CN217491326U - Foam spraying vehicle for pipeline winding wire spraying - Google Patents

Abstract

The utility model provides a foam spraying car for pipeline spouts kinks, including initiative dolly, passive dolly, link structure, track structure, intermediate frequency heating structure, flush coater and 2 anchor clamps structures, initiative dolly, anchor clamps structure of the equal fixed mounting in passive dolly top, the initiative dolly, the two symmetry setting of passive dolly, the initiative dolly is connected to passive dolly through link structure, initiative dolly bottom, the equal sliding connection in passive dolly bottom is to track structure one end, the track structure other end is equipped with intermediate frequency heating structure, flush coater from a left side to the right side in proper order. A foam spraying car for pipeline spouts kinks, this equipment structure is simple, reasonable in design adopts inside callipers formula structure, divides initiative and two passive follow dollies, there is telescopic connecting rod structure in the middle of, can satisfy the spraying technological requirement of pipe diameter phi 416 + 1620 insulating tube, the simple operation moreover easily promotes.

Description

Foam spraying vehicle for pipeline winding line spraying

Technical Field

The utility model belongs to the technical field of pipeline spraying equipment, especially, relate to a all kinds of foam spraying cars that are used for pipeline to spout kinks.

Background

The steel pipeline is an important channel in the production and operation process of petroleum, chemical production, petroleum gathering and transportation, water supply and gas supply systems, and has wide application range and great using amount. In order to improve the corrosion resistance of steel pipelines and prolong the service life of the pipelines, the inner and outer surfaces of a plurality of pipelines are generally treated and coated with anticorrosive coatings. At present, steel pipe anticorrosive coatings adopted on site are various, wherein epoxy powder coated steel pipes are increasingly applied due to the advantages of excellent mechanical properties, acid and alkali resistance, corrosion resistance, good corrosion resistance and the like, and the demand is increasingly large. But spraying device in current steel pipeline epoxy has some defects, for example spraying device in the current steel pipeline epoxy, needs the manual work to go on mostly, and manual operation can cause the spraying uneven and the spraying thoroughly not often, and spraying device in the current steel pipeline epoxy, and the structure is complicated, operates very inconveniently.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a foam spraying car for pipeline spouts kinks to solve the not enough of prior art.

In order to achieve the above purpose, the technical scheme of the utility model is realized like this:

the utility model provides a foam spraying car for pipeline spouts kinks, includes initiative dolly, passive dolly, link structure, track structure, intermediate frequency heating structure, flush coater and 2 anchor clamps structures, the equal fixed mounting anchor clamps structure in initiative dolly, passive dolly top, the two symmetry setting of initiative dolly, passive dolly, and the initiative dolly is connected to passive dolly through link structure, and initiative dolly bottom, the equal sliding connection in track structure one end in passive dolly bottom are equipped with intermediate frequency heating structure, flush coater from a left side to the right side in proper order, and intermediate frequency heating structure is used for giving the pipeline heating, and the flush coater is used for giving the pipeline spraying, the equal signal connection of initiative dolly, passive dolly, link structure, intermediate frequency heating structure, flush coater, anchor clamps structure is to the controller.

Further, the driving trolley comprises a driving base, a driving motor reducer and a driving unit, wherein a clamp structure is fixedly arranged on one side of the top of the driving base, the driving motor reducer is fixedly arranged on the other side of the top of the driving base, an output shaft of the driving motor reducer is fixedly connected to the driving unit, the driving unit is positioned on one side of the bottom of the driving base, the driving base is in meshing transmission with the track structure, the other side of the bottom of the driving base is fixedly connected to the connecting rod structure, and the driving motor reducer is in signal connection with the controller;

the driving trolley and the driven trolley have the same structure.

Furthermore, the driving unit comprises a first helical gear, a second helical gear, a driving rotating shaft and 2 first rotating gears, an output shaft of the driving motor reducer is fixedly connected to the first helical gear, the first helical gear is meshed with the second helical gear, the middle part of the driving rotating shaft is sleeved with the second helical gear, the driving rotating shaft is rotatably connected to one side of the bottom of the driving base, the two ends of the driving rotating shaft are respectively and fixedly sleeved with one first rotating gear, and the 2 first rotating gears are all meshed with the track structure for transmission.

Furthermore, the connecting rod structure comprises an adjusting sleeve rod, a first lifting connecting rod and a second lifting connecting rod, the adjusting sleeve rod is fixed between the driving trolley and the driven trolley, the first lifting connecting rod is installed at the bottom of the driving trolley, the second lifting connecting rod is installed at the bottom of the driven trolley, and the first lifting connecting rod and the second lifting connecting rod are connected to the controller through signals.

Furthermore, the track structure still is equipped with a plurality of correlation sensors, and the correlation sensor sets up in track structure both sides, correlation sensor signal connection to controller.

Compared with the prior art, a foam spraying car for pipeline kinking has following advantage:

(1) a foam spraying car for pipeline spouts kinks, this equipment structure is simple, reasonable in design adopts inside callipers formula structure, divides initiative and two passive follow dollies, there is telescopic connecting rod structure in the middle of, can satisfy the spraying technological requirement of pipe diameter phi 416 + 1620 insulating tube, the simple operation moreover easily promotes.

(2) A foam spraying car for pipeline spouts kinks, its anchor clamps simple structure, reasonable in design can change according to the pipe diameter, improves the practicality of this anchor clamps, can realize the upset of pipeline through the rotating electrical machines, can realize the tensioning of pipeline through the cylinder.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

fig. 1 is a schematic overall structure diagram of a foam spraying vehicle for a pipeline winding line according to an embodiment of the present invention;

fig. 2 is a schematic partial structural view of a foam spraying vehicle for a pipeline winding line according to an embodiment of the present invention;

fig. 3 is a schematic view of a clamp body of a foam spraying vehicle for a pipeline winding line according to an embodiment of the present invention.

Description of reference numerals:

1. driving the trolley; 11. an active base; 12. a driving motor reducer; 13. an active rotating shaft; 14. A first rotating gear; 2. a passive trolley; 3. a connecting rod structure; 31. adjusting the loop bar; 4. a track structure; 5. a clamp structure; 51. a fixture mount; 511. a fixed frame body; 5111. a left portion; 5112. a right portion; 512. a fixture fixing seat; 52. a clamp unit; 521. a clamp body; 5211. a fixing groove; 53. A rotating electric machine; 54. and a cylinder.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features of the embodiments of the present invention may be combined with each other.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in figures 1 to 3, a foam spraying vehicle for pipeline winding comprises an active trolley 1, a passive trolley 2, a connecting rod structure 3, a track structure 4, a medium-frequency heating structure, a spraying machine and 2 clamp structures 5, the top parts of the driving trolley 1 and the driven trolley 2 are both fixedly provided with a clamp structure 5, the driving trolley 1 and the driven trolley 2 are symmetrically arranged, and the driving trolley 1 is connected to the driven trolley 2 through the connecting rod structure 3, the bottom of the driving trolley 1 and the bottom of the driven trolley 2 are both connected to one end of the track structure 4 in a sliding manner, the other end of the track structure 4 is provided with a medium-frequency heating structure and a coating machine from left to right in sequence, the medium-frequency heating structure is used for heating pipelines, the coating machine is used for coating the pipelines, the driving trolley 1, the driven trolley 2, the connecting rod structure 3, the intermediate frequency heating structure, the spraying machine and the clamp structure 5 are all connected to the controller through signals. In this embodiment, the intermediate frequency heating structure and the spraying machine are both the prior art, the device has a simple structure and a reasonable design, adopts an inner clamping structure, is divided into an active and a passive driven trolley, has a telescopic connecting rod structure in the middle, can meet the spraying process requirement of the heat-insulating pipe with the pipe diameter phi 416 plus 1620, is convenient to operate, and is easy to popularize.

The driving trolley 1 comprises a driving base 11, a driving motor speed reducer 12 and a driving unit, wherein a clamp structure 5 is fixedly installed on one side of the top of the driving base 11, the driving motor speed reducer 12 is fixedly installed on the other side of the top of the driving base, an output shaft of the driving motor speed reducer 12 is fixedly connected to the driving unit, the driving unit is located on one side of the bottom of the driving base 11, the driving base 11 is in meshing transmission with a track structure 4, the other side of the bottom of the driving base 11 is fixedly connected to a connecting rod structure 3, and the driving motor speed reducer 12 is in signal connection with a controller. In the present embodiment, the driving motor reducer 12 is a conventional one.

The driving unit comprises a first helical gear, a second helical gear, a driving rotating shaft 13 and 2 first rotating gears 14, an output shaft of the driving motor speed reducer 12 is fixedly connected to the first helical gear, the first helical gear is meshed with the second helical gear, the middle of the driving rotating shaft 13 is sleeved with the second helical gear, the driving rotating shaft 13 is rotatably connected to one side of the bottom of the driving base 11, the two ends of the driving rotating shaft 13 are respectively fixedly sleeved with one first rotating gear 14, and the 2 first rotating gears 14 are all meshed with the track structure 4 for transmission.

The driving trolley 1 and the driven trolley 2 are identical in structure. In this embodiment, passive dolly 2 includes passive base, passive motor speed reducer, No. three helical gears, No. four helical gears, passive axis of rotation and No. 2 bull gears, passive base top one side fixed mounting anchor clamps structure 5, the passive motor speed reducer of opposite side fixed mounting, the output shaft fixed connection of passive motor speed reducer to No. three helical gears, No. three helical gears and No. four helical gear meshing are connected, No. four helical gear cover is located passive axis of rotation middle part, and passive axis of rotation rotates and is connected to passive base bottom one side, the both ends of passive axis of rotation are fixed cup joints No. two bull gears respectively, No. 2 bull gears all with track structure 4 meshing transmission, passive base bottom opposite side fixed connection to link structure 3, passive motor speed reducer signal connection is to controller.

The connecting rod structure 3 comprises an adjusting loop bar 31, a first lifting connecting rod and a second lifting connecting rod, the adjusting loop bar 31 is fixed between the driving trolley 1 and the driven trolley 2, the first lifting connecting rod is installed at the bottom of the driving trolley 1, the second lifting connecting rod is installed at the bottom of the driven trolley 2, and the first lifting connecting rod and the second lifting connecting rod are connected to the controller through signals. In this embodiment, the adjusting loop bar 31 has a spring, and is of a telescopic structure, the first lifting connecting rod and the second lifting connecting rod are both in the prior art, and the first lifting connecting rod and the second lifting connecting rod are both positioned below the driving trolley 1 and the driven trolley 2, so that the pipe conveying trolley can conveniently move to the middle of the spraying trolley.

The track structure 4 still is equipped with a plurality of correlation sensors, and the correlation sensor sets up in track structure 4 both sides, correlation sensor signal connection to controller. In the embodiment, the correlation sensor is the prior art and is used for detecting that the driving trolley 1/the driven trolley 2 reach the intermediate-frequency heating structure and the position of the coating machine.

The fixture structure 5 comprises a fixture fixing frame 51 and a fixture unit 52, a rotating motor 53 and an air cylinder 54 which are arranged above the fixture fixing frame 51, wherein the top of the fixture fixing frame 51 is rotatably sleeved on the rotating motor 53, an output shaft of the rotating motor 53 is detachably connected to the fixture unit 52, the fixture unit 52 is used for fixing a pipeline, the air cylinder 54 is arranged on one side of the rotating motor 53, a lifting rod of the air cylinder 54 is fixedly connected to one side of the fixture unit 52, and a driver of the rotating motor 53 and the air cylinder 54 are in signal connection with a controller. In the present embodiment, the rotating electric machine 53 and the air cylinder 54 are conventional. This anchor clamps simple structure, reasonable in design can change according to the pipe diameter, improves the practicality of this anchor clamps, can realize the upset of pipeline through rotating electrical machines 53, can realize the tensioning of pipeline through cylinder 54.

The fixture fixing frame 51 comprises a fixing frame body 511 and a fixture fixing seat 512, wherein the fixing frame body 511 comprises a left part 5111 and a right part 5112, the left part 5111 and the right part 5112 are identical in structure, the two parts are symmetrically arranged at the top of the fixture fixing seat 512, and the top of the left part 5111 and the top of the right part 5112 are rotatably sleeved on the rotating motor 53. The clamp holder 51 is used for holding the rotating motor 53, and does not affect the rotation and sliding of the rotating motor 53.

An arc-shaped groove is formed in the top end of the left portion 5111, an arc-shaped groove is formed in the top end of the right portion 5112, the arc-shaped groove and the arc-shaped groove form an annular groove structure, and the rotating motor 53 is sleeved in the annular groove structure in a rotating mode.

The clamp unit 52 comprises a clamp body 521, a pressure sensor and a plurality of adjusting bolts, wherein the clamp body 521 is of a cylindrical structure, the plurality of adjusting bolts are uniformly distributed on the outer wall of the clamp body 521 in the circumferential direction and used for tensioning a pipeline, the pressure sensor is mounted at one end of the clamp body 521 and used for sensing the pipeline, the center of the other end of the clamp body 521 is detachably connected to an output shaft of the rotating motor 53, and the pressure sensor is connected to a controller through signals. In the present embodiment, the pressure sensor 522 is a conventional art. The gripper unit 52 is used to grip the pipe.

The clamp body 521 is provided with a fixing groove 5211 at one end close to the pipeline, and the fixing groove 5211 is used for sleeving two ends of the pipeline. In this embodiment, the anchor clamps body 521 is equipped with a plurality of sizes to be applicable to different pipeline external diameter sizes, further improved the practicality of this structure.

The controller is an industrial personal computer, the rotating motor 53 is a servo motor, the type of the rotating motor 53 is YRF60, and the type of the air cylinder 54 is SC 32.

Example 1

The equipment adopts an inner clamping type structure, comprises an active trolley and a passive trolley, and has a telescopic connecting rod structure in the middle, so that the spraying process requirement of the pipe diameter phi 416-plus-1620 heat-insulation pipe can be met.

The working principle is as follows: the pipe transporting vehicle transports the steel pipe to the lower part of the spraying trolley, the steel pipe and the clamp are centered through lifting fine adjustment of the pipe transporting vehicle, the connecting rod is shortened, the hydraulic station is started, the two sets of oil cylinders are simultaneously spread, and the clamp clamps the steel pipe. The rotating motor drives the clamp to rotate together with the steel pipe, the trolley moves forward and is divided into fast forward and work forward, the trolley only moves backward, variable frequency speed regulation can be achieved, after the process requirements are met, the production efficiency is improved, and the waiting time is shortened.

The equipment consists of an active trolley, a passive trolley, a connecting rod structure, a hydraulic station, a corresponding control unit and the like.

Active/passive trolleys: the two trolleys are similar in structure, a steel plate and a section bar welded frame are adopted, a large-scale rotating structure is arranged on the frame, a clamp is arranged on the front section of the rotating structure, and the clamp can be replaced according to the pipe diameter. The fast-forward/fast-backward motor reducer is arranged on the driven trolley, and the working feed motor reducer is arranged on the driving trolley. The track of the internal clamping type spraying trolley and the track of the pipe conveying trolley are designed in a cross shape.

The connecting rod structure: the two trolleys are connected into a whole by adopting a connecting rod adjusting structure of the lifter. The connecting rod structure is arranged below the ground, so that the pipe conveying trolley can conveniently walk to the middle of the spraying trolley.

A hydraulic station: two hydraulic stations are respectively arranged on the driving trolley and the driven trolley, and the hydraulic driving clamp realizes the tensioning of the steel pipe.

Technical parameters

1. The external dimension is as follows: 19200(L) 1770(W) 2600 (H);

2. the speed reducer of the power feed motor: KAB107R57-943-Y3 KW-4P-180-M4;

3. fast forward/reverse motor speed reducer: KAB 77-97-Y3-4P-0-M4;

4. turntable motor reducer: a cycloid pin wheel XLED8-Y11 KW-4P-1/59;

5. the connecting rod structure: an elevator XLD1-0.75KW with a reduction ratio 380;

6. power of the hydraulic station: 7.5 KW.

Use and maintenance of equipment

1. Use of the device

Before the equipment is used, whether all the wiring of the equipment is correct or not, whether all the crimping joints are reliably connected or not, whether all the connecting screws are firm or not and whether the lubrication pipeline is reliably connected or not must be checked;

when the device is used, the spraying trolley is located at the initial position, the distance between the two trolleys is greater than the length of a steel pipe, the steel pipe is lifted by the pipe conveying trolley and then conveyed to the upper pipe position of the spraying trolley, after the circle center is aligned, the connecting rod structure pulls the driving trolley/the driven trolley to advance towards the end part of the steel pipe respectively (or simultaneously), and the two trolleys stop walking after the boss end surface of the clamp is contacted with the end surface of the steel pipe. The hydraulic station is started, the two sets of oil cylinders are simultaneously opened, and the steel pipe is clamped by the clamp. And the pipe conveying trolley falls and retreats to the initial position to wait for conveying the steel pipe next time. The spraying trolley rapidly advances, the trolley stops moving when reaching the intermediate frequency heating position, and the clamp rotates to drive the steel pipe to rotate. And the intermediate frequency coil descends and stops when reaching a proper position, then the intermediate frequency equipment is started to heat, and the spraying trolley starts to walk. When the cart is advanced to the proper position, the applicator is started. Observing the distance between the tail of the steel pipe and the intermediate frequency coil, and starting the intermediate frequency coil walking motor at a proper position to ensure that the relative position of the coil and the steel pipe is unchanged, which is equivalent to that the intermediate frequency coil follows the steel pipe to move forward and simultaneously supplements heat for the tail area of the steel pipe. After the whole steel pipe and the clamp are sprayed, the slow walking of the spraying trolley is switched to a fast-forward state, and the spraying trolley quickly reaches the position of the lower pipe and stops moving forwards. Then, manually pressing down the disc cutter to separate the clamp from the foam on the surface of the steel pipe. And after the cutting is finished, stopping rotating the steel pipe. The lower pipe conveying trolley retreats to the position right below the foam pipe and stops, and the V-shaped block of the pipe conveying trolley rises and stops after being close to the foam (the rising height is adjusted in advance according to the thickness of the foam layer and the like). The two sets of oil cylinders retract simultaneously, and the clamp loosens the steel pipe. The driving trolley and the driven trolley respectively (or simultaneously) leave the end part of the steel pipe, the front end face of the clamp retreats from the steel pipe, and the two trolleys stop retreating after the distance between the front end face of the clamp and the end face of the steel pipe is 200 mm. The lower pipe conveying trolley lifts the foam pipes to advance to the curing platform. And after the pipe conveying trolley completely leaves the spraying trolley, the spraying trolley rapidly retreats and stops when walking to the initial pipe feeding position.

2. Maintenance of equipment

In order to ensure the safe and reliable operation of the equipment, the lubrication of the equipment is required to be checked every day, whether the motion of each motion part of the equipment is flexible or not is noticed at any time, whether the equipment is stable or not in the motion process, oil is added to each lubrication point by a manual oil pump every week, and the exposed part of the equipment is kept clean and free of impurities.

Adjustment of a device

In order to ensure that the equipment can meet the requirements of the production process, the following points may need to be adjusted;

1. and replacing the clamps with different specifications according to different pipe diameters.

2. The connecting rod structure adopts an adjustable structure, the coarse adjustment adapts to the condition of large size change, the precise adjustment adopts an electric lead screw driving mechanism, the adjustment range is 1 meter, and the device is suitable for being used when pipes are put up and down at every time.

3. The working speed of the trolley can be adjusted in a variable frequency mode, the frequency is a manual adjustment value, and the pipe diameter, the density of the foam layer, the thickness of the foam layer, the foaming parameters of raw materials and the like can influence the value.

4. The rotating speed of the steel pipe can be adjusted in a variable frequency mode, the frequency is an artificial adjustment value, and parameters such as the rotating speed of the steel pipe, the advancing speed of the trolley, the heating temperature of the surface of the steel pipe, the heating temperature of the AB raw material, the reaction speed and the like need to be matched.

The above description is only for the preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. The utility model provides a foam spraying car for pipeline spouts kinking which characterized in that: the automatic spraying machine comprises an active trolley (1), a passive trolley (2), a connecting rod structure (3), a track structure (4), an intermediate frequency heating structure, a spraying machine and 2 clamp structures (5), wherein the clamp structures (5) are fixedly installed at the tops of the active trolley (1) and the passive trolley (2), the active trolley (1) and the passive trolley (2) are symmetrically arranged, the active trolley (1) is connected to the passive trolley (2) through the connecting rod structure (3), the bottom of the active trolley (1) and the bottom of the passive trolley (2) are connected to one end of the track structure (4) in a sliding mode, the intermediate frequency heating structure and the spraying machine are sequentially arranged at the other end of the track structure (4) from left to right, the intermediate frequency heating structure is used for heating pipelines, the spraying machine is used for spraying the pipelines, and the active trolley (1), the passive trolley (2), the connecting rod structure (3), the intermediate frequency heating structure, The spraying machine and the clamp structure (5) are in signal connection with the controller.

2. The foam spraying vehicle for the pipeline winding line according to claim 1, characterized in that: the driving trolley (1) comprises a driving base (11), a driving motor speed reducer (12) and a driving unit, wherein a clamp structure (5) is fixedly mounted on one side of the top of the driving base (11), the driving motor speed reducer (12) is fixedly mounted on the other side of the top of the driving base (11), an output shaft of the driving motor speed reducer (12) is fixedly connected to the driving unit, the driving unit is located on one side of the bottom of the driving base (11), the driving base (11) is in meshing transmission with the track structure (4), the other side of the bottom of the driving base (11) is fixedly connected to the connecting rod structure (3), and the driving motor speed reducer (12) is in signal connection with a controller;

the driving trolley (1) and the driven trolley (2) are identical in structure.

3. The foam spraying vehicle for the pipeline winding line according to claim 2, characterized in that: the driving unit comprises a helical gear, a second helical gear, a driving rotating shaft (13) and 2 first rotating gears (14), an output shaft of a driving motor speed reducer (12) is fixedly connected to the first helical gear, the first helical gear is meshed with the second helical gear, the middle of the driving rotating shaft (13) is sleeved with the second helical gear, the driving rotating shaft (13) is rotatably connected to one side of the bottom of a driving base (11), the two ends of the driving rotating shaft (13) are respectively fixedly sleeved with one first rotating gear (14), and 2 first rotating gears (14) are all meshed with a track structure (4) for transmission.

4. The foam spraying vehicle for the pipeline winding line according to claim 1, characterized in that: the connecting rod structure (3) comprises an adjusting loop bar (31), a first lifting connecting rod and a second lifting connecting rod, the adjusting loop bar (31) is fixed between the driving trolley (1) and the driven trolley (2), the first lifting connecting rod is installed at the bottom of the driving trolley (1), the second lifting connecting rod is installed at the bottom of the driven trolley (2), and the first lifting connecting rod and the second lifting connecting rod are in signal connection with the controller.

5. The foam spraying vehicle for the pipeline winding line according to claim 1, characterized in that: the track structure (4) is further provided with a plurality of correlation sensors, the correlation sensors are arranged on two sides of the track structure (4), and signals of the correlation sensors are connected to the controller.

Images