is attached.
[0024]
In this device, when changing the gauge, first, the operator pulls the operation ring 62a downward against the urging force of the spring disposed on the lock pin bracket 62b, so that the lock pin tip 62c and the engagement hole 55a are in contact with each other. Release the engagement lock. Next, a gauge change switch (not shown) is selected and operated, for example, from narrow gauge to standard gauge, and the gauge change cylinder 61 is operated to move the iron wheel drive mechanism below the slider plate from the narrow gauge position to the standard gauge position with respect to the vehicle body 2. . The base plate 55 is provided with an engagement hole 55b in which the slider-side lock pin tip 62c can be engaged at the standard gauge position. By engaging the lock pin tip 62c with the engagement hole 55b, an iron wheel is driven. Lock the position of the mechanism in the vehicle width direction to the standard gauge position.
[0025]
The gauge detecting device 65 includes a narrow gauge detecting switch 65a and a standard gauge detecting switch 65b arranged corresponding to the engagement holes 55a and 55b of the base plate 55, and any of the tracks is selected by opening and closing the contacts of both switches. Detect whether or not In the narrow gauge position shown in FIG. 5, the detection arm of the narrow gauge detection switch 65a is pressed upward in the drawing by the tip 62c of the lock pin 62, and it is detected that the iron wheel drive mechanism is in the narrow gauge position. When the iron wheel drive mechanism is switched to the standard gauge by the gauge changing device, the detection arm of the standard gauge detection switch 65b is pressed against the lock pin tip 62c, and it is detected that the iron wheel drive mechanism is in the standard gauge position. The
[0026]
The track-and-ground vehicle 1 configured as described above can travel to a target work site using the track traveling device 50 in either a narrow gauge track or a standard track, and an operator who rides on the work table 8 at the work site. Can operate at a desired height by operating the boom operating device 10 to operate the boom 5. In addition, the track-and-rail vehicle 1 has moved the work table 8 to a predetermined high altitude region in order to improve work efficiency in track maintenance work of on-orbit structures such as trolley wire replacement work and maintenance and inspection work of insulators. It is comprised so that it can drive | work on a track | orbit using the track | orbit running device 50 in the state.
[0027]
For this reason, for example, when the railcar 1 turns the swivel base 4 and travels on the track with the worktable 8 protruding to the side of the vehicle, the worktable 8 is on the maintenance vehicle in the opposite lane or on the side of the track R. A travel restriction device is provided that restricts the travel of the vehicle according to the projecting position of the work device with respect to the vehicle 2 so as not to come into contact with various facilities such as overhead wires struts, traffic lights, etc. Yes.
[0028]
FIG. 1 shows the configuration of a control device for a track-and-rail vehicle 1 including a travel regulation device, which will be described below with reference to this figure. The control device includes a control unit 30 that controls traveling operation including traveling regulation, boom operation, and the like. The control unit 30 receives an operation signal corresponding to the operation of the operator from the boom operation device 10 disposed on the work table, and the control unit 30 turns the turntable 4 by the turning motor 11 according to the operation signal. The operation controls the hoisting operation of the boom 5 by the hoisting cylinder 12, the telescopic operation of the boom 5 by the telescopic cylinder 13, the swinging operation of the work table 8 by the swing motor, and the like.
[0029]
The control unit 30 also receives a travel signal corresponding to the driver's operation from a travel operation device 70 provided in the driving cabin 2a. The control unit 30 operates the wheel drive motor 17 according to the travel signal, The traveling on the track by the track traveling device 50 is controlled.
[0030]
Specifically, each boom operation and track running operation are performed by a hydraulic cylinder, a hydraulic motor, etc., and the control unit 30 outputs an operation control signal based on the operation signal to the hydraulic unit provided on the vehicle body, The operation of each hydraulic cylinder, hydraulic motor, etc. is controlled by controlling the operation of the electromagnetic control valve in this unit. The hydraulic cylinders and the like whose operation is controlled by the control unit 30 are collectively referred to as actuators.
[0031]
The control unit 30 also receives a boom position signal from the boom position detector 20, a swing angle detection signal for the work table from the swing angle detector 24, and a track switch contact signal from the gauge detector 65. The boom position detector 20 detects a turning angle detector 21 that detects the turning angle θ of the turntable 4 with respect to the vehicle body 2, a undulation angle detector 22 that detects the undulation angle ψ of the boom 5, and an extension amount L of the boom 5. It comprises an extension amount detector 23 and outputs each detection signal to the control unit 30. The swing angle detector 24 detects the swing angle α of the work table 8 with respect to the boom 5 and outputs a detection signal to the control unit 30.
[0032]
The control unit 30 calculates the maximum projecting position of the working device with respect to the vehicle 2 from each signal input in this manner, and restricts the operation of the iron wheel drive motor 17 according to the maximum projecting position, thereby driving the vehicle. To regulate. Hereinafter, the operation of the controller 30 will be described with reference to FIGS. 2 and 3 showing the situation when the vehicle on the track is viewed from above.
[0033]
First, the control unit 30 calculates the vehicle progress in the arithmetic processing circuit 32 inside the unit from the detected values of the turning angle θ of the swivel 4, the undulation angle ψ of the boom 5 and the extension amount L inputted from the boom position detector 20. The lateral position of the vertical post 6 with respect to the direction center axis C is calculated. Next, the vertical post position is calculated from the swing angle α of the work table 8 with respect to the vertical post 6 inputted from the swing angle detector 24, the shape dimension of the work table 8 stored in advance, and the swivel angle θ of the swivel table 4. The left and right direction protrusion amounts r ₁ and r ₂ of the work table 8 are calculated, and the maximum protrusion position B from the vehicle center axis C is obtained by adding the protrusion amounts r ₁ and r ₂ to the already calculated vertical post position.
[0034]
Next, from the track width (narrow track or standard track) detected by the gauge detection device 65, the left and right travelable areas Tr, Tl previously set and stored in the work range memory 31 corresponding to the track width are called up. Compared with the calculated maximum protrusion position B. The left and right travelable areas Tr and Tl are the maintenance vehicle or the side of the track on the opposite lane side Rv even if the work platform 8 or the boom tip projects sideways from the vehicle body 2 on the track to be traveled. This is a travelable limit region that is determined in accordance with the track width as a limit distance that does not come into contact with various facilities such as an overhead wire support and a traffic light.
[0035]
When it is determined that the maximum projecting position B is within the travelable region, the operation of the iron wheel drive motor 17 by the travel operation device 70 is permitted to allow the vehicle to travel. Conversely, when it is determined that the maximum projecting position B exceeds the travelable region, the travel of the vehicle is restricted by restricting the operation of the iron wheel drive motor 17 regardless of the operation of the travel operation device 70.
[0036]
For example, the work table position indicated by a two-dot chain line in FIG. 2 is in a state where the corner portion of the work table 8 exceeds the travelable region Tr on the right side of the vehicle, and the control unit 30 has the maximum projecting position B ′ in the travelable region. It is determined that Tr is exceeded, and the vehicle travel is restricted. On the other hand, the work table position indicated by the solid line in the figure is the same as the turning angle θ of the turn table 4 indicated by the two-dot chain line, but the maximum protruding position B is within the travelable region Tr (the work table 8 is Therefore, the control unit 30 allows the vehicle to travel.
[0037]
FIG. 3 shows a state in which the turning angle θ of the turntable 4 is larger in the opposite direction than the boom posture shown in FIG. 2 and the position of the tip of the boom is closer to the regulation line in the travelable region. In this state, it is the boom tip that protrudes most to the side of the vehicle body, and the calculated maximum protruding position B is the boom tip. However, the maximum protruding position B is in the travelable area Tl on the left side of the vehicle body. For this reason, in the comparison of the position of the boom tip portion, the entire working device including the work table 8 is within the travelable region even when the boom travels closer to the travelable region line than the state shown in FIG. Therefore, the control unit 30 allows the vehicle to travel.
[0038]
In this way, not only the position of the boom tip but also the swing angle α of the work table 8 with respect to the vertical post 6 is taken into account to restrict travel so as to ensure the required travel safety and expand the work area. In addition, a travel regulation device with improved work efficiency can be obtained.
[0039]
In addition, in the Example demonstrated above, although the case where side regulation was performed about two types, a narrow gauge and a standard gauge, as a track width which the gauge change apparatus 60 selects, what has other track widths freely, In addition, a restriction region may be provided above the track. Moreover, although the method of detecting the locking position of the lock pin 62 that locks the position in the vehicle width direction of the iron wheel drive device is illustrated as the gauge detection device 65, the means that can detect the track width selected by the gauge change device 60 is used. For example, the position of the iron wheel support (52) in the vehicle width direction is detected by a dog and a limit switch, or the piston position of the gauge change cylinder (61) is detected by a proximity switch or the like attached to the cylinder. Also good.
[0040]
Further, the track traveling work vehicle exemplified in the embodiment is a boom-type high-altitude work vehicle for both road and land having a relatively small work table (bucket) at the tip of the boom. For example, a larger work table (work It can be similarly configured even for a boom-type high-altitude work vehicle for both road and land that has a floor) that can swing horizontally around a vertical post, and a boom-type work vehicle dedicated to a track that has these work platforms.
[0041]
【The invention's effect】
As described above, the present invention provides a vehicle body having a track traveling device capable of traveling on railroad rails, a boom disposed on the vehicle body so as to be pivotable at least with respect to the vehicle body, and a tip portion of the boom. A boom tip detected by a boom position detector in a track traveling work vehicle having a work device having a work table pivotably attached to a boom and performing work by moving the work table on the track The maximum projecting position of the working device relative to the vehicle body is calculated from the position of the part and the working table turning angle detected by the working table turning angle detector, and the calculated maximum protruding position is detected by the gauge detecting means. a traveling determining means for determining whether the preset-stored travelable area as the position of each movable work apparatus in response to, in the running determining means When it is determined that the large projection position exceeds the travelable area, constituting the driving restriction device track traveling working vehicle and a travel limiting means for limiting the travel of the vehicle. Therefore, the travel restriction device that can maximize the travelable area according to the turning angle position of the workbench at the tip of the boom and expands the work area while improving safety while ensuring safety. Can be provided.
[0042]
Further, according to the present invention , the gauge change means for selectively switching the position in the width direction of the track running wheel corresponding to the track width of the railway rail to be run, and the railway rail track selected by the gauge change means. A distance detecting means for detecting the width, and the travel judging means is configured to store the maximum protrusion position calculated as described above in the travelable area set and stored corresponding to the track width detected by the distance detecting means. since constituting the driving restriction device track traveling working vehicle to determine whether the automatically to optimize the travelable area corresponding to the track width to try to run the work vehicle, It is possible to provide a travel regulation device that improves work efficiency while ensuring safety.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a configuration of a control device including a travel restriction device in a travel restriction device for a track traveling work vehicle according to the present invention.
FIG. 2 is an explanatory diagram for explaining the operation of the travel restriction device according to the present invention.
FIG. 3 is an explanatory diagram for explaining the operation of the travel regulating device according to the present invention.
FIG. 4 is a side view showing a configuration of a road-rail aerial work platform having the travel regulation device.
FIG. 5 is a partial cross-sectional view showing a gauge changing device and a gauge detecting device in the aerial work vehicle.
[Explanation of symbols]
R Railway rail, Track 1 Rail-rail vehicle (track running work vehicle)
2 Vehicle body 5 Boom 8 Work table 20 Boom position detector (21 turning angle detector, 22 undulation angle detector, 23 extension amount detector)
24 Swing angle detector (workbench turning angle detector)
30 Control unit (travel judgment means, travel regulation means)
50 Track traveling device 60 Gauge changing device (gauge changing means)
65 Gauge detection device (gauge detection means)

Claims (1)

A vehicle body having a track traveling device capable of traveling on railroad rails, a boom disposed on the vehicle body so as to be pivotable at least with respect to the vehicle body, and pivoting with respect to the boom at a tip portion of the boom A travel regulation device for a track traveling work vehicle that includes a work device having a work table that is freely attached, and moves the work table on a track of the rail for rail,
A boom position detector for detecting the position of the tip of the boom relative to the vehicle body;
A work table turning angle detector for detecting a turning angle of the work table with respect to the boom;
Gauge changing means for selectively switching the position in the width direction of the track running wheel corresponding to the track width of the rail for rail to be run,
Gauge detecting means for detecting the track width of the rail for rail selected in the gauge changing means,
The maximum projecting position of the working device with respect to the vehicle body is calculated from the position of the tip of the boom detected by the boom position detector and the turning angle of the work table detected by the work table turning angle detector. And a travel determination for determining whether or not the maximum projecting position is within a travelable area preset and stored as a position of a work device capable of traveling corresponding to the track width detected by the gauge detection means. Means,
A travel regulation device for a track traveling work vehicle, comprising: a travel regulation unit that regulates the travel of the vehicle when the travel judgment unit determines that the maximum projecting position exceeds the travelable region. .

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