CN112497220A - Ring cleaning and dismantling robot - Google Patents
Ring cleaning and dismantling robot Download PDFInfo
- Publication number
- CN112497220A CN112497220A CN202011428045.0A CN202011428045A CN112497220A CN 112497220 A CN112497220 A CN 112497220A CN 202011428045 A CN202011428045 A CN 202011428045A CN 112497220 A CN112497220 A CN 112497220A
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- China
- Prior art keywords
- arm
- oil cylinder
- hinged
- telescopic
- telescopic arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 238000004140 cleaning Methods 0.000 title abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 239000000428 dust Substances 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
The invention discloses a ring cleaning and disassembling robot which is used for cleaning rings on a cylindrical tower furnace and comprises a supporting seat, a power and control mechanism and a working mechanism, wherein the working mechanism is fixed on the upper side of the supporting seat and is connected with the power and control mechanism, the working mechanism comprises a telescopic arm, one end of which is fixed on the upper side of the supporting seat, a swing mechanism, one end of which is fixedly connected with the other end of the telescopic arm, a swing platform, a manipulator and a working accessory, the swing platform is fixedly connected with the swing mechanism, the manipulator is hinged with the swing platform, the working accessory is connected to the front end of the manipulator, and the power and control mechanism is connected with a remote. The invention can be operated by remote control, an operator does not need to enter the tower furnace, the number of personnel exposed in dust is reduced to the maximum extent, a scaffold is not needed to be built, auxiliary work is not needed, the personnel safety is better ensured, the device can be quickly installed in any height within a short time, a ring can be quickly cleaned, and the production stop time is reduced.
Description
Technical Field
The invention relates to the field of engineering robots, in particular to a looping removal robot.
Background
The temperature in the cylindrical furnace tower can fluctuate to a certain extent, so that ash slag melting caused by over-high local temperature in the kiln can be avoided, and the ash slag is adhered to the inner wall of the kiln. The part of molten ash can be solidified on the lining material to form a new kiln skin, or the part of ash can fall off and be melted again and reach a certain balance, so that the kiln skin cannot be thickened, but if the balance is not reached, the falling ash is less, the kiln skin can be gradually thickened, and a ring is formed after the kiln skin reaches a certain degree.
The treatment of the knot and ash bonding is often a difficult problem, the knot needs to be cleaned, the factory usually needs to be stopped and maintained, manual cleaning is a common means, when the knot is removed manually, a scaffold needs to be put up, workers need to enter the interior of the knot for cleaning, the greatest danger is caused by the fact that the knot above the top of the head collapses when the knot is cleaned, and fallen bonding objects are likely to endanger life. Workers are also often at risk when installing new refractory and castable materials. At this point, a robot is required to perform the cleaning and dismantling work.
Disclosure of Invention
The invention aims to provide a ring-forming clearing and dismantling robot aiming at the defects in the prior art.
In order to achieve the purpose, the invention provides a looping removal robot which comprises a supporting seat, a power and control mechanism and a working mechanism, wherein the working mechanism is fixed on the upper side of the supporting seat and is connected with the power and control mechanism, the working mechanism comprises a telescopic arm, one end of which is fixed on the upper side of the supporting seat, a swing mechanism, a swing platform, a manipulator and a working accessory, the swing mechanism is fixedly connected with the other end of the telescopic arm, the swing platform is fixedly connected with the swing mechanism, the manipulator is hinged with the swing platform, the working accessory is connected to the front end of the manipulator, and the power and control mechanism is connected with a remote.
Furthermore, the supporting seat comprises a building block type tower and a supporting mechanism fixedly connected with the building block type tower, and the supporting mechanism is fixedly connected with one end of the telescopic arm.
Furthermore, slewing mechanism includes the base with flexible arm fixed connection and the slewing bearing of base bolted connection, slewing bearing and revolving platform bolted connection.
Furthermore, flexible arm includes first flexible arm, the flexible arm of second and the flexible arm of third, sliding connection respectively between the flexible arm of second and first flexible arm and the flexible arm of third, and first flexible arm and the flexible arm external connection of second have outside flexible hydro-cylinder, and the flexible arm of second and the flexible arm internal connection of third have inside flexible hydro-cylinder, outside flexible hydro-cylinder and inside flexible hydro-cylinder are connected with power and control mechanism respectively.
Further, the manipulator comprises a large arm, one end of the large arm is hinged to the rotary platform, the other end of the large arm is hinged to one end of the second arm and one end of the first oil cylinder respectively, the other end of the first oil cylinder is hinged to the rotary platform, a second oil cylinder is hinged between the second arm and the rotary platform, the other end of the large arm is hinged to one end of the third arm, a third oil cylinder is hinged between the second arm and the third arm, the other end of the third arm is hinged to a working accessory and a rocker, the working accessory is hinged to a connecting rod, the rocker is hinged to the connecting rod, a rotary hammering oil cylinder is hinged between the rocker and the third arm, and the first oil cylinder, the second oil cylinder, the third oil cylinder and the rotary hammering oil cylinder are connected with.
Furthermore, the building block type tower comprises three support columns, connecting rods are arranged between the inner sides of the upper ends of the three support columns, and the outer sides of the upper ends of the three support columns are respectively provided with a hanging lug which is used for hanging a rope pull rod.
Furthermore, the supporting mechanism comprises a lower supporting plate fixed at the top end of the support column and an upper supporting plate fixed on the lower side of the telescopic arm, a lower supporting column and an upper supporting column are respectively fixed on the lower supporting plate and the upper supporting plate, and the lower supporting column is in threaded connection with the upper supporting column, so that the height of the supporting mechanism can be adjusted.
Has the advantages that: but this robot remote control operation, the operator need not to enter into the tower stove, obtains best sight through operating in different positions, and furthest's reduction exposes the personnel quantity in the dust, need not take scaffold frame and auxiliary work, guarantees personnel's safety, and this robot can also clear up the lope fast, reduces down time, and the structure that sets up can be installed fast in any high short time.
Drawings
FIG. 1 is a schematic structural diagram of a looping and detaching robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a portion of the area A in FIG. 1;
FIG. 3 is a schematic structural diagram illustrating the working state of the ring cleaning and disassembling robot according to the embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a manipulator and a working accessory according to an embodiment of the present invention
Fig. 5 is a schematic structural diagram of a support seat according to an embodiment of the invention.
Reference numerals: 1-a slide block; 2-a support mechanism; 3-building block type tower; 4-a telescopic arm; 5-a manipulator; 6-a rotary platform; 7-a shield; 8-external telescopic oil cylinder; 9-internal telescopic oil cylinder; 10-big arm; 11-two arms; 12-three arms; 13-working attachment; 14-a multi-way control valve; 15-a slewing bearing; 16-a rotary hammer oil cylinder 17-a third oil cylinder; 18-a second cylinder; 19-a first cylinder; 20-a first telescopic arm; 21-second telescopic arm 22-third telescopic arm; 23-a slewing mechanism; 24-a base; 25-a connecting rod; 26-shaking; 27-a lower support plate; 28-lower support columns; 29-a pillar; 30-a connecting rod; 31-hanging ears; 32-rope tension rods; 33-upper support column; 34-upper support plate.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific examples, which are carried out on the premise of the technical solution of the present invention, and it should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1 to 5, an embodiment of the present invention provides a ring cleaning and dismantling robot, including a support base, a power and control mechanism, and a working mechanism, where the working mechanism is fixed on the upper side of the support base and connected to the power and control mechanism, the working mechanism includes a telescopic arm 4 with one end fixed on the upper side of the support base, a revolving mechanism 23 fixedly connected to the other end of the telescopic arm 4, a revolving platform 6 fixedly connected to the revolving mechanism 23, a manipulator 5 hinged to the revolving platform 6, and a working accessory 13 connected to the front end of the manipulator 5, the working accessory 13 preferably adopts a hydraulic impact hammer, which can well clean and dismantle a ring in a furnace, the power and control mechanism is connected to a remote control terminal, and an operator can control the robot to act through the remote control terminal, so as to achieve the purpose of cleaning and dismantling.
The supporting seat comprises a building block type tower 3 and a supporting mechanism 2 fixedly connected with the building block type tower 3, the supporting mechanism 2 is fixedly connected with one end of a telescopic arm 4, the building block type tower 3 comprises three supporting columns 29, a connecting rod 30 is arranged between the inner sides of the upper ends of the three supporting columns 29, hanging lugs 31 are respectively arranged on the outer sides of the upper ends of the three supporting columns 29, the hanging lugs 31 are used for hanging rope pull rods 32, one ends of the rope pull rods 32 are hung on the hanging lugs 31, and the other ends of the rope pull rods are hung with fixing rings arranged on the ground, so that the stability of the robot is guaranteed.
The building block type tower can be accumulated by selecting different numbers of support columns 29 according to the required height, and the accumulated support columns 29 are preferably connected through bolts.
The supporting mechanism 2 comprises a lower supporting plate 27 fixed on the top end of the supporting column 29 and an upper supporting plate 34 fixed on the lower side of the telescopic arm 4, the lower supporting plate 27 and the upper supporting plate 34 are respectively fixed with a lower supporting column 28 and an upper supporting column 33, specifically, a threaded hole is formed in the lower supporting column 28, an external thread is arranged on the upper supporting column 33, the lower supporting column 28 is in threaded connection with the upper supporting column 33, so that the supporting mechanism 2 is adjustable in height and has a certain self-locking characteristic. When the supporting mechanisms 2 are not as high, the angle of the working mechanism relative to the horizontal plane is changed, so that the robot can obtain a larger working angle and working range.
The slewing mechanism 23 comprises a base 24 fixedly connected with the telescopic arm 4 and a slewing bearing 15 bolted with the base 24, and the slewing bearing 15 is bolted with the slewing platform 6.
The telescopic arm 4 of the embodiment of the invention comprises a first telescopic arm 20, a second telescopic arm 21 and a third telescopic arm 22, wherein the second telescopic arm 21 is in sliding connection with the first telescopic arm 20 and the third telescopic arm 22 respectively. Specifically, the flexible arm 21 of second all is square tube form with first flexible arm 20 and the flexible arm 22 of third, the flexible arm 21 of second is established inside first flexible arm 20, be equipped with slider 1 between the two in order to reduce friction, first flexible arm 20 and the flexible arm 21 external connection of second have outside flexible hydro-cylinder 8, it stretches out to drive the flexible arm 21 of second when outside flexible hydro-cylinder 8 stretches out, the flexible arm 22 of third is established inside the flexible arm 21 of second, be equipped with slider 1 between the two in order to reduce friction, the flexible arm 21 of second and the flexible arm 22 internal connection of third have inside flexible hydro-cylinder 9, it stretches out to drive the flexible arm 22 of third when inside flexible hydro-cylinder 9 stretches out, outside flexible hydro-cylinder 8 and inside flexible hydro-cylinder 9 are connected with power and control mechanism respectively. The outer side of the first telescopic arm 20 is also provided with a lifting ring convenient for the lifting of the crane.
The manipulator 5 comprises a large arm 10 with one end hinged on the rotary platform 6, the other end of the large arm 10 is hinged with one end of a second arm 11 and one end of a first oil cylinder 19, the other end of the first oil cylinder 19 is hinged with the rotary platform 6, a second oil cylinder 18 is hinged between the second arm 11 and the rotary platform 6, the other end of the large arm is hinged with one end of a third arm 12, a third oil cylinder 17 is hinged between the second arm 11 and the third arm 12, the other end of the third arm 12 is hinged with a working accessory 13 and a rocker 26, the working accessory 13 is hinged with a connecting rod 25, the rocker 26 is hinged with the connecting rod 25, a rotary hammer oil cylinder 16 is hinged between the rocker 26 and the third arm 12, the first oil cylinder 19, the second oil cylinder 18, the third oil cylinder 17 and the rotary hammer oil cylinder 16 are respectively connected with a power and control mechanism, and the rotary hammer oil cylinder 16 can control and change the.
The power and control mechanism is used for controlling the part of the manipulator to be installed on the rotary platform 6 and comprises a multi-way control valve 14, a rotary motor and a corresponding circuit, a protective cover 7 is further arranged on the multi-way control valve and used for shielding dust or cleaning a dropped ring, the multi-way control valve 14 controls the oil cylinder to stretch out and draw back so as to control the action of the manipulator, the rotary motor drives the rotary platform 6 to rotate, and the rotary platform 6 drives the manipulator 5 to rotate and can do 360-degree rotary motion.
The structure of the invention can be quickly installed in any height and short time, the use is safe and convenient, the equipment has larger working range and can be remotely operated through the multi-section telescopic arrangement of the telescopic arm, an operator only needs to operate at different positions to obtain the best sight line without entering a tower furnace, the number of personnel exposed in dust is reduced to the maximum extent, the multi-section arrangement of the mechanical arm enables the working range and the working efficiency to achieve the best effect, the invention does not need to build a scaffold and assist the work, the safety of the personnel is ensured, the working accessory can quickly clear the ring and the production stop time is reduced.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that other parts not specifically described are within the prior art or common general knowledge to those of ordinary skill in the art. Without departing from the principle of the invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the scope of the invention.
Claims (7)
1. The utility model provides a robot is torn open to looping clearly, its characterized in that, includes supporting seat, power and control mechanism and operating device, operating device fixes the upside at the supporting seat, and it is connected with power and control mechanism, operating device includes that one end is fixed at the flexible arm (4) of supporting seat upside, with other end fixed connection's of flexible arm (4) rotation mechanism (23), with rotation mechanism (23) fixed connection's rotary platform (6), with rotary platform (6) articulated manipulator (5) and connect work accessory (13) at manipulator (5) front end, power and control mechanism are connected with remote control terminal.
2. The looping-dismantling robot as claimed in claim 1, wherein the support base comprises a building-block tower (3) and a support mechanism (2) fixedly connected with the building-block tower (3), and the support mechanism (2) is fixedly connected with one end of a telescopic arm (4).
3. The looping-dismantling robot according to claim 1, characterized in that said slewing mechanism (23) comprises a base (24) fixedly connected to the telescopic arm (4) and a slewing bearing (15) bolted to the base (24), said slewing bearing (15) being bolted to the slewing platform (6).
4. The looping clearing and dismantling robot according to claim 1, characterized in that the telescopic arms (4) comprise a first telescopic arm (20), a second telescopic arm (21) and a third telescopic arm (22), the second telescopic arm (21) is slidably connected with the first telescopic arm (20) and the third telescopic arm (22), an external telescopic oil cylinder (8) is connected with the first telescopic arm (20) and the second telescopic arm (21), an internal telescopic oil cylinder (9) is connected with the second telescopic arm (21) and the third telescopic arm (22), and the external telescopic oil cylinder (8) and the internal telescopic oil cylinder (9) are connected with a power and control mechanism respectively.
5. The looping clearing and dismantling robot according to claim 1, wherein the manipulator (5) comprises a large arm (10) with one end hinged on the rotary platform (6), the other end of the large arm (10) is hinged with one end of a second arm (11) and one end of a first oil cylinder (19) respectively, the other end of the first oil cylinder (19) is hinged with the rotary platform (6), a second oil cylinder (18) is hinged between the second arm (11) and the rotary platform (6), the other end of the second arm is hinged with one end of a third arm (12), a third oil cylinder (17) is hinged between the second arm (11) and the third arm (12), the other end of the third arm (12) is hinged with a working accessory (13) and a rocker (26), the working accessory (13) is hinged with a connecting rod (25), the rocker (26) is hinged with the connecting rod (25), and a rotary hammer oil cylinder (16) is hinged between the rocker and the third arm (12), the first oil cylinder (19), the second oil cylinder (18), the third oil cylinder (17) and the rotary hammer oil cylinder (16) are respectively connected with the power and control mechanism.
6. The looping clearing and dismantling robot as claimed in claim 1, characterized in that the building block tower (3) comprises three struts (29), a connecting rod (30) is arranged between the inner sides of the upper ends of the three struts (29), and the outer sides of the upper ends of the three struts are respectively provided with a hanging lug (31), and the hanging lug (31) is used for hanging a rope pull rod (32).
7. The looping removal robot according to claim 6, characterized in that the supporting mechanism (2) comprises a lower supporting plate (27) fixed at the top end of the support column (29) and an upper supporting plate (34) fixed at the lower side of the telescopic arm (4), the lower supporting plate (27) and the upper supporting plate (34) are respectively fixed with a lower supporting column (28) and an upper supporting column (33), and the lower supporting column (28) is in threaded connection with the upper supporting column (33) so that the supporting mechanism (2) is adjustable in height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011428045.0A CN112497220A (en) | 2020-12-07 | 2020-12-07 | Ring cleaning and dismantling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011428045.0A CN112497220A (en) | 2020-12-07 | 2020-12-07 | Ring cleaning and dismantling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112497220A true CN112497220A (en) | 2021-03-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011428045.0A Pending CN112497220A (en) | 2020-12-07 | 2020-12-07 | Ring cleaning and dismantling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112497220A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113172646A (en) * | 2021-05-10 | 2021-07-27 | 安徽恒创智能装备有限公司 | Breaking-in robot for decomposing furnace |
| CN113635309A (en) * | 2021-09-02 | 2021-11-12 | 安徽恒创智能装备有限公司 | Bulk material warehouse cleaning robot and construction method thereof |
| CN114234217A (en) * | 2021-12-27 | 2022-03-25 | 光大环保技术装备（常州）有限公司 | Garbage burning industry furnace decoking robot |
| CN115815227A (en) * | 2022-11-23 | 2023-03-21 | 安徽恒创智能装备有限公司 | Decomposing furnace clearance is with breaking open robot |
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| CN202642855U (en) * | 2012-07-05 | 2013-01-02 | 李君辉 | Loading and unloading machine for bagged materials |
| CN103010484A (en) * | 2012-12-10 | 2013-04-03 | 中国飞机强度研究所 | Follow-up support device |
| US20150014266A1 (en) * | 2013-07-09 | 2015-01-15 | Liebherr-Werk Ehingen Gmbh | Revolving tower crane |
| CN111482944A (en) * | 2020-04-23 | 2020-08-04 | 山东建筑大学 | Robot system for automatically hanging and detaching ground wire and control method thereof |
| CN212044760U (en) * | 2020-04-30 | 2020-12-01 | 安徽恒创智能装备有限公司 | Multi-degree-of-freedom working arm and forcible entry robot |
| CN215149119U (en) * | 2020-12-07 | 2021-12-14 | 安徽恒创智能装备有限公司 | Ring cleaning and dismantling robot |
-
2020
- 2020-12-07 CN CN202011428045.0A patent/CN112497220A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202642855U (en) * | 2012-07-05 | 2013-01-02 | 李君辉 | Loading and unloading machine for bagged materials |
| CN103010484A (en) * | 2012-12-10 | 2013-04-03 | 中国飞机强度研究所 | Follow-up support device |
| US20150014266A1 (en) * | 2013-07-09 | 2015-01-15 | Liebherr-Werk Ehingen Gmbh | Revolving tower crane |
| CN111482944A (en) * | 2020-04-23 | 2020-08-04 | 山东建筑大学 | Robot system for automatically hanging and detaching ground wire and control method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113172646A (en) * | 2021-05-10 | 2021-07-27 | 安徽恒创智能装备有限公司 | Breaking-in robot for decomposing furnace |
| CN113635309A (en) * | 2021-09-02 | 2021-11-12 | 安徽恒创智能装备有限公司 | Bulk material warehouse cleaning robot and construction method thereof |
| CN114234217A (en) * | 2021-12-27 | 2022-03-25 | 光大环保技术装备（常州）有限公司 | Garbage burning industry furnace decoking robot |
| CN115815227A (en) * | 2022-11-23 | 2023-03-21 | 安徽恒创智能装备有限公司 | Decomposing furnace clearance is with breaking open robot |
| CN115815227B (en) * | 2022-11-23 | 2023-09-01 | 安徽恒创智能装备有限公司 | Decomposing furnace clearance is with broken robot of tearing open |
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