CN113649699A - Mobile robot walking on U-shaped workpiece and application thereof - Google Patents
Mobile robot walking on U-shaped workpiece and application thereof Download PDFInfo
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- CN113649699A CN113649699A CN202110848095.2A CN202110848095A CN113649699A CN 113649699 A CN113649699 A CN 113649699A CN 202110848095 A CN202110848095 A CN 202110848095A CN 113649699 A CN113649699 A CN 113649699A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/346—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding
- B23K26/348—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding in combination with arc heating, e.g. TIG [tungsten inert gas], MIG [metal inert gas] or plasma welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The invention relates to a mobile robot walking on a U-shaped workpiece and application thereof, wherein the mobile robot comprises a robot body (1) and a control mechanism (10); the robot body (1) comprises a frame (5), the frame (5) is a rectangular plate structure consisting of a side plate A, a top plate B and a side plate C, and a control mechanism (10) is fixed on the top plate B; a pinch roller mechanism (6), a driving wheel mechanism (8) and a pinch roller mechanism (7) are arranged between the side plate A and the side plate C; the mobile robot has the advantages of both a track robot and a wheel robot; meanwhile, the mobile robot is used for building a mobile composite welding robot, and a crosshead shoe mechanical arm (2), a laser-MIG electric arc composite welding torch (3) and a distance sensing feedback device (4) are added to the structure of the mobile robot; the robot can adapt to the fillet weld welding of the U-shaped workpiece in a narrow cabin by combining the advantages of a composite welding technology and the mobile robot walking on the U-shaped workpiece.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a mobile robot walking on a U-shaped workpiece and application thereof.
Background
In the ship manufacturing process, the connection between the components accounts for about a quarter of the total manufacturing amount, and welding plays a crucial role. In the cabin, there are many stiffening ribs, plate bars and the like to link to each other with the cabin main part through welding, except that need high-efficient, stable mobility, still need to possess stronger environmental suitability, in welding process, can adapt to narrow and small welding space, real-time tracking welding seam guarantees welding quality and joint strength.
The welding robot needs to have two basic functions of moving and welding when welding the U-shaped workpiece in a narrow space. The existing mobile welding robot mainly comprises a portal frame type mobile welding robot, a rail type mobile welding robot and a wheel type mobile welding robot.
The patent application No. 201610110575.8 discloses "ship welding robot", with traditional industry arm, welding machine and switch board are all installed on moving platform, six terminal installation welder of arm, the welder rear portion sets up vision mechanism, guide welding position, its characteristics are the restriction problem of having avoided traditional arm working range, nevertheless it is relatively great to remove the holistic three-dimensional size of welding robot, when the welding in the narrow and small space of reply cabin, moving platform's operation space is not enough, its advantage can not be embodied.
The patent with the application number of 201910721521.9 discloses a gantry type double-robot welding path planning method and a gantry type double-robot welding path planning system, a gantry is adopted to hang double robots to weld cabins in a segmented mode, a welding seam segmentation model needs to be established before welding, information of each welding seam is marked, and track planning is carried out on the gantry and the robots, so that the two robots can operate in a coordinated mode.
The patent with application number 202020911479.5 discloses "a welding travelling car for loading welder", with welder loading on travelling car's displacement adjustment mechanism, displacement mechanism can realize longitudinal movement and horizontal hunting, takes welder along the rail mounted who sets up on the welding position, realizes automatic weld, and its characteristics are that orbital motion has replaced complicated orbit planning, but need install the track in advance under the different welding environment, and the workspace requirement of robot is higher.
The patent with application number 201611185774.1 discloses "a small-size removal welding robot", wheeled moving platform adopts tricycle differential drive, and bottom magnetism adsorption equipment guarantees that welding process is stable, installs the IC package of crosshead shoe, controller on the platform, and horizontal slider end installation electric arc sensor, and integrative with welder, and its characteristics are integrated the degree height, and whole size is little, and the practicality is high, but the welding seam tracking degree of difficulty is big, still has the operation space restriction problem in the cabin environment of the intensive floor of individuality.
To sum up, when the existing mobile welding robot is applied to the fillet weld welding of the U-shaped workpiece in the narrow space of the cabin, the operation performance is insufficient, the operation space required by the traditional industrial mechanical arm and mobile platform welding robot is large, the narrow space environment is difficult to be developed, the portal frame of the portal frame type mobile welding robot is complicated to build, the track planning is complicated, the coordination difficulty is high, the track type mobile welding robot needs to preset a track before welding, the manual workload is large, the tracking difficulty of the wheel type mobile welding robot is large, the problem of operation space limitation still exists in the cabin environment with intensive rib plates, and therefore the U-shaped workpiece fillet weld welding working condition in the cabin space is difficult to adapt. Therefore, a new mobile robot is urgently studied to solve the above problems.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a mobile robot walking on a U-shaped workpiece and application thereof.
One of the purposes of the invention is to provide a mobile robot walking on a U-shaped workpiece, wherein the robot can be hung on the U-shaped workpiece by utilizing the contact clamping fit of a driving wheel, a clamping wheel and a pressing wheel on three surfaces of the U-shaped workpiece, and the whole robot can determine a moving track according to the shape of the U-shaped workpiece without laying a moving track in advance like a common track robot; the clamping wheel can elastically compress the workpiece and is suitable for arc transition movement of different U-shaped workpiece thicknesses and different arc section bending radii. The mobile robot designed by the invention can be designed to be small in size and made of light materials, so that the problem that the operation space of a common small-sized mobile welding robot is insufficient due to the small unilateral operation space of the U-shaped workpiece by utilizing the space gap at two sides of the U-shaped workpiece is solved.
The invention also aims to provide a mobile composite welding robot for welding the U-shaped workpiece, which combines the mobile robot with composite welding, so that the robot has the advantages of two technologies, can realize mobile welding in a narrow space, can improve the welding speed and the welding quality through laser and arc composite welding, and further can perform efficient and stable welding operation on a thicker U-shaped workpiece in the narrow space of a cabin.
In order to achieve the purpose, the invention adopts the following scheme:
a mobile robot walking on a U-shaped workpiece comprises a robot body and a control mechanism; the robot body comprises a frame, the frame is a v-shaped plate structure (an integrally formed part, when in use, the top plate B is positioned at the top, the v-shaped plate structure (21274; the opening of the v-shaped plate is buckled on a vertical plate of a U-shaped workpiece) which is composed of a side plate A, a top plate B and a side plate C;
the control mechanism is fixed on the top plate B; a pinch roller mechanism, a driving roller mechanism and a pinch roller mechanism are arranged between the side plate A and the side plate C;
the pressing wheel mechanism comprises 2 pressing wheels, the central shafts of the 2 pressing wheels are parallel to each other, and each pressing wheel is arranged between two pressing wheel frames through a pressing wheel shaft; the pressing wheel shaft is arranged on the side surface I of the top plate B through a pressing wheel frame;
the driving wheel mechanism comprises a transmission system, a driving wheel shaft connected with the top plate B and a driving wheel frame positioned on the side plate A, the driving wheel frame is an L-shaped connecting piece and is used for being connected with the driving wheel shaft and enabling the driving wheel shaft to be perpendicular to the side surface I (the driving wheel shaft is arranged between the top plate B and the driving wheel frame and is connected with two ends through a bearing, and an end cover pressing bearing is arranged at the connection position of the top plate B to realize axial fixation and prevent dust from entering the bearing); a driving wheel is arranged on the driving wheel shaft (the driving wheel is connected with the driving wheel shaft key, and the axial movement of the driving wheel is limited by a shaft shoulder); the transmission system comprises a motor, a reducer and a coupling, and the motor is driven by an integrated part; the driving motor is arranged on a side surface II opposite to the side surface I of the top plate B; the driving motor drives the driving wheel shaft to rotate, and the driving wheel shaft drives the driving wheel to rotate;
2 long slotted holes are formed in the side plate C (in the spring compression process, the whole clamping wheel mechanism can rotate relative to the fixed hinge support, and the adjusting bolt can swing along the direction of the slotted holes, so that a moving space is reserved for the slotted holes); the clamping wheel mechanism comprises 2 groups of clamping wheels and clamping wheel frames; the clamping wheel frame is an integrally-shaped 21274, one end of the opening direction of the shaped frame structural part is connected with the side plate C through a fixed hinged support, and the other end of the clamping wheel frame is connected with the side plate C through an adjusting bolt; the fixed hinged support is perpendicular to the side plate C and is fixedly connected with the side plate C, and the fixed hinged support is rotatably connected with the clamping wheel carrier; the adjusting bolt penetrates through the clamping wheel frame, is sleeved with a compression spring and penetrates out of the long slotted hole of the side plate C; a screwing nut (a pressing gasket is also arranged) is arranged between the thread end part of the adjusting bolt and the side plate C (before the robot is hung and installed on the U-shaped workpiece, the screwing nut needs to be screwed first to compress a compression spring, the thickness space of the clamped U-shaped workpiece is left, after the robot is placed on the U-shaped workpiece, the screwing nut 21 is adjusted to be in a loosening state, the compression spring rebounds to enable the whole robot to be pressed on the U-shaped workpiece), and the hollow part of the shaped frame structural member is provided with a clamping wheel through a clamping wheel shaft (21274);
the 2 pressing wheels are symmetrical about a plane O in position, the plane O is perpendicular to a plane X where the top plate B is located, a short symmetrical axis of the top plate B is located on the plane O, and the short symmetrical axis is used for pressing the top of a vertical plate of the U-shaped workpiece; the central axes of the 2 clamping wheels are parallel to each other and symmetrical about the plane O of the top plate B; the axis of the driving wheel shaft is positioned on the plane O, the rolling direction of the clamping wheel is consistent with that of the driving wheel, and the clamping wheel is used for clamping two side surfaces of the vertical plate of the U-shaped workpiece;
the control mechanism is connected with the driving motor and used for controlling the rotating speed of the driving motor.
The clamping of the U-shaped workpiece mainly depends on the pressing wheels, the clamping wheels and the driving wheels, and because of the gravity of the robot, the two pressing wheels are pressed on the top end of the vertical plate of the U-shaped workpiece, and at the moment, the robot body still can deviate and overturn towards the two side surfaces of the U-shaped workpiece; the driving wheel is tightly pressed on the outer side surface of the U-shaped workpiece vertical plate; the two clamping wheels are tightly pressed on the inner side surface of the vertical plate of the U-shaped workpiece through the elasticity of a spring; the driving wheel, the two clamping wheels and the side surface of the U-shaped plate are in line contact, and the formed triangular position limits the deviation and the overturn of the robot body, so that the whole robot is suspended on the U-shaped workpiece.
As a preferred technical scheme:
according to the mobile robot walking on the U-shaped workpiece, the driving wheels are mechanical wheels coated with rubber on the outside, so that friction force can be increased, and slipping can be prevented.
According to the mobile robot walking on the U-shaped workpiece, the screwing nut is a butterfly nut.
According to the mobile robot walking on the U-shaped workpiece, the clamping wheel frame is connected with the fixed hinge bracket through the hinge bolt, so that the clamping wheel frame rotates by taking the hinge bolt as a shaft.
According to the mobile robot walking on the U-shaped workpiece, the two ends of the clamping wheel shaft are connected with the square holes in the clamping wheel frame in a matched mode through the square cylindrical surfaces, and the clamping wheel shaft is enabled not to rotate relative to the clamping wheel frame.
According to the mobile robot walking on the U-shaped workpiece, the driving motor drives the driving wheel shaft to rotate, and the driving wheel shaft is connected with the driving wheel shaft through the bearing.
The invention also provides a mobile composite welding robot comprising the mobile robot walking on the U-shaped workpiece, wherein the U-shaped workpiece comprises a flat plate and a vertical plate which is arranged perpendicular to the flat plate, and further comprises a crosshead shoe mechanical arm, a laser-MIG electric arc composite welding torch and a distance sensing feedback device;
the crosshead shoe mechanical arm comprises a longitudinal module, a transverse module and an L-shaped longitudinal positioning plate (the L-shaped design is convenient for being fixedly connected with the frame, the overturning force of a contact surface of the crosshead shoe mechanical arm and the frame is reduced, and the connection stability is ensured); the longitudinal module and the transverse module are both ball screw nut pairs; the longitudinal module comprises a module frame arranged on a long plate of the longitudinal positioning plate, a motor is arranged on the module frame, the motor is connected with a lead screw through a coupler, and a slide block is arranged on the lead screw; the rotation of the motor is transferred to the movement of the sliding block; the structure of the transverse module is basically the same as that of the longitudinal module, and the difference is that the module frame of the transverse module is arranged on the sliding block of the longitudinal module through a connecting plate; the lead screw of the longitudinal module is vertical to the side surface II and forms a staggered cross shape with the lead screw of the transverse module;
an opening is formed on the frame along one side where the side plate C is located, and the edge shape of the opening is symmetrical about a plane O; because the crosshead shoe arm position is interfered, unable through shaft coupling lug connection between driving motor and the driving wheel axle, need realize power transmission through gear drive, specifically do: a gear X is also arranged on the driving wheel shaft; the driving motor penetrates through the top plate B and is connected with a gear Y (the driving motor is in key connection with the gear Y, the shaft end of the driving motor is prevented from axially shifting the gear Y through a bolt and an end cover), the gear Y is driven to rotate, and the gear Y drives a gear X to rotate (the relative position between the gear X and a driving wheel is limited by a shaft sleeve, and the axial shifting between the gear X and the top plate B is limited by another shaft sleeve); the gear X drives the driving wheel shaft to rotate;
the laser-MIG electric arc composite welding torch comprises an arc welding torch translation plate, a composite welding torch connecting plate, a fiber laser welding head, an MIG arc welding torch and a composite welding torch angle adjusting plate; the composite welding torch connecting plate is an L-shaped flat plate, one side of the composite welding torch angle adjusting plate is provided with a connecting plate which is rotationally connected with one end of the composite welding torch connecting plate (realized by a cylindrical pin and 4 fastening bolts a), and the plane where the composite welding torch angle adjusting plate and the composite welding torch connecting plate are located is vertical to each other; the other side of the composite welding torch angle adjusting plate is provided with an optical fiber laser welding head and an arc welding gun translation plate; the other end of the composite welding torch connecting plate is fixed on a sliding block of the transverse module, one end of the composite welding torch connecting plate, which is connected with the connecting plate, is positioned at an opening formed on the frame along one side where the side plate C is positioned, the fiber laser welding head and the arc welding torch translation plate are in a front-back position relation along the length direction of the frame and are used for enabling a welding point to be positioned at the intersection of the plane O and the welding line of the U-shaped workpiece vertical plate, a long slotted hole is formed in the composite welding torch angle adjusting plate, and the arc welding torch translation plate penetrates through the long slotted hole in the composite welding torch angle adjusting plate through two fastening bolts C to be fixed; the MIG arc welding gun is clamped between the arc welding gun angle adjusting cushion block and the arc welding gun fixing plate, the MIG arc welding gun, the arc welding gun angle adjusting cushion block and the arc welding gun fixing plate are fixed into an integral piece M through two fastening bolts b, an arc groove is formed in the arc welding gun translation plate, and 4 fastening bolts d penetrate through the arc groove openings to connect the integral piece M with the arc welding gun translation plate; the change of the fastening position of the bolt can realize the rotation of the integrated piece M relative to the arc welding gun translation plate, so as to realize the adjustment of the included angle of the MIG arc welding gun relative to the fiber laser welding head, namely the adjustment of the included angle of a heat source, adjust the fixed position of the welding gun translation plate in the long slotted hole, adjust the horizontal distance of the MIG arc welding gun relative to the fiber laser welding head, namely the distance between the heat sources, and the arc welding gun translation plate and the arc welding gun angle adjusting cushion block have another function of adjusting the heat source center line of the fiber laser welding head of the heat source center line of the MIG arc welding gun to be coplanar, thereby being more beneficial to the formation of a welding line;
the distance sensing feedback device comprises a strip-shaped plate x and a strip-shaped plate y, wherein one end of the strip-shaped plate y is fixedly arranged at the end part of the strip-shaped plate x; the strip-shaped plate x and the strip-shaped plate y are vertical to each other in the length direction; along the length direction, one end of the strip-shaped plate x, which is close to the strip-shaped plate y, and one end of the strip-shaped plate y, which is far away from the strip-shaped plate x, are respectively provided with a contact distance sensor, and the end of the strip-shaped plate x, which is far away from the strip-shaped plate y, is fixed with the composite welding torch angle adjusting plate, so that the two contact distance sensors respectively detect the distance of the welding point from the inner side surface of the vertical plate of the U-shaped workpiece and the distance of the welding point from the bottom surface of the vertical plate of the U-shaped workpiece, and are used for feeding back the position of the welding point in real time;
the control mechanism is also connected with the motors on the longitudinal module and the transverse module respectively and is used for adjusting the position of the welding point to be always positioned at the intersection of the plane O and the welding line of the vertical plate of the U-shaped workpiece.
Because the robot is used for welding, a common sensor cannot work normally due to the interference of arc light and temperature in the welding process (a laser type distance sensor is interfered by strong welding arc light, and other sensors mostly limit the working temperature), and the contact type distance sensor does not have the interference of the problems, so that the contact type distance sensor is adopted in the invention.
Two contact distance sensor survey the distance of welding point skew U-shaped work piece riser medial surface respectively and the distance of welding point skew U-shaped work piece riser bottom surface, contact distance sensor installation back, the sensor is in compression state, the positive and negative position skew of detectable distance plate, guarantee can not take place under the prerequisite of position interference with the fiber laser welding head, horizontal direction contact distance sensor should be close the welding point of compound welding torch as far as possible, like this the position skew change value is steerable within the range of sensor, longitudinal contact distance sensor only need guarantee perpendicular U-shaped work piece horizontal plane and do not interfere other parts can, the mounted position of sensor is confirmed this moment, two bar plate mounted position are confirmed.
The size of the frame is determined according to the following method:
firstly, the robot mainly moves by the friction force of the driving wheels, the length of the driving wheels can be determined by the needed friction force, and the initial height value H of the robot body can be determined by the space height occupied by the transmission gears; secondly, because a plurality of vertical plates of the workpiece exist in the cabin, the distance between the vertical plates is small, the operation space is limited, and the plate distance is different from 100 mm to 200mm, when the robot is hung on the U-shaped workpiece for operation, H is formed2Should be less than the distance between the workpieces, H can be initially selected2The thickness of the workpiece is known as D ═ R0-R1The robot body adopts a plate thickness H1Because the stability of the whole robot needs to be ensured, the distances between the two plate surfaces of the robot body A, C and the U-shaped workpiece are equal and are both H2Further, the width H of the robot body can be obtained0＝2H1+2H2+ D; at this time, it is necessary to ensure that the length of the robot body does not interfere with the inner side surface of the U-shaped workpiece, that is, the distance R from the tail end point of the body in the length direction to the center of the circular arc segment3Should be smaller than the inner diameter R of the circular arc section of the U-shaped workpiece1L can be solved according to the formula (2)2The range of (2), namely the length range of the robot body, is reserved with a certain margin and then an initial length L of the robot body is selected2(ii) a The length of the compression spring on the straight plate section of the U-shaped workpiece is L0The length of the arc section of the U-shaped workpiece is L1According to the formula (3), the compression amount of the compression spring is limited, and it is necessary to ensure that the spring reaches the predetermined valueLength H to maximum compression3The fixed hinge bracket can not touch the inner side surface of the U-shaped workpiece, and the size of the clamping wheel carrier is the minimum value selected by the diameter of the clamping wheel, so that H can be preliminarily determined3At the moment, the distance R between the tail end point of the fixed hinge support and the circle center of the arc section2Should be smaller than the inner diameter R of the circular arc section of the U-shaped workpiece1Then, the distance L between the fixed hinged brackets of the clamping wheel can be obtained by the formula (1)3The value range of (a).
L0-L1≤ΔL (3)
H0＝2×H2+2×H1+D (4)
D＝R0-R1 (5)
The width of the top plate B is the width of the robot body, the width of the side plate A or the side plate C is the height of the robot body, and the length of the side plate A or the side plate C is the length of the robot body; h is the height of the robot body; h0Is the width of the robot body; h1The thickness of the plate of the robot body; h2The distance between the tangent point of the driving wheel and the U-shaped workpiece and the inner side of the side plate of the robot body is equal to the distance between the tangent point of the driving wheel and the U-shaped workpiece and the inner side of the side plate of the robot body; h3Is the length of the fixed hinge support; l is3The fixed hinge brackets are spaced in the length direction of the robot body; l is2Is the length of the robot body; l is1The length of the spring is compressed when the two clamping wheels of the robot body completely enter the arc section of the U-shaped workpiece (namely when the compression amount reaches the limit); l is0The length of a compression spring of the robot body is the length of the compression spring when the robot body is in a straight plate section of the U-shaped workpiece; Δ L is the compression amount of the spring; r0The outer diameter of the curved surface of the circular arc section of the U-shaped workpiece; r1The inner diameter of the curved surface of the circular arc section of the U-shaped workpiece; d is the thickness of the U-shaped workpiece, and the value is 8-15 mm; r2Is H3And L3Limiting the distance from the tail end point of the fixed hinge support to the circle center of the arc section; r3Is L2And limiting the distance from the tail end point of the fixed hinge support to the circle center of the arc section.
As a preferred technical scheme:
according to the mobile composite welding robot, the strip-shaped plate y is fixedly connected with the strip-shaped plate x through the set screw.
In the mobile composite welding robot, the gear X is connected with the driving wheel shaft key.
According to the mobile composite welding robot, the module frame is also provided with the guide rail, and the sliding block is guided by the guide rail.
The principle of the invention is as follows:
the space position between the U-shaped workpiece and the peripheral rib plate is limited and limited by the operation space, the robot body adopts a mode of being suspended on the U-shaped workpiece, the space gap at two sides of the U-shaped workpiece is ingeniously utilized, the movement in a narrow space is realized, the suspension of the robot body mainly elastically clamps three surfaces of the U-shaped workpiece through the action of the driving wheel, the clamping wheel and the pressing wheel, after the robot is clamped, the left and right distances of the whole robot body frame relative to the workpiece are symmetrical, the robot body can be more stably suspended on the U-shaped workpiece to move, the positions of the clamping wheel frame and the clamping wheel can rotate for a certain angle relative to the fixed hinge bracket in the moving process, the space capable of clamping the plate thickness between the driving wheel and the clamping wheel can be slightly adjusted, the robot can adapt to the clamping movement operation with the plate thickness of 8-15 mm, and the robot body utilizes the structural characteristics of the U-shaped workpiece, the welding seam tracking can be realized without complex track laying and track planning, the composite welding torch is arranged at the middle position of the whole robot body, the welding action point is positioned at the intersection of the middle part of the robot body and the welding seam of the vertical plate of the U-shaped workpiece, and the position of the welding action point can not generate large position deviation even in an arc section, in addition, two contact distance sensors are adopted, the position information of the welding action point can be fed back to a control system in real time, further, the information of displacement adjustment quantity required horizontally and longitudinally is transmitted to a transverse module and a longitudinal module, the welding point is controlled to be always on the welding track line, the welding accuracy is ensured, the robot adopts two heat sources of laser and electric arc for compounding, the problems of poor forming quality, insufficient fusion depth and the like of a single heat source welding seam are solved, the welding speed is improved, and the combination of two technologies of the mobile robot and the laser-electric arc composite welding is realized, the overall efficiency and quality of welding the cabin U-shaped workpiece are improved.
Advantageous effects
(1) The mobile robot walking on the U-shaped workpiece is different from the existing track robot, needs to spend a great deal of energy to lay a track before welding, is different from the existing wheel robot, needs to identify a welding seam and plan a moving track, is complicated, is complex, develops a track-suspension-type mobile robot by utilizing the structural characteristics of the U-shaped workpiece, and has the advantages of both the track robot and the wheel robot;
(2) the mobile robot walking on the U-shaped workpiece can be designed to be small in size and made of light materials, so that the problem that the operation space of a common small mobile welding robot is insufficient due to the fact that the space gap between two sides of the U-shaped workpiece is small in the unilateral operation space of the U-shaped workpiece is solved;
(3) the movable composite welding robot for welding the U-shaped workpiece combines the composite welding technology and the advantages of the movable robot walking on the U-shaped workpiece, and can adapt to fillet weld welding of the U-shaped workpiece in a narrow cabin.
Drawings
FIG. 1 is a schematic view of the general structure of a mobile composite welding robot of the present invention;
FIG. 2 is a schematic bottom view of the overall structure of the mobile composite welding robot of the present invention;
FIG. 3 is a schematic structural diagram of a mobile robot body according to the present invention;
fig. 4 is a schematic bottom view of the mobile robot body according to the present invention;
FIG. 5 is a schematic structural view of a crosshead shoe robot arm of the present invention;
FIG. 6 is a schematic diagram of a laser-MIG arc hybrid torch in accordance with the present invention;
FIG. 7 is a schematic structural diagram of a distance sensing feedback device according to the present invention;
fig. 8 is a schematic view illustrating a circular arc turning process of the mobile robot body according to the present invention;
FIG. 9 is a schematic view of a partial installation of an assembly view of the MIG arc welding gun of the present invention;
wherein, 1-a robot body, 2-a crosshead shoe mechanical arm, 3-a laser-MIG arc composite welding torch, 4-a distance sensing feedback device, 5-a vehicle frame, 6-a pinch roller mechanism, 7-a pinch roller mechanism, 8-a driving wheel mechanism, 9-a transmission mechanism, 10-a control mechanism, 11-a driving motor, 12-an end cover, 13-a gear X, 14-a shaft sleeve, 15-a driving wheel, 16-a driving wheel frame, 18-a fixed hinged support, 20-a pinch washer, 21-a screwing nut, 22-an adjusting bolt, 23-a driving wheel shaft, 24-a gear Y, 25-a pinch roller frame, 26-a pinch roller, 27-a pinch roller shaft, 28-an axial fixed nut and 29-a hinge bolt, 30-clamping wheel carrier, 31-clamping wheel shaft, 32-clamping wheel, 33-compression spring, 34-longitudinal positioning plate, 35-longitudinal module, 36-transverse module, 37-slide block connecting plate, 38-module carrier, 39-guide rail, 40-motor, 41-coupler, 42-lead screw, 43-slide block, 44-composite welding torch connecting plate, 45-composite welding torch angle adjusting plate, 46-cylindrical pin, 47-fastening bolt a, 48-arc welding torch translation plate, 49-arc welding torch angle adjusting cushion block, 50-arc welding torch fixing plate, 51-fastening bolt b, 52-MIG arc welding torch, 53-optical fiber laser welding head, 54-strip plate x, 55-strip plate y, 56-fastening screw and 57-contact distance sensor, 58-set bolts c, 59-set bolts d.
Detailed Description
The invention will be further illustrated with reference to specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
Example 1
A mobile robot walking on a U-shaped workpiece comprises a robot body 1 and a control mechanism 10; the robot body 1 comprises a frame 5, wherein the frame 5 is a V-shaped plate structure 21274formed by a side plate A, a top plate B and a side plate C; the U-shaped workpiece comprises a flat plate and a vertical plate which is perpendicular to the flat plate;
the control mechanism 10 is fixed on the top plate B; a pinch roller mechanism 6, a driving wheel mechanism 8 and a clamping wheel mechanism 7 are arranged between the side plate A and the side plate C;
the pinch roller mechanism 6 comprises 2 pinch rollers 26, the central axes of the 2 pinch rollers 26 are parallel to each other, and each pinch roller 26 is arranged between two pinch roller frames 25 through a pinch roller shaft 27 (two ends are provided with axial fixing nuts 28 for fixing); the pressing wheel shaft 27 is arranged on the side surface I of the top plate B through a pressing wheel frame 25;
the driving wheel mechanism 8 comprises a transmission system 9, a driving wheel shaft 23 (one end of which is provided with an end cover 12 for preventing dust and the like from falling) connected with the top plate B and a driving wheel frame 16 positioned on the side plate A, wherein the driving wheel frame 16 is an L-shaped connecting piece and is used for being connected with the driving wheel shaft 23 and enabling the driving wheel shaft 23 to be perpendicular to the side surface I; the driving wheel 15 is arranged on the driving wheel shaft 23; the transmission system 9 comprises an integrated part driving motor 11 of a motor, a speed reducer and a coupling; the driving motor 11 is arranged on a side surface II opposite to the side surface I of the top plate B; the driving motor 11 is connected with the driving wheel shaft 23 through a bearing to drive the driving wheel shaft 23 to rotate, and the driving wheel shaft 23 drives the driving wheel 15 to rotate; the driving wheel 15 is an externally encapsulated mechanical wheel;
2 long slotted holes are arranged on the side plate C; the clamping wheel mechanism 7 comprises 2 groups of clamping wheels 32 and a clamping wheel frame 30; the clamping wheel frame 30 is a v-21274-shaped frame structural part, i-21274, one end of the opening direction of the shaped frame structural part is connected with the side plate C through the fixed hinge bracket 18, and the other end of the clamping wheel frame 30 is connected with the side plate C through the adjusting bolt 22; the fixed hinge support 18 is perpendicular to the side plate C and is fixedly connected with the side plate C, and the fixed hinge support 18 is rotatably connected with the clamping wheel carrier 30; the adjusting bolt 22 passes through the clamping wheel frame 30 and then is sleeved with a compression spring 33 and penetrates out of the long slotted hole of the side plate C; a screwing nut 21 (a compression gasket 20 is also arranged) is arranged between the thread end part of the adjusting bolt 22 and the side plate C, the screwing nut 21 is a butterfly nut, 21274, a clamping wheel 32 is arranged at the hollow part of the structural member of the shaped frame through a clamping wheel shaft 31; the clamping wheel carrier 30 is connected with the fixed hinged support 18 through a hinge bolt 29; the two ends of the clamping wheel shaft 31 are connected with the square holes on the clamping wheel frame 30 in a matching way by adopting square cylindrical surfaces.
The 2 pressing wheels 26 are symmetrical about a plane O, the plane O is perpendicular to a plane X where the top plate B is located, and a short symmetrical axis of the top plate B is located on the plane O and is used for pressing the top of a vertical plate of the U-shaped workpiece; the central axes of the 2 clamping wheels 32 are parallel to each other and symmetrical with respect to the plane O of the top plate B; the axis of the driving wheel shaft 23 is positioned on the plane O, and the rolling direction of the clamping wheel 32 is consistent with that of the driving wheel 15, so that the clamping wheel is used for clamping two side surfaces of a vertical plate of the U-shaped workpiece;
the control mechanism 10 is connected with the driving motor 11 for controlling the rotation speed of the driving motor 11.
Example 2
A mobile composite welding robot walking on a U-shaped workpiece is disclosed in figures 1-4, and comprises the mobile robot walking on the U-shaped workpiece in embodiment 1 (the difference is that an opening is formed on a frame 5 along one side where a side plate C is located, the edge shape of the opening is symmetrical about a plane O, and the mode that a driving motor 11 drives a driving wheel shaft 23 to rotate is modified in the way that a gear X13 (connected with the two in a key mode and separated by a shaft sleeve 14) is installed on the driving wheel shaft 23, the driving motor 11 penetrates through a top plate B and is connected with a gear Y24 to drive a gear Y24 to rotate, the gear Y24 drives a gear X13 to rotate, the gear X13 drives the driving wheel shaft 23 to rotate, a cross slide mechanical arm 2, a laser-MIG arc composite welding torch 3 and a distance sensing feedback device 4; the U-shaped workpiece comprises a flat plate and a vertical plate which is perpendicular to the flat plate;
as shown in fig. 4 to 5, the crosshead shoe mechanical arm 2 includes a longitudinal module 35, a transverse module 36 and an L-shaped longitudinal positioning plate 34, a short plate of the longitudinal positioning plate 34 is fixed on the side surface II of the top plate B, and a long plate of the longitudinal positioning plate 34 is perpendicular to the side surface II; the longitudinal module 35 and the transverse module 36 are both ball screw nut pairs; the longitudinal module 35 comprises a module frame 38 arranged on a long plate of the longitudinal positioning plate 34, a motor 40 and a guide rail 39 are arranged on the module frame 38, the motor 40 is connected with a lead screw 42 through a coupler 41, and a slide block 43 is arranged on the lead screw 42; the rotation of the motor 40 is transmitted as the movement of the slider 43 and the slider 43 is guided by the guide rail 39; the transverse module 36 is substantially identical in structure to the longitudinal module 35, except that the module frame 38 of the transverse module 36 is mounted on the slide 43 of the longitudinal module 35 by means of the connecting plate 37; the lead screw 42 of the longitudinal module 35 is perpendicular to the side surface II and forms a staggered cross shape with the lead screw 42 of the transverse module 36;
as shown in fig. 6 and 9, the laser-MIG arc hybrid torch 3 includes an arc welding torch translation plate 48, a hybrid torch connection plate 44, a fiber laser welding head 53, a MIG arc welding torch 52, and a hybrid torch angle adjustment plate 45; the composite welding torch connecting plate 44 is an L-shaped flat plate, one side of the composite welding torch angle adjusting plate 45 is provided with a connecting plate which is rotationally connected with one end of the composite welding torch connecting plate 44 (realized by a cylindrical pin 46 and 4 fastening bolts a 47), and the planes of the composite welding torch angle adjusting plate 45 and the composite welding torch connecting plate 44 are mutually vertical; the other side of the composite welding torch angle-adjusting plate 45 is provided with a fiber laser welding head 53 and an arc welding torch translation plate 48; the other end of the composite welding torch connecting plate 44 is fixed on the sliding block 43 of the transverse module 36, so that one end of the composite welding torch connecting plate 44 connected with the connecting plate is positioned at an opening formed on one side of the frame 51 along the side where the side plate C is positioned, the fiber laser welding head 53 and the arc welding torch translation plate 48 are in a front-back position relation along the length direction of the frame 5, the welding point is positioned at the intersection of the plane O and the welding line of the vertical plate of the U-shaped workpiece, the composite welding torch angle adjusting plate 45 is provided with a long groove hole, and the arc welding torch translation plate 48 penetrates through the long groove hole on the composite welding torch angle adjusting plate 45 through two fastening bolts C58 to be fixed; the MIG arc welding gun 52 is clamped between the arc welding gun angle-adjusting cushion block 49 and the arc welding gun fixing plate 50, the three are fixed into an integrated piece M through two fastening bolts b51, an arc groove is formed in the arc welding gun translation plate 48, and the fastening bolt d59 penetrates through the arc groove to connect the integrated piece M with the arc welding gun translation plate 48;
as shown in fig. 7, the distance sensing feedback device 4 includes a strip x54 and a strip y55 having one end fixedly mounted on the end of the strip x54 (the strip y55 is fixedly connected to the strip x54 by a set screw 56); strip x54 and strip y55 are perpendicular to each other in the length direction; along the length direction, one end of the strip-shaped plate x54 close to the strip-shaped plate y55 and one end of the strip-shaped plate y55 far away from the strip-shaped plate x54 are respectively provided with a contact-type distance sensor 57, and one end of the strip-shaped plate x54 far away from the strip-shaped plate y55 is fixed with the composite welding torch angle-adjusting plate 45, so that the two contact-type distance sensors respectively detect the distance of the welding point offset from the inner side surface of the vertical plate of the U-shaped workpiece and the distance of the welding point offset from the bottom surface of the vertical plate of the U-shaped workpiece, and are used for feeding back the position of the welding point in real time;
the control mechanism 10 is further connected with the motors 40 on the longitudinal module 35 and the transverse module 36 respectively for adjusting the position of the welding point to be always located at the intersection of the plane O and the welding line of the vertical plate of the U-shaped workpiece.
As shown in fig. 8, the whole moving process of the mobile composite welding robot for performing fillet welding on the U-shaped workpiece is divided into five states, initially, the robot body 1 moves on the straight plate section of the U-shaped workpiece, the driving wheel mechanism 8 is on the outer side of the U-shaped workpiece, the clamping wheel mechanism 7 is on the inner side of the U-shaped workpiece, when the robot body 1 is not installed on the straight plate section of the U-shaped workpiece, the screwing nut 21 is screwed, the compression spring 33 is in a compression state, the clamping gap between the clamping wheel mechanism 7 and the driving wheel mechanism 8 is increased, after the robot body 1 is installed on the straight plate section, the screwing nut 21 is loosened, the compression amount of the compression spring 33 is reduced, the clamping wheel mechanism 7 is flexibly pressed on the inner side of the U-shaped workpiece, the driving motor 11 transmits power to the driving wheel mechanism 8 through the transmission system 9 to drive the whole mobile welding robot to move forward, and is in a state one at this time along with the movement, the front clamping wheel mechanism enters an arc section, the compression amount of a compression spring 33 begins to increase, a clamping wheel frame 30 carries a clamping wheel 32 to turn to the side face of the frame 5 relative to the fixed hinged support 18, at the moment, the state is two, the robot body 1 continues to move forwards, the compression spring 33 continues to compress, when the robot body 1 completely enters the arc section of the U-shaped workpiece, the compression spring 33 is in the maximum compression state, at the moment, the state is three, along with the movement of the robot body 1, the compression amount of the compression spring 33 is reduced, the front clamping wheel mechanism 7 returns to a straight plate section, the rear clamping wheel mechanism 7 is still in the arc section, the state is four, finally, the compression amount of the compression spring 33 is reduced to an initial value, the whole robot body 1 returns to the straight plate section, and the state is five. In this whole removal in-process, theoretically, the welding point of compound welding torch is in the trajectory line of U-shaped work piece welding seam all the time, but in the actual process, can have a micro deviation, when the welding point takes place the skew, two contact distance sensor then can gather and convert two position offset into voltage signal and transmit for the control panel, the control panel then can calculate the distance that violently, indulge the module needs to be adjusted according to the feedback information of sensor, and then two motors 40 on the control module accomplish the regulation of welding position point.
Claims (10)
1. The utility model provides a walking is in mobile robot of U-shaped work piece, U-shaped work piece includes dull and stereotyped riser of placing of perpendicular to, characterized by: comprises a robot body (1) and a control mechanism (10); the robot body (1) comprises a frame (5), wherein the frame (5) is a v-21274formed by a side plate A, a top plate B and a side plate C;
the control mechanism (10) is fixed on the top plate B; a pinch roller mechanism (6), a driving wheel mechanism (8) and a pinch roller mechanism (7) are arranged between the side plate A and the side plate C;
the pinch roller mechanism (6) comprises 2 pinch rollers (26), the central shafts of the 2 pinch rollers (26) are parallel to each other, and each pinch roller (26) is arranged between two pinch roller frames (25) through a pinch roller shaft (27); the pressing wheel shaft (27) is arranged on the side surface I of the top plate B through a pressing wheel frame (25);
the driving wheel mechanism (8) comprises a transmission system (9), a driving wheel shaft (23) connected with the top plate B and a driving wheel frame (16) positioned on the side plate A, wherein the driving wheel frame (16) is an L-shaped connecting piece and is used for being connected with the driving wheel shaft (23) and enabling the driving wheel shaft (23) to be perpendicular to the side surface I; a driving wheel (15) is arranged on the driving wheel shaft (23); the transmission system (9) comprises an integrated piece driving motor (11) of a motor, a speed reducer and a coupling; the driving motor (11) is arranged on a side surface II opposite to the side surface I of the top plate B; the driving motor (11) drives the driving wheel shaft (23) to rotate, and the driving wheel shaft (23) drives the driving wheel (15) to rotate;
2 long slotted holes are arranged on the side plate C; the clamping wheel mechanism (7) comprises 2 groups of clamping wheels (32) and a clamping wheel frame (30); the clamping wheel carrier (30) is a v-21274-shaped frame structural part, wherein one end in the opening direction of the v-shaped frame structural part is connected with the side plate C through a fixed hinge bracket (18), and the other end of the clamping wheel carrier (30) is connected with the side plate C through an adjusting bolt (22); the fixed hinged support (18) is perpendicular to the side plate C and is fixedly connected with the side plate C, and the fixed hinged support (18) is rotatably connected with the clamping wheel carrier (30); the adjusting bolt (22) penetrates through the clamping wheel carrier (30), is sleeved with a compression spring (33) and penetrates out of the long slotted hole of the side plate C; a screwing nut (21) is arranged between the thread end part of the adjusting bolt (22) and the side plate C, and a clamping wheel (32) is arranged in the hollow part of the shaped frame structural member through a clamping wheel shaft (31);
the 2 pressing wheels (26) are symmetrical about a plane O in position, the plane O is perpendicular to a plane X where the top plate B is located, the short symmetrical axis of the top plate B is located on the plane O, and the short symmetrical axis is used for pressing the top of a vertical plate of the U-shaped workpiece; the central axes of the 2 clamping wheels (32) are parallel to each other and symmetrical about the plane O; the axis of the driving wheel shaft (23) is positioned on the plane O, and the rolling direction of the clamping wheel (32) is consistent with that of the driving wheel (15) and is used for clamping two side surfaces of a vertical plate of the U-shaped workpiece;
the control mechanism (10) is connected with the driving motor (11) and is used for controlling the rotating speed of the driving motor (11).
2. A mobile robot walking on a U-shaped workpiece according to claim 1, characterized in that the driving wheels (15) are externally encapsulated mechanical wheels.
3. A mobile robot walking on a U-shaped workpiece according to claim 1, characterized in that the tightening nut (21) is a wing nut.
4. A mobile robot walking on a U-shaped workpiece according to claim 1, characterized in that the clamping wheel carriage (30) is connected to the fixed hinge bracket (18) by means of hinge bolts (29).
5. The mobile robot walking on a U-shaped workpiece according to claim 1, characterized in that two ends of the clamping wheel shaft (31) are matched and connected with the square holes on the clamping wheel frame (30) by adopting square cylindrical surfaces.
6. A mobile robot walking on a U-shaped workpiece as claimed in claim 1, characterized in that the driving motor (11) drives the driving wheel shaft (23) to rotate through the connection of the bearing and the driving wheel shaft (23).
7. A mobile composite welding robot comprising the mobile robot walking on the U-shaped workpiece according to any one of claims 1 to 5, characterized in that: the device also comprises a crosshead shoe mechanical arm (2), a laser-MIG electric arc composite welding torch (3) and a distance sensing feedback device (4);
the crosshead shoe mechanical arm (2) comprises a longitudinal module (35), a transverse module (36) and an L-shaped longitudinal positioning plate (34), wherein a short plate of the longitudinal positioning plate (34) is fixed on the side surface II of the top plate B, and a long plate of the longitudinal positioning plate (34) is perpendicular to the side surface II; the longitudinal module (35) and the transverse module (36) are both ball screw nut pairs; the longitudinal module (35) comprises a module frame (38) arranged on a long plate of the longitudinal positioning plate (34), a motor (40) is arranged on the module frame (38), the motor (40) is connected with a lead screw (42) through a coupler (41), and a sliding block (43) is arranged on the lead screw (42); the rotation of the motor (40) is transferred to the movement of the slide block (43); the structure of the transverse module (36) is basically the same as that of the longitudinal module (35), and the difference is only that the module frame (38) of the transverse module (36) is arranged on the sliding block (43) of the longitudinal module (35) through the connecting plate (37); a lead screw (42) of the longitudinal module (35) is vertical to the side surface II and forms a staggered cross shape with the lead screw (42) of the transverse module (36);
an opening is formed on the frame (5) along one side where the side plate C is located, and the edge shape of the opening is symmetrical about the plane O; a gear X (13) is also arranged on the driving wheel shaft (23); the driving motor (11) penetrates through the top plate B and is connected with the gear Y (24) to drive the gear Y (24) to rotate, and the gear Y (24) drives the gear X (13) to rotate; the gear X (13) drives the driving wheel shaft (23) to rotate;
the laser-MIG electric arc composite welding torch (3) comprises an arc welding torch translation plate (48), a composite welding torch connecting plate (44), a fiber laser welding head (53), a MIG arc welding torch (52) and a composite welding torch angle adjusting plate (45); the composite welding torch connecting plate (44) is an L-shaped flat plate, one side of the composite welding torch angle adjusting plate (45) is provided with a connecting plate which is rotationally connected with one end of the composite welding torch connecting plate (44), and planes of the composite welding torch angle adjusting plate (45) and the composite welding torch connecting plate (44) are vertical to each other; the other side of the composite welding torch angle adjusting plate (45) is provided with a fiber laser welding head (53) and an arc welding torch translation plate (48); the other end of the composite welding torch connecting plate (44) is fixed on a sliding block (43) of the transverse module (36), one end, connected with the connecting plate, of the composite welding torch connecting plate (44) is located at an opening formed in one side, where the side plate C is located, of the frame (5), the fiber laser welding head (53) and the arc welding torch translation plate (48) are in front-back position relation in the length direction of the frame (5) and used for enabling a welding point to be located at the intersection of the plane O and the welding line of the U-shaped workpiece vertical plate, a long groove hole is formed in the composite welding torch angle adjusting plate (45), and the arc welding torch translation plate (48) penetrates through the long groove hole in the composite welding torch angle adjusting plate (45) through two fastening bolts C (58) to be fixed; the MIG arc welding gun (52) is clamped between an arc welding gun angle adjusting cushion block (49) and an arc welding gun fixing plate (50), the MIG arc welding gun angle adjusting cushion block, the arc welding gun fixing plate and the arc welding gun fixing plate are fixed into an integrated piece M through two fastening bolts b (51), an arc groove is formed in the arc welding gun translation plate (48), and a fastening bolt d (59) penetrates through the arc groove opening to connect the integrated piece M with the arc welding gun translation plate (48);
the distance sensing feedback device (4) comprises a strip-shaped plate x (54) and a strip-shaped plate y (55) with one end fixedly mounted at the end part of the strip-shaped plate x (54); the strip x (54) and the strip y (55) are vertical to each other in the length direction; along the length direction, one end of the strip-shaped plate x (54) close to the strip-shaped plate y (55) and one end of the strip-shaped plate y (55) far away from the strip-shaped plate x (54) are respectively provided with a contact distance sensor (57), and one end of the strip-shaped plate x (54) far away from the strip-shaped plate y (55) is fixed with the composite welding torch angle-adjusting plate (45), so that the two contact distance sensors respectively detect the distance of the welding point offset from the inner side surface of the vertical plate of the U-shaped workpiece and the distance of the welding point offset from the bottom surface of the vertical plate of the U-shaped workpiece, and are used for feeding back the position of the welding point in real time;
the control mechanism (10) is also connected with the motors (40) on the longitudinal module (35) and the transverse module (36) respectively and used for adjusting the position of the welding point to be always positioned at the intersection of the plane O and the welding line of the vertical plate of the U-shaped workpiece.
8. A mobile composite welding robot as claimed in claim 7, characterized in that the strip y (55) is fixedly connected to the strip x (54) by means of a set screw (56).
9. Mobile composite welding robot according to claim 7, characterized in that the gear X (13) is keyed to the driving wheel shaft (23).
10. A mobile composite welding robot according to claim 7, characterized in that a guide rail (39) is further installed on the module frame (38), and the slider (43) is guided by the guide rail (39).
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