Large T-shaped section intelligent assembly welding device and method

Abstract

The application provides a large T-shaped section intelligent assembly welding device and method. The device comprises a plate storage adjusting unit, a grabbing and welding gantry unit and a panel clamping and shifting unit. The plate storage adjusting unit and the panel clamping and shifting unit are arranged side by side, and the grabbing and welding gantry unit is arranged on the tracks on the two sides of the panel clamping and shifting unit. The device automatically adjusts the position of the panel according to the circumferential end points of the web through laser scanning positioning, automatically realizes the centering or offset assembly of the panel and the web through a panel adjusting mechanism and a welding grabbing gantry mechanism, adopts automatic preheating, then realizes double-sided and double-arc welding through a welding robot, does not need to realize positioning welding in the welding process, and realizes temperature keeping through electromagnetic heating. The device can realize the functions of automatic scanning, adjusting, assembling, preheating and welding of horizontal and curved T-shaped sections, improves the traditional method of panel and web assembly and welding, and is suitable for being applied as a large T-shaped section intelligent assembly welding device and method.

Description

Technical Field

[0001] This invention relates to workpiece assembly in the field of shipbuilding, and in particular to an intelligent assembly and welding device and method for large T-shaped profiles. Background Technology

[0002] With the development of the large-scale industrial equipment and tooling manufacturing industry, the assembly and welding technology of large structural components urgently needs to be upgraded. The assembly method of structural plates is shifting from the previous single manual assembly to semi-automatic or automatic assembly. However, for the assembly and welding of large T-profiles (horizontal and curved), due to the special limitations of plate size, thickness, material, strength, etc., the original methods of manual adjustment or welding positioning are still used to solve the assembly problem. The subsequent welding work is even more cumbersome and inefficient, and automatic assembly and welding cannot be achieved. The difference between this method and the previous panel and web structure assembly is that for the assembly and welding of large T-profile (horizontal and curved) structural components, the automatic gripping, adjustment, assembly, inspection, preheating, and welding of the panel and web can be completed automatically, and the high-precision panel and web assembly and welding technology requirements are met. Summary of the Invention

[0003] To address the technical challenges of intelligent assembly of large T-shaped profiles, this invention provides an intelligent assembly and welding device and method for large T-shaped profiles. This method, through the coordinated operation of a plate storage and adjustment unit, a gripping and welding gantry unit, a panel clamping and positioning unit, and laser automatic detection and electromagnetic heating equipment, solves the technical problems of workpiece assembly and welding inspection.

[0004] The technical solution adopted by this invention to solve the technical problem is:

[0005] A large T-shaped intelligent assembly and welding device includes a plate storage and adjustment unit, a gripping and welding gantry unit, and a panel clamping and positioning unit. The plate storage and adjustment unit and the panel clamping and positioning unit are arranged in parallel, and the gripping and welding gantry unit is arranged on the tracks on both sides of the panel clamping and positioning unit.

[0006] The sheet metal storage and adjustment unit includes a hydraulic adjustment rod a, a panel clamping device with a power unit, a shaft a, a web clamping device with a power unit, a magnetic web pushing slider, a power unit a, a web shaping vertical guide rail, a power unit b, and a web shaping horizontal guide rail.

[0007] The gripping welding gantry unit includes a gantry power unit, a gantry body, a gantry travel guide rail, a welding robot with a power unit, a welding robot travel track, a laser detection device, a hydraulic auxiliary power unit, a servo motor, shaft b, a web plate clamping device base, a guide device, shaft c, shaft d, a magnetic web plate clamp with a power unit, a gripper guide rail, an electromagnetic heating robot with a power unit, an electromagnetic heating robot travel track, a guide rod base, and a guide rod;

[0008] The panel clamping and positioning unit includes a panel clamping and positioning unit base, a panel clamping and positioning unit sliding guide rail, a power unit c, a roller with lifting and rotating function, a panel clamping slider, a slider guide rail, and a power unit d.

[0009] The hydraulic adjusting rod a installed on the ground can be extended and retracted for adjustment. The panel clamping device with a power unit is connected to the hydraulic adjusting rod a via shaft a and automatically rotates the angle. The magnetic web plate pushing slider moves on the web plate adjustment vertical guide rail via power unit a. The web plate adjustment vertical guide rail moves on the web plate adjustment horizontal guide rail via power unit b. The web plate clamping device with a power unit rotates on the hydraulic adjusting rod a via shaft a.

[0010] A laser inspection device is mounted on a welding robot with a power unit. The welding robot with the power unit moves on a welding robot walking track. An electromagnetic heating robot with a power unit moves on an electromagnetic heating robot walking track. A magnetic web clamp with a power unit clamps and releases synchronously on a gripper guide rail. The magnetic web clamp with a power unit is connected to the guide rod base via shaft d and rotates at an angle. A hydraulic auxiliary power unit is connected to the guide rod base via shaft c and extends and retracts under hydraulic drive. A web plate adjusting horizontal guide rail is welded to the web plate clamping device base and then welded to the gantry body. The guide rod moves up and down in the guide device via the extension and retraction of the hydraulic auxiliary power unit. The gantry body moves longitudinally along the gantry walking guide rail under the drive of the gantry power unit. Among them, a servo motor is fixed on the web plate clamping device base and is used to drive the guide rod to move vertically on the guide device. Shaft b is used to connect the hydraulic auxiliary power unit and the web plate clamping device base, so that the hydraulic auxiliary power unit changes its angle on the web plate clamping device base to adapt to the vertical movement of the guide rod.

[0011] The panel clamping slider is driven by the power device d to move synchronously on the slider guide rail for clamping. The roller with lifting and rotating function is installed on one side of the panel clamping device with the power device and can be lifted, lifted and rotated. The panel clamping displacement unit base moves laterally along the panel clamping displacement unit sliding guide rail under the drive of the power device c.

[0012] To further address the technical problems addressed by this invention, this invention provides an intelligent assembly and welding method for large T-shaped profiles, which is implemented through the following steps:

[0013] 1) The panel is magnetically attracted by the magnetic web clamp with a power device, and the gantry body is driven by the gantry power device to be transported to the panel clamping and positioning unit and placed on the panel clamping device with a power device.

[0014] 2) The web plate adjustment unit adjusts the web plate to a horizontal position. The web plate is gripped by the gripping welding gantry. The servo motor drives the guide rod so that the magnetic web plate clamp with the power device determines the position according to the web plate shape given by the system. The gantry power device drives the gantry body to transport it to the top of the panel clamping and positioning unit panel.

[0015] 3) The laser inspection device on the powered welding robot scans the web end face;

[0016] 4) The panel clamping and positioning unit adjusts the panel circumferentially according to the spatial position of the web end point to ensure that the panel end point and the web end point coincide after vertical descent; the power unit c drives the panel clamping and positioning unit base to move on the panel clamping and positioning unit sliding guide rail, so that the web plate is offset according to the panel and web plate assembly position given by the system.

[0017] 5) The servo motor and hydraulic auxiliary power unit simultaneously drive the guide rod, and the magnetic web clamp with the power unit descends to the corresponding height, pressing the web onto the panel;

[0018] 6) The laser inspection device, driven by a welding robot with a power unit, scans and collects data on the assembly accuracy of the panel and web plates and the weld seams.

[0019] 7) After the assembly accuracy is qualified, the electromagnetic heating robot with a power device preheats the weld area by adjusting its own position.

[0020] 8) After heating is completed, the welding robot with the power unit performs multi-layer, multi-pass, double-sided, double-arc welding on the plate from the middle to both ends. At the same time, the electromagnetic heating robot with the power unit moves aside when the welding gun of the welding robot with the power unit passes by, and continues to keep the plate warm.

[0021] 9) The welding gantry clamps the welded rib segments and transports them to the next post-heating station.

[0022] Positive effects: This invention uses laser scanning for positioning and automatically adjusts the panel position circumferentially based on the web end points. The panel adjustment mechanism and welding gripping gantry mechanism enable automatic centering or offset assembly of the panel and web. Automated preheating is used, followed by double-sided, double-arc welding by a welding robot. The welding process requires no positioning and is temperature-maintained by electromagnetic heating. It can automatically scan, adjust, assemble, preheat, and weld horizontal and curved T-profiles (ribs), thus improving upon traditional methods of web and panel assembly welding and meeting higher assembly welding precision requirements. It is suitable for application as an intelligent assembly and welding device and method for large T-profiles. Attached Figure Description

[0023] Figure 1Schematic diagram of the panel loading rack for the sheet metal storage and adjustment unit;

[0024] Figure 2 Schematic diagram of the loading rack on the web of the sheet metal storage and adjustment unit;

[0025] Figure 3 This is a schematic diagram of the panel web assembly.

[0026] Figure 4 This is a schematic diagram of panel transfer.

[0027] Figure 5 A schematic diagram of an electromagnetic heating device.

[0028] Figure 6 This is a schematic diagram of a double-sided double-arc welding method;

[0029] Figure 7 A schematic diagram of the gripper of a panel clamping device with a power unit;

[0030] Figure 8 Schematic diagram of the gripper AA of the panel clamping device with a power unit;

[0031] Figure 9 This is a schematic diagram of a magnetic web clamp with a power source.

[0032] In the diagram: 1. Hydraulic adjusting rod a, 2. Panel clamping device with power unit, 3. Shaft a, 4. Web plate clamping device with power unit, 5. Magnetic web plate pushing slider, 6. Power unit a, 7. Web plate adjusting vertical guide rail, 8. Power unit b, 9. Web plate adjusting horizontal guide rail, 10. Gantry traveling guide rail, 11. Gantry power unit, 12. Gantry body, 13. Welding robot with power unit, 14. Welding robot traveling track, 15. Laser detection device, 16. Hydraulic auxiliary power unit, 17. Servo motor, 18. Shaft b, 19. 20. Web plate clamping device base, 21. Guide device, 22. Shaft c, 23. Shaft d, 24. Magnetic web plate clamp with power device, 25. Electromagnetic heating robot with power device, 26. Panel clamping and positioning unit base, 27. Panel clamping and positioning unit sliding guide rail, 28. Power device c, 29. Roller with lifting and rotating function, 30. Panel clamping slider, 31. Slider guide rail, 32. Power device d, 33. Gripper guide rail, 34. Web plate, 35. Electromagnetic heating robot walking track, 36. Guide rod base, 37. Guide rod. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0034] As shown in the figure, a large T-shaped intelligent assembly and welding device includes: a plate storage and adjustment unit, a gripping and welding gantry unit, and a panel clamping and positioning unit; the plate storage and adjustment unit and the panel clamping and positioning unit are arranged side by side, and the gripping and welding gantry unit is arranged on the tracks on both sides of the panel clamping and positioning unit.

[0035] The sheet metal storage and adjustment unit includes a hydraulic adjustment rod a1, a panel clamping device 2 with a power unit, a shaft a3, a web clamping device 4 with a power unit, a magnetic web pushing slider 5, a power unit a6, a web shaping vertical guide rail 7, a power unit b8, and a web shaping horizontal guide rail 9. The hydraulic adjustment rod a1, installed on the ground, can be extended and retracted for shaping. The panel clamping device 2 with a power unit is connected to the hydraulic adjustment rod a1 via the shaft a3 and automatically rotates its angle. The magnetic web pushing slider 5 travels on the web shaping vertical guide rail 7 via the power unit a6. The web shaping vertical guide rail 7 travels on the web shaping horizontal guide rail 9 via the power unit b8. The web clamping device 4 with a power unit rotates on the hydraulic adjustment rod a1 via the shaft a3.

[0036] The welding gantry unit includes a gantry power unit 11, a gantry body 12, a gantry travel guide rail 10, a welding robot with a power unit 13, a welding robot travel track 14, a laser detection device 15, a hydraulic auxiliary power unit 16, a servo motor 17, shaft b 18, a web plate clamping device base 19, a guide device 20, shaft c 21, shaft d 22, a magnetic web plate clamp with a power unit 23, a gripper guide rail 32, an electromagnetic heating robot with a power unit 24, an electromagnetic heating robot travel track 35, a guide rod base 36, and a guide rod 37. The laser detection device 15 is mounted on the welding robot 13 with a power unit. The welding robot 13 with a power unit travels on the welding robot travel track 14. The electromagnetic heating robot 24 with a power unit travels on the electromagnetic heating robot travel track 35. The magnetic web plate clamp with a power unit travels on the gripper guide rail 32. The upper synchronous clamping and loosening, the magnetic web clamp 23 with power device is connected to the guide rod base 36 through shaft d22 and rotates, the hydraulic auxiliary power device 16 is connected to the guide rod base 36 through shaft c21 and extends and retracts under hydraulic drive, the web plate adjusting horizontal guide rail 9 is welded to the web plate clamping device base 19 and welded to the gantry body 12, the guide rod 37 moves up and down in the guide device 20 through the extension and retraction of the hydraulic auxiliary power device 16, and the gantry body 12 moves longitudinally along the gantry traveling guide rail 10 under the drive of the gantry power device 11; wherein, the servo motor 17 is fixed on the web plate clamping device base 19 and is used to drive the guide rod 37 to move vertically on the guide device 20; shaft b18 is used to connect the hydraulic auxiliary power device 16 and the web plate clamping device base 19, so that the hydraulic auxiliary power device 16 changes the angle on the web plate clamping device base 19 to adapt to the vertical movement of the guide rod 37;

[0037] The panel clamping and positioning unit includes a panel clamping and positioning unit base 25, a panel clamping and positioning unit sliding guide rail 26, a power unit c27, a roller 28 with lifting and rotating functions, a panel clamping slider 29, a slider guide rail 30, and a power unit d31. The panel clamping slider 29 is driven by the power unit d31 to move synchronously on the slider guide rail 30 for clamping. The roller 28 with lifting and rotating functions is installed on one side of the panel clamping device 2 with the power unit and moves up and down and rotates. The panel clamping and positioning unit base 25 moves laterally along the panel clamping and positioning unit sliding guide rail 26 under the drive of the power unit c27.

[0038] A smart assembly and welding method for large T-shaped profiles, which is implemented according to the following steps:

[0039] 1) Hoist a panel 34 onto the panel clamping device 2 with a power unit in the panel storage and adjustment unit, such as... Figure 1 A web plate 33 is hoisted onto the web plate clamping device 4 with a power unit in the plate storage and adjustment unit, as follows: Figure 2The magnetic web plate pushes the slider 5 vertically on the web plate adjustment vertical guide rail 7, and the web plate adjustment vertical guide rail 7 horizontally on the web plate adjustment horizontal guide rail 9 until the two ends of the web plate 33 are parallel to the X-axis of the equipment.

[0040] 2). For example Figure 6 The servo motor 17 drives the guide rod 37 to position the magnetic web clamp 23 with a power device according to the panel shape given by the system. Figure 4 For example, Figure 4 The magnetic web clamp 23 with power device magnetic force attracts the panel 34, and the gantry body 12 driven by the gantry power device 11 is transported to the panel clamping and positioning unit and placed on the panel clamping device 2 with power device. The laser detection device 15 installed on the welding robot 13 with power device scans the end face of the panel 34 and the system records the position parameters.

[0041] 3) The web plate adjustment unit adjusts the web plate to a horizontal position, such as... Figure 6 The servo motor 17 drives the guide rod 37 to position the magnetic web clamp 23, which carries the power device, according to the web shape given by the system. Figure 9 The magnetic web clamp 23 with a power unit moves synchronously on the jaw guide rail 32 to clamp the web 33, such as... Figure 3 The web plate 33 is gripped by a welding gantry crane, and the gantry body 12 is transported to the panel above the panel clamping and positioning unit by the gantry power unit 11. A laser detection device 15 mounted on the welding robot 13 with a power unit scans the end face of the web plate 33. The system then uses recorded end face position parameters of the web plate 33 as... Figure 7 , Figure 8 The roller 28 with lifting and rotating function is driven to rotate and adjust the panel 34. After the end face of the panel 34 and the end face of the web plate 33 have the same Y value in the equipment coordinate system, the roller 28 with lifting and rotating function is retracted into the panel clamping device 2 with power device, so that the panel 34 is placed on the panel clamping device 2 with power device. The power device d31 drives the panel clamping slider 29 to move synchronously on the slider guide rail 30 to clamp the panel 34.

[0042] 4). For example Figure 6 The power unit c27 drives the panel clamping and positioning unit base 25 to move on the panel clamping and positioning unit sliding guide rail 26, so that the web plate 33 is offset according to the assembly position of the panel 34 and the web plate 33 given by the system; the panel clamping and positioning unit adjusts the panel circumferentially according to the spatial position of the web plate end point to ensure that the panel end point and the web plate end point coincide after vertical descent.

[0043] 5). For example Figure 6The servo motor 17 and the hydraulic auxiliary power unit 16 simultaneously drive the guide rod 37, causing the magnetic web clamp 23 with the power unit to descend to the corresponding height, such as... Figure 3 Press the web 33 firmly onto the panel 34;

[0044] 6). For example Figure 3 Driven by a welding robot 13 with a power unit, the laser inspection device 15 scans and collects data such as the assembly accuracy of the plates (panel and web) and the weld seams.

[0045] 7) After the assembly accuracy is qualified, if Figure 5 The electromagnetic heating robot 24 with a power unit preheats the weld area by adjusting its own position.

[0046] 8). After heating is complete, if Figure 6 Four powered welding robots 13 perform multi-layer, multi-pass, double-sided, double-arc welding on the plate from the middle to both ends. While welding, when the welding gun of the powered welding robot 13 passes by, the powered electromagnetic heating robot 24 avoids it and continues to keep the plate warm to ensure that the plate temperature does not drop and to ensure welding quality.

[0047] 9). For example Figure 3 After welding is completed, the welded rib segments are clamped and transported to the next post-heating station by the welding gantry crane.

[0048] In this embodiment, it is capable of processing curved rib segments with an outer diameter of 4m to 15m and horizontal T-shaped profiles with a length of 1m to 14m, achieving centering and offset assembly welding of the web and face plate. The processing capacity for the plates is: web thickness 10-60mm, width 150-650mm; face plate thickness 5-80mm, width 100-400mm. The pre-welding assembly accuracy of the plates can achieve: perpendicularity between the web and face plate (within half the width) ≤1mm, and web and face plate assembly positioning deviation ≤0.5mm. Post-welding accuracy: face plate and web perpendicularity ≤1mm, web corrugation 1mm / m.

[0049] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A large T-shaped section intelligent assembly welding device, characterized by: comprising a plate storage adjusting unit, a grabbing and welding gantry unit and a panel clamping and shifting unit; the plate storage adjusting unit and the panel clamping and shifting unit are arranged side by side, and the grabbing and welding gantry unit is arranged on the track on both sides of the panel clamping and shifting unit; the plate storage adjusting unit comprises a hydraulic adjusting rod a (1), a panel clamping device (2) with a power device, a shaft a (3), a web clamping device (4) with a power device, a magnetic web pushing sliding block (5), a power device a (6), a web type adjusting vertical guide rail (7), a power device b (8) and a web type adjusting horizontal guide rail (9); the hydraulic adjusting rod a (1) installed on the ground can be telescopic and adjusted, the panel clamping device (2) with a power device is connected with the hydraulic adjusting rod a (1) through the shaft a (3) and can automatically rotate an angle, the magnetic web pushing sliding block (5) walks on the web type adjusting vertical guide rail (7) through the power device a (6), the web type adjusting vertical guide rail (7) walks on the web type adjusting horizontal guide rail (9) through the power device b (8); the web clamping device (4) with a power device rotates on the hydraulic adjusting rod a (1) through the shaft a (3); the grabbing and welding gantry unit comprises a gantry power device (11), a gantry main body (12), a gantry walking guide rail (10), a welding robot (13) with a power device, a welding robot walking track (14), a laser detection device (15), a hydraulic auxiliary power device (16), a servo motor (17), a shaft b (18), a web clamping device base (19), a guide device (20), a shaft c (21), a shaft d (22), a magnetic web clamping device (23) with a power device, a clamping jaw guide rail (32), an electromagnetic heating robot (24) with a power device, an electromagnetic heating robot walking track (35), a guide rod base (36) and a guide rod (37); The laser detection device (15) is installed on the powered welding robot (13) which walks on the welding robot walking track (14), the powered electromagnetic heating robot (24) walks on the electromagnetic heating robot walking track (35), the powered magnetic web clamp (23) is synchronously clamped and loosened on the clamp jaw guide rail (32), the powered magnetic web clamp (23) is connected with the guide rod base (36) through the shaft d (22) and rotates at an angle, the hydraulic auxiliary power device (16) is connected with the guide rod base (36) through the shaft c (21) and is telescopic under the hydraulic drive, the web adjusting horizontal guide rail (9) is welded with the web clamping device base (19) and is welded on the gantry main body (12), the guide rod (37) is telescopic in the guide device (20) under the hydraulic auxiliary power device (16) and walks up and down, the gantry main body (12) walks longitudinally along the gantry walking guide rail (10) under the drive of the gantry power device (11); wherein the servo motor (17) is fixed on the web clamping device base (19) and is used to drive the guide rod (37) to walk vertically on the guide device (20); the shaft b (18) is used to connect the hydraulic auxiliary power device (16) and the web clamping device base (19), so that the hydraulic auxiliary power device (16) changes the angle on the web clamping device base (19) to adapt to the vertical walking of the guide rod (37); The panel clamping displacement unit comprises a panel clamping displacement unit base (25), a panel clamping displacement unit sliding guide rail (26), a power device c (27), a roller with lifting and rotating functions (28), a panel clamping sliding block (29), a sliding block guide rail (30) and a power device d (31); The panel clamping sliding block (29) is synchronously walked and clamped on the sliding block guide rail (30) under the drive of the power device d (31), the roller with lifting and rotating functions (28) is installed on one side of the powered panel clamping device (2) and is lifted and rotated, and the panel clamping displacement unit base (25) walks transversely along the panel clamping displacement unit sliding guide rail (26) under the drive of the power device c (27).

2. The method for using the large T-shaped section intelligent assembly and welding device according to claim 1, characterized in that: The method for using the large T-shaped section intelligent assembly and welding device according to claim 1 comprises the following steps: 1) The panel (34) is attracted by the powered magnetic web clamp (23) by magnetic force, the gantry main body (12) is driven by the gantry power device (11) to be transported above the panel clamping displacement unit and placed on the powered panel clamping device (2); 2) The web is adjusted horizontally by the web adjusting unit, the web (33) is grabbed by the grabbing and welding gantry unit, the powered magnetic web clamp (23) is positioned according to the web shape given by the system by the servo motor (17) driving the guide rod (37), the gantry main body (12) is driven by the gantry power device (11) to be transported above the panel clamping displacement unit panel. 3) The laser detection device (15) on the welding robot (13) with power device scans the end face of the web (33); 4) The panel clamping displacement unit adjusts the panel according to the spatial position of the web end point, ensuring that the panel end point coincides with the web end point after vertical descent; the power device c (27) drives the panel clamping displacement unit base (25) to walk on the panel clamping displacement unit sliding guide (26), so that the web (33) deviates according to the panel (34) and web (33) assembly position given by the system; 5) The servo motor (17) and hydraulic auxiliary power device (16) drive the guide rod (37) at the same time, and the magnetic web clamp (23) with power device descends to the corresponding height, and the web (33) is pressed tightly on the panel (34); 6) The laser detection device (15) scans and collects the panel (34) and web (33) assembly precision and weld data under the drive of the welding robot (13) with power device; 7) After the assembly precision is qualified, the electromagnetic heating robot (24) with power device adjusts the position to preheat the weld area; 8) After heating, the welding robot (13) with power device performs multi-layer, multi-pass, double-sided and double-arc welding on the plate from the middle to the ends, while the electromagnetic heating robot (24) with power device avoids the position when the welding torch of the welding robot (13) with power device passes, and continues to heat preservation for the plate; 9) The welding gantry grabs the welded rib segment and clamps it to transport to the next post-heating station.

Images