CN107830829A - A kind of furnace tubing carburized layer automatic detection machine people - Google Patents
A kind of furnace tubing carburized layer automatic detection machine people Download PDFInfo
- Publication number
- CN107830829A CN107830829A CN201711045954.4A CN201711045954A CN107830829A CN 107830829 A CN107830829 A CN 107830829A CN 201711045954 A CN201711045954 A CN 201711045954A CN 107830829 A CN107830829 A CN 107830829A
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- clamping bar
- main
- wheel
- furnace tubing
- fixed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
The present invention relates to a kind of furnace tubing carburized layer automatic detection machine people, this furnace tubing carburized layer automatic detection machine people includes main driving mechanism, clamp system, flexible test head device, TT＆C system, and flexible test head device and main driving mechanism are fixed on above base；Clamp system is symmetrical expression scissors mechanism, main clamping bar with being adjustably mounted on the front-back of base respectively from clamping bar, one end installation primary nip wheel of main clamping bar, the other end of main clamping bar sets stage clip, installed from one end of clamping bar from pinch wheels, stage clip is also provided with from the other end of clamping bar, primary nip wheel is with from pinch wheels distribution symmetrical above and below, respectively holding furnace tubing tightly from front and rear；Flexible test head device includes test head support, stepper motor, probe, fine setting guide rail, fine setting slide, vertical spring, horizontal spring.The present invention solves the problems, such as the elongated townhouse of boiler tube, gap is small, be inconvenient to detect, manual detection efficiency is low.
Description
Technical field
The present invention relates to petrochemical industry and steam power plant's furnace tubing detection field, and in particular to a kind of furnace tubing carburized layer
Automatic detection machine people.
Background technology
It is quite varied in petroleum chemical industry, the application of furnace tubing at present.Regular cleaning and inspection for furnace tubing
Work is surveyed, most of or by manually implementing at present, construction environment is severe, security is low, accuracy of detection is poor and operating efficiency is low,
The life of worker is threatened, causes worker's detection to get up very inconvenient.
The outer tube climber device people of conventional tube uses more wheel encircling types, crawler type, the mechanism of sufficient formula, often with complicated,
The features such as volume is big, and quality is big, applied to oil refining scene townhouse, spacing is narrow and small and has many deficiencies during elongated boiler tube
Part.Therefore, how to improve the structure of the outer tube climber device people of existing pipe, improve furnace tubing Detection results as boiler tube detection
Unified urgent problem to be solved of engineering department.
The content of the invention
It is an object of the present invention to provide a kind of furnace tubing carburized layer automatic detection machine people, this furnace tubing oozes
Carbon-coating automatic detection machine people is complicated for solving the outer tube climber device people of conventional tube, and volume is big, shows applied to oil refining
Mismatched during the narrow and small and elongated boiler tube of townhouse, spacing, the problem of Detection results difference.
The technical solution adopted for the present invention to solve the technical problems is：This furnace tubing carburized layer automatic detection machine
People includes main driving mechanism, clamp system, flexible test head device, TT＆C system, flexible test head device and main driving mechanism
It is fixed on above base；Clamp system is symmetrical expression scissors mechanism, and main clamping bar with adjustably installing respectively from clamping bar
On the front-back of base, one end installation primary nip wheel of main clamping bar, the other end of main clamping bar sets stage clip, from clamping bar
One end installation from pinch wheels, be also provided with stage clip from the other end of clamping bar, primary nip wheel with from pinch wheels distribution symmetrical above and below,
Furnace tubing is held tightly from front and rear respectively；Main driving mechanism has a main drive wheel, primary nip wheel, from pinch wheels along furnace tubing one
Side is creeped, and main drive wheel is creeped along furnace tubing opposite side, primary nip wheel, duplex cone is designed to from pinch wheels, main drive wheel
Type U-lag shape simultaneously carries annular knurl；Flexible test head device includes test head support, stepper motor, probe, fine setting guide rail, micro-
Slide, vertical spring, horizontal spring are adjusted, test head support is fixed on base, and test head support fixes motor support frame,
Stepper motor is arranged in the vertical end of motor support frame, and stepper motor output shaft connection wire rod, screw mandrel passes through right-angle connecting plate
And be threadedly coupled with right-angle connecting plate, the other end of screw mandrel fixes probe, horizontal spring be arranged on probe and right-angle connecting plate it
Between and be wound on outside screw mandrel, it is vertical to be bolted on base, fine setting track base in the horizontal ends of motor support frame, finely tune guide rail
It is connected with vertical bolt by guide rail splice, vertical spring is arranged between base and guide rail splice and is wound on vertical bolt
Outside, finely tune slide to be slidably connected with fine setting guide rail, finely tune the upper end of slide and be fixedly connected with the horizontal ends of right-angle connecting plate.
Main driving mechanism includes main drive wheel, the bevel gear that a pair of one-tenth 90o are engaged, DC servo drive electricity in such scheme
Machine, main drive wheel are fixed on the upper left side of base by support, and two bevel gears include drive bevel gear and driven wheel of differential, main
Dynamic bevel gear and DC servo drive motor connection, driven wheel of differential engage connection, DC servo drive motor with main drive wheel
The upper right side of base is fixed on by support, DC servo drive motor shaft uses slotless design, makes its shearing force stable, operation
Smoothly.
In such scheme main clamping bar with from clamping bar be L-type, the long end of main clamping bar and long end from clamping bar
Be respectively arranged with adjustment hole, the front-back of base is respectively fixed with inclined regulation cock, the long end of main clamping bar with from clamping bar
Long end insert corresponding regulation cock respectively, and fixed respectively by latch, the end suit stage clip of main clamping bar simultaneously uses annular knurl
Nut is fixed, and is also set with stage clip from the end of clamping bar and is fixed with knurled nut.
Such scheme center base is front and rear to install righting wheel composition righting mechanism by righting rod, between righting wheel and righting rod
Connected using bearing, it is rolling friction to make righting wheel between the furnace tubing that touches, reduces robot and adjacent boiler tube
Between frictional force, so as to solve the problems, such as robot or so sideslip.
TT＆C system includes data collecting system, radio transmitting device, ground control cabinet, data acquisition system in such scheme
System includes described probe, inclinator, laser range finder, single board computer, robot wiring board, upper using PC104 as robot
Machine, programmable motor driver are as slave computer；Ground control cabinet is selected between notebook computer, with host computer using wireless
Transmitting device communicates, and realizes that data, control command send and receive.
The invention has the advantages that：
1st, the present invention can make robot be close to the outer wall of pipeline by upper and lower two holding pinch wheels, allow the robot in stove
Along the walking of tube wall vertical direction on pipe, carburized layer thickness is accurately gathered, so as to speculate boiler tube wear degree, for work
Whether personnel provide changes boiler tube offer reference, while can realize that self-locking prevents robot from pipeline from escheat using robot
Slide.The present invention solves the elongated townhouse of boiler tube, gap is small, be inconvenient to detect, manual detection efficiency is low, is brought to staff
The problems such as life threat, operating efficiency and accuracy of detection are improved comprehensively.
2nd, the application of righting wheel can effectively prevent robot sideslip traveling so that robot base keeps balance, it is ensured that
Robot firm can be run on pipeline.
3rd, it is accommodating can make it that people enter to more complicated, the intensive and pipeline severe local environment of arrangement by the present invention
Detection, principle is simple, easy to use, reliable operation, efficiency high.
4th, automaticity of the present invention is high, build small volume and less weight.
Brief description of the drawings
Fig. 1 is the view when present invention climbs pipe.
Fig. 2 is the structural representation of the present invention.
Fig. 3 is the left view of the present invention.
Fig. 4 is view when main driving mechanism, clamp system in the present invention climbs pipe.
Fig. 5 is device for testing flexible schematic diagram in the present invention.
Fig. 6 is the rearview of device for testing flexible in the present invention.
Fig. 7 is main driving mechanism schematic diagram in the present invention.
Fig. 8 is the top view of main driving mechanism in the present invention.
Fig. 9 is clamp system schematic diagram in the present invention.
Figure 10 is righting mechanism schematic diagram in the present invention.
In figure：1 furnace tubing, 2 flexible test head devices, 3 main driving mechanisms, 4 robot cover plates, 5 single board computers, 6 rightings
Mechanism, 7 clamp systems, 8 robot wiring boards, 9 inclinators, 10 laser range finders；
201 test head supports, 202 stepper motors, 203 motor support frame stay bolts, 204 motor support frames, 205 fine settings are slided
Seat, 206 fine setting guide rails, 207 vertical springs, 208 guide rail splices, 209 vertical bolts, 210 probes, 211 horizontal springs；
301 main drive wheels, 302 active conical tooth wheel seats, 303 motor supporting bases, 304 DC servo drive motors, 305 main drive wheels
Seat, 306 main drive wheel bearings, 307 drive bevel gears, 308 power transmission shafts, 309 driven wheels of differential；
61 righting wheels, 62 bases, 63 righting rods, 64 righting wheel bearings；
71 primary nip wheels, 72 main clamping bars, 73 knurled nuts, 74 regulation cocks, 75 latches, 76 stage clips, 77 clamp wheel bearings, 78 from
Pinch wheels, 79 from clamping bar.
Embodiment
The present invention is further illustrated below in conjunction with the accompanying drawings：
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, this furnace tubing carburized layer automatic detection machine people includes main driving
Mechanism 3, clamp system 7, flexible test head device 2, TT＆C system, flexible test head device 2 and main driving mechanism 3 are fixed on bottom
The top of seat 62；Clamp system 7 is symmetrical expression scissors mechanism, and main clamping bar 72 with being adjustably mounted at respectively from clamping bar 79
On the front-back of base 62, one end installation primary nip wheel 71 of main clamping bar 72, the other end of main clamping bar 72 sets stage clip 76,
From the installation of one end of clamping bar 79 from pinch wheels 78, stage clip 76 is also provided with from the other end of clamping bar 79, primary nip wheel 71 with from
78 distribution symmetrical above and below of pinch wheels, respectively holds furnace tubing 1 tightly from front and rear；Main driving mechanism 3 has main drive wheel 301, main
Pinch wheels 71, creep from pinch wheels 78 along the side of furnace tubing 1, main drive wheel 301 is creeped along the opposite side of furnace tubing 1, main folder
Bearing up pulley 71, it is designed to the tapered U-lag shape of duplex from pinch wheels 78, main drive wheel 301 and carries annular knurl.The present invention uses side
DC servo drive system controls driving wheel, and two driven pulleys of other side embrace tubular structure, can obtain suitable clamping force, have
There is good self-locking effect.
Flexible test head device 2 includes test head support 201, stepper motor 202, probe 210, fine setting guide rail 206, micro-
Slide 205, vertical spring 207, horizontal spring 211 are adjusted, test head support 201 is fixed on base 62, motor support frame 204
It is fixed on by motor support frame stay bolt 203 on test head support 201, stepper motor 202 is arranged on motor support frame 204
Vertical end on, the output shaft connection wire rod of stepper motor 202, screw mandrel through right-angle connecting plate and with right-angle connecting plate screw thread connect
Connect, the other end of screw mandrel fixes probe 210, and horizontal spring 211 is arranged between probe 210 and right-angle connecting plate and is wound on screw mandrel
Outside, vertical bolt 209 is fixed on base 62, and fine setting guide rail 206 is sitting in the horizontal ends of motor support frame 204, finely tunes guide rail
206 are connected with vertical bolt 209 by guide rail splice 208, and vertical spring 207 is arranged on base 62 and guide rail splice 208
Between and be wound on outside vertical bolt 209, fine setting slide 205 with fine setting guide rail 206 be slidably connected, finely tune slide 205 upper end and
The horizontal ends of right-angle connecting plate are fixedly connected.Pipe mistake is being climbed by the robot of vertical spring 207 being fixed on base 62
Journey realizes the work characteristics of robot adaptivity into that can ensure pop one's head in the distance between 210 and tube wall.
Flexible test head device 2, main driving mechanism 3, robot cover plate 4, single board computer 5, righting mechanism 6, clamp system 7,
Robot wiring board 8, inclinator 9, laser range finder 10 form robot body.
With reference to shown in Fig. 7, Fig. 8, main driving mechanism 3 includes main drive wheel 301, the bevel gear that a pair of one-tenth 90o are engaged, direct current
Servo drive motor 304, main drive wheel 301 are fixed on the upper left side of base 62 by support, and two bevel gears include initiative taper
Gear 307 and driven wheel of differential 309, drive bevel gear 307 are connected with DC servo drive motor 304, driven wheel of differential 309 and
The engagement connection of main drive wheel 301, DC servo drive motor 304 is fixed on the upper right side of base 62 by support, the pair of
It is fixed on into the drive bevel gear 307 in the bevel gear of 90o engagements by active conical tooth wheel seat 302 on base 62, and and direct current
Servo drive motor 304 connects；The main drive wheel 301 passes through driven wheel of differential 309, main drive wheel bearing 306, power transmission shaft
308 are connected with main drive wheel seat 305, and are together fixed on base 62.Motor shaft uses slotless design, makes its shearing force steady
Fixed, operation is smooth.Main drive wheel 301 is U-shaped and carries annular knurl, so that the both sides of main drive wheel 301 contact with tube wall respectively, can
The larger frictional force required during robot climbing sports that meets is produced, and there is good guidance quality and centralizing function.
With reference to shown in Fig. 9, main clamping bar 72 with from clamping bar 79 be L-type, the long end of main clamping bar 72 with from clamping
The long end of bar 79 is respectively arranged with adjustment hole, and the front-back of base 62 is respectively fixed with inclined regulation cock 74, main clamping bar 72
Long end insert corresponding regulation cock 74 respectively with the long end from clamping bar 79, and fixed respectively by latch 75, main clamping bar
72 end suit stage clip 76 is simultaneously fixed with knurled nut 73, is also set with stage clip 76 from the end of clamping bar 79 and is used knurled nut
73 fix.Primary nip wheel 71, from pinch wheels 78 by clamping wheel bearing 77 it is connected to main clamping bar 72, from clamping bar 79, with
Reduce the friction with outer surface of furnace tube to be measured.Primary nip wheel 71, from pinch wheels 78 it is designed to the tapered U-lag shape surface of duplex simultaneously
With annular knurl to increase the force of sliding friction with pipeline, there is righting guiding, while can adapt to the different pipe of thickness
Footpath.The wheeled clamp system of this dead-weight lock, robot deadweight is made full use of to realize creeping for steady and continuous.In the course of work
As long as the angle for adjusting two clamping bars ensures that robot will not glide on pipe fitting and move towards steady, the mechanism has
Simple in construction, walking is flexible, it is stable the advantages that.
With reference to shown in Figure 10, base 62 is front and rear to install the composition righting mechanism 6 of righting wheel 61, righting wheel 61 by righting rod 63
It is connected between righting rod 63 using righting wheel bearing 64, the anti-side-tipping mechanism of this righting, makes full use of and treat that environment where test tube is
This feature of townhouse formula, righting wheel 61 is installed in the both sides of base 62, is connected, made using bearing between righting wheel 61 and righting rod 63
It is rolling friction between righting wheel 61 and contacting pipe, reduces the frictional force between adjacent tubes, so as to solves robot
The anti-bias problem of righting.
TT＆C system includes data collecting system, radio transmitting device, ground control cabinet, and data collecting system includes described
Probe 210, inclinator 9, laser range finder 10, single board computer 5, robot wiring board 8, using PC104 as robot host computer,
Programmable motor driver is as slave computer；Ground control cabinet is selected between notebook computer, with host computer and passed using wireless
Defeated device communication, realize that data, control command send and receive.
The present invention is a kind of wheeled holding based on dead-weight lock and the automatic detection machine people to creep, while can also be real
Existing robot reducing is creeped, and during work, robot carries carburized layer detection sensor（Probe 210）Realize the automatic inspection of boiler tube
Survey, under the driving of DC servo drive motor 304, main driving mechanism 3 carries control system component and sensor along vertically
Boiler tube does continuously or intermittently rectilinear creeping campaign, so as to realize continuously or intermittently detection of the detection robot to boiler tube, and
Detection data by AD conversion and are radioed into the progress data processing of remote ground console.Patent structure design of the present invention
Ingenious, it is reasonable to set, and fast and accurately boiler tube can be pinpointed, continuous or spacing order automatic detection.
Claims (5)
- A kind of 1. furnace tubing carburized layer automatic detection machine people, it is characterised in that：This furnace tubing carburized layer automatic detection Robot includes main driving mechanism（3）, clamp system（7）, flexible test head device（2）, TT＆C system, flexible test head device （2）And main driving mechanism（3）It is fixed on base（62）Top；Clamp system（7）For symmetrical expression scissors mechanism, main clamping bar （72）With from clamping bar（79）Base is adjustably mounted at respectively（62）Front-back on, main clamping bar（72）One end installation Primary nip wheel（71）, main clamping bar（72）The other end set stage clip（76）, from clamping bar（79）One end installation from pinch wheels （78）, from clamping bar（79）The other end be also provided with stage clip（76）, primary nip wheel（71）With from pinch wheels（78）Symmetrical above and below point Cloth, respectively from front and rear furnace tubing（1）Hold tightly；Main driving mechanism（3）With main drive wheel（301）, primary nip wheel（71）, from Pinch wheels（78）Along furnace tubing（1）Side is creeped, main drive wheel（301）Along furnace tubing（1）Opposite side is creeped, primary nip wheel （71）, from pinch wheels（78）, main drive wheel（301）It is designed to the tapered U-lag shape of duplex and carries annular knurl；Flexible test head fills Put（2）Including testing head support（201）, stepper motor（202）, probe（210）, fine setting guide rail（206）, fine setting slide （205）, vertical spring（207）, horizontal spring（211）, test head support（201）It is fixed on base（62）On, measuring head branch Support（201）Fixed motor support frame（204）, stepper motor（202）Installed in motor support frame（204）Vertical end on, step Stepper motor（202）Output shaft connection wire rod, screw mandrel through right-angle connecting plate and being threadedly coupled with right-angle connecting plate, screw mandrel it is another The fixed probe in end（210）, horizontal spring（211）It is arranged on probe（210）Between right-angle connecting plate and it is wound on outside screw mandrel, it is vertical Bolt（209）It is fixed on base（62）On, finely tune guide rail（206）It is sitting in motor support frame（204）Horizontal ends on, finely tune guide rail （206）With vertical bolt（209）Pass through guide rail splice（208）Connection, vertical spring（207）It is arranged on base（62）With guide rail Connecting plate（208）Between and be wound on vertical bolt（209）Outside, slide is finely tuned（205）With finely tuning guide rail（206）It is slidably connected, it is micro- Adjust slide（205）Upper end be fixedly connected with the horizontal ends of right-angle connecting plate.
- 2. furnace tubing carburized layer automatic detection machine people according to claim 1, it is characterised in that：Described main driving Mechanism（3）Including main drive wheel（301）, the bevel gear of a pair of one-tenth 90o engagement, DC servo drive motor（304）, main drive wheel （301）Base is fixed on by support（62）Upper left side, two bevel gears include drive bevel gear（307）With driven wheel of differential （309）, drive bevel gear（307）With DC servo drive motor（304）Connection, driven wheel of differential（309）With main drive wheel （301）Engagement connection, DC servo drive motor（304）Base is fixed on by support（62）Upper right side, DC servo drive Dynamic motor shaft uses slotless design, makes its shearing force stable, operation is smooth.
- 3. furnace tubing carburized layer automatic detection machine people according to claim 2, it is characterised in that：Described main folder is tight Bar（72）With from clamping bar（79）It is L-type, main clamping bar（72）Long end with from clamping bar（79）Long end set respectively There are adjustment hole, base（62）Front-back be respectively fixed with inclined regulation cock（74）, main clamping bar（72）Long end with from folder Tight bar（79）Long end insert corresponding regulation cock respectively（74）, and pass through latch respectively（75）It is fixed, main clamping bar（72）'s End is set with stage clip（76）And use knurled nut（73）It is fixed, from clamping bar（79）End be also set with stage clip（76）And use annular knurl Nut（73）It is fixed.
- 4. furnace tubing carburized layer automatic detection machine people according to claim 3, it is characterised in that：Described base （62）It is front and rear to pass through righting rod（63）Righting wheel is installed（61）Form righting mechanism（6）, righting wheel（61）With righting rod（63）It Between using bearing connect, make righting wheel（61）With the furnace tubing touched（1）Between be rolling friction.
- 5. furnace tubing carburized layer automatic detection machine people according to claim 4, it is characterised in that：Described observing and controlling system System includes data collecting system, radio transmitting device, ground control cabinet, and data collecting system includes described probe（210）, incline Angle instrument（9）, laser range finder（10）, single board computer（5）, robot wiring board（8）, using PC104 as robot host computer, can compile The motor driver of journey is as slave computer；Ground control cabinet, which is selected to use between notebook computer, with host computer, is wirelessly transferred dress Put communication, realize that data, control command send and receive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045954.4A CN107830829A (en) | 2017-10-31 | 2017-10-31 | A kind of furnace tubing carburized layer automatic detection machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045954.4A CN107830829A (en) | 2017-10-31 | 2017-10-31 | A kind of furnace tubing carburized layer automatic detection machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107830829A true CN107830829A (en) | 2018-03-23 |
Family
ID=61651135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711045954.4A Pending CN107830829A (en) | 2017-10-31 | 2017-10-31 | A kind of furnace tubing carburized layer automatic detection machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107830829A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111781078A (en) * | 2020-07-13 | 2020-10-16 | 武汉轻工大学 | In-situ comprehensive test equipment for simulating high-altitude pipe climbing operation contact area |
-
2017
- 2017-10-31 CN CN201711045954.4A patent/CN107830829A/en active Pending
Non-Patent Citations (2)
| Title |
|---|
| 张子华: "PGR-Ⅱ型炉管爬行机器人机构研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 张立军: "PGR-Ⅱ渗碳检测机器人测控技术研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111781078A (en) * | 2020-07-13 | 2020-10-16 | 武汉轻工大学 | In-situ comprehensive test equipment for simulating high-altitude pipe climbing operation contact area |
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