KR101122269B1 - Module for adjusting position of welding torch and welding carriage - Google Patents

Abstract

A welding torch positioning module and a welding carriage are disclosed. A welding torch position adjusting module mounted on a traveling trolley moving along a welding section to adjust the position of the welding torch, the welding torch positioning mechanism comprising: a rotary slider, a link member rotatably coupled to one end of the rotary slider, and rotatable on the other end of the link member. The welding torch position adjusting module includes a torch holding unit coupled to the welding unit, a torch holding unit holding the welding torch, and a front and rear slider mounted on the driving cart and guiding the rotation slider in the welding section direction, thereby adjusting the aiming angle of the welding torch toward the welding unit. It is possible to cope with various types of welding.

Welding, carriage, welding torch, location, improvement, improved welding

Description

Module for adjusting position of welding torch and welding carriage}

The present invention relates to a welding torch positioning module and a welding carriage. More specifically, the present invention relates to a welding torch positioning module and a welding carriage that can adjust the position of the welding torch at various angles.

Recently, many welding carriages for automatically performing welding in the manufacture of ships or plants having a large amount of welding have been developed. The welding carriage moves along the welding section between the two welding members to weld the two welding members.

The welding carriage according to the prior art is provided with a traveling trolley moving along a linear welding section, a welding torch fixed to the traveling trolley and directed to the welded portion of the welding member, and a guide roller for guiding linear running of the traveling trolley. The welding torch is fixed at the center of the running cart to balance the welding carriage during welding. The traveling cart is provided with a traveling wheel which rotates along the linear welding section direction, and the welding torch welds the welding member while the traveling wheel moves along the linear welding section while the traveling wheel rotates.

However, the welding torch mounted in the welding carriage according to the related art has a problem in that a change in the aiming angle of the welding torch toward the welding portion is limited and thus it may not correspond to various types of welding portions.

The present invention is to provide a welding torch positioning module and a welding carriage that can change the aiming angle of the welding torch toward the welding portion corresponding to various types of welding portion.

According to an aspect of the present invention, a welding torch position adjusting module mounted on a traveling trolley moving along a welding section to adjust the position of the welding torch, the rotary slider and one end of the link member rotatably coupled to the rotary slider and The welding torch position control module is rotatably coupled to the other end of the link member, and includes a torch holding unit for holding the welding torch, and a front and rear slider mounted on the traveling cart and guiding the rotation slider in the welding section direction.

The rotary slider includes a hollow box, a first worm rotatably coupled at both ends on opposite sides of the box, and a first worm wheel engaged with the first worm and having one end of the link member coupled to the first central axis. And a first rotation lever coupled to one end of the first worm to rotate the first worm.

The front and rear sliders have a second rotary lever, a screw bar having one end coupled to the second rotary lever and rotating according to the rotation of the second rotary lever, and engaged with the screw bar to move along the screw bar according to the rotation, and the rotary slider is coupled. It may include a moving bracket.

Meanwhile, the welding torch position adjusting module according to the present invention may be interposed between the other end of the link member and the torch holding portion, and further include a torch weaving portion for weaving the torch holding portion.

The torch weaving part includes a hollow body, a second worm rotatably coupled at both ends on opposite sides of the body, and a second worm wheel engaged with the second worm, and the torch holding part coupled to the second central axis. 2 may include a rotary motor coupled to one end of the worm to rotate the second worm.

In addition, according to another aspect of the present invention, the traveling bogie moving along the welding section,

A welding carriage comprising a welding torch positioning module mounted on a traveling trolley to adjust the position of the welding torch, the welding torch positioning module comprising: a rotary slider, a link member whose one end is rotatably coupled to the rotary slider, and a link; A welding carriage is rotatably coupled to the other end of the member, and is provided with a torch holding part for holding the welding torch and a front and rear slider mounted to the traveling cart and guiding the front and rear sliders in the direction of the welding section.

On the other hand, the welding carriage according to the present invention may further include a magnet coupled to the lower portion of the traveling cart and attached to the welding member.

The rotary slider includes a hollow box, a first worm rotatably coupled at both ends on opposite sides of the box, and a first worm wheel engaged with the first worm and having one end of the link member coupled to the first central axis. And a first rotation lever coupled to one end of the first worm to rotate the first worm.

The front and rear sliders are coupled to the second rotating lever, the screw bar having one end coupled to the second rotating lever and rotating with the rotation of the second rotating lever, and moving along the screw bar according to the rotation, and the rotating slider is coupled. It may include a moving bracket.

Interposed between the other end of the link member and the torch holding portion, and may further include a torch weaving portion for weaving the torch holding portion.

The torch weaving part includes a hollow body, a second worm rotatably coupled at both ends on opposite sides of the body, and a second worm wheel engaged with the second worm, and the torch holding part coupled to the second central axis. 2 may include a rotary motor coupled to one end of the worm to rotate the second worm.

By adjusting the aiming angle of the welding torch toward the welding portion, it is possible to correspond to various types of welding portions.

Hereinafter, an embodiment of a welding carriage according to the present invention will be described in detail with reference to the accompanying drawings, in the following description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and duplicate description thereof. Will be omitted.

1 is a perspective view of a traveling cart according to an embodiment of the present invention, Figure 2 is a perspective view of a welding torch position adjusting module according to an embodiment of the present invention, Figure 3 is a welding torch according to an embodiment of the present invention Side view of the positioning module. Figure 4 is a perspective view of a rotary slider of the welding torch position adjusting module according to an embodiment of the present invention, Figure 5 is a perspective view of the front and rear slider of the welding torch position adjusting module according to an embodiment of the present invention, Figure 6 7 is a perspective view of the torch holding part of the welding torch positioning module according to an embodiment of the present invention, and FIG. 7 is a perspective view of the torch weaving unit of the welding torch positioning module according to an embodiment of the present invention.

1 to 7, the driving cart 12, the driving wheel 14, the driving motor 16, the guide roller 18, the proximity sensor 20, the mounting part 22, the welding torch position adjusting module ( 30, rotary slider 32, link member 34, torch holding part 36, front and rear slider 38, torch weaving part 40, welding torch 42, box 32a, first worm ( 32b), first worm wheel 32c, first central axis 32d, first rotary lever 32e, front and rear slider body 38a, second rotary lever 38b, screw bar 38c, moving bracket ( 38d), guide bar 38e, connector 36a, lever 36b, torch clamp 36c, body 40a, second worm 40b, second worm wheel 40c, second central axis 40d ), A rotary motor 40e is shown.

The welding torch position adjusting module 30 according to the present embodiment is a welding torch position adjusting module 30 mounted on the traveling cart 12 moving along the welding section to adjust the position of the welding torch 42. Slider 32, one end of the link member 34 is rotatably coupled to the rotary slider 32, the other end of the link member 34 is rotatably coupled, the torch holding holding the welding torch 42 Including the front and rear sliders 38 which are mounted to the part 36 and the traveling cart 12 and guide the rotary slider 32 in the welding section direction, the aiming angle of the welding torch 42 toward the welding part is adjusted to various shapes. It can correspond to the welding part of.

In the improved welding of two welding members, the improvement angle formed by the two welding members has various angles. In order to improve the welding efficiency, it is preferable that the welding torch 42 is aimed toward the center of the angle of improvement, and that the welding torch 42 is aimed at the welding part in response to various angles of improvement formed by the two welding members. It can be adjusted to achieve efficient welding.

The traveling cart 12 moves along a linear welding section formed by two welding members. The travel cart 12 is provided with a travel wheel 14 that rotates in a linear welding section direction, and is equipped with a drive motor 16 that provides power to the travel wheel 14. In addition, proximity sensors 20 are provided at both sides of the travel cart 12 to detect whether obstacles are in proximity when the travel cart 12 moves. For example, when the traveling cart 12 reaches the wall during welding, the proximity sensor 20 recognizes this and the driving of the traveling cart 12 is stopped. On one side of the upper portion of the travel cart 12 is provided with a mounting portion 22 to which the welding torch position adjustment module 30 is mounted.

The guide roller 18 extends in the vertical direction with respect to the travel direction of the travel cart 12, and guides the travel cart 12 while rotating along the front guide wall surface.

The rotary slider 32 adjusts the rotation angle of the link member 34 whose one end is rotatably coupled to the rotary slider 32.

One end of the link member 34 is rotatably coupled to the rotary slider 32, and the other end of the link member 34 is rotatably coupled to the torch holding unit 36 that holds the welding torch 42. One end of the link member 34 is rotated by the rotary slider 32 to adjust the vertical position of the torch holding part 36 coupled to the other end.

The torch holding part 36 holds the welding torch 42 so that the welding torch 42 faces the welding part. The torch holding part 36 is rotatably coupled to the other end of the link member 34 to adjust the aiming angle of the welding torch 42 toward the welding part together with the rotary slider 32.

In this embodiment, the torch weaving part 40 is provided between the other end of the link member 34 and the torch holding part 36 to control the rotation of the torch holding part 36.

The rotary slider 32 is fitted to the hollow box 32a, the first worm 32b which is rotatably coupled to both ends of the box 32a on opposite sides, and the first worm 32b. The first rotary lever 32e, which is coupled to one end of the first worm wheel 32c and the first worm 32b to which one end of the member 34 is coupled to the first central axis 32d, rotates the first worm 32b. ) May be included.

Both ends of the first worm 32b are rotatably coupled to opposite sides of the box 32a. The first worm wheel 32c meshes with the first worm 32b and rotates according to the rotation of the first worm 32b. Both surfaces of the second worm wheel 32c protrude from the first central axis 32d, and both ends of the first central axis 32d are rotatably coupled to the hollow box 32a. One end of the link member 34 is coupled to the first central shaft 32d so that the first worm wheel 32c rotates according to the rotation of the first worm 32b, and thus one end of the link member 34 rotates. . A first rotary lever 32e for rotating the first worm 32b is coupled to one end of the first worm 32b. As a result, the amount of rotation of the link member 34 is adjusted by the rotation of the first rotary lever 32e.

The front and rear slider 38 is mounted to the mounting portion 22 of the travel cart 12, and guides the rotary slider 32 in the welding section direction.

The front and rear sliders 38 include a second rotary lever 38b, a screw bar 38c having one end coupled to the second rotary lever 38b and rotating along the rotation of the second rotary lever 38b, and a screw bar ( 38c) may move along the screw bar 38c in accordance with rotation, and may include a moving bracket 38d to which the rotary slider 32 is coupled.

Both ends of the screw bar 38c having a screw formed on the outer surface thereof are rotatably coupled to the hollow front and rear slider body 38a, and are rotated by the rotation of the second rotary lever 38b coupled to one end of the screw bar 38c. The screw bar 38c rotates. Then, the moving bracket 38d is engaged with the screw bar 38c to reciprocate in the longitudinal direction of the screw bar 38c as the screw bar 38c rotates. The front and rear slider body 38a is coupled with a guide bar 38e that passes through the moving bracket 38d and is installed in parallel with the screw bar 38c. As the guide bar 38e and the screw bar 38c rotate, the moving bracket 38d linearly reciprocates. The rotary slider 32 is coupled to the moving bracket 38d moving along the screw bar 38c and guided in the welding section direction according to the rotation of the second rotary lever 38b.

The torch holding part 36 may include a connector 36a rotatably coupled to the other end of the link member 34 and a torch clamp 36c coupled to the connector 36a and fixing the welding torch 42. have. To hold the welding torch 42 in the proper position, release the lever 36b and insert the welding torch 42 between the grooves of the torch clamp 36c to re-tighten the lever 36b to fix the welding torch 42. do. In addition, the torch clamp 36c with respect to the connector 36a can be rotated in the direction of the traveling cart 12 so that the welding torch 42 is rotated at a predetermined angle in the forward or backward direction of the traveling cart 12 and then the lever. The welding torch 42 can be fixed to the torch clamp 36c by tightening 36b.

Meanwhile, the welding torch positioning module 30 according to the present embodiment is interposed between the other end of the link member 34 and the torch holding portion 36, and torch weaving the weaving torch holding portion 36. The unit 40 may further include. It is necessary to weav the welding torch 42 in the width direction of the improvement for improved welding perpendicular to the ground. The torch weaving part 40 has a width of improvement in which the two welding members form the welding torch 42. Weaving the welding torch 42 in the direction.

The torch weaving part 40 is fitted to the hollow body 40a, the second worm 40b and the second worm 40b rotatably coupled at both ends on opposite sides of the body 40a, and the second worm 40b. , The torch holding part 36 is coupled to the second worm wheel 40c coupled to the second central axis 40d, and the rotary motor 40e coupled to one end of the second worm 40b to rotate the second worm 40b. ) May be included.

Both ends of the second worm 40b are rotatably coupled to opposite sides of the hollow body 40a. The second worm wheel 40c meshes with the second worm 40b and rotates according to the rotation of the second worm 40b. On both sides of the second worm wheel 40c, a second central axis 40d protrudes, and both ends of the second central axis 40d are rotatably coupled to the hollow body 40a. The torch holding portion 36 is coupled to the second central axis 40d so that the second worm wheel 40c rotates according to the rotation of the second worm 40b, thereby rotating the torch holding portion 36. A rotation motor 40e for rotating the second worm 40b is coupled to one end of the second worm 40b. Therefore, as the rotary motor 40e rotates in both directions, the torch holding portion 36 is weaved in the width direction of improvement. On the other hand, in order to adjust the aiming angle of the welding torch 42, it is also possible to adjust the aiming angle of the welding torch 42 held by the torch holding part 36 by driving the rotary motor 40e.

8 is a perspective view from one side of the welding carriage according to another embodiment of the present invention, Figure 9 is a perspective view from another side of the welding carriage according to another embodiment of the present invention. 8 and 9, the welding carriage 10, the driving cart 12, the driving wheel 14, the driving motor 16, the guide roller 18, the handle 19, the proximity sensor 20, The magnet 21, the rotary slider 32, the link member 34, the torch holding part 36, the front and rear slider 38, the torch weaving part 40, and the welding torch 42 are shown.

The welding carriage 10 according to the present embodiment includes a traveling trolley 12 moving along a welding section, and a welding torch position adjusting module mounted on the traveling trolley 12 to adjust the position of the welding torch 42. The welding torch position adjusting module includes a rotary slider 32, a link member 34 having one end rotatably coupled to the rotary slider 32, and a rotatable at the other end of the link member 34. The welding unit includes a front and rear slider 38 coupled to the torch holding unit 36 holding the welding torch 42 and the traveling cart 12 and guiding the rotary slider 32 in the welding section direction. By adjusting the aiming angle of the welding torch 42 facing it can correspond to various types of welding.

In addition, including a magnet 21 is coupled to the lower portion of the running cart 12 and attached to the welding member, it is possible to have a variety of welding posture, such as horizontal and vertical.

The welding carriage 10 according to the present exemplary embodiment may adjust the position of the welding torch 42 at various angles by mounting the above-described welding torch position adjusting module on the traveling cart 12.

In the description of the welding carriage 10 according to the present exemplary embodiment, detailed descriptions of the same or similar components as those described above will be omitted.

The magnet 21 is mounted below the travel cart 12 to attach the travel cart 12 to the welding member. For welding between vertical welding members, the welding carriage 10 needs to be attached to the welding member and moved up and down. The welding carriage 10 is attached to the vertical welding member by using the magnetic force of the magnet 21. After the welding is carried out while moving the welding carriage 10 up and down. In addition, even in welding between horizontal welding members, the welding carriage 10 is attached to the welding member by using the magnet 21 to minimize the effects of vibration and vibration of the surroundings, and welding is performed in a stable posture. This is possible.

Since the welding carriage 10 is to be moved up and down in a state where the welding carriage 10 is attached to the vertical welding member by the magnet 21, the driving force of the traveling cart 12 should be greater than the adhesive force between the magnet 21 and the welding member.

The magnet 21 may be an electromagnet or a permanent magnet. In the case of electromagnets, the welding carriage 10 can be detachably attached to the welding member by intermittent current, and in the case of permanent magnets, a welding carriage is provided with a lever (not shown) that can control the magnetic force of the permanent magnet. 10 can be detachably attached to the welding member.

The handle 19 is attached to the travel cart 12 so that the user can easily carry the welding carriage 10 according to the present embodiment.

On the other hand, it may further include a control device (not shown) for controlling the operation of the welding carriage 10 according to the present embodiment. That is, the control device controls each component of the welding carriage 10 such as the forward and backward of the welding carriage 10, the aiming angle of the welding torch 42, and the presence or absence of the weaving. The control device may be directly mounted to the main body of the welding carriage 10 or may be connected by wire or wirelessly to control the welding carriage 10.

10 to 12 is a state diagram used in the welding carriage according to another embodiment of the present invention. 10 to 12, the welding carriage 10, the running cart 12, the guide roller 18, the rotary slider 32, the torch weaving part 40, the front and rear slider 38, the welding torch 42 ), Horizontal welding members 50a, 50b, 50c and vertical welding member 52a are shown.

FIG. 10 is a view for explaining an improved welding state of two horizontal welding members 50a and 50b using the welding carriage 10 according to the present embodiment. One of the two horizontal welding members 50a and 50b is provided with a vertical welding member 52a on which the guide roller 18 can be supported. When there is no vertical welding member 52a on which the guide roller 18 is supported, as shown in FIG. 13, the welding is performed after installing a guide member capable of supporting the guide roller 18 in parallel with the welding portion. can do.

After the guide roller 18 is supported by the vertical welding member 52a and the welding carriage 10 is positioned so that the welding carriage 10 can run in parallel with the welded part, the front and rear slider 38, the rotary slider 32, and the torch weaving part 40 ) So that the welding torch 42 lies approximately perpendicular to the center of the angle of improvement. Thereafter, the traveling cart 12 is driven to perform improved welding. If the level of the two horizontal welding members (50a, 50b) is different because the step difference is formed, it is necessary to adjust the welding torch 42 correspondingly.

11 and 12 are views for explaining an improved welding state of the vertical welding member 52a and the horizontal welding member 50c by using the welding carriage 10 according to the present embodiment, and FIG. 11 shows two welding members. Is a case where the aiming angle of the welding torch is made small due to the small angle of improvement. FIG.

 The welding angle between the vertical welding member 52a and the horizontal welding member 50c may vary depending on the improvement formed at the end of the vertical welding member 52a. 11 and 12, the welding torch 42 aims for improvement by adjusting the front and rear slider 38, the rotary slider 32, and the torch weaving part 40 to correspond to various improvement angles. Can be adjusted. That is, the welding carriage 10 according to the present exemplary embodiment may vary the aiming angle of the welding torch 42 from a small angle to a large angle as shown in FIGS. 11 and 12. It can respond freely to welding.

On the other hand, it is also possible to perform a multi-layer welding using the welding carriage 10 according to the present embodiment to fill the welding liquid in the improvement formed by the two welding members. In other words, the welding angle is changed by changing the aiming angle of the welding torch 42 from a small angle to a large angle to perform multi-layer welding.

13 is a view for explaining the welding position of the welding carriage according to another embodiment of the present invention. Referring to FIG. 13, a welding carriage 10, horizontal welding members 50a, 50b, and 50c, vertical welding members 52a, 52b, and 52c, and a guide member 51 are illustrated.

In order to weld the two horizontal welding members 50a and 50b, the guide member 51 capable of supporting the guide roller 18 is temporarily installed in parallel with the welded portion, and then the guide roller 18 is guided to the guide member to weld the welded portion. Position the welding carriage 10 so that it can run parallel to the. As described above, the front and rear sliders 38, the rotary sliders 32, and the torch weaving portion 40 are adjusted to adjust the aiming angle of the welding torch 42 approximately vertically, and then the welding is carried out while driving the welding carriage 10. To perform.

In addition, for welding between the horizontal welding member 50c and the vertical welding member 52a, the welding carriage 10 is positioned so that the guide roller 18 is guided to the vertical welding member 52a so as to travel in parallel to the welding portion. Let's do it. Next, as described above, after adjusting the position of the welding torch 42 by adjusting the front and rear slider 38, the rotary slider 32, and the torch weaving part 40, the welding is carried out while driving the welding carriage 10. do.

In addition, the welding carriage is guided to one of the two vertical welding members (52b, 52c) for traveling between the vertical welding member (52b) and the vertical welding member (52c) to run parallel to the weld Place (10). In this case, the magnetic force is generated in the magnet under the driving cart 12 to attach the welding carriage 10 to the vertical welding member 52b. Next, as described above, after adjusting the position of the welding torch 42 by adjusting the front and rear slider 38, the rotary slider 32, and the torch weaving part 40, welding is performed while driving the welding carriage. In this case, the welding torch may be weaved by using the torch weaving part 40 in the width direction of the improvement so that the welding liquid may be evenly distributed in the welding process.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

1 is a perspective view of a traveling cart according to an embodiment of the present invention.

Figure 2 is a perspective view of a welding torch position adjusting module according to an embodiment of the present invention.

Figure 3 is a side view of the welding torch position adjusting module according to an embodiment of the present invention.

Figure 4 is a perspective view of the rotary slider of the welding torch position adjusting module according to an embodiment of the present invention.

5 is a perspective view of the front and rear slider of the welding torch positioning module according to an embodiment of the present invention.

Figure 6 is a perspective view of the torch holding portion of the welding torch position adjusting module according to an embodiment of the present invention.

Figure 7 is a perspective view of the torch weaving portion of the welding torch positioning module according to an embodiment of the present invention.

Figure 8 is a perspective view from one side of the welding carriage according to another embodiment of the present invention.

9 is a perspective view from another side of the welding carriage according to another embodiment of the present invention.

10 to 12 is a state of use of the welding carriage according to another embodiment of the present invention.

13 is a view for explaining the welding position of the welding carriage according to another embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

12: driving cart 18: guide roller

22: mounting portion 30: welding torch positioning module

32: rotary slider 34: link member

36: torch holding part 38: front and rear slider

40: torch weaving part 42: welding torch

Claims (11)

As a welding torch position adjusting module mounted on a traveling trolley moving along a welding section to adjust the position of the welding torch, A rotation slider; A link member whose one end is rotatably coupled to the rotary slider; A torch holding part rotatably coupled to the other end of the link member and holding the welding torch; A torch weaving part interposed between the other end of the link member and the torch holding part and weaving the torch holding part; And And a front and rear slider mounted on the travel cart and configured to guide the rotation slider in the welding section direction. The method of claim 1, The rotation slider, A hollow box; A first worm rotatably coupled at both ends to opposite sides of the box; A first worm wheel engaged with the first worm and having one end of the link member coupled to a first central axis; And And a first rotating lever coupled to one end of the first worm to rotate the first worm. The method of claim 1, Before and after the slider, A second rotary lever; A screw bar having one end coupled to the second rotating lever and rotating according to the rotation of the second rotating lever; And The welding torch positioning module, characterized in that it comprises a moving bracket coupled to the screw bar and moves along the screw bar in accordance with the rotation, the rotation slider is coupled. delete The method of claim 1, The torch weaving unit, A hollow body; A second worm rotatably coupled at both ends to opposite surfaces of the body; A second worm wheel engaged with the second worm and having the torch holding part coupled to a second central axis; And Welding torch position control module, characterized in that it comprises a rotary motor coupled to one end of the second worm to rotate the second worm. A traveling cart moving along the welding section; A welding carriage comprising a welding torch position adjusting module mounted to the traveling cart to adjust the position of the welding torch, The welding torch positioning module, A rotation slider; A link member whose one end is rotatably coupled to the rotary slider; A torch holding part rotatably coupled to the other end of the link member and holding the welding torch; A torch weaving part interposed between the other end of the link member and the torch holding part and weaving the torch holding part; And And a front and rear slider mounted on the travel cart and guiding the rotation slider in the welding section direction. The method of claim 6, The welding carriage further comprises a magnet coupled to the lower portion of the running cart and attached to the welding member. The method of claim 6, The rotation slider, A hollow box; A first worm rotatably coupled at both ends to opposite sides of the box; A first worm wheel engaged with the first worm and having one end of the link member coupled to a first central axis; And And a first rotary lever coupled to one end of the first worm to rotate the first worm. The method of claim 6, Before and after the slider, A second rotary lever; A screw bar having one end coupled to the second rotating lever and rotating according to the rotation of the second rotating lever; And Welding carriage characterized in that it is engaged with the screw bar and moves along the screw bar according to the rotation, the moving bracket is coupled to the rotary slider. delete The method of claim 6, The torch weaving unit, A hollow body; A second worm rotatably coupled at both ends to opposite surfaces of the body; A second worm wheel engaged with the second worm and having the torch holding part coupled to a second central axis; And Weld carriage characterized in that it comprises a rotary motor coupled to one end of the second worm to rotate the second worm.

Images