Multifunctional marine pressure vessel tube plate welding equipment

Abstract

The invention discloses multifunctional marine pressure vessel tube plate welding equipment, and relates to the technical field of tube plate welding, the multifunctional marine pressure vessel tube plate welding equipment comprises a supporting unit, the supporting unit is externally connected with a program control unit used for controlling the whole working process, and the two sides of the supporting unit are each provided with a first position adjusting unit; each first position adjusting unit is provided with a second position adjusting unit, each second position adjusting unit is provided with a lifting unit, each lifting unit is provided with a welding unit, the supporting frame is further provided with a conveying unit, and the two ends of the conveying unit are provided with a feeding area and a discharging area correspondingly. A plurality of groups of clamping units are mounted on the conveying unit, and a plurality of tube plates are positioned and clamped through the plurality of groups of clamping units; the tube plate welding efficiency is improved, the accuracy of the tube plate welding position is guaranteed, and the tube plate welding quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of tube plate welding, in particular to a multifunctional tube plate welding device for a marine pressure vessel. Background Art

[0002] When welding the tube sheets of heat exchanger-type pressure vessels, leakage is prone to occur under high-parameter working environments due to the dense number of heat exchange tubes and large thermal deformation. At the same time, all pipe joints are circumferential welds, which are difficult to weld. The quality of the welds directly determines the service life and performance of the heat exchanger.

[0003] Conventional welding of pressure vessel tube sheets is labor-intensive, resource-intensive, and difficult to ensure weld quality. Pressure vessel manufacturing is still primarily done with manual arc welding or specialized welding machines. However, manual arc welding is not only inefficient but also lacks quality assurance. Furthermore, manual welding can be affected by inaccurate positioning, which can compromise weld quality. Summary of the Invention

[0004] In response to the above technical problems, the present invention provides a multifunctional marine pressure vessel tube sheet welding equipment, including a support unit, the support unit is externally connected to a program control unit for controlling the overall working process, a first position adjustment unit is installed on both sides of the support unit, each of the first position adjustment units is installed on a second position adjustment unit, each of the second position adjustment units is installed on a lifting unit, each of the lifting units is installed on a welding unit, and a conveying unit is also installed on the support frame, and a loading area and a unloading area are respectively provided at both ends of the conveying unit, and a clamping unit is installed on the conveying unit, and the clamping unit is provided in multiple groups, and multiple tube sheets are positioned and clamped by multiple groups of the clamping units.

[0005] Furthermore, the first position adjustment unit includes a position adjustment frame, a motor, a support seat, a screw, a slide and a support block. The bottom of both sides of the position adjustment frame is fixedly installed with a slide. The slide is slidably installed on the support frame through two slides. The support seat and the support block are respectively fixedly installed at the two ends of the side of the support frame. The motor is fixedly installed on the support seat. The screw is rotatably installed on the support block. The screw is coaxially fixedly connected to the output shaft of the motor. The slide is connected to the support seat by threads. The motor, support seat, screw and support block in each of the first position adjustment units are arranged in two at intervals.

[0006] Furthermore, the second position adjustment unit includes a second position adjustment frame, a second motor and a second screw. The second position adjustment frame is slidably mounted on the first position adjustment frame, the second motor is fixedly mounted at one end of the first position adjustment frame, the second screw is rotatably mounted on the first position adjustment frame, the second screw is connected to the second position adjustment frame by a threaded connection, and sliding grooves are provided on both sides of the second position adjustment frame.

[0007] Furthermore, the lifting unit includes a motor three, a screw three, a lifting frame and a guide rod. The motor three is fixedly installed above one side of the position adjustment frame two, the screw three is rotatably installed on one side of the position adjustment frame two, and the guide rod is fixedly installed on the other side of the position adjustment frame two. The screw three is coaxially fixedly connected to the output shaft of the motor three, the motor three is slidably installed in the slide groove of the position adjustment frame two, the lifting frame is connected to the screw three by threads, and the lifting frame is slidably connected to the guide rod.

[0008] Furthermore, the welding unit includes a rotating shaft, an angle adjustment shaft and a motor four, the motor four is fixedly installed in the lifting frame, the rotating shaft is rotatably installed on the lifting frame, the rotating shaft is coaxially fixedly connected to the output shaft of the motor four, the rotating shaft is fixedly installed with a retaining ring, a limiting ring and a positioning shaft in sequence from the side close to the motor four to the side away from the motor four, a support plate is fixedly installed in the retaining ring, an angle adjustment slot is provided on the support plate, the angle adjustment shaft is movably installed in the angle adjustment slot on the support plate, a laser welding gun is installed on the angle adjustment shaft, a laser welding head is installed on the end of the laser welding gun away from the support plate, a robotic arm is externally connected to the angle adjustment shaft, the robotic arm is installed on the support plate, and an avoidance space is provided between the support plate and the motor three to prevent interference when the robotic arm rotates, and each of the laser welding guns is provided with a laser sensor.

[0009] Furthermore, the conveying unit includes a conveying frame, a motor five, a screw four and a support block two, the motor five and the support block two are respectively fixedly mounted on the two ends of the support frame, and two motors five and two support blocks are arranged at intervals, the screw four is rotatably mounted on the support block two, the screw four is coaxially fixedly connected to the output shaft of the motor five, and slides two are fixedly mounted on both sides of the bottom of the conveying frame, the conveying frame is slidably mounted on the support frame through two slides two, and the slide two is connected to the screw four by threads.

[0010] Furthermore, the clamping unit includes a clamping frame and a pneumatic chuck. The clamping frame is fixedly mounted on the conveying frame. Each of the clamping frames is provided with a plurality of mounting slots. The pneumatic chuck is detachably mounted on the mounting slots of the clamping frame. The tube sheet is positioned and clamped by the plurality of pneumatic chucks.

[0011] Furthermore, the support unit includes a support frame, a slide rail 1 and a track groove. Slide rail 1 and track groove are spaced apart on both sides of the support frame. Slide seat 1 is slidably installed on slide rail 1, and slide seat 1 corresponds one-to-one with slide rail 1. Slide seat 2 is slidably installed in the track groove, and slide seat 2 corresponds one-to-one with the track groove.

[0012] Compared with the prior art, the present invention has the following advantages: (1) the present invention adjusts the position of the welding unit in the front-back direction, left-right direction and up-down direction by cooperating with the first position adjustment unit, the second position adjustment unit and the lifting unit, so as to adapt to the welding of different positions of the tube sheet and the heat exchange tube, thereby increasing the welding range and improving the degree of automation and efficiency of welding; (2) the present invention can drive the position adjustment of the tube sheet and the heat exchange tube between the loading area, the welding position and the unloading area by cooperating with the conveying unit and the clamping unit, thereby facilitating the pre-installation, positioning, welding and loading and unloading of the tube sheet and the heat exchange tube; (3) the present invention can further position the heat exchange tube on the tube sheet by cooperating with the first position adjustment unit, the second position adjustment unit, the lifting unit and the welding unit, thereby ensuring the accuracy of the position of the heat exchange tube, identifying the welding position by the laser sensor, and if there is a deviation in the position, adjusting the position of the angle adjustment axis by the robot arm, and then adjusting the position of the laser welding gun and the laser welding head, thereby ensuring the accuracy of the welding position by the positioning axis and the laser sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the welding equipment of the present invention.

[0014] Figure 2 It is a front view of the welding equipment of the present invention.

[0015] Figure 3 It is a top view of the welding equipment of the present invention.

[0016] Figure 4 It is a side view of the welding equipment of the present invention.

[0017] Figure 5 Schematic diagram of the local structure of the welding equipment of the present invention Figure 1 .

[0018] Figure 6 Schematic diagram of the local structure of the welding equipment of the present invention Figure 2 .

[0019] Figure 7 Schematic diagram of the local structure of the welding equipment of the present invention Figure 3 .

[0020] Figure 8 Schematic diagram of the local structure of the welding equipment of the present invention Figure 4.

[0021] Figure numbers: 101-support frame; 102-slide rail 1; 103-track groove; 201-position adjustment frame 1; 202-motor 1; 203-support seat; 204-screw 1; 205-slide seat 1; 206-support block 1; 301-position adjustment frame 2; 302-motor 2; 303-screw 2; 401-motor 3; 402-screw 3; 403-lifting frame; 404-guide rod; 501-support plate; 502-fixed Position axis; 503-limiting ring; 504-rotating shaft; 505-laser welding gun; 506-angle adjustment axis; 507-angle adjustment slot; 508-laser welding head; 509-retaining ring; 510-motor four; 601-conveyor rack; 602-motor five; 603-screw four; 604-support block two; 605-slide two; 701-clamping rack; 702-pneumatic chuck; 703-mounting slot; 801-tube sheet; 802-heat exchange tube. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0023] Example: Figures 1-8 A multifunctional marine pressure vessel tube sheet welding equipment shown includes a support unit, which is externally connected to a program control unit for controlling the overall working process. First position adjustment units are installed on both sides of the support unit, each first position adjustment unit is installed on a second position adjustment unit, each second position adjustment unit is installed on a lifting unit, each lifting unit is installed on a welding unit, and a conveying unit is also installed on the support frame 101. The two ends of the conveying unit are respectively provided with a loading area and a unloading area, and a clamping unit is installed on the conveying unit. There are multiple groups of clamping units, and multiple tube sheets 801 are positioned and clamped by multiple groups of clamping units.

[0024] The first position adjustment unit includes a position adjustment frame 201, a motor 202, a support seat 203, a screw 204, a slide 205 and a support block 206. Slides 205 are fixedly installed on the bottom of both sides of the position adjustment frame 201. Slides 205 are slidably installed on the support frame 101 through two slides 205. The support seat 203 and the support block 206 are respectively fixedly installed on the two ends of the side of the support frame 101. The motor 202 is fixedly installed on the support seat 203, and the screw 204 is rotatably installed on the support block 206. The screw 204 is coaxially fixedly connected to the output shaft of the motor 202, and the slide 205 is connected to the support seat 203 by threads. The motor 202, the support seat 203, the screw 204 and the support block 206 in each first position adjustment unit are arranged in twos at intervals.

[0025] The second position adjustment unit includes a second position adjustment frame 301, a second motor 302 and a second screw 303. The second position adjustment frame 301 is slidably installed on the first position adjustment frame 201, the second motor 302 is fixedly installed at one end of the first position adjustment frame 201, and the second screw 303 is rotatably installed on the first position adjustment frame 201. The second screw 303 is connected to the second position adjustment frame 301 by threads, and sliding grooves are provided on both sides of the second position adjustment frame 301.

[0026] The lifting unit includes a motor three 401, a screw three 402, a lifting frame 403 and a guide rod 404. The motor three 401 is fixedly installed above one side of the position adjustment frame two 301, the screw three 402 is rotatably installed on one side of the position adjustment frame two 301, and the guide rod 404 is fixedly installed on the other side of the position adjustment frame two 301. The screw three 402 is coaxially fixedly connected to the output shaft of the motor three 401, and the motor three 401 is slidably installed in the slide groove of the position adjustment frame two 301. The lifting frame 403 is connected to the screw three 402 by threads, and the lifting frame 403 is slidably connected to the guide rod 404.

[0027] The welding unit includes a rotating shaft 504, an angle adjustment shaft 506 and a motor 4 510. The motor 4 510 is fixedly installed in the lifting frame 403. The rotating shaft 504 is rotatably installed on the lifting frame 403. The rotating shaft 504 is coaxially fixedly connected with the output shaft of the motor 4 510. The rotating shaft 504 is fixedly installed with a retaining ring 509, a limiting ring 503 and a positioning shaft 502 in sequence from the side close to the motor 4 510 to the side away from the motor 4 510. A support plate 501 is fixedly installed in the retaining ring 509. The support plate 501 is provided with an angle adjustment ring. Adjustment slot 507, the angle adjustment shaft 506 is movably installed in the angle adjustment slot 507 on the support plate 501, a laser welding gun 505 is installed on the angle adjustment shaft 506, and a laser welding head 508 is installed on the end of the laser welding gun 505 away from the support plate 501, the angle adjustment shaft 506 is externally connected to a robotic arm, and the robotic arm is installed on the support plate 501, and an avoidance space is provided between the support plate 501 and the motor three 401 to prevent interference when the robotic arm rotates, and each laser welding gun 505 is provided with a laser sensor.

[0028] The conveying unit includes a conveying frame 601, a motor 5 602, a screw 4 603 and a support block 2 604. The motor 5 602 and the support block 2 604 are respectively fixedly mounted on the two ends of the support frame 101. Two motors 5 602 and two support blocks 2 604 are arranged at intervals. The screw 4 603 is rotatably mounted on the support block 2 604. The screw 4 603 is coaxially fixedly connected to the output shaft of the motor 5 602. Slide 2 605 is fixedly mounted on both sides of the bottom of the conveying frame 601. The conveying frame 601 is slidably mounted on the support frame 101 through two slides 2 605. The slide 2 605 is connected to the screw 4 603 by threads.

[0029] The clamping unit includes a clamping frame 701 and a pneumatic chuck 702. The clamping frame 701 is fixedly installed on the conveying frame 601. Each clamping frame 701 is provided with multiple mounting slots 703. The pneumatic chuck 702 is detachably mounted on the mounting slots 703 of the clamping frame 701. The tube sheet 801 is positioned and clamped by multiple pneumatic chucks 702.

[0030] The support unit includes a support frame 101, a slide rail 102 and a track groove 103. Slide rails 102 and track grooves 103 are spaced apart on both sides of the support frame 101. Slide seat 205 is slidably installed on slide rail 102, and slide seat 205 corresponds one-to-one with slide rail 102. Slide seat 2 605 is slidably installed in the track groove 103, and slide seat 2 605 corresponds one-to-one with the track groove 103.

[0031] The working principle of the present invention is: When the first position adjustment unit is working: the output shaft of motor 1 202 drives screw 1 204 to rotate, and when screw 1 204 rotates, it drives slide 1 205 to move on slide rail 102, and slide 1 205 drives position adjustment frame 1 201 to move, and then drives the second position adjustment unit, lifting unit and welding unit to move left and right through position adjustment frame 1 201.

[0032] When the second position adjustment unit is working, the output shaft of the second motor 302 drives the second screw 303 to rotate. When the second screw 303 rotates, it drives the second position adjustment frame 301 to move, and then drives the lifting unit and the welding unit to move forward and backward through the second position adjustment frame 301.

[0033] When the lifting unit is working: the output shaft of the motor three 401 drives the screw three 402 to rotate, and when the screw three 402 rotates, it drives the lifting frame 403 to move in the slide groove of the position adjustment frame 2 301, and at the same time the lifting frame 403 slides on the guide rod 404, and then the movement of the lifting frame 403 drives the welding unit to move up and down; thereby, the position of the welding unit in the front and back directions, left and right directions, and up and down directions is adjusted through the mutual cooperation of the first position adjustment unit, the second position adjustment unit and the lifting unit, so as to adapt to the welding of different positions of the tube sheet 801 and the heat exchange tube 802, thereby increasing the welding range and improving the degree of automation and efficiency of welding.

[0034] When the clamping unit and the conveying unit are working: initially, the conveying rack 601 is at the position of the loading area, and multiple tube sheets 801 are placed into the claws on the corresponding pneumatic chuck 702, and the tube sheet 801 is clamped by the operation of the pneumatic chuck 702, and then the heat exchange tube 802 is inserted into the multiple mounting holes pre-opened on the tube sheet 801; the output shaft of the motor five 602 drives the screw four 603 to rotate, and when the screw four 603 rotates, it drives the slide two 605 to move in the track groove 103, and the slide two 605 drives the conveying rack 601 to move, and the conveying rack 601 drives the tube sheet 801 and the heat exchange tube 802 to the position of the welding unit through the clamping unit, so as to facilitate the pre-installation and positioning of the tube sheet 801 and the heat exchange tube 802, and facilitate the transfer of the tube sheet 801 and the heat exchange tube 802 from the loading area to the position of the welding unit, thereby improving the convenience of loading.

[0035] When the welding unit is working: the moving position and moving speed of the first position adjustment unit, the second position adjustment unit and the lifting unit on both sides of the support frame 101 are always consistent, and the two welding units on both sides of the support frame 101 are driven to move to the two ends of the same heat exchange tube 802 by the first position adjustment unit, the second position adjustment unit and the lifting unit, so that the positioning shafts 502 in the two welding units on both sides of the support frame 101 are respectively inserted into the two ends of the heat exchange tube 802, and at the same time, the ends of the heat exchange tube 802 are respectively supported by the limiting rings 503. Due to the moving position and moving speed of the two first position adjustment units on both sides of the support frame 101 The speed is always consistent. When the two first position adjustment units cannot move, it means that the two ends of the heat exchange tube 802 exceed the adjacent tube sheet 801 by the same length, so that the position of the heat exchange tube 802 on the tube sheet 801 can be further positioned to ensure the accuracy of the position of the heat exchange tube 802. The laser sensor on the laser welding gun 505 identifies the welding position. If it is identified as consistent with the preset position in the program control unit, the laser welding gun 505 is started to control the laser welding head 508 to weld the connection between the heat exchange tube 802 and the installation hole of the tube sheet 801. If there is a deviation in the position, the robot arm will diagonally The position of the angle adjustment shaft 506 is adjusted, and then the position of the laser welding gun 505 and the laser welding head 508 is adjusted, so as to ensure the accuracy of the welding position by positioning the shaft 502 and the laser sensor. After calibrating the welding position, the laser welding gun 505 is started and the laser welding head 508 is controlled to weld the connection between the heat exchange tube 802 and the mounting hole of the tube sheet 801. At the same time, the output shaft of the motor 4 510 drives the rotating shaft 504 to rotate, and the rotating shaft 504 drives the support plate 501 to rotate through the retaining ring 509. The support plate 501 drives the mechanical arm to rotate, and the mechanical arm drives the angle adjustment shaft 506, the laser welding gun 505 and the laser welding head 508 to rotate. The joint 508 rotates to weld the connection between the heat exchange tube 802 and the mounting hole of the tube sheet 801. After welding is completed, the two welding units on both sides of the support frame 101 are driven by the first position adjustment unit, the second position adjustment unit and the lifting unit to move to the two ends of the next heat exchange tube 802 for welding. The above operation is repeated to complete the welding of the connection between all heat exchange tubes 802 and the mounting holes of the tube sheet 801; then the conveying unit drives the welded tube sheet 801 and heat exchange tube 802 to the unloading area through the clamping unit, and the clamping unit releases the clamping of the tube sheet 801 and removes the tube sheet 801 and the heat exchange tube 802.

[0036] It should be noted that the start and stop of the power part, the control of the moving position, the calibration of the welding position and the entire working process of the present invention are all controlled by the program control unit.

Claims

1. A multifunctional marine pressure vessel tube-sheet welding device, comprising a support unit, wherein the support unit is externally connected to a program control unit for controlling the entire working process, characterized in that: A first position adjustment unit is installed on both sides of the support unit, a second position adjustment unit is installed on each of the first position adjustment units, a lifting unit is installed on each of the second position adjustment units, and a welding unit is installed on each of the lifting units. A conveying unit is also installed on the support frame (101), and a loading area and a unloading area are respectively provided at both ends of the conveying unit. A clamping unit is installed on the conveying unit, and multiple groups of the clamping units are provided. Multiple tube sheets (801) are positioned and clamped by the multiple groups of the clamping units.

2. The multifunctional marine pressure vessel tube sheet welding equipment according to claim 1, characterized in that: The first position adjustment unit comprises a position adjustment frame (201), a motor (202), a support seat (203), a lead screw (204), a slide seat (205) and a support block (206). The bottoms of both sides of the position adjustment frame (201) are fixedly mounted with slide seats (205). The slide seat (205) is slidably mounted on the support frame (101) via two slide seats (205). The support seat (203) and the support block (206) are respectively fixedly mounted on the support frame (101). 1) At both ends of the side, the motor 1 (202) is fixedly mounted on the support seat (203), the screw 1 (204) is rotatably mounted on the support block 1 (206), the screw 1 (204) is coaxially fixedly connected to the output shaft of the motor 1 (202), the slide seat 1 (205) is connected to the support seat (203) by a thread, and each of the motor 1 (202), the support seat (203), the screw 1 (204) and the support block 1 (206) in the first position adjustment unit are arranged at intervals of two.

3. The multifunctional marine pressure vessel tube sheet welding equipment according to claim 2, characterized in that: The second position adjustment unit includes a second position adjustment frame (301), a second motor (302) and a second lead screw (303), wherein the second position adjustment frame (301) is slidably mounted on the first position adjustment frame (201), the second motor (302) is fixedly mounted on one end of the first position adjustment frame (201), the second lead screw (303) is rotatably mounted on the first position adjustment frame (201), the second lead screw (303) is connected to the second position adjustment frame (301) by threads, and slide grooves are provided on both sides of the second position adjustment frame (301).

4. The multifunctional marine pressure vessel tube sheet welding equipment according to claim 3, characterized in that: The lifting unit includes a motor three (401), a lead screw three (402), a lifting frame (403) and a guide rod (404), wherein the motor three (401) is fixedly mounted above one side of the position adjustment frame two (301), the lead screw three (402) is rotatably mounted on one side of the position adjustment frame two (301), and the guide rod (404) is fixedly mounted on the other side of the position adjustment frame two (301), the lead screw three (402) is coaxially fixedly connected to the output shaft of the motor three (401), the motor three (401) is slidably mounted in the slide groove of the position adjustment frame two (301), the lifting frame (403) is connected to the lead screw three (402) by a thread, and the lifting frame (403) is slidably connected to the guide rod (404).

5. The multifunctional marine pressure vessel tube sheet welding equipment according to claim 4, characterized in that: The welding unit includes a rotating shaft (504), an angle adjustment shaft (506) and a motor four (510), wherein the motor four (510) is fixedly installed in the lifting frame (403), and the rotating shaft (504) is rotatably installed on the lifting frame (403). The rotating shaft (504) is coaxially fixedly connected with the output shaft of the motor four (510), and the rotating shaft (504) is fixedly installed with a retaining ring (509), a limiting ring (503) and a positioning shaft (502) in sequence from a side close to the motor four (510) to a side away from the motor four (510). A support plate (501) is fixedly installed in the retaining ring (509), and the support plate (501) is opened. An angle adjustment slot (507) is provided, the angle adjustment shaft (506) is movably mounted in the angle adjustment slot (507) on the support plate (501), a laser welding gun (505) is mounted on the angle adjustment shaft (506), a laser welding head (508) is mounted on one end of the laser welding gun (505) away from the support plate (501), the angle adjustment shaft (506) is externally connected to a robotic arm, the robotic arm is mounted on the support plate (501), an avoidance space is provided between the support plate (501) and the motor three (401) for preventing interference when the robotic arm rotates, and each of the laser welding guns (505) is provided with a laser sensor.

6. The multifunctional marine pressure vessel tube-sheet welding equipment according to claim 5, characterized in that: The conveying unit includes a conveying frame (601), a motor five (602), a screw four (603) and a support block two (604), wherein the motor five (602) and the support block two (604) are respectively fixedly mounted on the two ends of the support frame (101), and two motors five (602) and two support blocks two (604) are arranged at intervals, and the screw four (603) is rotatably mounted on the support block two (604), and the screw four (603) is coaxially fixedly connected to the output shaft of the motor five (602), and a slide two (605) is fixedly mounted on both sides of the bottom of the conveying frame (601), and the conveying frame (601) is slidably mounted on the support frame (101) through two slides two (605), and the slide two (605) is connected to the screw four (603) by a thread.

7. The multifunctional marine pressure vessel tube-sheet welding equipment according to claim 6, characterized in that: The clamping unit comprises a clamping frame (701) and a pneumatic chuck (702). The clamping frame (701) is fixedly mounted on the conveying frame (601). Each clamping frame (701) is provided with a plurality of mounting slots (703). The pneumatic chuck (702) is detachably mounted on the mounting slots (703) of the clamping frame (701). The tube sheet (801) is positioned and clamped by the plurality of pneumatic chucks (702).

8. The multifunctional marine pressure vessel tube-sheet welding equipment according to claim 7, characterized in that: The support unit includes a support frame (101), a slide rail 1 (102) and a track groove (103), and the support frame (101) is provided with a slide rail 1 (102) and a track groove (103) at intervals on both sides. The slide seat 1 (205) is slidably mounted on the slide rail 1 (102), and the slide seat 1 (205) corresponds one-to-one with the slide rail 1 (102). The slide seat 2 (605) is slidably mounted in the track groove (103), and the slide seat 2 (605) corresponds one-to-one with the track groove (103).

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