Equipment for detecting quality of inner wall of metal tank on production line

Abstract

The invention relates to the field of metal can quality inspection, and provides production line metal can inner wall quality detection equipment which comprises a first visual detection assembly, a second visual detection assembly and a third visual detection assembly which are arranged in the conveying direction of a production line. The first visual inspection assembly is used for acquiring an image of the inner bottom wall of the metal can from the position over the metal can; the second visual detection assembly is used for obtaining an image of a first area of the inner side wall of the metal can from the position over the metal can; the third visual detection assembly comprises a plurality of visual detection parts which are uniformly arranged at intervals in the circumferential direction and are used for acquiring images of a second area of the inner side wall of the metal can from the inclined upper part of the metal can in different directions; the second region is located below the first region. The problem that the detection precision of the inner side wall of the metal can is low is solved.

Description

Technical Field

[0001] The present application relates to the field of metal can quality inspection, and in particular to a production line metal can inner wall quality inspection device. Background Art

[0002] With the increasing intelligence of manufacturing industry, product quality has become one of the key factors for enterprise competitiveness. Traditional metal can quality inspection mainly relies on two methods: manual visual inspection and industrial camera visual inspection.

[0003] However, both methods have their shortcomings. For example, manual visual inspection is inefficient and the inspection results are easily affected by subjective judgment, making it difficult to ensure the consistency and accuracy of the inspection results.

[0004] The main method of visual inspection with industrial cameras is to obtain images of the inner bottom wall and inner side wall of the metal can from directly above the metal can through the industrial camera. However, in the images of the inner side wall obtained, the images of the inner side wall area far away from the industrial camera are easily compressed, and the closer to the bottom of the can, the more obvious the compression, resulting in a decrease in the accuracy of the quality inspection results of the inner side wall of the metal can. In addition, due to the height difference between different areas of the inner side wall of the metal can, no matter how the industrial camera is focused, it is difficult to clearly obtain the image of the entire inner side wall of the metal can. Summary of the invention

[0005] In order to solve the problem of low detection accuracy of the inner wall of a metal can, the present application provides a production line metal can inner wall quality detection equipment.

[0006] The present application provides a production line metal can inner wall quality inspection equipment adopts the following technical solutions: A production line metal can inner wall quality inspection device comprises: a first visual inspection component, a second visual inspection component and a third visual inspection component arranged along the conveying direction of the production line.

[0007] The first visual inspection component is used to obtain an image of the inner bottom wall of the metal can from directly above the metal can.

[0008] The second visual inspection component is used to obtain an image of a first area of ​​the inner wall of the metal can from directly above the metal can.

[0009] The third visual inspection component includes a plurality of visual inspection parts, which are evenly spaced along the circumferential direction and are used to obtain images of the second area of ​​the inner wall of the metal can from diagonally above the metal can in different directions.

[0010] The second area is located below the first area.

[0011] By adopting the above scheme, the second visual inspection component and the third visual inspection component can jointly obtain the image of the inner wall of the metal can, so that the obtained image of the inner wall of the metal can is clearer, thereby improving the quality inspection accuracy of the inner wall of the metal can.

[0012] Preferably, the production line metal can inner wall quality inspection equipment also includes three groups of protection components.

[0013] The protection components are provided below the first visual detection component, the second visual detection component and the third visual detection component in a one-to-one correspondence.

[0014] The protection component comprises a protection cover and a first light source, wherein the first light source is ring-shaped and is located directly below the protection cover.

[0015] By adopting the above solution, the first light source can supplement the metal can with light, thereby improving the quality of the acquired metal can image. The protective cover can block external stray light to avoid interference with image acquisition.

[0016] Preferably, the production line metal can inner wall quality inspection equipment further comprises a second light source, which is located below the first visual inspection component and is used to illuminate the inner bottom wall of the metal can.

[0017] By adopting the above solution, the second light source can be used to illuminate the inner bottom wall of the metal can, thereby making some defects on the inner bottom wall of the metal can with lighter color and depth and less obvious marks more visually clear, which is convenient for image capture.

[0018] Preferably, the production line metal can inner wall quality inspection equipment further includes a clamping and conveying component and a fourth visual inspection component.

[0019] The clamping and conveying assembly is used to convey the metal can, and the bottom of the metal can is vacated during the conveying process.

[0020] The fourth visual inspection component is used to obtain an image of the outer bottom wall of the metal can from below the metal can.

[0021] By adopting the above solution, the fourth visual inspection component can perform quality inspection on the outer bottom wall of the metal can, thereby making the quality inspection of the metal can more comprehensive.

[0022] Preferably, the clamping conveying assembly comprises a first conveying belt and an abutment member.

[0023] The transmission shaft of the first conveyor belt is vertically arranged, and the belt body of the first conveyor belt is used to abut against a side wall of the metal can.

[0024] The abutment member is used for abutting against the other side wall of the metal can.

[0025] By adopting the above solution, the metal can is clamped between the first conveyor belt and the abutment member, and the metal can is moved by the first conveyor belt, thereby completing the empty conveyance of the metal can.

[0026] Preferably, the abutment member comprises a second conveyor belt, and a belt body of the second conveyor belt abuts against the side wall of the metal can.

[0027] The fourth visual inspection component is used to obtain an image of the bottom of the metal can when the clamping and conveying component conveys the metal can.

[0028] By adopting the above solution, the first conveyor belt and the second conveyor belt drive the metal can to move at the same time, and the transportation is more stable.

[0029] Preferably, the abutment member comprises an abutment plate.

[0030] The fourth visual detection component is used to obtain an image of the bottom of the metal can from obliquely below the metal can.

[0031] By adopting the above solution, when the first conveyor belt drives the metal can to move, the metal can can rotate, so that the fourth visual inspection component can obtain an image of the entire bottom of the metal can from the oblique bottom of the metal can.

[0032] Preferably, the clamping and conveying assembly further comprises a feed dial and a driving member.

[0033] The feed dial is located at one end of the first conveyor belt in the conveying direction, and the feed dial has a plurality of feed levers, which are evenly spaced along the circumferential direction.

[0034] The driving member is connected to the feed dial and is used to drive the feed dial to rotate.

[0035] The feed lever is used for pushing the metal can into between the first conveyor belt and the abutment member by rotating.

[0036] By adopting the above solution, the feed lever can push the metal cans into between the first conveyor belt and the abutment member at intervals to avoid metal can accumulation, while ensuring that the multiple metal cans clamped between the first conveyor belt and the abutment member maintain appropriate intervals between each other.

[0037] Preferably, the production line metal can inner wall quality inspection equipment further comprises a fifth visual inspection component, and the fifth visual inspection component is used to obtain an image of the outer wall of the metal can when the clamping and conveying component conveys the metal can.

[0038] By adopting the above solution, the fifth visual inspection component can obtain the image of the outer wall of the metal can when the metal can rotates, so that the entire outer wall of the metal can can be photographed, thereby completing the quality inspection of the outer wall of the metal can.

[0039] The production line metal can inner wall quality inspection equipment of the present application obtains the image of the inner bottom wall of the metal can through the first visual inspection component, and also obtains the image of the inner side wall of the metal can through the second visual inspection component and the third visual inspection component. The third visual inspection component obtains the image of the second area of ​​the inner side wall of the metal can from different directions through multiple visual inspection components, thereby making the quality inspection of the metal can more accurate and solving the problem of low detection accuracy of the inner side wall of the metal can. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is one of the partial structural schematic diagrams of the metal can inner wall quality inspection equipment for the production line provided in this application.

[0041] Figure 2 This application provides Figure 1 A magnified schematic diagram of center A.

[0042] Figure 3 This is the second partial structural schematic diagram of the metal can inner wall quality inspection equipment for the production line provided by this application.

[0043] Figure 4 This application provides Figure 3 A magnified schematic diagram of point B in the middle.

[0044] Figure 5 It is a partial top view of the first embodiment of the clamping and conveying assembly of the metal can inner wall quality inspection equipment of the production line provided by the present application.

[0045] Figure 6 It is a front view of a first embodiment of a clamping and conveying assembly of a production line metal can inner wall quality inspection device provided by the present application.

[0046] Figure 7 It is a partial top view of the second embodiment of the clamping and conveying assembly of the metal can inner wall quality inspection equipment of the production line provided by the present application.

[0047] Figure 8 It is a front view of a second embodiment of the clamping and conveying assembly of the metal can inner wall quality inspection equipment of the production line provided by the present application.

[0048] Fig. 9 It is a structural schematic diagram of an embodiment of a metal can provided in the present application.

[0049] Description of reference numerals: 1. First visual detection component; 2. Second visual detection component; 3. Third visual detection component; 4. Protective component; 41. Protective cover; 42. First light source; 5. Second light source; 6. Clamping conveyor assembly; 61. First conveyor belt; 62. Abutment member; 63. Feeding dial; 631. Feeding lever; 7. Fourth visual detection component; 8. Fifth visual detection component; 200. Production line; 300. Metal cans. DETAILED DESCRIPTION

[0050] The following is combined with Figures 1 to 9 This application is described in further detail.

[0051] like Figures 1 to 4 As shown, the embodiment of the present application discloses a production line metal can inner wall quality inspection device, including a first visual inspection component 1, a second visual inspection component 2 and a third visual inspection component 3 arranged along the conveying direction of the production line 200; The first visual inspection component 1 is used to obtain an image of the inner bottom wall of the metal can 300 from directly above the metal can 300; the second visual inspection component 2 is used to obtain an image of a first area of ​​the inner side wall of the metal can 300 from directly above the metal can 300; the third visual inspection component 3 includes a plurality of visual inspection parts, which are evenly spaced along the circumferential direction and are used to obtain an image of a second area of ​​the inner side wall of the metal can 300 from obliquely above the metal can 300 in different directions; the second area is located below the first area.

[0052] Specifically, the first visual inspection component 1, the second visual inspection component 2 and the visual inspection member can all be industrial cameras. All three are mounted above the production line 200 through a mounting frame, and the metal can 300 can pass under the three in sequence when moving with the production line 200.

[0053] like Figure 1 to Figure 2 As shown, a protection component 4 is disposed below the first visual detection component 1, the second visual detection component 2 and the third visual detection component 3. The protection component 4 includes a protection cover 41 and a first light source 42. The first light source 42 is annular and is located directly below the protection cover 41.

[0054] When the metal can 300 moves to the bottom of the first light source 42, the annular first light source 42 can illuminate the metal can 300 from all directions, so that the first visual detection component 1, the second visual detection component 2 and the third visual detection component 3 can obtain a clear image. The number of the first light sources 42 can be multiple, and the multiple first light sources 42 are coaxially arranged, and the diameters of different first light sources 42 can be different, so that when the metal can 300 is illuminated by different first light sources 42, the irradiation angle of the light is also different, so as to obtain the best imaging effect by adjusting the irradiation angle of the light. The first light source 42 may include an LED light strip and an annular frame, and the LED light strip is arranged on the annular frame along the annular trajectory of the annular frame.

[0055] The protective cover 41 can block some external stray light to prevent the external stray light from irradiating the metal can 300 and affecting the acquisition of the image. The protective cover 41 is provided with an opening, and the first visual detection component 1, the second visual detection component 2 and the third visual detection component 3 can capture the image of the metal can 300 through the openings on the protective cover 41 respectively corresponding to each other.

[0056] Furthermore, a diffuse reflection coating may be provided on the inner wall of the protective cover 41. By diffusely reflecting the light, all parts of the workpiece are illuminated to avoid the appearance of shadows. In addition, since the diffuse reflection coating can play a role of supplementary light for the metal can 300, the original brightness of the first light source 42 can be reduced, which not only saves energy, but also reduces the probability of bright spots appearing on the surface of the metal can 300 due to excessive local direct light, which affects the probability of image acquisition.

[0057] When the metal can 300 moves to the right below the first visual inspection component 1, the first visual inspection component 1 captures the image of the inner bottom wall of the metal can 300. A second light source 5 is also provided between the first visual inspection component 1 and the protective cover 41 below it. The second light source 5 is used to illuminate the inner bottom wall of the metal can 300, so that some defects on the inner bottom wall of the metal can 300 with lighter color and depth and less obvious traces are more visually clear, thereby improving the inspection effect. The second light source 5 can also be in a ring structure to avoid blocking the image acquisition.

[0058] When the metal can 300 moves to the position directly below the second visual inspection component 2, the second visual inspection component 2 captures an image of a first region of the inner sidewall of the metal can 300. The first region may be a region of one third of the inner sidewall of the metal can 300 from top to bottom. For the first region, a clear image of the first region can be obtained by only using an industrial camera to capture the image directly above the metal can 300.

[0059] When the metal can 300 moves to the position directly below the third visual inspection component 3, the third visual inspection component 3 captures an image of the second area of ​​the inner side wall of the metal can 300. The second area may be the remaining area of ​​the inner side wall of the metal can 300 excluding the first area. For the second area, if only one industrial camera is used to obtain an image from directly above the metal can 300, the structure of some areas of the image obtained is prone to being compressed or blurred. Therefore, the third visual inspection component 3 of an embodiment of the present application uses a plurality of visual inspection components to simultaneously capture the second area from different angles. For example, the number of visual inspection components may be four, and the four visual inspection components can obliquely capture the second area from different directions from the oblique upper side of the metal can 300, thereby obtaining a clear image of the entire second area and improving the detection accuracy.

[0060] like Figures 5 to 8 As shown, the inner wall quality inspection device of the metal can of the production line further includes a clamping and conveying assembly 6 and a fourth visual inspection assembly 7. The clamping and conveying assembly 6 is used to convey the metal can 300, and the bottom of the metal can 300 is vacated during the conveying process. The fourth visual inspection assembly 7 is used to obtain an image of the outer bottom wall of the metal can 300 from below the metal can 300.

[0061] Specifically, the clamping conveying assembly 6 includes a first conveying belt 61 and an abutment 62; the transmission shaft of the first conveying belt 61 is vertically arranged, and the belt body of the first conveying belt 61 is used to abut against one side wall of the metal can 300; the abutment 62 is used to abut against the other side wall of the metal can 300.

[0062] The production line 200 can convey the metal can 300 to the area where the clamping conveying assembly 6 is located, and the metal can 300 can enter between the first conveyor belt 61 and the abutment 62, so as to be clamped by the first conveyor belt 61 and the abutment 62. The first conveyor belt 61 can drive the metal can 300 to move by friction during its movement. Since the side wall of the metal can 300 is clamped, the bottom of the metal can 300 can be vacated during the process of the clamping conveying assembly 6 driving the metal can 300 to move, so that the fourth visual inspection assembly 7 can obtain the image of the outer bottom wall of the metal can 300, and then complete the inspection of the outer bottom wall of the metal can 300. After the inspection is completed, the clamping conveying assembly 6 can send the metal can 300 back to the production line 200 or another conveyor belt so that the metal can 300 can undergo subsequent processes.

[0063] like Figure 5 to Figure 6As shown, in some embodiments, the abutment 62 includes a second conveyor belt, the transmission shaft of the second conveyor belt is vertically arranged, and the belt body of the second conveyor belt abuts against the side wall of the metal can 300. The first conveyor belt 61 and the second conveyor belt jointly clamp and convey the metal can 300. The conveying speeds of the first conveyor belt 61 and the second conveyor belt are the same, so that the metal can 300 only moves in translation during the movement, and does not make rotational motion. At this time, the fourth visual inspection component 7 can use at least one industrial camera. When the clamping conveying component 6 conveys the metal can 300 to the top of the fourth visual inspection component 7, the fourth visual inspection component 7 captures an image of the bottom of the metal can 300.

[0064] like Figures 7 and 8 As shown, in other embodiments, the abutment member 62 includes an abutment plate. At this time, the metal can 300 is moved only by the first conveyor belt 61, and the fourth visual inspection component 7 can use at least one industrial camera to obtain an image of the bottom of the metal can 300 from directly below or obliquely below the metal can 300.

[0065] In addition, if Fig. 9 As shown, for a metal can 300 of a certain shape, its bottom edge area ( Fig. 9 The height of the C in the figure is lower than the middle area of ​​the bottom ( Fig. 9 The height of the metal can 300 is D, which makes the bottom structure of the metal can 300 more complicated. At this time, the fourth visual inspection component 7 can be set to take an oblique photo of the bottom of the metal can 300 from the oblique bottom of the metal can 300, and simultaneously obtain images of the bottom edge area and the bottom middle area.

[0066] When the abutment member 62 is an abutment plate, when the first conveyor belt 61 drives the metal can 300 to move, the metal can 300 itself rotates, so that each part of the bottom edge area and each part of the bottom middle area of ​​the metal can 300 can be photographed by the fourth visual inspection component 7. The fourth visual inspection component 7 only needs to use one industrial camera to obtain an image of the entire bottom of the metal can 300. Compared with shooting from directly below the metal can 300, shooting from the oblique bottom of the metal can 300 can obtain a clearer image of the bottom edge area of ​​the metal can 300.

[0067] like Figures 7 and 8As shown, further, the inner wall quality inspection device of the metal can of the production line further includes a fifth visual inspection component 8, which is used to obtain an image of the outer wall of the metal can 300 when the clamping conveying component 6 conveys the metal can 300. The fifth visual inspection component 8 only needs to use an industrial camera to photograph the outer wall of the metal can 300 during the transportation of the metal can 300. As the metal can 300 rotates during the transportation, each area of ​​the outer wall of the metal can 300 can be photographed by the fifth visual inspection component 8.

[0068] In addition, a flexible layer is provided on the first conveyor belt 61 and the abutment member 62, and the flexible layer can be a sponge. When the first conveyor belt 61 and the abutment member 62 clamp the metal can 300, the flexible layer deforms, thereby firmly clamping the metal can 300, and at the same time, the flexible layer can also prevent the metal can 300 from being deformed by clamping.

[0069] Furthermore, when the production line 200 conveys the metal can 300 to the position where the clamping conveyor assembly 6 is located, the metal can 300 may be accumulated at the end of the first conveyor belt 61 and cannot enter between the first conveyor belt and the abutment 62. One of the reasons is that in order to make the flexible layer of the first conveyor belt 61 and the abutment 62 firmly clamp the metal can 300, before the metal can 300 enters between the first conveyor belt 61 and the abutment 62, the distance between the flexible layer on the first conveyor belt 61 and the flexible layer on the abutment 62 needs to be smaller than the diameter of the metal can 300, and the existence of the flexible layer may prevent the metal can 300 from entering between the first conveyor belt 61 and the abutment 62. Even if the flexible layer is removed, it is difficult for the metal can 300 to easily enter between the first conveyor belt 61 and the abutment 62.

[0070] The metal can 300 at the end of the first conveyor belt 61 may need to be pushed by other metal cans 300 behind it to enter between the first conveyor belt 61 and the abutment 62. However, this will inevitably lead to the accumulation of metal cans 300, and even if the metal can 300 behind can push the metal can 300 in front into between the first conveyor belt 61 and the abutment 62, the multiple metal cans 300 clamped between the first conveyor belt 61 and the abutment 62 will inevitably have the problem of being too close to each other, which affects the acquisition of the image of the outer wall of the metal can 300 by the fifth visual inspection component 8.

[0071] To this end, the embodiment of the present application makes further improvements to the clamping and conveying assembly 6.

[0072] like Figures 5 to 8 As shown, specifically, the clamping and conveying assembly 6 further includes a feed dial 63 and a driving member.

[0073] The feed dial 63 is located at one end of the first conveyor belt 61 in the conveying direction, and the metal can 300 enters between the first conveyor belt 61 and the abutment member 62 from the end where the feed dial 63 is located.

[0074] The feed dial 63 has a plurality of feed levers 631 , and the plurality of feed levers 631 are evenly spaced along the circumferential direction.

[0075] The driving member is connected to the feed dial 63 and is used to drive the feed dial 63 to rotate. When the feed dial 63 rotates, the feed lever 631 can rotate to move the metal can 300 located at the end of the first conveyor belt 61, and then push the metal can 300 between the first conveyor belt 61 and the abutment 62. In addition, since the multiple feed levers 631 are evenly spaced along the circumferential direction, as long as the feed dial 63 rotates at a uniform speed, the feed lever 631 can push a metal can 300 between the first conveyor belt 61 and the abutment 62 at the same time interval, so that when multiple metal cans 300 are clamped between the first conveyor belt 61 and the abutment 62, there is a gap between any two metal cans 300, and the spacing between any two adjacent metal cans 300 is equal, which is convenient for the fifth visual inspection component 8 to obtain images.

[0076] In one case, the driving member may be a motor, and the feed dial 63 is driven to rotate by the motor.

[0077] In another case, the driving member may be a transmission shaft of the first conveyor belt 61. Specifically, the first conveyor belt 61 mainly includes components such as a driving motor, a transmission shaft, a pulley and a belt body, and the structure is relatively conventional, which will not be described in detail here. The feed dial 63 may be connected to the transmission shaft of the first conveyor belt 61, and when the driving motor drives the transmission shaft to rotate at a constant speed, the feed dial 63 may be driven to rotate at a constant speed.

[0078] Finally, the inner wall quality inspection equipment of the metal can on the production line also includes image processing software or an AI image processor to process the acquired image of the metal can 300 to obtain the quality inspection result of the metal can 300 .

Claims

1. A production line metal can inner wall quality inspection equipment, characterized in that: include: A first visual inspection component (1), a second visual inspection component (2) and a third visual inspection component (3) arranged along a conveying direction of the production line (200); The first visual detection component (1) is used to obtain an image of the inner bottom wall of the metal can (300) from directly above the metal can (300); The second visual detection component (2) is used to obtain an image of a first area of ​​the inner wall of the metal can (300) from directly above the metal can (300); The third visual inspection component (3) comprises a plurality of visual inspection components, the plurality of visual inspection components being arranged at even intervals along the circumferential direction and being used to obtain an image of a second area of ​​the inner wall of the metal can (300) from an oblique upper side of the metal can (300) in different directions; The second area is located below the first area.

2. The production line metal can inner wall quality inspection equipment according to claim 1 is characterized by: The production line metal can inner wall quality inspection equipment also includes three sets of protection components (4); The protection components (4) are provided below the first visual detection component (1), the second visual detection component (2) and the third visual detection component (3) in a one-to-one correspondence; The protection assembly (4) comprises a protection cover (41) and a first light source (42); the first light source (42) is ring-shaped and is located directly below the protection cover (41).

3. The inner wall quality inspection equipment for metal cans on a production line according to claim 1 is characterized by: The production line metal can inner wall quality inspection device further comprises a second light source (5), wherein the second light source (5) is located below the first visual inspection component (1) and is used to illuminate the inner bottom wall of the metal can (300).

4. The production line metal can inner wall quality inspection equipment according to claim 1 is characterized by: The production line metal can inner wall quality inspection equipment further comprises a clamping and conveying component (6) and a fourth visual inspection component (7); The clamping and conveying assembly (6) is used to convey the metal can (300), and the bottom of the metal can (300) is vacated during the conveying process; The fourth visual detection component (7) is used to obtain an image of the outer bottom wall of the metal can (300) from below the metal can (300).

5. The production line metal can inner wall quality inspection equipment according to claim 4 is characterized by: The clamping conveying assembly (6) comprises a first conveying belt (61) and an abutment member (62); The transmission shaft of the first conveyor belt (61) is arranged vertically, and the belt body of the first conveyor belt (61) is used to abut against a side wall of the metal can (300); The abutment member (62) is used for abutting against the other side wall of the metal can (300).

6. The production line metal can inner wall quality inspection equipment according to claim 5, characterized in that: The abutment member (62) comprises a second conveyor belt, the belt body of the second conveyor belt abuts against the side wall of the metal can (300); The fourth visual detection component (7) is used to obtain an image of the bottom of the metal can (300) when the clamping and conveying component (6) conveys the metal can (300).

7. The production line metal can inner wall quality inspection equipment according to claim 5, characterized in that: The abutment member (62) comprises an abutment plate; The fourth visual detection component (7) is used to obtain an image of the bottom of the metal can (300) from obliquely below the metal can (300).

8. The production line metal can inner wall quality inspection equipment according to claim 5, characterized in that: The clamping and conveying assembly (6) further comprises a feed dial (63) and a driving member; The feed dial (63) is located at one end of the first conveyor belt (61) in the conveying direction, and the feed dial (63) has a plurality of feed levers (631), and the plurality of feed levers (631) are evenly spaced along the circumferential direction; The driving member is connected to the feed dial (63) and is used to drive the feed dial (63) to rotate; The feed lever (631) is used to push the metal can (300) between the first conveyor belt (61) and the abutment member (62) by rotating.

9. The production line metal can inner wall quality inspection equipment according to claim 7, characterized in that: The production line metal can inner wall quality inspection device further comprises a fifth visual inspection component (8), wherein the fifth visual inspection component (8) is used to obtain an image of the outer wall of the metal can (300) when the clamping and conveying component (6) conveys the metal can (300).

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