Metal tube seaming device

Abstract

The utility model discloses a metal pipe gap searching device, including base, support mechanism and detection mechanism, base is provided with rotating assembly, and rotating assembly includes first driving part and chuck, and first driving part is used for driving chuck rotation, and chuck is used for clamping metal pipe, support mechanism includes compression assembly and two support components, and support component includes support plate and two gyro wheel, and support plate is connected in base, and two gyro wheel all rotatoryly connected in support plate, to support metal pipe, and compression assembly includes second driving part and compression wheel, and second driving part is used for driving compression wheel lifting movement, to make compression wheel can butt joint metal pipe, detection mechanism includes camera and controller, and camera and compression assembly are adjacent arrangement, and camera is used for shooting metal pipe, and camera, first driving part all are electrically connected with controller. The utility model discloses a metal pipe gap searching device, can improve metal pipe movement stability, improve the accuracy of detection.

Description

Technical Field

[0001] This utility model relates to the field of metal pipe processing technology, and in particular to a metal pipe seam-finding device. Background Technology

[0002] In related technologies, metal pipes are usually made by welding, and longitudinal welds are formed on the surface of the pipe. During processing, the location of the welds needs to be avoided to prevent quality defects. The existing processing method mainly uses visual inspection to detect the location of the welds. This is done by driving the metal pipe to rotate and then using a visual sensor to photograph the metal pipe to determine the location of the welds. However, the axial length of the metal pipe is usually large, which makes the metal pipe easy to bend and deform. This causes the detection position to swing when the metal pipe rotates, affecting the accuracy of the detection and failing to meet production requirements. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a metal tube gap-finding device, which can improve the stability of metal tube movement and enhance the accuracy of detection.

[0004] According to a first aspect of the present invention, a metal tube gap-finding device includes a base, a support mechanism, and a detection mechanism. The base is provided with a rotating assembly, which includes a first driving member and a chuck. The first driving member drives the chuck to rotate, and the chuck is used to clamp the metal tube. The support mechanism includes a pressing assembly and two supporting assemblies, which are spaced apart on the base. Each supporting assembly includes a support plate and two rollers. The support plate is connected to the base, and the two rollers are rotatably connected to the support plate to support the metal tube. The pressing assembly includes a second driving member and a pressure roller. The pressure roller is rotatably connected to the movable end of the second driving member, and the second driving member drives the pressure roller to move up and down so that the pressure roller can abut against the metal tube. The detection mechanism includes a camera and a controller. The camera is arranged adjacent to the pressing assembly and is used to photograph the metal tube. The camera and the first driving member are both electrically connected to the controller.

[0005] The metal tube weld detection device according to this utility model embodiment has at least the following beneficial effects: A chuck is connected to the movable end of the first driving member. The metal tube is placed in the chuck, allowing it to clamp. The first driving member drives the chuck to rotate, thereby causing the metal tube to rotate. Two support components are spaced apart on the base, and two rollers are rotatably connected to the support plate. The metal tube can be placed between the two rollers to increase the support points and reduce bending deformation. Furthermore, the second driving member drives the pressure roller to descend, pressing the metal tube firmly onto the two rollers, allowing the metal tube to rotate stably on the two support components and reducing jumps and deviations. The camera and the pressing component are arranged adjacent to each other. The camera captures images of the metal tube, enabling the controller to detect the weld position and drive the first driving member to stop. This automatically locates the weld position of the metal tube, improving detection efficiency and accuracy.

[0006] According to some embodiments of the present invention, the detection mechanism further includes a third driving member, the camera is connected to the movable end of the third driving member, and the third driving member is used to drive the camera to move in the horizontal direction.

[0007] According to some embodiments of the present invention, the detection mechanism further includes a first guide rail and a first slider, the first slider being slidably connected to the first guide rail, and the camera being connected to the first slider.

[0008] According to some embodiments of the present invention, the detection mechanism further includes a moving component, which includes a fixed base, a sliding block, a first nut, and a first screw. The fixed base is connected to the movable end of the third driving member, the sliding block is slidably connected to the fixed base, the first nut is fixedly connected to the sliding block, the first screw is rotatably connected to the fixed base, and the first nut and the first screw are threadedly connected. The camera is mounted on the sliding block.

[0009] According to some embodiments of the present invention, the moving component further includes a first rod and a second rod, the first rod being arranged in a horizontal direction and the second rod being arranged in a vertical direction, the first rod being connected to the sliding block, and the axis of the first rod being offset from the sliding direction of the sliding block, the first rod being slidably connected to a connecting block, the second rod being slidably connected to the connecting block, and the camera being connected to the second rod.

[0010] According to some embodiments of the present invention, the detection mechanism further includes a supplementary light, which is arranged adjacent to the camera and is used to illuminate the metal tube.

[0011] According to some embodiments of this utility model, the support mechanism further includes two sets of adjustment components, which correspond one-to-one with the support components. Each adjustment component includes a second guide rail, a second slider, a second nut, and a second screw. The second guide rail is fixedly connected to the base in the horizontal direction, the second slider is slidably connected to the second guide rail, the second nut and the support plate are both fixedly connected to the second slider, and the second screw is rotatably connected to the base. The second screw and the second nut are threadedly connected.

[0012] According to some embodiments of the present invention, the base is further provided with a feeding assembly, which includes a fourth driving member and a first pushing block. The first pushing block is arranged on one side of the support plate, and the upper end surface of the first pushing block is inclined to guide the metal tube to roll toward the roller. The fourth driving member is used to drive the first pushing block to move up and down.

[0013] According to some embodiments of the present invention, the base is further provided with a feeding assembly, which includes a fifth driving member and a second pushing block. The second pushing block is arranged below the two rollers, and the upper surface of the second pushing block is inclined. The fifth driving member is used to drive the second pushing block to move up and down.

[0014] According to some embodiments of the present invention, the detection mechanism further includes a first detection element and a second detection element. The first detection element and the first pusher block are arranged adjacent to each other, and the second detection element and the second pusher block are arranged adjacent to each other. Both the first detection element and the second detection element are used to detect the metal tube. The first detection element and the fourth drive element, as well as the second detection element and the fifth drive element, are all electrically connected to the controller.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0017] Figure 1 This is a schematic diagram of a metal pipe gap-finding device according to an embodiment of the present utility model;

[0018] Figure 2 This is a top view of the metal pipe gap-finding device according to an embodiment of the present invention;

[0019] Figure 3 This is an exploded view of the metal pipe gap-finding device according to an embodiment of the present invention;

[0020] Figure 4 This is an exploded view of the detection mechanism of the metal pipe gap-finding device according to an embodiment of the present invention.

[0021] Figure label:

[0022] Base 100, rotating assembly 110, first drive component 111, chuck 112, feeding assembly 120, fourth drive component 121, first pusher block 122, unloading assembly 130, fifth drive component 131, second pusher block 132;

[0023] Support mechanism 200, clamping assembly 210, second driving component 211, pressure roller 212, support assembly 220, support plate 221, roller 222, adjusting assembly 230, second guide rail 231, second slider 232, second nut 233, second screw 234;

[0024] The following components are included: detection mechanism 300, camera 310, third drive component 321, first guide rail 322, first slider 323, moving component 330, fixed base 331, sliding block 332, first nut 333, first screw 334, first rod 335, second rod 336, connecting block 337, supplementary light 340, first detection component 351, and second detection component 352. Detailed Implementation

[0025] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0026] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0028] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0029] Understandably, referring to Figures 1 to 4 The metal pipe seam-finding device of this utility model includes a base 100, a support mechanism 200, and a detection mechanism 300. The base 100 is provided with a rotating assembly 110, which includes a first driving member 111 and a chuck 112. The first driving member 111 is used to drive the chuck 112 to rotate, and the chuck 112 is used to clamp the metal pipe. The support mechanism 200 includes a pressing assembly 210 and two supporting assemblies 220. The two supporting assemblies 220 are arranged at intervals on the base 100. The supporting assembly 220 includes a support plate 221 and two rollers 222. The support plate 221 is connected to the base 100. Both rollers 222 are rotatably connected to the support plate 221 to support the metal tube. The clamping assembly 210 includes a second drive member 211 and a pressure roller 212. The pressure roller 212 is rotatably connected to the movable end of the second drive member 211. The second drive member 211 is used to drive the pressure roller 212 to move up and down so that the pressure roller 212 can abut against the metal tube. The detection mechanism 300 includes a camera 310 and a controller (not shown in the figure). The camera 310 and the clamping assembly 210 are arranged adjacent to each other. The camera 310 is used to photograph the metal tube. The camera 310 and the first drive member 111 are both electrically connected to the controller.

[0030] The chuck 112 is connected to the movable end of the first driving member 111. The metal tube is arranged in the chuck 112, allowing the chuck 112 to clamp the metal tube. The first driving member 111 drives the chuck 112 to rotate, thereby causing the metal tube to rotate. Two support components 220 are spaced apart on the base 100. Two rollers 222 are rotatably connected to the support plate 221. The metal tube can be arranged between the two rollers 222 to increase the support points of the metal tube and reduce bending deformation. Moreover, the second driving member 211 can drive the pressure roller 212 to descend, so that the pressure roller 212 can press the metal tube tightly onto the two rollers 222, allowing the metal tube to rotate stably on the two support components 220 and reducing the jump and deviation of the metal tube. The camera 310 and the clamping assembly 210 are arranged adjacent to each other to keep the detection position of the metal tube stable. The camera 310 takes a picture of the metal tube, so that the controller can detect the weld position of the metal tube, which helps to improve the accuracy of the detection. In turn, it can drive the first driving component 111 to stop, and can automatically locate the weld position of the metal tube, thereby improving the accuracy of the detection.

[0031] It should be noted that the weld seam of the metal pipe is arranged axially, and the appearance of the weld seam differs from that of the metal pipe wall. The camera 310 captures an image of the metal pipe, which the controller compares with a preset image to detect the weld seam position. The controller then stops the first drive unit 111, bringing the metal pipe to a stop at a preset angle. This detection process is existing technology and will not be repeated here.

[0032] The first driving component 111 can be a motor, pneumatic motor, etc.; the second driving component 211 can be a linear cylinder, electric actuator, linear slide module, etc.; the controller can be a microcontroller, programmable logic controller, industrial computer, etc., which will not be described in detail here.

[0033] In addition, when feeding metal tubes, a robotic arm can grab the metal tubes and place them on the rollers 222, and drive the metal tubes into the chuck 112 so that the chuck 112 can clamp the metal tubes.

[0034] Understandably, referring to Figure 1 and Figure 4 The detection mechanism 300 also includes a third driving component 321. A camera 310 is connected to the movable end of the third driving component 321, which drives the camera 310 to move horizontally. The camera 310 is connected to the movable end of the third driving component 321, allowing it to move horizontally towards or away from the clamping assembly 210. This facilitates avoidance of the metal tube's loading position, reduces the possibility of damage to the camera 310, and improves reliability.

[0035] It should be noted that when the metal tube is being fed, the third drive unit 321 drives the camera 310 to move away from the clamping assembly 210 to avoid the position of the metal tube; when the first drive unit 111 drives the metal tube to rotate, the third drive unit 321 drives the camera 310 to move closer to the clamping assembly 210 so that the camera 310 can take pictures of the metal tube and improve the accuracy of detection.

[0036] The third drive component 321 can be a linear cylinder, an electric actuator, a linear slide module, etc., which will not be described in detail here.

[0037] Specifically, refer to Figure 1 and Figure 4The inspection mechanism 300 also includes a first guide rail 322 and a first slider 323. The first slider 323 is slidably connected to the first guide rail 322, and the camera 310 is connected to the first slider 323. The first guide rail 322 is arranged horizontally, and the first slider 323 is slidably connected to the first guide rail 322. By setting the camera 310 to be connected to the first slider 323, the camera 310 can slide along the length of the first guide rail 322, avoiding shaking or offset of the camera 310 during movement. This allows for more accurate acquisition of image information of the metal pipe and improves the accuracy of weld inspection.

[0038] Specifically, refer to Figure 1 and Figure 4 The detection mechanism 300 also includes a moving component 330, which includes a fixed base 331, a sliding block 332, a first nut 333, and a first screw 334. The fixed base 331 is connected to the movable end of the third driving member 321, the sliding block 332 is slidably connected to the fixed base 331, the first nut 333 is fixedly connected to the sliding block 332, and the first screw 334 is rotatably connected to the fixed base 331. The first nut 333 and the first screw 334 are threadedly connected, and the camera 310 is mounted on the sliding block 332. The fixed base 331 is fixedly connected to the movable end of the third driving member 321, and the first nut 333 is fixedly connected to the sliding block 332. By driving the first screw 334 to rotate, the first nut 333 can push the sliding block 332 to slide on the fixed base 331, thereby driving the camera 310 to move along the axial direction of the first screw 334. The threaded engagement between the first screw 334 and the first nut 333 can precisely drive the sliding block 332 to slide on the fixed base 331, thereby realizing the fine adjustment of the position of the camera 310, making it easier for the camera 310 to capture images of the metal tube and improving the accuracy of detection.

[0039] It should be noted that the third driving component 321 can drive the entire moving component 330 to move over a wide range to avoid the loading position of the metal tube, and the moving component 330 can precisely move the camera 310, making the position of the camera 310 flexible and accurate, so as to improve the accuracy of detection.

[0040] Specifically, refer to Figure 1 and Figure 4The moving component 330 also includes a first rod 335 and a second rod 336. The first rod 335 is arranged horizontally, and the second rod 336 is arranged vertically. The first rod 335 is connected to a sliding block 332, and the axis of the first rod 335 is offset from the sliding direction of the sliding block 332. The first rod 335 is slidably connected to a connecting block 337, and the second rod 336 is slidably connected to the connecting block 337. The camera 310 is connected to the second rod 336. The horizontal arrangement of the first rod 335 and the vertical arrangement of the second rod 336, along with the slidable connection of the connecting block 337 to the first rod 335 and the ability of the second rod 336 to slide within the connecting block 337, allow the camera 310 to move and adjust both horizontally and vertically. This flexibility in positioning the camera 310 enables it to accurately align with the detection position of the metal tube, thus improving detection accuracy.

[0041] It should be noted that the axis of the first rod 335 is offset from the sliding direction of the sliding block 332, so that the moving direction of the connecting block 337 is offset from the moving direction of the moving component 330, making the moving direction of the camera 310 flexible and improving the convenience of adjustment.

[0042] Understandably, referring to Figure 1 and Figure 4 The inspection unit 300 also includes a supplementary light 340, which is arranged adjacent to the camera 310. The supplementary light 340 is used to illuminate the metal tube. When the camera 310 takes a picture of the metal tube, the supplementary light 340 can provide sufficient and uniform light to the metal tube, effectively improving the lighting conditions of the shooting environment, eliminating image blurring caused by insufficient light, shadows, and other factors, improving the accuracy and reliability of metal tube weld inspection, and reducing misjudgments caused by image quality problems.

[0043] Understandably, referring to Figure 2 and Figure 3The support mechanism 200 also includes two sets of adjustment components 230, which correspond one-to-one with the support components 220. Each adjustment component 230 includes a second guide rail 231, a second slider 232, a second nut 233, and a second screw 234. The second guide rail 231 is fixedly connected to the base 100 in the horizontal direction. The second slider 232 is slidably connected to the second guide rail 231. The second nut 233 and the support plate 221 are both fixedly connected to the second slider 232. The second screw 234 is rotatably connected to the base 100, and the second screw 234 and the second nut 233 are threadedly connected. The second guide rail 231 is fixed horizontally on the base 100, and the second nut 233 is fixedly connected to the support plate 221. By driving the second screw 234 to rotate, the second slider 232 is driven to slide on the second guide rail 231, thereby facilitating the adjustment of the position of the support component 220 on the base 100. With the cooperation of the two adjustment components 230, the distance between the two support components 220 can be easily adjusted, which can adapt to metal tubes of different lengths and sizes, improve the versatility and flexibility of the device, and reduce the cost of use.

[0044] Understandably, referring to Figure 1 and Figure 3 The base 100 is also equipped with a feeding assembly 120, which includes a fourth driving member 121 and a first pushing block 122. The first pushing block 122 is arranged on one side of the support plate 221, and its upper surface is inclined to guide the metal tube to roll towards the roller 222. The fourth driving member 121 is used to drive the first pushing block 122 to move up and down. The inclined upper surface of the first pushing block 122 allows the metal tube to be placed on it and guided to roll towards the roller 222, so that the metal tube can abut against the side wall of the support plate 221. The fourth driving member 121 drives the first pushing block 122 to rise, so that the metal tube can rise and fit against the side wall of the support plate 221. Then, the metal tube passes over the end face of the support plate 221 and falls between the two rollers 222, thereby realizing automatic feeding of the metal tube and improving the efficiency of detection.

[0045] It should be noted that the fourth drive component 121 can be a linear cylinder, an electric actuator, a linear slide module, etc., which will not be described in detail here.

[0046] Specifically, refer to Figure 1 and Figure 3The base 100 is also equipped with a feeding assembly 130, which includes a fifth driving member 131 and a second pushing block 132. The second pushing block 132 is arranged below two rollers 222, and its upper surface is inclined. The fifth driving member 131 is used to drive the second pushing block 132 to move up and down. The second pushing block 132's upper surface is inclined, and it is positioned below the two rollers 222. The fifth driving member 131 drives the second pushing block 132 to rise, allowing it to separate the metal tube from the rollers 222. The metal tube can then roll on the upper surface of the second pushing block 132, enabling automatic feeding and improving inspection efficiency.

[0047] It should be noted that when the inspection agency 300 cannot detect the weld of the metal pipe, the metal pipe can be judged as abnormal. The unloading component 130 can push the metal pipe out of the production line for manual judgment or scrapping, so as to prevent unqualified metal pipes from entering the subsequent production.

[0048] The fifth driving component 131 can be a linear cylinder, an electric actuator, a linear slide module, etc., which will not be described in detail here.

[0049] Specifically, refer to Figure 1 and Figure 3 The detection mechanism 300 also includes a first detection element 351 and a second detection element 352. The first detection element 351 is arranged adjacent to the first pusher block 122, and the second detection element 352 is arranged adjacent to the second pusher block 132. Both the first detection element 351 and the second detection element 352 are used to detect metal tubes. The first detection element 351 and the fourth drive element 121, and the second detection element 352 and the fifth drive element 131 are all electrically connected to the controller. The first detection element 351 and the first pusher block 122 are arranged adjacent to each other, and the second detection element 352 and the second pusher block 132 are arranged adjacent to each other. The first detection element 351 and the second detection element 352 can detect the position of the metal tube, so that the controller can control the fourth drive element 121 and the fifth drive element 131 to open or close, realize the automatic feeding and unloading of metal tubes, and improve the detection efficiency.

[0050] It should be noted that when the first detection component 351 detects the metal tube, the metal tube is in the feeding position, causing the fourth driving component 121 to drive the first pusher block 122 to rise, thereby realizing automatic feeding of the metal tube; when the metal tube is detected as abnormal, the metal tube is between the two rollers 222, causing the fifth driving component 131 to drive the second pusher block 132 to rise, causing the metal tube to fall out automatically, replacing manual operation and improving the continuity of operation.

[0051] The first detection element 351 and the second detection element 352 can both be infrared sensors, ultrasonic sensors, proximity switches, etc., which will not be described in detail here.

[0052] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A metal pipe gap-finding device, characterized in that, include: The base is provided with a rotating assembly, which includes a first driving component and a chuck. The first driving component is used to drive the chuck to rotate, and the chuck is used to clamp a metal tube. The support mechanism includes a clamping assembly and two supporting assemblies. The two supporting assemblies are arranged at intervals on the base. Each supporting assembly includes a support plate and two rollers. The support plate is connected to the base, and both rollers are rotatably connected to the support plate to support the metal tube. The clamping assembly includes a second driving member and a pressure roller. The pressure roller is rotatably connected to the movable end of the second driving member. The second driving member is used to drive the pressure roller to move up and down so that the pressure roller can abut against the metal tube. The detection mechanism includes a camera and a controller. The camera is arranged adjacent to the clamping assembly. The camera is used to photograph the metal tube. The camera and the first driving component are both electrically connected to the controller.

2. The metal tube gap-finding device according to claim 1, characterized in that, The detection mechanism also includes a third driving component, and the camera is connected to the movable end of the third driving component. The third driving component is used to drive the camera to move in the horizontal direction.

3. The metal tube gap-finding device according to claim 2, characterized in that, The detection mechanism further includes a first guide rail and a first slider, the first slider being slidably connected to the first guide rail, and the camera being connected to the first slider.

4. The metal pipe gap-finding device according to claim 2, characterized in that, The detection mechanism further includes a moving component, which includes a fixed base, a sliding block, a first nut, and a first screw. The fixed base is connected to the movable end of the third driving component, the sliding block is slidably connected to the fixed base, the first nut is fixedly connected to the sliding block, the first screw is rotatably connected to the fixed base, and the first nut and the first screw are threaded together. The camera is mounted on the sliding block.

5. The metal pipe gap-finding device according to claim 4, characterized in that, The moving component further includes a first rod and a second rod. The first rod is arranged horizontally, and the second rod is arranged vertically. The first rod is connected to the sliding block, and the axis of the first rod is offset from the sliding direction of the sliding block. The first rod is slidably connected to a connecting block, and the second rod is slidably connected to the connecting block. The camera is connected to the second rod.

6. The metal tube gap-finding device according to claim 1, characterized in that, The detection mechanism also includes a supplementary light, which is arranged adjacent to the camera and is used to illuminate the metal tube.

7. The metal tube gap-finding device according to claim 1, characterized in that, The support mechanism also includes two sets of adjustment components, which correspond one-to-one with the support components. Each adjustment component includes a second guide rail, a second slider, a second nut, and a second screw. The second guide rail is fixedly connected to the base in the horizontal direction, the second slider is slidably connected to the second guide rail, the second nut and the support plate are both fixedly connected to the second slider, and the second screw is rotatably connected to the base. The second screw and the second nut are threaded together.

8. The metal tube gap-finding device according to claim 1, characterized in that, The base is also provided with a feeding assembly, which includes a fourth driving member and a first pushing block. The first pushing block is arranged on one side of the support plate, and the upper surface of the first pushing block is inclined to guide the metal tube to roll toward the roller. The fourth driving member is used to drive the first pushing block to move up and down.

9. The metal tube gap-finding device according to claim 8, characterized in that, The base is also provided with a feeding assembly, which includes a fifth driving member and a second pushing block. The second pushing block is arranged below the two rollers, and the upper surface of the second pushing block is inclined. The fifth driving member is used to drive the second pushing block to move up and down.

10. The metal tube gap-finding device according to claim 9, characterized in that, The detection mechanism further includes a first detection element and a second detection element. The first detection element is arranged adjacent to the first pusher block, and the second detection element is arranged adjacent to the second pusher block. Both the first detection element and the second detection element are used to detect the metal tube. The first detection element and the fourth drive element, as well as the second detection element and the fifth drive element, are all electrically connected to the controller.

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