High-pressure water ship and large storage tank wall-climbing varnish and rust removal robot system

Abstract

The present invention relates to a high-pressure water ship and a large storage tank wall-climbing varnish and rust removal robot system, which includes a control module, a high-pressure pump, a vacuum unit and a wall-climbing robot. The control module is an electrical cabinet. The high-pressure pump and the vacuum unit are both connected to the electrical cabinet through control cables. The high-pressure pump is connected to the wall-climbing robot through a high-pressure water pipeline, and the vacuum unit is connected to the wall-climbing robot through a vacuum flexible hose. The control module is also connected with a remote controller, and the remote controller is connected to the control module by wire or wirelessly. The beneficial effects of the present invention are as follows: It can be used for the maintenance work of the painting system in industrial and marine engineering. The wall-climbing robot can be remotely controlled to remove varnish and rust, or participate in the maintenance work of the painting system in industrial and marine engineering. Many maintenance tasks that cannot be achieved by human labor can be carried out by this device; mechanical operation replaces traditional manual operation, which not only improves the cleaning efficiency but also avoids the risks of manual operation and reduces the danger coefficient of maintenance work.

Description

Technical Field

[0001] The present invention belongs to the field of high-pressure water cleaning equipment, and in particular relates to a high-pressure water ship and large storage tank wall climbing varnish rust removal robot system, which can replace manual high-pressure water cleaning. Background Art

[0002] At present, the cleaning, paint removal and rust removal of ships and large storage tanks in China mostly rely on manual sandblasting and handheld water spraying. This type of operation is inefficient. Sandblasting is harmful to the human body, and handheld water spraying requires the auxiliary equipment of a large aerial platform. In the process of varnish and rust removal of ship storage tanks, European and American countries have long eliminated the heavily polluting sandblasting process and fully implemented the ultra-high pressure pure water paint and rust removal process. Since ultra-high pressure water operation is a high-risk job, the United States was the first to develop a robot operation system to replace manual labor; and because of the high degree of multidisciplinary integration, the difficulty of research and development, and the high requirements for operation, it is only mastered by a few European and American companies, and among them, the research and development of wall-climbing robots is the most difficult. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a high-pressure water vessel and large storage tank wall climbing varnish rust removal robot system.

[0004] The technical solution adopted by the present invention is: a high-pressure water ship and large storage tank wall-climbing varnish and rust removal robot system, including a control module, a high-pressure pump, a vacuum unit and a wall-climbing robot. The high-pressure pump, the vacuum unit and the wall-climbing robot are all connected to the control module, and the other ends of the high-pressure pump and the vacuum unit are connected to the wall-climbing robot.

[0005] Preferably, the wall-climbing robot comprises a main structure, and two drive units with the same structure and symmetrically arranged, and the two drive units are respectively connected to two sides of the main structure;

[0006] A magnetic component is provided on the driving unit;

[0007] The main structure includes a main frame, an ultra-high pressure rotating body, a recovery link, a fixed cavity and a floating cavity. The fixed cavity is opened downward and fixed on the bottom surface of the main frame. The ultra-high pressure rotating body and the recovery link are arranged on the main frame and penetrate the main frame and the bottom surface of the fixed cavity. The floating cavity wraps the outer wall of the fixed cavity. The outer side of the floating cavity is connected to the bottom surface of the main frame through a connecting guide column.

[0008] The high-pressure pump is connected to the ultra-high-pressure rotating body, and the vacuum unit is connected to the recovery link.

[0009] Preferably, a floating gap is left between the floating cavity and the fixed cavity, an annular seal is also provided on the outside of the fixed cavity, the annular seal blocks the floating gap, a compression spring is also connected to the outside of the floating cavity and the bottom surface of the main frame, and a flexible plate and a sealing plate are provided at the bottom of the floating cavity;

[0010] Preferably, a striking cross is provided in the fixed cavity, and the striking cross is connected to the outlet end of the ultra-high pressure rotating body;

[0011] Preferably, a vacuum safety valve is provided on the main frame.

[0012] Preferably, the recycling link includes one or a plurality of links arranged at different locations;

[0013] Preferably, the recovery link includes a recovery main link arranged at the front side or the rear side of the ultra-high pressure rotating body, and two recovery sub-links respectively arranged at the left and right sides of the ultra-high pressure rotating body.

[0014] Preferably, the driving unit further comprises a driving mainboard, a driving device and a driving wheel, the driving device is fixedly arranged on the driving mainboard and electrically connected to the control module, the driving wheel is connected to the driving device, and the magnetic component is fixedly arranged on the driving mainboard;

[0015] Preferably, the driving device comprises a power gear and a linkage gear connected by a chain, the power gear is connected to the power device, and the linkage gear is connected to the driving wheel;

[0016] Preferably, the driving wheel and the linkage gear each include two front and rear ones.

[0017] Preferably, the chain passes through a tensioner assembly fixedly arranged on the driving main board.

[0018] Preferably, a power reducer is provided between the power device and the power gear;

[0019] Preferably, the power device is a hydraulic motor, a pneumatic motor or an electric motor.

[0020] Preferably, a carrying handrail is provided on the outer side of the driving main board.

[0021] Preferably, the control module is an electrical cabinet, the high-pressure pump and the vacuum unit are connected to the electrical cabinet through control cables, the high-pressure pump is connected to the wall-climbing robot through a high-pressure water pipeline, and the vacuum unit is connected to the wall-climbing robot through a vacuum flexible hose.

[0022] Preferably, the control module is also connected to a remote controller, and the remote controller controls the control module.

[0023] The advantages and positive effects of the present invention are: it can be used for paint system maintenance work in industry and marine engineering, especially high-pressure water jetting is particularly suitable for painting work during ship docking and equipment downtime; through remote control, the wall-climbing robot is prompted to remove varnish and rust, or participate in paint system maintenance work in industry and marine engineering, and many maintenance work that cannot be achieved by manpower can be carried out through this device; machinery replaces traditional manual operation, which improves cleaning efficiency and avoids the risk of manual operation, reduces the risk factor of maintenance work, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic block diagram of the structure of an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of a wall-climbing robot according to an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the main structure of a wall-climbing robot according to an embodiment of the present invention;

[0027] Figure 4 It is a schematic cross-sectional view of the main structure of a wall-climbing robot according to an embodiment of the present invention;

[0028] Figure 5 It is a schematic cross-sectional view of the main structure of a wall-climbing robot according to an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of a wall-climbing robot drive unit according to an embodiment of the present invention;

[0030] Figure 7 1 is a schematic diagram of a top view of a wall-climbing robot driving unit according to an embodiment of the present invention;

[0031] Figure 8 It is a schematic diagram of the connection structure between the main frame and the drive unit of a wall-climbing robot according to an embodiment of the present invention;

[0032] Fig. 9 It is a schematic cross-sectional structure diagram of the connection between the main frame and the drive unit of a wall-climbing robot according to an embodiment of the present invention.

[0033] In the figure:

[0034] 1. Main structure 11, main frame 111, connecting shaft

[0035] 12. Ultra-high pressure rotating body 121, striking cross body 131, recycling main link

[0036] 132, recovery link 14, vacuum safety valve 15, fixed chamber

[0037] 16. Floating cavity 161, connecting guide column 162, compression spring

[0038] 163, floating gap 164, sealing plate 165, flexible plate

[0039] 166, annular seal 2, drive unit 21, drive main board

[0040] 22. Driving device 221. Power gear 222. Linkage gear

[0041] 223, chain 23, tensioner assembly 24, drive wheel

[0042] 25. Magnetic assembly 261. Power device 262. Power reducer

[0043] 27. Carrying handrail DETAILED DESCRIPTION

[0044] An embodiment of the present invention is described below with reference to the accompanying drawings.

[0045] The present invention relates to a high-pressure water vessel and large storage tank wall climbing varnish rust removal robot system, which can be used for cleaning high-pressure water vessels or large storage tanks, and the wall climbing robot can replace the traditional manual cleaning work through remote control. Figure 1 As shown, it includes a control module, a high-pressure pump, a vacuum unit and a wall-climbing robot. The high-pressure pump, the vacuum unit and the wall-climbing robot are all connected to the control module, and the other ends of the high-pressure pump and the vacuum unit are connected to the wall-climbing robot. The user can remotely control the wall-climbing robot to perform wall-climbing varnish and rust removal through a remote controller, and at the same time can control the high-pressure pump and the vacuum unit to cooperate with the work of the wall-climbing robot. The control module is an electrical cabinet, and the high-pressure pump and the vacuum unit are connected to the electrical cabinet through a control cable; in the present invention, the electrical cabinet, the high-pressure pump and the vacuum unit can all select existing equipment according to the scale of use, as long as they can meet the cleaning needs. The high-pressure pump is connected to the wall-climbing robot through a high-pressure water pipeline, and the vacuum unit is connected to the wall-climbing robot through a vacuum flexible hose, which supplies high-pressure water to the wall-climbing robot and recycles waste water. The control module is directly connected to the wall-climbing robot through a control bus, which can control the walking action of the wall-climbing robot.

[0046] The control module is also connected to a remote controller, which is connected to the control module by wire or wirelessly. The wireless connection can generally be achieved by frequency docking. The control module receives the remote control signal from the remote controller, and controls the high-pressure pump, vacuum unit and wall-climbing robot according to the instructions of the remote controller. Specifically, the high-pressure pump control cable sends an on-off signal to load and unload the high-pressure pump; the vacuum unit is started and stopped through the cable of the vacuum unit, and an on-off signal is sent to load and unload the vacuum unit; the forward, backward and steering control of the wall-climbing robot is realized through the control bus.

[0047] In some embodiments of this solution, the electrical cabinet mainly consists of two parts: one part is for receiving control signals and outputting corresponding signals, and its main function is to control the wall-climbing robot, vacuum pump and high-pressure pump; the other part is the power control unit. In some embodiments of this solution, the high-pressure pump can be a plunger-type high-pressure pump, and the equipment generally uses a high-pressure pump with a pressure exceeding 1500Bar. In some embodiments of this solution, the vacuum unit is mainly a vacuum blower, and generally an ordinary vacuum blower can meet the requirements, such as a 28-kilowatt ordinary vacuum blower; Roots blowers can be used to meet the requirements in special environments.

[0048] like Figure 2 As shown, the wall-climbing robot includes a main structure 1, and two drive units 2 with the same structure and symmetrical arrangement, and the two drive units 2 are respectively connected to both sides of the main structure 1; a device for cleaning is arranged on the main structure 1, and the drive units 2 on both sides have independent drive devices 22, which are controlled by a control module and drive the main structure 1 to move on the metal wall as needed.

[0049] like Figure 3-5 As shown, the main structure 1 includes a main frame 11, an ultra-high pressure rotating body 12, a recovery link, a fixed cavity 15 and a floating cavity 16. The groove-shaped fixed cavity 15 opens downward and is fixed on the bottom surface of the main frame 11. The ultra-high pressure rotating body 12 and the recovery link are arranged on the main frame 11. The high pressure pump is connected to the ultra-high pressure rotating body 12, and the vacuum unit is connected to the recovery link. The ultra-high pressure rotating body 12 and the recovery link penetrate the main frame 11 and the bottom surface of the fixed cavity 15. The ultra-high pressure rotating body 12 is used to transport high pressure water into the fixed cavity 15, and the vacuum unit recovers the accumulated water within the range of the fixed cavity 15 through the recovery link. The floating cavity 16 matches the shape of the fixed cavity 15 and wraps the outer wall of the fixed cavity 15. When the fixed cavity 15 is a circular groove and the floating cavity 16 is annular, the fixed cavity 15 can also be an elliptical groove, and the floating cavity 16 is also an elliptical ring accordingly; the fixed cavity 15 and the floating cavity 16 can also be rectangular grooves and rectangular frames, but such a structure is prone to accumulation of dirt at the corners. The floating chamber 16 and the fixed chamber 15 form a cleaning chamber. The bottom of the floating chamber 16 is in close contact with the surface of the area to be cleaned to ensure that the cleaning chamber is airtight. The high-pressure water output by the ultra-high-pressure rotating body 12 hits the surface of the area to be cleaned in the cleaning chamber. The waste water accumulates in the cleaning chamber and is then recycled through the recycling link.

[0050] The combination of the fixed cavity 15 and the floating cavity 16 is designed to adapt to the uneven surface of the ship or large storage tank. A floating gap 163 is left between the floating cavity 16 and the fixed cavity 15. An annular seal 166 is also provided on the outside of the fixed cavity 15. The annular seal 166 blocks the floating gap 163. The floating cavity 16 can swing slightly relative to the fixed cavity 15, so that the wall-climbing robot can move on the curved outer wall of the ship or the inner wall of the storage tank. The outer side of the floating cavity 16 is connected to the bottom surface of the main frame 11 through a connecting guide column 161. The outer side of the floating cavity 16 and the bottom surface of the main frame 11 are also connected with a compression spring 162 to assist in achieving the elastic sealing of the floating cavity 16. In some embodiments of the present invention, in order to ensure the airtightness of the cleaning cavity, an elastic flexible plate 165 and a sealing plate 164 are provided at the bottom of the floating cavity 16. The flexible plate 165 can be a silicone flexible plate, and the sealing plate 164 can be a polytetrafluoroethylene sealing plate. When encountering defects such as gaps, bolts or unevenness, the airtightness of the cleaning cavity can also be ensured.

[0051] In certain embodiments of the present invention, a striking cross 121 is provided in the fixed cavity 15, and the striking cross 121 is connected to the outlet end of the ultra-high pressure rotating body 12, so that the high-pressure water is divided into four paths from one path, thereby expanding the cleaning range and improving the cleaning efficiency. The recovery link is connected to the cleaning cavity, and the waste water can be discharged through the recovery link. The recovery link can be one, but because the wall-climbing robot is not parallel to the ground most of the time in the cleaning working state, and according to the change of its forward direction, the recovery link may not contact the waste water, thereby affecting the waste water recovery and reducing the cleaning efficiency. In certain embodiments of the present invention, a plurality of recovery links can be set at different angles around the ultra-high pressure rotating body 12, for example, a recovery main link 131 is set on the front or rear side of the ultra-high pressure rotating body 12, and two recovery sub-links 132 are set on the left and right sides of the ultra-high pressure rotating body 12, so as to ensure that the wall-climbing robot can efficiently recover waste water in any state.

[0052] In order to prevent the cleaning chamber from being completely adsorbed on the surface of the object to be cleaned, a vacuum safety valve 14 may be provided on the main frame 11 .

[0053] like Figure 6-7 As shown, the drive unit 2 includes a drive mainboard 21, a drive device 22, a drive wheel 24 and a magnetic assembly 25. The drive device 22 is fixedly arranged on the drive mainboard 21 and electrically connected to the control module. The drive wheel 24 is connected to the drive device 22. The magnetic assembly 25 is fixedly arranged on the drive mainboard 21. The main frame 11 connects the two drive mainboards 21 through a connecting shaft 111, and connects the two drive units 2 to the main structure 1. Figure 8-9 As shown, the driving device 22 includes a power gear 221 and a linkage gear 222 connected by a chain 223, the power gear 221 is connected to a power device 261, and the linkage gear 222 is connected to the driving wheel 24; in order to maintain the stability of the wall-climbing robot, the driving wheel 24 and the linkage gear 222 each include two front and rear ones. A tensioning wheel assembly 23 is also provided on the driving main board 21, and the chain 223 passes through the tensioning wheel assembly 23. The power device 261 provides power for the driving unit 2. Since the two driving units 2 are respectively provided with independent power units, they can be controlled separately by the control module; when the two driving units 2 move in the same direction, the wall-climbing robot can move forward and backward, and when the two driving units 2 move in the opposite direction, the wall-climbing robot can turn left or right. A power reducer 262 is provided between the power device 261 and the power gear 221; in some embodiments of the present invention, the power device 261 can be a hydraulic motor, a pneumatic motor or an electric motor, so that the wall-climbing robot is hydraulic, pneumatic or electric.

[0054] In order to facilitate transportation, a carrying handle 27 may be symmetrically provided on the outer side of the driving main board 21 .

[0055] When in use, the wall-climbing robot is placed on the metal side wall to be cleaned, and is adsorbed on the metal side wall through the magnetic component 25. The remote control controls the wall-climbing robot to move forward, backward, left and right through the control module. The position covered by the cleaning chamber is the position to be cleaned. With the cooperation of the two drive units 2, the wall-climbing robot can move forward, backward or turn, change the position covered by the cleaning chamber, and thoroughly clean the metal side wall. The control module controls the high-pressure pump to output high-pressure water, and rust removal and cleaning are achieved under the action of the ultra-high pressure rotating body 12 and the striking cross body 121. The generated wastewater is then recycled through the recycling link, and the control module controls the vacuum unit to extract and recycle the wastewater.

[0056] Example:

[0057] The high-pressure water ship and large storage tank wall-climbing varnish and rust removal robot system includes a control module, a high-pressure pump, a vacuum unit and a wall-climbing robot. The high-pressure pump, the vacuum unit and the wall-climbing robot are all connected to the control module, and the other ends of the high-pressure pump and the vacuum unit are connected to the wall-climbing robot. The control module is an electrical cabinet, and the high-pressure pump and the vacuum unit are connected to the electrical cabinet through control cables. The high-pressure pump is connected to the wall-climbing robot through a high-pressure water pipeline, and the vacuum unit is connected to the wall-climbing robot through a vacuum flexible hose. The control module is also connected to a remote control, and the remote control is wirelessly connected to the control module.

[0058] The wall-climbing robot comprises a main structure 1 and two drive units 2 with the same structure and symmetrical arrangement, wherein the two drive units 2 are respectively connected to two sides of the main structure 1;

[0059] The main structure 1 includes a main frame 11, an ultra-high pressure rotating body 12, a recovery link, a fixed cavity 15 and a floating cavity 16. The circular groove-shaped fixed cavity 15 opens downward and is fixed on the bottom surface of the main frame 11. The ultra-high pressure rotating body 12 and the recovery link are arranged on the main frame 11. The high pressure pump is connected to the ultra-high pressure rotating body 12, and the vacuum unit is connected to the recovery link. The ultra-high pressure rotating body 12 and the recovery link penetrate the main frame 11 and the bottom surface of the fixed cavity 15. The outlet end of the ultra-high pressure rotating body 12 is connected with a striking cross 121; the recovery link includes a recovery main link 131 arranged on the front or rear side of the ultra-high pressure rotating body 12, and two recovery sub-links 132 respectively arranged on the left and right sides of the ultra-high pressure rotating body 12. A vacuum safety valve 14 is arranged on the main frame 11. The annular floating cavity 16 wraps the outer wall of the fixed cavity 15. The outer side of the floating cavity 16 is connected to the bottom surface of the main frame 11 through four connecting guide pillars 161. The outer side of the floating cavity 16 and the bottom surface of the main frame 11 are also connected to 8 uniformly arranged compression springs 162. A floating gap 163 is left between the floating cavity 16 and the fixed cavity 15 . An annular seal 166 is also provided on the outside of the fixed cavity 15 to block the floating gap 163 . A silicone flexible plate 165 and a polytetrafluoroethylene sealing plate 164 are provided at the bottom of the floating cavity 16 .

[0060] The driving unit 2 includes a driving mainboard 21, a driving device 22, a driving wheel 24 and a magnetic assembly 25. The driving device 22 is fixedly arranged on the driving mainboard 21 and electrically connected to the control module. The driving wheel 24 is connected to the driving device 22. The two driving mainboards 21 are arranged vertically with the main frame 11. The middle of the two sides of the main frame 11 are connected to the two driving mainboards 21 through a connecting shaft 111, and the four corners are also connected to the driving mainboard 21 through bolts. A carrying handrail 27 is provided on the outside of the two driving mainboards 21. The driving device 22 includes a power gear 221 and a linkage gear 222 connected by a chain 223. The power gear 221 is connected to a power device 261, and the linkage gear 222 is connected to the driving wheel 24; the driving wheel 24 and the linkage gear 222 each include two front and rear ones, and the two linkage gears 222 are arranged in a triangle with the power gear 221, and are connected and transmitted by a chain 223. The chain 223 passes through a tensioning wheel assembly 23 fixedly arranged on the driving mainboard 21 to keep the chain 223 in a tensioned state. The power device 261 is a motor, which is connected to the power gear 221 through the power reducer 262 to provide power for the driving device 22. The magnetic component 25 is fixedly arranged on the driving main board 21. The magnetic component 25 is a magnet, which is fixedly arranged on the edge of the driving main board 21 close to the side wall to be cleaned. The wall-climbing robot is adsorbed on the metal side wall by the adsorption of the magnetic component 25. The magnetic components 25 include four, which are respectively arranged on the inner sides of the four driving wheels 24.

[0061] The embodiments of the present invention are described in detail above, but the contents described are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. High-pressure water ship and large storage tank wall-climbing varnish and rust removal robot system, Characterized in that: It includes a control module, a high-pressure pump, a vacuum unit and a wall-climbing robot. The high-pressure pump, the vacuum unit and the wall-climbing robot are all connected to the control module, and the other ends of the high-pressure pump and the vacuum unit are both connected to the wall-climbing robot; The control module is an electrical cabinet. The high-pressure pump and the vacuum unit are connected to the electrical cabinet through control cables. The high-pressure pump is connected to the wall-climbing robot through a high-pressure water pipeline, and the vacuum unit is connected to the wall-climbing robot through a vacuum flexible hose; The control module is also connected with a remote control, and the remote control controls the control module; The wall-climbing robot includes a main body structure and two driving units with the same structure and symmetrically arranged. The two driving units are respectively connected to both sides of the main body structure; The driving unit is provided with a magnetic force component; The main body structure includes a main body frame, a super-high-pressure rotating body, a recovery link, a fixed cavity and a floating cavity. The fixed cavity has an opening facing downwards and is fixed on the bottom surface of the main body frame. The super-high-pressure rotating body and the recovery link are arranged on the main body frame, passing through the bottom surface of the main body frame and the fixed cavity. The floating cavity wraps the outer wall of the fixed cavity, and the outside of the floating cavity is connected to the bottom surface of the main body frame through a connecting guide post; There is a floating gap between the floating cavity and the fixed cavity, and an annular seal is also provided outside the fixed cavity. The annular seal blocks the floating gap. A compression spring is also connected between the outside of the floating cavity and the bottom surface of the main body frame. The bottom of the floating cavity is provided with a flexible plate and a sealing plate; The high-pressure pump is connected to the super-high-pressure rotating body, and the vacuum unit is connected to the recovery link; The recovery link includes a plurality of them arranged at different positions. The recovery link includes a main recovery link arranged in front of or behind the super-high-pressure rotating body, and two recovery sub-links respectively arranged on the left and right sides of the super-high-pressure rotating body.

2. The high-pressure water ship and large storage tank wall-climbing varnish and rust removal robot system according to claim 1, Characterized in that: A striking cross body is arranged in the fixed cavity, and the striking cross body is connected to the outlet end of the super-high-pressure rotating body.

3. The high-pressure water ship and large storage tank wall-climbing varnish and rust removal robot system according to claim 1, Characterized in that: A vacuum safety valve is arranged on the main body frame.

4. The high-pressure water ship and large storage tank wall-climbing varnish and rust removal robot system according to claim 1, Characterized in that: The driving unit further includes a driving main board, a driving device and a driving wheel. The driving device is fixedly arranged on the driving main board, is electrically connected to the control module, the driving wheel is connected to the driving device, and the magnetic force component is fixedly arranged on the driving main board.

5. The high-pressure water ship and large storage tank wall-climbing varnish and rust removal robot system according to claim 4, Characterized in that: The driving device includes a power gear and a linkage gear connected by a chain. The power gear is connected with a power device, and the linkage gear is connected to the driving wheel; Both the driving wheel and the linkage gear include two front and rear ones.

6. The high-pressure water ship and large storage tank wall-climbing varnish and rust removal robot system according to claim 5, characterized in that: The chain passes through the tensioning wheel assembly fixedly arranged on the driving main board.

7. The high-pressure water ship and large storage tank wall-climbing varnish and rust removal robot system according to claim 5, characterized in that: A power reducer is provided between the power device and the power gear; the power device is a hydraulic motor, a pneumatic motor or an electric motor.

8. The high-pressure water ship and large storage tank wall-climbing varnish and rust removal robot system according to claim 4, characterized in that: A handling handrail is provided outside the driving main board.

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