Part assembling and welding robot for box type steel component

Abstract

The invention discloses a part assembling and welding robot for a box-type steel component, relates to the technical field of welding of box-type steel components, and solves the technical problems that the operation is inconvenient and the assembling efficiency of the box-type steel component is easily influenced when a welding gun is manually held by hand to weld a partition plate between two webs. Comprising a walking frame moving in the length direction of webs, a combined welding mechanism is installed on the walking frame, and the combined welding mechanism is used for synchronously welding four gaps formed after a partition plate is attached to the two webs; the combined welding mechanism comprises a portal frame, a welding gun, sliding telescopic pieces, a lifting mechanism, a linkage mechanism and elastic telescopic pieces, the portal frame is installed on the top of the walking frame, and the four sliding telescopic pieces are all rotationally connected with the top of the portal frame. Four gaps formed after the partition plate and the two web plates are attached can be conveniently and synchronously welded, the welding speed is effectively increased, and therefore the overall assembling efficiency of the box type steel component is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding of box steel members, and particularly to a component assembly welding robot for box steel members. Background Art

[0002] Due to their high strength, stiffness and good stability, box steel members are widely used in many fields such as bridges, high-rise buildings, tower mast structures and large-scale mechanical equipment. To meet these application requirements, box steel members are usually formed by cutting and shaping steel plates and then splicing them together, and assembly welding is the process of precisely assembling each component according to the design requirements and connecting them using welding technology.

[0003] When assembling and welding the components of box steel members, many partitions need to be welded between the two webs. After the partitions are attached to the webs, four longitudinally distributed gaps will be formed. Since the partitions are located between the two webs, it is not only extremely inconvenient for manual operation with a welding torch, but also each of the four gaps formed by each partition needs to be welded one by one, thus greatly affecting the assembly efficiency of box steel members. Summary of the Invention

[0004] The purpose of the present invention is to provide a component assembly welding robot for box steel members, which solves the problems that when manually welding partitions between two webs with a welding torch, not only the operation is inconvenient, but also the assembly efficiency of box steel members is easily affected.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A component assembly welding robot for box steel members includes a traveling frame that moves along the length direction of the web. A combined welding mechanism is installed on the traveling frame, and the combined welding mechanism is used to synchronously weld the four gaps formed after the partition is attached to the two webs.

[0007] The combined welding mechanism includes a gantry, welding torches, sliding telescopic members, lifting mechanisms, linkage mechanisms and elastic telescopic members. The gantry is installed on the top of the traveling frame. The four sliding telescopic members are all rotatably connected to the top of the gantry. The lifting mechanism and the linkage mechanism are both installed on the gantry. The lifting mechanism is used to drive the four sliding telescopic members to synchronously expand and contract. The four elastic telescopic members are respectively installed at the bottom ends of the four sliding telescopic members. The welding torches are installed on the sliding telescopic members. The linkage mechanism is used to synchronously drive the four sliding telescopic members to rotate. When the sliding telescopic members rotate, they drive the welding torches to approach the partition.

[0008] As a further solution of the present invention: The sliding telescopic member includes an outer tube, an inner rod, a limiting groove, and a strip-shaped protrusion. The outer tube penetrates through the tops of the gantry and the traveling frame, and the outer tube is rotatably connected to the tops of the gantry and the traveling frame. The limiting groove is formed in the inner tube wall of the outer tube. The inner rod is slidably inserted into the outer tube. The strip-shaped protrusion is connected to the rod wall of the inner rod, and the strip-shaped protrusion is slidably connected to the limiting groove.

[0009] As a further solution of the present invention: The lifting mechanism includes a cylinder and an H-shaped frame. The cylinder is installed on the lower surface of the top end of the gantry, and the piston rod of the cylinder penetrates through the top of the traveling frame and is connected to the center of the upper surface of the H-shaped frame. The bottom end of the inner rod penetrates through the H-shaped frame, and the inner rod is rotatably connected to the H-shaped frame through a bearing.

[0010] As a further solution of the present invention: The linkage mechanism includes a moving column, a lead screw, a servo motor, a gear, a first rack, and a second rack. The gear is fixedly sleeved on the outer tube wall near the top end of the outer tube. The moving column is slidably arranged on the top of the gantry. The servo motor is installed on the top of the gantry near one side. The lead screw is connected to the output shaft of the servo motor. The moving column is threadedly sleeved on the lead screw. The two first racks and the two second racks are respectively symmetrically connected to both sides of the moving column, and the two first racks and the two second racks are respectively engaged with the four gears.

[0011] As a further solution of the present invention: The elastic telescopic member includes a fixed block, a T-shaped column, a spring, and a stop block. The fixed block is connected to the bottom end of the inner rod. The T-shaped column is slidably arranged through the fixed block, and the end of the T-shaped column is a conical structure. The stop block is fixedly sleeved on the T-shaped column. The spring is sleeved on the T-shaped column, and both ends of the spring are respectively connected to the fixed block and the stop block. The welding torch is installed on the side of the stop block away from the fixed block.

[0012] As a further solution of the present invention: The traveling frame includes an inverted U-shaped plate and a wheeled chassis. The two wheeled chassis are connected to both ends of the inverted U-shaped plate. The gantry is installed on the top of the inverted U-shaped plate. The wheeled chassis is used to drive the inverted U-shaped plate to move along the length direction of the web.

[0013] As a further solution of the present invention: A distance measuring sensor is installed at the center of the lower surface of the H-shaped frame. The distance measuring sensor is electrically connected to a controller installed on the side wall of the gantry. The controller is respectively electrically connected to the servo motor and the cylinder through wires.

[0014] As a further solution of the present invention: The traveling frame further includes electric push rods and clamping plates with balls. The two electric push rods are respectively installed on both sides of the inverted U-shaped plate. The output ends of the electric push rods are connected to the clamping plates. A plurality of balls are arranged on the side of the clamping plate close to the web.

[0015] As a further solution of the present invention: a pressure sensor is installed on one side of the fixed block close to the spring, and the pressure sensor is used to detect the pressure generated by the compression of the spring.

[0016] As a further solution of the present invention: a wire for power supply is electrically connected to the welding torch.

[0017] Advantages of the present invention:

[0018] In the present invention, the walking frame is convenient to drive the combined welding mechanism to move above the partition plate to be welded. The lifting mechanism can drive the four sliding telescopic members to perform lifting adjustment, so that the four welding torches are respectively located on both sides of the partition plate to be welded. Starting the linkage mechanism can conveniently make the sliding telescopic member drive the welding torch to deflect towards the partition plate. During the deflection process, after the elastic telescopic member contacts the partition plate, it will undergo adaptive contraction as the deflection continues, and then undergo adaptive elongation as the deflection continues. Finally, its end can abut against the gap between the partition plate and the web, so that it is convenient for the welding torch to correspond to the gap to be welded. By using the lifting mechanism to control the welding torch to reciprocate up and down, synchronous welding of four welds can be achieved, thus greatly improving the assembly welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 is the first perspective three-dimensional view of a parts assembly welding robot for a box-shaped steel member of the present invention;

[0021] Figure 2 is the second perspective three-dimensional view of a parts assembly welding robot for a box-shaped steel member of the present invention;

[0022] Figure 3 is the three-dimensional view when a parts assembly welding robot for a box-shaped steel member of the present invention is in use for welding;

[0023] Figure 4 is the three-dimensional view of the combined welding mechanism in a parts assembly welding robot for a box-shaped steel member of the present invention;

[0024] Figure 5 is the three-dimensional view of the sliding telescopic member in a parts assembly welding robot for a box-shaped steel member of the present invention;

[0025] Figure 6 is the exploded three-dimensional view of the sliding telescopic member in a parts assembly welding robot for a box-shaped steel member of the present invention;

[0026] Figure 7 is the three-dimensional view of the connection part between the welding torch and the elastic telescopic member in a parts assembly welding robot for a box-shaped steel member of the present invention;

[0027] Figure 8 It is a three-dimensional view of the linkage mechanism in the component assembly and welding robot for box-shaped steel members of the present invention.

[0028] In the figure: 1, web; 2, traveling frame; 21, inverted U-shaped plate; 22, wheeled chassis; 23, electric push rod; 24, ball; 25, clamping plate; 3, combined welding mechanism; 31, gantry; 32, welding torch; 321, wire; 33, sliding telescopic member; 331, outer tube; 332, inner rod; 333, limiting groove; 334, strip-shaped protrusion; 34, lifting mechanism; 341, cylinder; 342, H-shaped frame; 35, linkage mechanism; 351, moving column; 352, lead screw; 353, servo motor; 354, gear; 355, first rack; 356, second rack; 36, elastic telescopic member; 361, fixed block; 362, T-shaped column; 363, spring; 364, stop block; 4, partition; 5, distance measuring sensor; 6, controller. Specific embodiments

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

[0030] As Figure 1-8 shown, the present invention is a component assembly and welding robot for box-shaped steel members, including a traveling frame 2 that moves along the length direction of the web 1. A combined welding mechanism 3 is installed on the traveling frame 2. The combined welding mechanism 3 is used for synchronously welding the four gaps formed after the partition 4 is attached to the two webs 1. The combined welding mechanism 3 includes a gantry 31, a welding torch 32, a sliding telescopic member 33, a lifting mechanism 34, a linkage mechanism 35, and an elastic telescopic member 36. The gantry 31 is installed on the top of the traveling frame 2. The four sliding telescopic members 33 are all rotatably connected to the top of the gantry 31. The lifting mechanism 34 and the linkage mechanism 35 are both installed on the gantry 31. The lifting mechanism 34 is used to drive the four sliding telescopic members 33 to synchronously expand and contract. The four elastic telescopic members 36 are respectively installed at the bottom ends of the four sliding telescopic members 33. The welding torch 32 is installed on the sliding telescopic member 33. The linkage mechanism 35 is used to synchronously drive the four sliding telescopic members 33 to rotate. When the sliding telescopic member 33 rotates, it drives the welding torch 32 to approach the partition 4.

[0031] It should be noted that during use, the walking frame 2 is used to drive the combined welding mechanism 3 to move above the partition plate 4 to be welded. Then, the lifting mechanism 35 is started to drive the four sliding telescopic members 33 to slide downward and extend, so that the four welding torches 32 are respectively located on both sides of the partition plate 4. Then, the linkage mechanism 35 is started to make the sliding telescopic member 33 drive the welding torch 32 to deflect towards the partition plate 4. During the deflection process, after the elastic telescopic member 36 contacts the partition plate 4, it will adaptively contract as the deflection continues, and then will adaptively extend as the deflection continues. Finally, its end can abut against the gap between the partition plate 4 and the web 1, so that the welding torch 32 corresponds to the gap to be welded. Then, by using the lifting mechanism 34 to control the reciprocating lifting of the welding torch 32, the four welds can be welded synchronously, greatly improving the assembly and welding efficiency.

[0032] As Figure 1 and Figures 5-6 shown, the sliding telescopic member 33 includes an outer tube 331, an inner rod 332, a limiting groove 333 and a strip-shaped protrusion 334. The outer tube 331 penetrates through the top of the gantry 31 and the walking frame 2, and the outer tube 331 is rotatably connected to the tops of the gantry 31 and the walking frame 2. The limiting groove 333 is opened on the inner pipe wall of the outer tube 331. The inner rod 332 is slidably inserted into the outer tube 331. The strip-shaped protrusion 334 is connected to the rod wall of the inner rod 332, and the strip-shaped protrusion 334 is slidably connected to the limiting groove 333.

[0033] It should be noted that the outer tube 331 is rotatably connected to the gantry 31 and the walking frame 2 through bearings. By using the limiting groove 333 and the strip-shaped protrusion 334, it not only does not affect the sliding and telescoping of the inner rod 332 along the outer tube 331, but also enables the outer tube 331 to drive the inner rod 332 to rotate synchronously when rotating.

[0034] As Figures 1-4 shown, the lifting mechanism 34 includes a cylinder 341 and an H-shaped frame 342. The cylinder 341 is installed on the lower surface of the top end of the gantry 31, and the piston rod of the cylinder 341 penetrates through the top of the walking frame 2 and is connected to the center of the upper surface of the H-shaped frame 342. The bottom end of the inner rod 332 penetrates through the H-shaped frame 342, and the inner rod 332 is rotatably connected to the H-shaped frame 342 through a bearing.

[0035] It should be noted that starting the cylinder 341 can drive the H-shaped frame 342 to lift and lower. During the lifting and lowering process of the H-shaped frame 342, it drives the inner rod 332 to slide adaptively along the outer tube 331 (as Figure 5 shown), so as to facilitate the telescopic adjustment of the sliding telescopic member 33.

[0036] As Figures 4-5 and Figure 8As shown in the figure, the linkage mechanism 35 includes a moving column 351, a lead screw 352, a servo motor 353, a gear 354, a first rack 355, and a second rack 356. The gear 354 is fixedly sleeved on the outer wall of the outer tube 331 near the top. The moving column 351 is slidably arranged on the top of the gantry 31. The servo motor 353 is installed on the top of the gantry 31 near one side. The lead screw 352 is connected to the output shaft of the servo motor 353. The moving column 351 is threadedly sleeved on the lead screw 352. Two first racks 355 and two second racks 356 are symmetrically connected to both sides of the moving column 351 respectively, and the two first racks 355 and the two second racks 356 are respectively engaged with the four gears 354.

[0037] It should be noted that when the servo motor 353 is started to drive the lead screw 352 to rotate, since the moving column 351 is in contact with the top of the gantry 31, its rotational freedom is limited. Therefore, the movement of the moving column 351 can be controlled by controlling the rotation of the lead screw 352. In this embodiment, when the moving column 351 is controlled to move towards the direction close to the servo motor 353, the first rack 355 and the second rack 356 can be used to drive the four gears 354 to rotate, and the rotation will drive the welding torch 32 to deflect towards the direction close to the partition plate 4 (as Figure 3 shown).

[0038] As Figure 1 and Figures 6-7 shown, the elastic telescopic member 36 includes a fixed block 361, a T-shaped column 362, a spring 363, and a stopper 364. The fixed block 361 is connected to the bottom end of the inner rod 332. The T-shaped column 362 is slidably penetrated through the fixed block 361, and the end of the T-shaped column 362 is a conical structure. The stopper 364 is fixedly sleeved on the T-shaped column 362. The spring 363 is sleeved on the T-shaped column 362, and both ends of the spring 363 are respectively connected to the fixed block 361 and the stopper 364. The welding torch 32 is installed on the side of the stopper 364 away from the fixed block 361.

[0039] It should be noted that when the linkage mechanism 35 controls the sliding telescopic member 33 to drive the welding torch 32 to deflect towards the direction close to the partition plate 4 (as Figure 3 shown), after the conical end of the T-shaped column 362 contacts the partition plate 4, as the sliding telescopic member 33 continues to rotate, the T-shaped column 362 will slide relative to the fixed block 361 and drive the stopper 364 to continuously compress the spring 363 until the T-shaped column 362 is perpendicular to the partition plate 4. Subsequently, as the sliding telescopic member 33 continues to rotate, the spring 363 will gradually reset until the conical end of the T-shaped column 362 deflects to the gap between the partition plate 4 and the web 1 (as Figure 3 shown). At this time, the welding torch 32 just corresponds to the gap, which is convenient for subsequent welding.

[0040] As Figures 1-2As shown, the walking frame 2 includes an inverted U-shaped plate 21 and a wheeled chassis 22. Two wheeled chassis 22 are connected to both ends of the inverted U-shaped plate 21. The gantry 31 is installed on the top of the inverted U-shaped plate 21. The wheeled chassis 22 is used to drive the inverted U-shaped plate 21 to move along the length direction of the web 1.

[0041] It should be noted that the wheeled chassis 22 can achieve walking, which is the prior art and will not be elaborated here. By using the wheeled chassis 22, the inverted U-shaped plate 21 can be driven to move synchronously, thus realizing the walking and moving function.

[0042] As Figure 2 and Figure 4 shown, a distance measuring sensor 5 is installed at the center of the lower surface of the H-shaped frame 342. The distance measuring sensor 5 is electrically connected to a controller 6 installed on the side wall of the gantry 31. The controller 6 is respectively electrically connected to a servo motor 353 and a cylinder 341 through wires.

[0043] It should be noted that during the walking process, the distance measuring sensor 5 is convenient for distance detection. When the distance measuring sensor 5 runs above the partition plate 4 to be welded (as Figure 3 shown), at this time, a signal is sent to the controller 6, and the controller 6 is used to control the walking frame 2 (as Figure 3 shown) to stop walking continuously, so as to facilitate the sequential welding treatment of many partition plates 4.

[0044] As Figures 1-2 shown, the walking frame 2 further includes electric push rods 23 and clamping plates 25 with balls 24. Two electric push rods 23 are respectively installed on both sides of the inverted U-shaped plate 21. The output end of the electric push rod 23 is connected to the clamping plate 25. A plurality of balls 24 are arranged on the side of the clamping plate 25 close to the web 1.

[0045] It should be noted that starting the electric push rod 23 to drive the clamping plate 25 to apply pressure to the web 1 (as Figure 3 shown) can ensure the stability of the walking frame 2 walking along the length direction of the web 1. Using the balls 24 can greatly reduce the friction between the clamping plate 25 and the web 1, making the movement of the walking frame 2 smoother.

[0046] As Figure 1 and Figure 7 shown, a pressure sensor (not marked in the figure) is installed on the side of the fixed block 361 close to the spring 363, and the pressure sensor is used to detect the pressure generated by the compression of the spring 363. In this embodiment, the pressure sensor is electrically connected to the controller 6.

[0047] It should be noted that the pressure sensor can be used to monitor the compression condition of the spring 363. For example: when the T-shaped column 362 is perpendicular to the partition plate 4 (as Figure 3 shown), and subsequently, when the sliding telescopic member 33 (as Figure 4Under the continuous rotation of (as shown), until the conical end of the T-shaped column 362 deflects to the gap between the partition plate 4 and the web 1 (as Figure 3 shown), during this process, the spring 363 gradually returns to its original position, so the pressure sensor will monitor that the pressure value gradually decreases. If the sliding telescopic member 33 continues to rotate, it will cause the spring 363 to be further compressed. Therefore, when the pressure sensor monitors that the pressure value continues to decrease and reaches the critical point of increase, it sends a signal to the controller 6, and the controller 6 is used to control the sliding telescopic member 33 to stop rotating, thereby realizing the automatic alignment of the welding torch 32 with the gap to be welded.

[0048] As Figure 7 shown, a wire 321 for power supply is electrically connected to the welding torch 32.

[0049] It should be noted that the welding torch 32 is electrically connected to a power supply (not marked in the figure) through the wire 321. The wire 321 ensures that the welding torch 32 obtains a stable power supply, which is crucial for maintaining the arc stability and welding quality during the welding process.

[0050] The above has described an embodiment of the present invention in detail, but the content described is only the preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. A box-shaped steel member component assembly welding robot, comprising a traveling frame (2) moving along the length direction of a web (1), characterized in that: A combined welding mechanism (3) is installed on the walking frame (2), and the combined welding mechanism (3) is used to synchronously weld four gaps formed after the partition plate (4) and the two webs (1) are attached together; The combined welding mechanism (3) comprises a gantry (31), a welding gun (32), a sliding telescopic member (33), a lifting mechanism (34), a linkage mechanism (35) and an elastic telescopic member (36); the gantry (31) is mounted on the top of the walking frame (2); the four sliding telescopic members (33) are all rotatably connected to the top of the gantry (31); the lifting mechanism (34) and the linkage mechanism (35) are both mounted on the gantry (31); the lifting mechanism (34) is used to drive the four sliding telescopic members (33) to telescope synchronously; the four elastic telescopic members (36) are respectively mounted on the bottom ends of the four sliding telescopic members (33); the welding gun (32) is mounted on the sliding telescopic member (33); the linkage mechanism (35) is used to drive the four sliding telescopic members (33) to rotate synchronously; when the sliding telescopic member (33) rotates, the welding gun (32) is driven to approach the partition (4).

2. The box-shaped steel component assembly welding robot according to claim 1, characterized in that: The sliding telescopic member (33) comprises an outer tube (331), an inner rod (332), a limiting groove (333) and a strip-shaped protrusion (334); the outer tube (331) penetrates the top of the gantry (31) and the walking frame (2), and the outer tube (331) is rotatably connected to the top of the gantry (31) and the walking frame (2); the limiting groove (333) is provided on the inner tube wall of the outer tube (331); the inner rod (332) is slidably plugged with the outer tube (331); the strip-shaped protrusion (334) is connected to the rod wall of the inner rod (332), and the strip-shaped protrusion (334) is slidably connected to the limiting groove (333).

3. The box-shaped steel component assembly welding robot according to claim 2, characterized in that: The lifting mechanism (34) comprises a cylinder (341) and an H-shaped frame (342); the cylinder (341) is mounted on the lower surface of the top end of the gantry (31); the piston rod of the cylinder (341) penetrates the top of the walking frame (2) and is connected to the center of the upper surface of the H-shaped frame (342); the bottom end of the inner rod (332) penetrates the H-shaped frame (342), and the inner rod (332) is rotatably connected to the H-shaped frame (342) via a bearing.

4. The box-shaped steel component assembly welding robot according to claim 3 is characterized in that: The linkage mechanism (35) comprises a moving column (351), a screw rod (352), a servo motor (353), a gear (354), a first rack (355) and a second rack (356); the gear (354) is fixedly sleeved on the outer tube wall of the outer tube (331) near the top; the moving column (351) is slidably arranged on the top of the gantry (31); the servo motor (353) is installed on the top of the gantry (31) near one side; the screw rod (352) is connected to the output shaft of the servo motor (353); the moving column (351) is threadedly sleeved with the screw rod (352); the two first racks (355) and the two second racks (356) are symmetrically connected to the two sides of the moving column (351), and the two first racks (355) and the two second racks (356) are respectively meshed with the four gears (354).

5. The box-shaped steel component assembly welding robot according to claim 2, characterized in that: The elastic telescopic member (36) comprises a fixed block (361), a T-shaped column (362), a spring (363) and a stopper (364); the fixed block (361) is connected to the bottom end of the inner rod (332); the T-shaped column (362) slides through the fixed block (361), and the end of the T-shaped column (362) is a conical structure; the stopper (364) is fixedly sleeved on the T-shaped column (362); the spring (363) is sleeved on the T-shaped column (362), and the two ends of the spring (363) are respectively connected to the fixed block (361) and the stopper (364); the welding gun (32) is installed on the side of the stopper (364) away from the fixed block (361).

6. The box-shaped steel component assembly welding robot according to claim 1, characterized in that: The walking frame (2) comprises an inverted U-shaped plate (21) and a wheeled chassis (22), wherein the two wheeled chassis (22) are connected to the two ends of the inverted U-shaped plate (21), the gantry (31) is installed on the top of the inverted U-shaped plate (21), and the wheeled chassis (22) is used to drive the inverted U-shaped plate (21) to move along the length direction of the web (1).

7. The box-shaped steel component assembly welding robot according to claim 4, characterized in that: A distance measuring sensor (5) is installed at the center of the lower surface of the H-shaped frame (342), and the distance measuring sensor (5) is electrically connected to a controller (6) installed on the side wall of the gantry (31), and the controller (6) is electrically connected to the servo motor (353) and the cylinder (341) through wires.

8. The box-shaped steel component assembly welding robot according to claim 6, characterized in that: The walking frame (2) further comprises an electric push rod (23) and a clamping plate (25) with a ball bearing (24), wherein the two electric push rods (23) are respectively mounted on both sides of the inverted U-shaped plate (21), the output end of the electric push rod (23) is connected to the clamping plate (25), and a plurality of the ball bearings (24) are arranged on one side of the clamping plate (25) close to the web (1).

9. The box-shaped steel component assembly welding robot according to claim 5, characterized in that: A pressure sensor is installed on one side of the fixing block (361) close to the spring (363), and the pressure sensor is used to detect the pressure generated by the compression of the spring (363).

10. The box-shaped steel component assembly welding robot according to claim 1, characterized in that: The welding gun (32) is electrically connected to a wire (321) for supplying power.

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