Auxiliary butt joint device for steel structure processing

Abstract

The application discloses a kind of auxiliary butt joint devices for steel structure processing, it is related to butt joint device technical field, the auxiliary butt joint device for steel structure processing includes auxiliary butt joint frame body, auxiliary butt joint gantry is fixedly installed on the upper surface of the front end of the auxiliary butt joint frame body;The inside of the auxiliary butt joint gantry is fixedly connected with the upper end of auxiliary butt joint clamping mechanism;In the application, steel plate clamping claw is driven to realize bidirectional synchronous movement under the synchronization driven gear and rack, and can be adapted to different width, thickness steel plate, profiled steel component, without replacing jig, flexible clamping of multiple specifications workpieces can be completed, solve the problem of poor general-purpose of traditional jig, greatly improve the application range and production flexibility of equipment.

Description

Technical Field

[0001] This invention relates specifically to the field of docking device technology, and more specifically to an auxiliary docking device for steel structure processing. Background Technology

[0002] As the core load-bearing framework of modern buildings, engineering machinery, and bridge engineering, the quality of steel structure connections directly determines the overall safety, stability, and service life of the structure. With the advancement of industrialized construction and intelligent manufacturing, the demand for connecting large, thick plates and irregularly shaped steel sections is increasing, placing higher requirements on connection accuracy, efficiency, and automation. However, existing steel structure connection technologies still have significant technical bottlenecks and are unable to meet the needs of modern production.

[0003] Traditional steel structure butt welding operations rely heavily on manual hoisting and simple clamps, which has several inherent drawbacks: First, the positioning accuracy is extremely low. Manual coarse positioning cannot eliminate millimeter-level assembly errors, leading to misalignment, uneven gaps, and subsequent welding defects such as incomplete fusion and cracks, resulting in a weld pass rate of less than 70%. Second, the operation efficiency is low. Large components require multiple people to work together, resulting in long operation cycles and high risks and safety hazards from working at heights. Third, the clamping and pressure application methods are rudimentary. Existing clamps are mostly unidirectional and cannot adapt to the flexible clamping of various steel specifications. Furthermore, the uneven distribution of clamping force can easily lead to component deformation and damage to the mechanical properties of the steel. Fourth, there is a lack of a coordinated control mechanism. The single-station operation mode cannot achieve synchronous alignment and precise pressing of two components, making it difficult to meet the fitting requirements of thick plate butt welding.

[0004] Meanwhile, most of the existing automated docking equipment in the industry is designed for standardized components and lacks adaptability to non-standard and irregularly shaped steel. In addition, the integration is insufficient, and it is impossible to achieve integrated operation of lifting adjustment, lateral fine adjustment and precise clamping, which makes it difficult to relocate the equipment and has poor versatility. Summary of the Invention

[0005] The purpose of this invention is to provide an auxiliary docking device for steel structure processing. By installing multiple auxiliary docking clamping mechanisms, auxiliary docking gantry, and auxiliary docking frame, the docking device's docking convenience, docking accuracy, adaptability, and safety are improved, thereby solving the technical problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An auxiliary docking device for steel structure processing includes An auxiliary docking frame is provided, with an auxiliary docking gantry fixedly installed on its front upper surface; the inner side of the auxiliary docking gantry is fixedly connected to the upper end of the auxiliary docking clamping mechanism. The auxiliary docking frame includes a base frame, on which a front and rear drive linear module is fixedly installed. A primary lifting drive mechanism is installed on the front and rear drive linear module, and a secondary lifting drive mechanism is installed on the upper end of the primary lifting drive mechanism. The upper end of the secondary lifting drive mechanism is fixedly connected to a movable seat. The upper end of the base frame is fixedly connected to the lower end of the top frame. Workbenches are symmetrically installed on the upper end of the top frame. Movable slots for movable seats are left between the symmetrically arranged workbenches, and universal ball bearings are installed in a rectangular array on each of the symmetrically arranged workbenches.

[0007] As a further technical solution of the present invention, the front upper surface of the workbench arranged symmetrically on the left and right is fixedly installed with a front and rear drive linear module II. The front and rear drive linear module II is also arranged symmetrically on the left and right, and the upper end of the front and rear drive linear module II arranged symmetrically on the left and right is connected to the lower end of the gantry frame.

[0008] As a further technical solution of the present invention, a lifting drive cylinder is fixedly installed on the upper end of the gantry frame, and guide sleeves are provided symmetrically on the left and right sides of the upper end of the gantry frame; the lower end of the lifting drive cylinder is fixedly connected to the upper end of the lifting frame.

[0009] As a further technical solution of the present invention, the upper surface of the lifting frame is symmetrically equipped with guide columns, and the guide columns are slidably connected to the guide sleeve; the lower end of the lifting frame is fixedly connected to the connecting beam, the upper surface of the right end of the connecting beam is fixedly equipped with a clamping drive cylinder, and the upper surface of the left end of the connecting beam is provided with a sliding groove.

[0010] As a further technical solution of the present invention, the left end of the clamping drive cylinder is connected to the upper end of the transmission rod; a fixing plate is fixedly installed on the middle section of the lower surface of the connecting beam, and a shaft is provided at the center of the lower end, the front end of the center of the lower end, and the rear end of the center of the lower end of the fixing plate. A synchronous driven gear is installed at the lower end of the shaft located at the center of the lower end, and bearings are provided at the front end and the rear end of the synchronous driven gear.

[0011] As a further technical solution of the present invention, the bearings at the front end and the rear end are respectively connected to the lower end of the shaft at the front end of the lower end center and the lower end of the shaft at the rear end of the lower end center; the lower end of the connecting beam is symmetrically equipped with guide rail seats, and the guide rail seats symmetrically arranged are located on the left and right sides of the synchronous driven gear.

[0012] As a further technical solution of the present invention, a sliding seat is slidably connected to the guide rail seat, and a steel plate clamping claw is fixedly installed on the sliding seat. A rack is installed on the steel plate clamping claw, and the two sides of the rack are respectively connected to a synchronous driven gear and a bearing.

[0013] As a further technical solution of the present invention, two sets of fixing frames 41 are symmetrically fixedly installed at the bottom of the centering clamping mechanism 4, and an operating base plate 42 is fixedly installed between the centers of the two sets of fixing frames 41. A central bearing 43 is provided at the center of the operating base plate 42, and an operating cross plate 44 is connected to the outside of the central bearing 43.

[0014] As a further technical solution of the present invention, both ends of the two sets of fixed frames 41 are fixedly installed with slide rails 45, and sliders 46 are slidably installed on the outer side of the slide rails 45. A fixed base 47 is fixedly installed on the top of the slider 46, and multiple guide rollers 48 are evenly distributed on the top of the fixed base 47 through a rotating shaft. A reset spring 49 is connected between the bottom center of the fixed base 47 and one end of the operating cross plate 44.

[0015] As a further technical solution of the present invention, the fixed base 47 and the universal ball bearing 18 are installed on the same plane; the fixed frame 41 is located between the equipment base frame 11 and the front and rear drive linear module 12.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention achieves precise alignment of component docking positions through the rolling support of universal ball bearings and the precise drive of the front and rear drive linear modules one and two, combined with the synchronous transmission of synchronous driven gears and racks. This effectively eliminates problems such as misalignment and uneven gaps, significantly improves docking accuracy, ensures subsequent welding quality, and increases weld pass rate. 2. In this invention, the steel plate clamping claw achieves bidirectional synchronous movement under the drive of the synchronous driven gear and rack, which can be adapted to steel plates and structural steel components of different widths and thicknesses. It can flexibly clamp workpieces of multiple specifications without changing the fixture, solving the problem of poor versatility of traditional fixtures and greatly improving the applicability and production flexibility of the equipment. 3. In this invention, the high-precision fit between the guide column and the guide sleeve ensures the motion stability and verticality of the lifting mechanism, avoiding equipment wear caused by off-center loading; the rigid design of the equipment base frame and the equipment top frame provides stable support for the whole machine, withstands the reaction force of the mating and pressing, ensures long-term stable operation of the equipment, and reduces maintenance costs. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the present invention.

[0018] Figure 2 In this invention Figure 1 Top view.

[0019] Figure 3 In this invention Figure 1 A schematic diagram of the split structure.

[0020] Figure 4 In this invention Figure 2 A schematic diagram of the split structure.

[0021] Figure 5 In this invention Figure 4 Front view.

[0022] Figure 6 In this invention Figure 4 A schematic diagram of the split structure.

[0023] Figure 7 In this invention Figure 6 A bottom view.

[0024] Figure 8 In this invention Figure 6 A magnified view of a portion of the image.

[0025] Figure 9 This is a schematic diagram of the centering and clamping mechanism in this invention.

[0026] In the diagram: 1-Auxiliary docking frame, 2-Auxiliary docking gantry, 3-Auxiliary docking clamping mechanism, 4-Centering clamping mechanism; 11-Equipment base frame, 12-Front and rear drive linear module one, 13-First-level lifting drive mechanism, 14-Second-level lifting drive mechanism, 15-Moving seat, 16-Equipment top frame, 17-Workbench, 18-Universal ball bearings; 21-Front and rear drive linear module two, 22-Gantry frame body, 23-Lifting drive cylinder, 24-Guide sleeve; 31-Lifting frame, 32-Guide column, 33-Connecting crossbeam, 34-Slide groove, 35-Clamping drive cylinder, 36-Fixing plate, 37-Synchronous driven gear, 38-Bearing, 39-Wire guide slide rod seat, 310-Sliding seat, 311-Steel plate clamping claw, 312-Rack, 313-Transmission rod; 41-Fixed frame, 42-Operating base plate, 43-Central bearing, 44-Operating cross plate, 45-Slide rail, 46-Slider, 47-Fixed base, 48-Guide roller, 49-Reset spring. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figure 1-9In this embodiment of the invention, an auxiliary docking device for steel structure processing includes an auxiliary docking frame 1, on which an auxiliary docking gantry 2 is fixedly installed; the inner side of the auxiliary docking gantry 2 is fixedly connected to the upper end of the auxiliary docking clamping mechanism 3. The auxiliary docking frame 1 includes a base frame 11, on which a front and rear drive linear module 12 is fixedly installed. A primary lifting drive mechanism 13 is installed on the front and rear drive linear module 12. A secondary lifting drive mechanism 14 is installed on the upper end of the primary lifting drive mechanism 13. The upper end of the secondary lifting drive mechanism 14 is fixedly connected to a movable seat 15. The upper end of the base frame 11 is fixedly connected to the lower end of the top frame 16. A worktable 17 is symmetrically installed on the upper end of the top frame 16. Movable slots for the movable seat 15 are left between the symmetrically arranged worktables 17. Universal ball bearings 18 are installed in a rectangular array on each of the symmetrically arranged worktables 17. The front upper surface of the workbench 17, which is arranged symmetrically on the left and right, is fixedly installed with a front and rear drive linear module 21. The front and rear drive linear module 21 is also arranged symmetrically on the left and right, and the upper end of the front and rear drive linear module 21 is connected to the lower end of the gantry frame 22. The upper end of the gantry frame 22 is fixedly installed with a lifting drive cylinder 23, and the upper end of the gantry frame 22 is provided with guide sleeves 24 symmetrically arranged on the left and right sides; the lower end of the lifting drive cylinder 23 is fixedly connected to the upper end of the lifting frame 31.

[0029] By adopting the above technical solutions, the high-precision cooperation between the guide column 32 and the guide sleeve 24 ensures the motion stability and verticality of the lifting mechanism, and avoids equipment wear caused by off-center loading; the rigid design of the equipment base frame 11 and the equipment top frame 16 provides stable support for the whole machine, withstands the reaction force of docking and pressing, ensures long-term stable operation of the equipment, and reduces maintenance costs.

[0030] In this embodiment, guide columns 32 are symmetrically installed on the upper surface of the lifting frame 31, and the guide columns 32 are slidably connected to the guide sleeve 24; the lower end of the lifting frame 31 is fixedly connected to the connecting beam 33, and a clamping drive cylinder 35 is fixedly installed on the upper surface of the right end of the connecting beam 33, and a sliding groove 34 is provided on the upper surface of the left end of the connecting beam 33. The left end of the clamping drive cylinder 35 is connected to the upper end of the transmission rod 313; a fixing plate 36 is fixedly installed on the middle section of the lower surface of the connecting beam 33. A shaft is provided at the lower center, the front end, and the rear end of the lower center of the fixing plate 36. A synchronous driven gear 37 is installed at the lower end of the shaft at the lower center. A bearing 38 is provided at the front end and the rear end of the synchronous driven gear 37. The bearings 38 located at the front and rear ends are respectively connected to the lower ends of the shaft located at the front end of the lower end center and the lower ends of the shaft located at the rear end of the lower end center; the lower end of the connecting beam 33 is symmetrically equipped with guide rail seats 39, which are located on the left and right sides of the synchronous driven gear 37. The guide rail seat 39 is slidably connected to a sliding seat 310, and a steel plate clamping claw 311 is fixedly installed on each sliding seat 310. A rack 312 is installed on the steel plate clamping claw 311, and the two sides of the rack 312 are respectively connected to the synchronous driven gear 37 and the bearing 38.

[0031] By adopting the above technical solution, through the rolling support of the universal ball bearing 18 and the precise drive of the front and rear drive linear module 12 and the front and rear drive linear module 21, and with the synchronous transmission of the synchronous driven gear 37 and the rack 312, the precise alignment of the component docking position is achieved, effectively eliminating problems such as misalignment and uneven gaps, greatly improving docking accuracy, ensuring subsequent welding quality, and improving the weld pass rate. The steel plate clamping claw 311 achieves bidirectional synchronous movement under the drive of the synchronous driven gear 37 and rack 312, which can be adapted to steel plates and structural steel components of different widths and thicknesses. It can flexibly clamp workpieces of various specifications without changing the fixture, solving the problem of poor versatility of traditional fixtures and greatly improving the applicability and production flexibility of the equipment.

[0032] In this embodiment, two sets of fixing frames 41 are symmetrically fixedly installed at the bottom of the centering clamping mechanism 4. An operating base plate 42 is fixedly installed between the centers of the two sets of fixing frames 41. A central bearing 43 is provided at the center of the operating base plate 42, and an operating cross plate 44 is connected to the outside of the central bearing 43.

[0033] In this embodiment, slide rails 45 are fixedly installed at both ends of the two sets of fixed frames 41, and sliders 46 are slidably installed on the outer side of the slide rails 45. A fixed base 47 is fixedly installed at the top of the slider 46, and multiple guide rollers 48 are evenly distributed at the top of the fixed base 47 through a rotating shaft. A reset spring 49 is connected between the bottom center of the fixed base 47 and one end of the operating cross plate 44.

[0034] In this embodiment, the fixed base 47 and the universal ball bearing 18 are installed on the same plane; the fixed frame 41 is located between the equipment base frame 11 and the front and rear drive linear module 12; By adopting the above technical solution and the centering clamping mechanism 4, during the feeding and conveying of steel structure components, the steel structure components first pass through the centering clamping mechanism 4. Under the action of the return spring 49, the guide rollers 48 on both sides can pull the steel structure components to clamp them, thereby realizing the centering clamping feeding process of the steel structure components.

[0035] The working principle of this invention is as follows: the two sets of steel structure components to be docked are placed on the worktables 17 of the two sets of devices respectively. The universal ball bearings 18 installed in a rectangular array on the worktables 17 convert the sliding friction between the components and the table surface into rolling friction, which greatly reduces the conveying resistance, realizes the smooth sliding and multi-directional fine adjustment of the components, and provides uniform multi-point support for long and large steel structures, avoiding the deflection deformation of the components due to their own weight, thus laying the foundation for precise docking. In this process, by using the centering clamping mechanism 4, during the feeding and conveying of steel structure components, the steel structure components first pass through the centering clamping mechanism 4. The steel structure components located in the centering clamping mechanism 4 can be clamped by the guide rollers 48 on both sides under the action of the return spring 49, thereby realizing the centering clamping feeding process of the steel structure components. The equipment base frame 11 and the equipment top frame 16 form a rigid support base. The front and rear drive linear module 12 drives the first-level lifting drive mechanism 13 and the second-level lifting drive mechanism 14 to work together to adjust the lifting height of the moving seat 15 according to the height of the component, so as to adapt to the docking elevation of steel of different specifications. The front and rear drive linear module 21 drives the gantry frame 22 to move in the front and rear direction, so as to accurately align the auxiliary docking clamping mechanism 3 to the component docking position and complete the coarse positioning. The lifting drive cylinder 23 on the gantry frame 22 drives the lifting frame 31 to descend. The guide column 32 and the guide sleeve 24 slide together to ensure the verticality and stability of the lifting process. The clamping drive cylinder 35 provides active clamping power, which is transmitted through the transmission rod 313 to drive the synchronous driven gear 37 to rotate. The synchronous driven gear 37 meshes with the racks 312 on both sides, converting the rotational power into the linear motion of the sliding seat 310, which drives the clamping claws 311 on both sides of the steel plate to move synchronously towards each other, realizing bidirectional synchronous clamping of the components. The bearing 38 provides stable rotational support for the synchronous driven gear 37, and the slide groove 34 provides guide limit for the transmission components to ensure the accuracy and smoothness of the clamping process. The auxiliary docking gantry 2 of the two sets of devices synchronously drives the auxiliary docking clamping mechanism 3 to approach each other. The two sets of steel plate clamping claws 311 respectively clamp the ends of the components to be docked. Through the coordinated action of the two mechanisms, the two components are accurately aligned. Then, the lifting drive cylinder 23 continuously applies pressure, which is transmitted through the lifting frame 31 and the connecting beam 33, driving the docking surfaces of the components to fit tightly together and completing the auxiliary docking operation. After docking is completed, each mechanism reverses its action to reset, releases the clamping components, and completes a single cycle. Through the rolling support of the universal ball bearing 18 and the precise drive of the front and rear drive linear module 1 12 and the front and rear drive linear module 2 21, and with the synchronous transmission of the synchronous driven gear 37 and the rack 312, the precise alignment of the component docking position is achieved, effectively eliminating problems such as misalignment and uneven gaps, greatly improving docking accuracy, ensuring subsequent welding quality, and improving the weld pass rate. The steel plate clamping claw 311 achieves bidirectional synchronous movement under the drive of the synchronous driven gear 37 and rack 312, which can be adapted to steel plates and structural steel components of different widths and thicknesses. It can flexibly clamp multiple specifications of workpieces without changing the clamps, solving the problem of poor versatility of traditional clamps and greatly improving the applicability and production flexibility of the equipment. The high-precision fit between the guide column 32 and the guide sleeve 24 ensures the motion stability and verticality of the lifting mechanism, and avoids equipment wear caused by off-center loading; the rigid design of the equipment base frame 11 and the equipment top frame 16 provides stable support for the whole machine, withstands the reaction force of docking and pressing, ensures long-term stable operation of the equipment, and reduces maintenance costs.

[0036] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0037] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An auxiliary docking device for steel structure processing, characterized in that: include An auxiliary docking frame (1) is provided, and an auxiliary docking gantry (2) is fixedly installed on the upper surface of the front end of the auxiliary docking frame (1); the inner side of the auxiliary docking gantry (2) is fixedly connected to the upper end of the auxiliary docking clamping mechanism (3); The auxiliary docking frame (1) includes a base frame (11), on which a front and rear drive linear module (12) is fixedly installed. A first-stage lifting drive mechanism (13) is installed on the front and rear drive linear module (12). A second-stage lifting drive mechanism (14) is installed on the upper end of the first-stage lifting drive mechanism (13). The upper end of the second-stage lifting drive mechanism (14) is fixedly connected to the movable seat (15). The upper end of the base frame (11) is fixedly connected to the lower end of the top frame (16). A worktable (17) is symmetrically installed on the upper end of the top frame (16). A movable seat (15) is left between the worktables (17) symmetrically arranged on the left and right. Universal ball bearings (18) are installed in a rectangular array on the worktables (17) symmetrically arranged on the left and right. A centering clamping mechanism (4) is installed on the outer side of the universal ball bearings (18).

2. The auxiliary docking device for steel structure processing according to claim 1, characterized in that: The front upper surface of the workbench (17) which is arranged symmetrically on the left and right is fixedly installed with a front and rear drive linear module two (21). The front and rear drive linear module two (21) is also arranged symmetrically on the left and right. The upper end of the front and rear drive linear module two (21) is connected to the lower end of the gantry frame (22).

3. The auxiliary docking device for steel structure processing according to claim 2, characterized in that: The upper end of the gantry frame (22) is fixedly installed with a lifting drive cylinder (23), and the upper end of the gantry frame (22) is provided with guide sleeves (24) symmetrically arranged on the left and right sides; the lower end of the lifting drive cylinder (23) is fixedly connected to the upper end of the lifting frame (31).

4. The auxiliary docking device for steel structure processing according to claim 3, characterized in that: The upper surface of the lifting frame (31) is symmetrically equipped with guide columns (32), and the guide columns (32) are slidably connected with the guide sleeve (24); the lower end of the lifting frame (31) is fixedly connected to the connecting beam (33), and the upper surface of the right end of the connecting beam (33) is fixedly equipped with a clamping drive cylinder (35), and the upper surface of the left end of the connecting beam (33) is provided with a sliding groove (34).

5. The auxiliary docking device for steel structure processing according to claim 4, characterized in that: The left end of the clamping drive cylinder (35) is connected to the upper end of the transmission rod (313); a fixing plate (36) is fixedly installed in the middle section of the lower surface of the connecting beam (33). A shaft is provided at the lower center, the front end, and the rear end of the lower center of the fixing plate (36). A synchronous driven gear (37) is installed at the lower end of the shaft at the lower center. A bearing (38) is provided at the front end and the rear end of the synchronous driven gear (37).

6. The auxiliary docking device for steel structure processing according to claim 5, characterized in that: The bearings (38) located at the front and rear ends are respectively connected to the lower ends of the shaft located at the front end of the lower end center and the shaft located at the rear end of the lower end center; the lower end of the connecting beam (33) is symmetrically equipped with guide rail seats (39), and the guide rail seats (39) symmetrically arranged are located on the left and right sides of the synchronous driven gear (37).

7. The auxiliary docking device for steel structure processing according to claim 6, characterized in that: The guide rail seat (39) is slidably connected to a sliding seat (310), and a steel plate clamping claw (311) is fixedly installed on each sliding seat (310). A rack (312) is installed on the steel plate clamping claw (311), and the two sides of the rack (312) are respectively connected to the synchronous driven gear (37) and the bearing (38).

8. The auxiliary docking device for steel structure processing according to claim 1, characterized in that: The bottom of the centering clamping mechanism (4) is symmetrically fixed with two sets of fixing frames (41), and an operating base plate (42) is fixedly installed between the centers of the two sets of fixing frames (41). A central bearing (43) is provided at the center of the operating base plate (42), and an operating cross plate (44) is connected to the outside of the central bearing (43).

9. The auxiliary docking device for steel structure processing according to claim 8, characterized in that: Both ends of the two sets of fixed frames (41) are fixedly installed with slide rails (45), and sliders (46) are slidably installed on the outside of the slide rails (45). A fixed base (47) is fixedly installed on the top of the slider (46), and multiple guide rollers (48) are evenly distributed on the top of the fixed base (47) through a rotating shaft. A reset spring (49) is connected between the bottom center of the fixed base (47) and one end of the operating cross plate (44).

10. The auxiliary docking device for steel structure processing according to claim 8, characterized in that: The fixed base (47) and the universal ball bearing (18) are installed on the same plane; the fixed frame (41) is located between the equipment base frame (11) and the front and rear drive linear module (12).

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