A method for installing a bolt in an angle steel tower

Abstract

The present application relates to the technical field of bolt mounting equipment, and specifically relates to a method for bolt perforation and installation of an angle steel tower. Through autonomous navigation of the installation robot and flexible operation of the mechanical arm, the present application realizes quick positioning and taking out of the bolt and the nut, reduces the risk of manual climbing and operation. Precise control of the mechanical arm ensures accurate insertion and preliminary positioning of the bolt, and then impact tightening combined with intermittent hammering technology is used, which not only strengthens the fastening effect, but also effectively eliminates the fitting gap between the angle steels and prevents the bolt from loosening. The whole process is highly automated, reduces human error, improves installation quality and work safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bolt mounting equipment, and particularly relates to a bolt hole mounting method for an angle steel tower. BACKGROUND

[0002] The angle steel tower is a common steel structure form and is widely used in the fields of electric power, communication, broadcasting, transportation and the like for supporting equipment such as electric wires, cables and antennas. In the construction process of the angle steel tower, rivets or bolts are usually used to connect the angle steels in order to improve the connecting strength between the angle steels. The bolts are widely used in the assembly of the angle steel tower due to the characteristics of simple installation, convenient disassembly and reliable connecting strength.

[0003] At present, workers usually use ordinary wrenches, adjustable wrenches or electric wrenches to tighten the bolts in the process of assembling the angle steel tower so as to achieve the purpose of connecting the angle steels. The angle steels are easily deformed slightly in the production and transportation process due to the influence of various external factors. Although the slight deformation does not affect the strength of the angle steels, the stability of the bolt connection is affected when the slight deformation occurs at the bolt connection. The two angle steels originally abutting against each other are deformed slightly, so that a gap is formed between the abutting surfaces of the two angle steels. The gap is difficult to eliminate when the bolts are fastened by using the above tightening tools, so that the stability of the bolt connection is poor. The poor stability is reflected in that the angle steels are easily deformed thermally due to the influence of external natural factors such as long-term solar radiation in the subsequent long-term use process of the angle steel tower, the gap is reduced due to thermal deformation, and the bolt is loosened due to the loss of pre-tightening force. If the thermal deformation ends and the gap increases, the angle steels still provide a certain pre-tightening force to the bolt, so that the bolt is prevented from being loosened again. However, if the thermal deformation ends and the gap is reduced, the bolt will continue to be loosened due to factors such as vibration of the angle steel tower without the action of the pre-tightening force, so as to finally lose the locking and connecting effect.

[0004] Therefore, in the initial fastening process of the bolt, it is necessary to reduce and eliminate the gap between the angle steels at the bolt connection as much as possible in order to improve the stability of the bolt connection. SUMMARY

[0005] In order to avoid and overcome the technical problems in the prior art, the present application provides a bolt hole mounting method for an angle steel tower. The present application can effectively eliminate the gap between the angle steels at the bolt connection, so as to improve the stability of the bolt connection.

[0006] To achieve the above object, the present application provides the following technical scheme.

[0007] A bolt hole mounting method for an angle steel tower comprises the following mounting steps.

[0008] S1, the installation robot is used to carry bolts and nuts to climb on the angle steel tower to the through hole to be fastened;

[0009] S2, the mechanical arm connected to the installation robot drives the hammering part to take out the bolt, and drives the tightening part to take out the nut;

[0010] S3, the hammering part and the tightening part are driven by the mechanical arm to move to the two sides of the through hole to be fastened;

[0011] S4, the mechanical arm inserts the bolt into the through hole to be fastened, and makes the bolt head abut against the hole end of the through hole to be fastened;

[0012] S5, the mechanical arm aligns the nut with the bolt penetrating out of the through hole to be fastened, the tightening part is tightened by the impact tightening mode, and the hammering part intermittently hammers the bolt head;

[0013] S6, when the distance between the bolt head and the nut reaches a set value, the hammering and tightening actions are stopped, and the fastening work of the through hole to be fastened is completed.

[0014] As a further scheme of the present application: the hammering part comprises a bolt clamping device capable of clamping the bolt head, and a hammering assembly capable of axially hammering the bolt head along the bolt and capable of pressing the bolt head against the angle steel.

[0015] As a further scheme of the present application: the tightening part comprises a self-adaptive sleeve capable of clamping the nut by a jaw, and a sleeve opening and closing electromagnetic clutch connected at the self-adaptive sleeve and capable of driving the jaw opening and closing degree; the self-adaptive sleeve is drivingly connected with a striking assembly through a flexible impact connector, and the striking assembly drives the self-adaptive sleeve to generate the impact tightening action.

[0016] As a further scheme of the present application: the hammering part and the tightening part are respectively connected at the ends of two mechanical arms, and the two mechanical arms can respectively transport the hammering part and the tightening part to corresponding working positions.

[0017] As a further scheme of the present application: the mechanical arm has seven degrees of freedom, and the elbow joint of the mechanical arm comprises two connecting plates, an installation cavity is formed between the two connecting plates, and the ends of two swing arms adjacent to the connecting plates are respectively hingedly installed in the installation cavity through hinged shafts parallel to each other; gears are coaxially fixed on the two hinged shafts, the two gears are drivingly engaged with each other, and one of the hinged shafts is a driving shaft with rotary power.

[0018] As a further scheme of the present application: the fixed end of the mechanical arm is fixedly installed on the docking device of the installation robot through a composite clamp jaw, and an angle steel is fixed as a base on the docking device; the composite clamp jaw comprises an installation base capable of abutting against the outer plate surface of one wing plate of the angle steel, one side of the installation base being fixedly provided with a limb-width self-adaptive baffle capable of abutting against the outer plate surface of the other wing plate; a rotary clamp capable of rotating above the installation base is installed on the side of the installation base opposite to the limb-width self-adaptive baffle, and the rotary clamp, the installation base and the limb-width self-adaptive baffle cooperatively form a clamping cavity for clamping the wing plate abutting against the installation base.

[0019] As a further scheme of the present application: a mounting recess is concavely arranged on the end surface of the installation base abutting against the angle steel, an electromagnet is installed in the mounting recess, and a telescopic rod capable of extending the electromagnet out of the mounting recess and enabling the electromagnet to be adsorbed to the corresponding wing plate is further installed on the electromagnet.

[0020] As a further scheme of the present application: the mechanical arm is detachably connected with the hammering part, the tightening part and the composite clamp jaw through the universal connector.

[0021] As a further scheme of the present application: the installation robot comprises a main machine capable of climbing on the angle steel tower, and the docking device is arranged on the main machine; the hammering part and the tightening part are installed on the main machine through the universal connector, and a spare parts box for containing bolts and nuts is further installed on the main machine.

[0022] As a further scheme of the present application: a telescopic end is further installed on the main machine, and the docking device is installed on the telescopic end.

[0023] Compared with the prior art, the present application has the following advantages:

[0024] 1. The present application realizes the rapid positioning and taking out of the bolt and the nut through the autonomous navigation of the installation robot and the flexible operation of the mechanical arm, reduces the risk of manual climbing and operation, and ensures the accurate insertion and preliminary positioning of the bolt through the precise control of the mechanical arm, thereby effectively eliminating the cooperation gap between the angle steels and preventing the loosening of the bolt through the impact tightening combined with the intermittent hammering technology, thereby strengthening the fastening effect.

[0025] 2. The hammering part in the present application is responsible for hammering the bolt head during the tightening of the nut, so that the bolt head is more closely attached to the angle steel; then, the tightening part is cooperated to gradually tighten the nut on the bolt through the impact tightening. The tightening part continuously rotates the nut to apply a pre-tightening force, and the hammering part timely hammers the bolt head, so that the cooperation gap between the angle steels is gradually reduced, thereby realizing the function of fastening the angle steels through the bolt and effectively improving the stability of the bolt connection.

[0026] 3、The bolt clamping device is responsible for clamping the bolt head, ensuring that the bolt does not move or fall off during the hammering process, and the design of the bolt clamping device takes into account different diameters and shapes of the bolt head, improving its versatility and stability. The hammering assembly is the core component of the hammering action, which hammers the bolt head along the axial direction of the bolt, the purpose is to press the bolt head tightly on the angle steel, so as to eliminate the gap and improve the stability of the connection.

[0027] 4、The self-adaptive sleeve in the application can tightly clamp the nut through its jaws, ensuring that the nut does not fall off or slide during tightening, improving the accuracy and stability of tightening. At the same time, the opening and closing degree of the jaws can be controlled by the electromagnetic clutch, which can be self-adaptively adjusted according to different sizes of nuts, increasing the versatility and flexibility of the tool. The flexible impact connector plays a role in buffering and transmitting power between the self-adaptive sleeve and the impact assembly, can absorb part of the impact energy, reduce vibration and noise, at the same time ensure the efficient transmission of power to the self-adaptive sleeve, realize the impact tightening action. The impact assembly is the core component of the impact tightening action, which transmits power to the self-adaptive sleeve through high-speed rotation and impact, and then drives the nut to rotate and tighten on the bolt.

[0028] 5、The seven-degree-of-freedom mechanical arm provides high flexibility and operating range, can perform complex and variable tasks, which means that the mechanical arm can move and rotate in all directions in three-dimensional space to operate the precise cooperation of the hammering part and the tightening part.

[0029] 6、The elbow joint of the mechanical arm is composed of two connecting plates, which form an installation cavity between them. This design enhances the structural strength of the elbow joint and provides protection for the internal mechanism. The ends of the two swing arms are respectively installed in the installation cavity through parallel hinge shafts. This hinge method allows the swing arms to rotate around the hinge shafts, thereby realizing the bending and stretching of the mechanical arm.

[0030] 7、Two hinge shafts are coaxially fixed with gears, and the two gears are in meshing transmission with each other. This design allows the rotation of one hinge shaft (driving shaft) to drive the rotation of the other hinge shaft, thereby realizing the synchronous movement of the elbow joint.

[0031] 8、The installation base abuts against the outer plate surface of one wing plate of the angle steel, and the limb width adaptive baffle abuts against the outer plate surface of the other wing plate, so that the composite clamping jaw can adapt to angle steels of different widths, improving its versatility and adaptability. A rotatable rotary clamp is installed on the side of the installation base opposite to the limb width adaptive baffle. The rotary clamp can be rotated above the installation base and cooperates with the installation base and the limb width adaptive baffle to form a clamping cavity for clamping the wing plate abutted by the installation base, thereby effectively clamping the angle steel and ensuring the stability and reliability of the composite clamping jaw.

[0032] 9、In the composite clamp jaw, when the clamp jaw clamps the angle steel, the stability of clamping can be further enhanced by the adsorption force of the electromagnet. When the electromagnet is powered on, it will attract the corresponding wing plate, so that the clamp jaw is more firmly fixed on the angle steel; when the electromagnet is powered off, the clamp jaw can be separated from the angle steel through other mechanisms (such as springs, etc.). Through the composite form of magnetic attraction and mechanical clamping, the clamping efficiency is increased while the reliability of clamping is ensured.

[0033] 10、The host is also provided with a accessory box for containing bolts and nuts, which facilitates the robot to take the required accessories at any time and improves the operation efficiency. The host is provided with a telescopic end, which can be extended or shortened as needed, thereby increasing the flexibility and accessibility of the robot operation. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of the tool installation in the application.

[0035] Figure 2 It is a structural schematic diagram of the fastening device in the application.

[0036] Figure 3 It is a running state schematic diagram of the mechanical arm in the application.

[0037] Figure 4 It is a structural schematic diagram of the mechanical arm in the application.

[0038] Figure 5 It is a structural schematic diagram of the composite clamp jaw in the application.

[0039] Figure 6 It is a structural schematic diagram of the robot installation in the application.

[0040] Figure 7 It is a running state schematic diagram of the robot installation in the application.

[0041] In the figure: 1, hammering part; 11, bolt clamping device; 12, hammering assembly; 2, tightening part; 21, self-adaptive sleeve; 22, sleeve opening and closing electromagnetic clutch; 23, flexible impact connector; 24, striking assembly; 3, mechanical arm; 31, elbow joint; 311, connecting plate; 312, swing arm; 313, gear; 32, composite clamp jaw; 321, installation base; 3221, electromagnet; 322, limb width self-adaptive baffle; 323, rotary clamp jaw; 4, host; 41, docking device; 42, accessory box; 5, universal connector. DETAILED DESCRIPTION

[0042] With reference to the drawings and embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0043] As shown in Figure 1 The hammering part 1 includes a bolt clamping device 11 capable of clamping the bolt head and a hammering assembly 12 capable of hammering the bolt head in the axial direction of the bolt and pressing the bolt head against the angle steel. The bolt clamping device 11 is responsible for clamping the bolt head, ensuring that the bolt does not move or fall off during the hammering process. The hammering assembly 12 is the core component of the hammering action, which hammers the bolt head in the axial direction of the bolt, with the purpose of pressing the bolt head against the angle steel, thereby eliminating the gap and improving the stability of the connection.

[0044] The tightening part 2 includes an adaptive sleeve 21 capable of clamping the nut through the jaws, and the adaptive sleeve 21 is connected with a sleeve opening and closing electromagnetic clutch 22 for driving the opening and closing degree of the jaws. The adaptive sleeve 21 is in transmission connection with a striking assembly 24 through a flexible impact connector 23, and the striking assembly 24 drives the adaptive sleeve 21 to generate the impact tightening action. The adaptive sleeve 21 can tightly clamp the nut through its jaws, ensuring that the nut does not fall off or slide during the tightening process, thereby improving the accuracy and stability of the tightening. The striking assembly 24 is the core component of the impact tightening action, which transmits power to the adaptive sleeve 21 through high-speed rotation and impact, thereby driving the nut to rotate and tighten on the bolt.

[0045] As shown in Figure 2 and Figure 3 The fastening device of the present application includes two mechanical arms 3 that can be fixedly installed on the angle steel tower, and the hammering part 1 and the tightening part 2 are respectively connected to the ends of the two mechanical arms 3, and the two mechanical arms 3 can respectively transport the hammering part 1 and the tightening part 2 to the corresponding working positions.

[0046] As shown in Figure 4 The mechanical arm 3 is a seven-degree-of-freedom mechanical arm, and the elbow joint 31 of the mechanical arm 3 includes two connecting plates 311, and an installation cavity is formed between the two connecting plates 311. The ends of two swing arms 312 adjacent to the connecting plates 311 are respectively hinged and installed in the installation cavity through two hinge shafts parallel to each other. A gear 313 is coaxially fixed on each of the two hinge shafts, the two gears 313 are in transmission engagement with each other, and one of the hinge shafts is a driving shaft with rotary power.

[0047] As shown in Figure 5As shown, the fixed end of the mechanical arm 3 is fixedly installed on the angle steel through the composite clamp jaw 32, the composite clamp jaw 32 comprises an installation base 321 which can abut against the outer plate surface of one wing plate of the angle steel, one side of the installation base 321 is fixedly installed with a limb width self-adaptive baffle 322 which can abut against the outer plate surface of the other wing plate; one side of the installation base 321 opposite to the limb width self-adaptive baffle 322 is installed with a rotary clamp jaw 323 which can rotate to the upper side of the installation base 321, and cooperates with the installation base 321 and the limb width self-adaptive baffle 322 to form a clamping cavity for clamping the wing plate abutting against the installation base 321. The end surface of the installation base 321 abutting against the angle steel is concavely provided with an installation sink, the installation sink is installed with an electromagnet 3221, and the electromagnet 3221 is further installed with an extension rod which can make the electromagnet extend out of the installation sink and be adsorbed with the corresponding wing plate. The mechanical arm 3 is detachably connected with the hammering part 1, the tightening part 2 and the composite clamp jaw 32 through the universal connector 5.

[0048] As shown in Figure 6 and Figure 7 , the installation robot comprises a main machine 4 which can climb on the angle steel tower, the main machine 4 is provided with a docking device 41 and a parts box 42 for containing bolts and nuts, and a certain number of bolts and nuts are contained in the parts box 42. A plurality of universal connectors 5 are installed on the main machine 4, and the hammering part 1, the tightening part 2 and the composite clamp jaw 32 are installed on the universal connectors 5. A telescopic end is further installed on the main machine 4, and the docking device 41 is installed on the telescopic end.

[0049] The installation base 321 is moved to the angle steel by the mechanical arm 3, and the installation base 321 is abutted against one wing plate of the angle steel, and the electromagnet 3221 is driven to adsorb the angle steel, then the rotary clamp jaw 323 is rotated to clamp the wing plate, and the extension rod is driven to extend to clamp the wing plate between the rotary clamp jaw 323 and the electromagnet 3221, thereby improving the stability of the connection.

[0050] In use, the installation robot first places the bolts and nuts in the parts box 42 of the main machine 4 according to a certain arrangement mode. Then the hammering part 1 and the tightening part 2 are installed on the main machine 4 through the docking device 41, and a mechanical arm 3 is installed on the docking device 41 in the middle of the main machine 4, and the two ends of the mechanical arm 3 are installed with the composite clamp jaw 32 through the universal connector 5. A pair of mechanical arms 3 are installed on the telescopic end of the main machine 4, and the pair of mechanical arms 3 are only installed with the composite clamp jaw 32 at the end connected with the telescopic end.

[0051] After the preparatory work of installing the robot is completed, the robot is placed on the angle steel tower, the worker controls the main machine 4 to climb on the angle steel tower along the predetermined route, and determines the position of the main machine 4 through the camera on the main machine 4. When the main machine 4 climbs to the set position, it stops and remains stationary. Then the two mechanical arms 3 on the telescopic end start to operate, respectively taking the hammering part 1 and the tightening part 2 from the main machine 4, and taking the bolts and nuts from the accessory box 42 through the bolt clamping device 11 and the adaptive sleeve 21. Then the two mechanical arms 3 respectively take the hammering part 1 and the tightening part 2 to the position where the clamp is needed, and then align the bolt through the hole on the angle steel and make the bolt head abut against the angle steel, while aligning the nut with the front end of the bolt. The tightening part 2 starts to operate, and the nut gradually approaches the angle steel. When the nut contacts the angle steel, the hammering starts to continuously hammer the bolt head, while the tightening part 2 continuously impacts the tightening bolt, until the distance between the nut and the bolt head reaches the set distance, and then stops working. The mechanical arm 3 drives the hammering part 1 and the tightening part 2 to return to the ingredient box, and takes the bolts and nuts from the accessory box 42 again, and performs the fastening work at the next position. The set distance is usually the sum of the thickness of each angle steel between the bolt head and the nut, or a little larger than the sum, and the specific value needs to be determined according to the actual situation on site.

[0052] The mechanical arm 3 installed on the middle adapter 41 of the main machine 4 can play an emergency auxiliary role. That is, when one of the mechanical arms 3 on the telescopic end cannot transport the hammering part 1 and the tightening part 2 to the corresponding position due to the problem of angle steel blocking, the mechanical arm 3 in the middle of the main machine 4 is extended, and the composite clamping jaw 32 at its end clamps the angle steel; then the composite clamping jaw 32 at the other end is separated from the adapter 41 and clamps the angle steel. During the process of grabbing and releasing the two composite clamping jaws 32, the mechanical arm 3 gradually moves to the target position. After reaching the target position, one of the composite clamping jaws 32 is disconnected and the hammering part 1 or the tightening part 2 is grabbed through the universal connector 5 to cooperate with the completion of the fastening work at the target position.

[0053] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A method for bolt-through installation of an angle steel tower, characterized in that, The installation steps include: S1, using the installation robot to carry the bolt and nut to climb on the angle steel tower to the through hole to be fastened; S2, the hammering part (1) is driven by the mechanical arm (3) connected to the installation robot to take out the bolt, and the tightening part (2) is driven to take out the nut; S3, the hammering part (1) and the tightening part (2) are driven by the mechanical arm (3) to move to both sides of the through hole to be fastened; S4, the mechanical arm (3) inserts the bolt into the through hole to be fastened, and makes the bolt head abut against the hole end of the through hole to be fastened; S5, the mechanical arm (3) aligns the nut with the bolt passing out of the through hole to be fastened, the tightening part (2) is tightened by impact tightening, and the hammering part (1) intermittently hammers the bolt head; S6, when the distance between the bolt head and the nut reaches a set value, the hammering and tightening actions are stopped, and the fastening work of the through hole to be fastened is completed; The installation robot includes a main machine (4) that can climb on the angle steel tower, a telescopic end is further installed on the main machine (4), and a docking device (41) is installed on the telescopic end; a mechanical arm (3) is installed on the docking device (41) in the middle of the main machine (4), both ends of the mechanical arm (3) are provided with composite clamping jaws (32) through universal connectors (5); a pair of mechanical arms (3) are installed on the telescopic end of the main machine (4), and the pair of mechanical arms (3) are only provided with composite clamping jaws (32) at the end connected with the telescopic end; the fixed end of the mechanical arm (3) is fixedly installed on the docking device (41) of the installation robot through the composite clamping jaw (32), and the docking device (41) is fixed with an angle steel as a base; the composite clamping jaw (32) includes an installation base (321) that can abut against the outer plate surface of one wing plate, one side of the installation base (321) is fixedly provided with a limb width self-adaptive baffle (322) that can abut against the outer plate surface of the other wing plate; a rotary clamping jaw (323) that can rotate above the installation base (321) is installed on the side of the installation base (321) opposite to the limb width self-adaptive baffle (322), and the rotary clamping jaw (323) cooperates with the installation base (321) and the limb width self-adaptive baffle (322) to form a clamping cavity for clamping the wing plate abutting against the installation base (321); when one of the mechanical arms (3) on the telescopic end cannot transport the hammering part (1) or the tightening part (2) to the corresponding position due to the problem of angle steel blocking, at this time, the mechanical arm (3) in the middle of the main machine (4) is stretched, and the composite clamping jaw (32) at the end thereof clamps the angle steel; then the composite clamping jaw (32) at the other end is separated from the docking device (41) and clamps the angle steel; during the process of clamping and releasing of the two composite clamping jaws (32), the mechanical arm (3) gradually moves to the target position; after reaching the target position, one of the composite clamping jaws (32) is disconnected and the hammering part (1) or the tightening part (2) is grabbed through the universal connector (5) to complete the fastening work at the target position.

2. The method of claim 1, wherein, The hammering part (1) includes a bolt clamping device (11) that can clamp the bolt head, and a hammering assembly (12) that can hammer the bolt head in the axial direction of the bolt and can press the bolt head against the angle steel.

3. The method of claim 2, wherein, The tightening part (2) comprises an adaptive sleeve (21) clamping the nut through the jaw, and a sleeve opening and closing electromagnetic clutch (22) is connected at the adaptive sleeve (21) to drive the jaw opening and closing degree; the adaptive sleeve (21) is drivingly connected with a striking assembly (24) through a flexible impact connector (23), and the striking assembly (24) drives the adaptive sleeve (21) to generate an impact tightening action.

4. A method of installing a bolt in an angle steel tower according to any one of claims 1-3, characterized in that, The hammering part (1) and the tightening part (2) are respectively connected at the ends of two mechanical arms (3), and the two mechanical arms (3) can respectively transport the hammering part (1) and the tightening part (2) to the corresponding working positions.

5. The method of claim 4, wherein, The mechanical arm (3) has seven degrees of freedom, and the elbow joint (31) of the mechanical arm (3) comprises two connecting plates (311) forming an installation cavity therebetween, and the ends of two swing arms (312) adjacent to the connecting plates (311) are respectively hingedly installed in the installation cavity through hinging shafts parallel to each other; gears (313) are coaxially fixed on the two hinging shafts, the two gears (313) are drivingly engaged with each other, and one of the hinging shafts is a driving shaft having rotary power.

6. The method of claim 5, wherein, An installation recessed groove is concavely arranged on the end surface of the mounting base (321) abutting against the angle steel, an electromagnet (3221) is installed in the installation recessed groove, and a telescopic rod capable of extending the electromagnet out of the installation recessed groove and being adsorbed with the corresponding wing plate is further installed at the electromagnet (3221).

7. The method of claim 6, wherein, The mechanical arm (3) is detachably connected with the hammering part (1), the tightening part (2), and the composite clamping jaw (32) through the universal connector (5).

8. The method of claim 7, wherein, The hammering part (1) and the tightening part (2) are installed on the main machine (4) through the universal connector (5), and a parts box (42) for containing bolts and nuts is further installed on the main machine (4).

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