Multi-posture high-stability collaborative welding robot

Abstract

This invention discloses a multi-posture, highly stable collaborative welding robot, relating to the field of welding robot technology. It includes a base, a ground rail mechanism fixed to the upper rear side of the base, a guide rail platform slidably mounted on the ground rail mechanism via a motor, a bidirectional adjustment mechanism fixed to the upper part of the guide rail platform, a robot welding mechanism slidably mounted on the front wall of the bidirectional adjustment mechanism via a motor, a mounting frame fixed within an opening on the front side of the base, a turntable rotatably mounted within a circular groove on the mounting frame via a motor, and a slide rail fixed to the upper front side of the base. Through the cooperation between the foldable adjustment components and the clamping components, the robot can clamp and adjust the position of long strip substrates during welding, and provide a horizontal platform for welding wider substrates. The sliding seat, mounting frame, and turntable work together to clamp and rotate the position of three-dimensional substrates.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, specifically to a multi-posture, highly stable collaborative welding robot. Background Technology

[0002] With the development of industrial automation, welding robots have been widely used, among which large welding robots play an increasingly crucial role in heavy industrial manufacturing. Their application has not only significantly improved welding efficiency and quality consistency, but also greatly enhanced operational safety and production flexibility, making them an indispensable core equipment in modern high-end equipment manufacturing.

[0003] However, most existing large welding robots consist of a multi-directional adjustment mechanism, a robotic arm welding mechanism, and a positioning mechanism. The positioning mechanism is mainly used to adjust the position of the welding substrate, providing a better welding angle and position for the robotic arm welding mechanism. However, in the process of using existing welding robots, the positioning mechanism designed for a single long strip type substrate requires hoisting equipment to lift and adjust the welding surface of the substrate in stages when welding larger three-dimensional substrates. It is not convenient to quickly adjust the welding surface of the substrate through the positioning mechanism. On the other hand, because the positioning mechanism designed for a single long strip type substrate is not convenient for horizontal adjustment, it is not convenient to provide a relatively horizontal table when welding some wider substrates or substrates that need to be placed horizontally.

[0004] To address the aforementioned issues, innovative designs are urgently needed based on existing approaches. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-posture, highly stable collaborative welding robot to solve the problems mentioned in the background. The technical solution of this invention addresses the problem that existing technical solutions are too simplistic and provides a solution that is significantly different from existing technologies.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a multi-posture, highly stable collaborative welding robot, comprising a base, a ground rail mechanism fixed to the upper rear side of the base, a guide rail platform slidably mounted on the ground rail mechanism via a motor, a bidirectional adjustment mechanism fixed to the upper end of the guide rail platform, a robot welding mechanism slidably mounted on the front wall of the bidirectional adjustment mechanism via a motor, a mounting frame fixed in the front opening of the base, a turntable rotatably mounted in the circular groove of the mounting frame via a motor, a slide rail fixed to the upper front side of the base, two sliding seats slidably disposed on the upper end of the slide rail, an adjustment component rotatably mounted in the middle groove of each of the two sliding seats via a bearing, an electric push rod 1 fixed in the front and rear grooves of the top of each of the two sliding seats, a rack 2 mounted on the output end of each electric push rod 1, a gear 2 meshing with the upper end of the rack 2, the gear 2 mounted on the adjustment component, a gear 1 connected to the bottom front side of each of the two sliding seats via a motor, a rack 1 meshing with the outer side of the gear 1, and the rack 1 fixed to the front side of the front slide rail; A clamping assembly is disposed within an adjusting assembly and is used for clamping and fixing.

[0007] Preferably, the two sliding seats are arranged opposite to each other, and the inner sides of the two sliding seats are designed with a protrusion arc-shaped distribution structure, and the arc-shaped protrusion structure of the two sliding seats is used for clamping and fixing.

[0008] Preferably, the adjustment assembly includes an adjustment frame, which is rotatably mounted in the groove in the middle of the sliding seat via a bearing. A guide post is rotatably mounted on the upper end of the adjustment frame. A limiting groove is formed in the arc-shaped notch of the adjustment frame. A rotating frame is rotatably mounted in the limiting groove. A gear three is meshed with the outer tooth of the rotating frame. The gear three is rotatably mounted in the square opening of the adjustment frame via a motor.

[0009] Preferably, the rotating frame is limited to rotate within the limiting slide groove, and the rotation range is greater than ninety degrees.

[0010] Preferably, the clamping assembly includes a mounting box, which is rotatably mounted inside the notch of the rotating frame. A guide post 2 is rotatably mounted on the upper end of the mounting box. A gear 4 is fixed on the outer side of the front shaft of the mounting box. A rack 4 is meshed with the upper end of the gear 4. An electric push rod 2 is connected to one end of the rack 4 inward. The electric push rod 2 is fixed inside the notch of the rotating frame. A threaded column is rotatably mounted inside the mounting box by a motor. Clamping arms are threadedly connected to the front and rear outer sides of the threaded column. A top head is slidably connected to multiple grooves on the inward side of the two clamping arms by spring limiting.

[0011] Preferably, the first guide post and the second guide post are initially at the same horizontal position as the top of the sliding seat, and the first guide post and the second guide post are used for sliding adjustment of the top substrate.

[0012] Preferably, the outer side of the gear four is designed with a fan-shaped tooth structure, and the fan-shaped tooth on the outer side of the gear four is used for the mounting box to rotate at a 90-degree position.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This invention, through the cooperation of a sliding seat, an adjusting component, and a clamping component, enables the assembly and spot welding of long steel structures. By activating the electric actuator two, the rack four moves outward, causing the meshing gear four and the mounting box to rotate 90 degrees. This adjusts the clamping arms to a vertical position. The rotation of the screw thread then causes the two clamping arms to slide relative to each other within the mounting box, clamping the substrate. When the long steel structure is fully welded, the rack four drives the gear four to reset and adjust. Combined with the 90-degree adjustment of the gear two by the rack two, this adjusts the adjusting frame and mounting box to a vertical position. This, along with the clamping arms clamping the substrate and the corresponding rotation adjustment of the rotating frame within the limiting groove by the gear three, provides the optimal welding position for the robotic welding mechanism. This allows some welds to be fully welded in one operation, improving weld stability.

[0014] This invention, by incorporating a mounting frame and a turntable, allows for positional adjustment of larger three-dimensional substrates during welding via the turntable. A controller activates a motor that drives gear one and rack one to rotate, causing the sliding seat to move relative to the slide rail and adjust its position. The three-dimensional substrate is clamped and fixed by the arc-shaped distribution of protrusions on the inner sides of the two sliding seats. When welding wider substrates, the adjustment frame and mounting box are rotated and reset to ensure they are level with the sliding seat, facilitating the horizontal placement of wider substrates. The rotating installation of guide pillars one and two further facilitates the horizontal sliding adjustment of the substrate on the sliding seat surface. This allows the equipment to easily weld various types of substrates, thereby improving its welding adaptability. Attached Figure Description

[0015] Figure 1 This is a front view structural diagram of the present invention; Figure 2 This is a schematic diagram of the rear view structure of the present invention; Figure 3 This is a front structural diagram of the base, slide rail, sliding seat, and adjustment assembly of the present invention; Figure 4 for Figure 3 Enlarged structural diagram at point A in the middle; Figure 5 This is a schematic diagram showing the disassembled structure of the base, slide rail, sliding seat, and adjustment component of the present invention; Figure 6 This is a schematic diagram of the sliding base, adjusting component, and clamping component of the present invention; Figure 7This is a schematic diagram showing the disassembled structure of the sliding seat and adjustment component of the present invention; Figure 8 This is a schematic diagram of the adjustment component and clamping component of the present invention; Figure 9 This is a schematic diagram of the disassembled structure of the adjustment component and the clamping component of the present invention; Figure 10 This is a cross-sectional view of the clamping arm and the top head of the present invention.

[0016] In the diagram: 1. Base; 2. Ground rail mechanism; 3. Guide rail platform; 4. Bidirectional adjustment mechanism; 6. Robot welding mechanism; 7. Slide rail; 8. Sliding seat; 9. Mounting frame; 10. Turntable; 11. Rack 1; 12. Gear 1; 13. Electric actuator 1; 14. Rack 2; 15. Gear 2; 16. Adjustment assembly; 161. Adjustment frame; 162. Guide post 1; 163. Limiting slide groove; 164. Turning frame; 165. Gear 3; 17. Clamping assembly; 171. Mounting box; 172. Guide post 2; 173. Gear 4; 174. Rack 4; 175. Electric actuator 2; 176. Screw groove post; 177. Clamping arm; 178. Top head. Detailed Implementation

[0017] 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.

[0018] Example 1 Please see Figures 1 to 10This invention provides a technical solution: a multi-posture, highly stable collaborative welding robot. A ground rail mechanism 2 is fixed to the upper rear side of a base 1. A guide rail platform 3 is slidably mounted on the ground rail mechanism 2 via a motor. A bidirectional adjustment mechanism 4 is fixed to the upper end of the guide rail platform 3. A robot welding mechanism 6 is slidably mounted on the front wall of the bidirectional adjustment mechanism 4 via a motor. A mounting frame 9 is fixed inside an opening on the front side of the base 1. A turntable 10 is rotatably mounted in a circular groove of the mounting frame 9 via a motor. A slide rail 7 is fixed to the upper front side of the base 1. Two sliding seats 8 are slidably arranged on the upper end of the slide rail 7. The two sliding seats 8 are arranged opposite each other, and their inner sides are designed with a protrusion arc-shaped distribution. The structure includes two sliding seats 8 with arc-shaped protrusions for clamping and fixing. An adjustment assembly 16 is rotatably mounted in the central groove of each sliding seat 8 via bearings. Electric push rods 13 are fixed in the front and rear grooves at the top of each sliding seat 8. A rack 14 is mounted on the output end of each electric push rod 13. A gear 15 is meshed with the upper end of the rack 14 and is mounted on the adjustment assembly 16. A gear 12 is connected to the bottom front side of each sliding seat 8 via a motor. A rack 11 is meshed with the outer side of the gear 12 and is fixed to the front side of the front slide rail 7. A clamping assembly 17 is located within the adjustment assembly 16 and is used for clamping and fixing. When welding three-dimensional profiles, the substrate is suspended on the turntable 10, and the motor is turned on by the controller to rotate within the mounting frame 9 to adjust the welding position of the turntable 10 and the substrate. Then, the motor drives the gear 12 to rotate, which, in conjunction with the meshing rack 11, causes the two sliding seats 8 to move relative to each other on the slide rail 7. The three-dimensional profile is clamped and fixed by the arc-shaped distribution structure of the protrusions on opposite sides of the two sliding seats 8. The controller turns on the motor to adjust the lateral position of the guide rail platform 3 and the bidirectional adjustment mechanism 4 on the ground rail mechanism 2. Then, the bidirectional adjustment mechanism 4 adjusts the vertical and longitudinal position of the robot welding mechanism 6 to adjust the robot welding mechanism 6 to the corresponding welding position. Finally, the controller system performs the corresponding welding operation on the multi-axis arm of the robot welding mechanism 6 to complete the welding.

[0019] Example 2 Based on Example 1, please refer to Figures 1 to 10A ground rail mechanism 2 is fixed to the upper rear side of the base 1. A guide rail platform 3 is slidably mounted on the track of the ground rail mechanism 2 via a motor. A bidirectional adjustment mechanism 4 is fixed to the upper end of the guide rail platform 3. A robot welding mechanism 6 is slidably mounted on the front wall of the bidirectional adjustment mechanism 4 via a motor. A mounting bracket 9 is fixed in the opening on the front side of the base 1. A turntable 10 is mounted in the circular groove of the mounting bracket 9 via a motor. A slide rail 7 is fixed to the upper front side of the base 1. Two sliding seats 8 are slidably arranged on the upper end of the slide rail 7. The two sliding seats 8 are arranged opposite each other. The inner sides of the two sliding seats 8 are designed with a protrusion arc-shaped distribution structure. The arc-shaped protrusion structure of the two sliding seats 8 is used for clamping and fixing. The grooves in the middle of the two sliding seats 8 are rotated and fixed by bearings. The system is equipped with an adjustment assembly 16. Electric actuators 13 are fixed in the front and rear grooves at the top of the two sliding seats 8. Each electric actuator 13 has a rack 14 mounted at its output end. A gear 15 is meshed with the upper end of the rack 14 and mounted on the adjustment assembly 16. The adjustment assembly 16 includes an adjustment frame 161, which is rotatably mounted in the middle groove of the sliding seat 8 via bearings. A guide post 162 is rotatably mounted on the upper end of the adjustment frame 161. A limiting groove 163 is formed within the arc-shaped notch of the adjustment frame 161. A rotating frame 164 is rotatably mounted within the limiting groove 163, limiting its rotation. The rotating frame 164 rotates within the limiting groove 163 with a rotation range greater than ninety degrees. Gear 165 is meshed with the outer toothed jaws. Gear 165 is mounted in the square opening of the adjusting frame 161 via a motor. Gear 12 is connected to the bottom front side of each of the two sliding seats 8 via a motor. Gear 11 is meshed with the outer side of gear 12 and rack 11 is fixed to the front side of the front slide rail 7. Clamping assembly 17 is set inside the adjusting assembly 16. Clamping assembly 17 includes mounting box 171, which is rotatably mounted inside the notch of the rotating frame 164. Guide post 172 is rotatably mounted on the upper end of mounting box 171. Guide post 162 and guide post 172 are initially at the same horizontal position as the top of the sliding seat 8. Guide post 162 and guide post 172 are used for sliding the top substrate. Adjustment: Gear 4 173 is fixed to the outer side of the front shaft column of the mounting box 171. The outer side of gear 4 173 is designed with a fan-shaped tooth structure. The fan-shaped tooth of gear 4 173 is used for the mounting box 171 to rotate at a 90-degree position. Gear 4 174 is meshed with the upper end of gear 4 173. One end of rack 4 174 is connected to electric push rod 2 175. Electric push rod 2 175 is fixed inside the notch of the rotating frame 164. A threaded column 176 is installed inside the mounting box 171 by rotating the motor. The front and rear outer sides of the threaded column 176 are threaded with clamping arms 177. The two clamping arms 177 are slidably connected to the top head 178 in multiple grooves on the inner side of the two clamping arms 177 by spring limit. The clamping assembly 17 is used for clamping and fixing. When assembling and spot welding long steel structures, the electric actuator 175 is activated to move the rack 174 outward, which in turn drives the meshing gear 173 and the mounting box 171 to rotate 90 degrees, so that the clamping arm 177 is adjusted to a vertical position. Then, the screw groove column 176 rotates to drive the two clamping arms 177 to slide relative to each other in the mounting box 171 to clamp the substrate and complete the spot welding. When the long steel structure needs to be rotated and adjusted for full welding, the motor drives the threaded column 176 to rotate, causing the clamping arm 177 to release its grip on the substrate. Then, the electric actuator 175 is activated, causing the rack 174 to move inward, which in turn drives the meshing gear 173 and the mounting box 171 to rotate and reset. At the same time, the hydraulic mechanism activates the electric actuator 13, which drives the rack 14 to move inward, and through the meshing gear 15, drives the adjusting frame 161 to rotate. This, combined with the contact rotation between the guide post 162 and the guide post 172 and the substrate, causes the adjusting frame 161 to rotate rapidly by ninety degrees. Then, the motor is activated again to drive the threaded column... The column 176 rotates, causing the clamping arm 177 to clamp the substrate again. At this time, the robot welding mechanism 6 is adjusted to the corresponding full welding position. During the welding process, when the substrate needs to be rotated to adjust its position, the controller turns on the motor to drive the gear 3 165 to rotate, so that the rotating frame 164 and the mounting box 171 rotate back and forth more than 90 degrees within the limit slide groove 163 to adjust the corresponding position. When the substrate is fully welded, the rotating frame 164 rotates back and forth to adjust the corresponding position, providing the robot welding mechanism 6 with the best welding position. This allows some welds to be fully welded in one go, improving the stability of the weld. When welding a wider substrate, the adjustment frame 161 and the mounting box 171 are rotated and reset as described above, so that the adjustment frame 161 and the mounting box 171 are kept horizontal with the sliding seat 8, which facilitates the horizontal placement of the wider substrate. With the rotation and installation of the guide post 162 and the guide post 272, the substrate can be assisted in sliding and adjusting its horizontal position on the surface of the sliding seat 8.

[0020] Working principle: When using a welding robot to weld three-dimensional profiles, the operator places the substrate onto the turntable 10 and uses the controller to start the motor to rotate within the mounting frame 9 to adjust the welding position of the turntable 10 and the substrate. Then, the starting motor drives the gear 12 to rotate, which, in conjunction with the meshing rack 11, causes the two sliding seats 8 to move relative to each other on the slide rail 7. The three-dimensional profile is clamped and fixed by the arc-shaped distribution structure of the protrusions on opposite sides of the two sliding seats 8. The controller starts the motor to adjust the lateral position of the guide rail 3 and the bidirectional adjustment mechanism 4 on the ground rail mechanism 2. The bidirectional adjustment mechanism 4 then adjusts the vertical and longitudinal position of the robot welding mechanism 6 to the corresponding welding position. Finally, the controller system controls the multi-axis arm of the robot welding mechanism 6 to perform the corresponding welding operation, completing the welding of the three-dimensional profile at the corresponding position. When performing spot welding on long steel structures, the operator starts the motor via the controller to drive gear 12 to rotate. This, in conjunction with the meshing rack 11, moves the two sliding seats 8 relative to each other on the slide rail 7 to adjust their corresponding positions. Then, the substrate is hoisted onto the top of the two sliding seats 8. At this time, the electric push rod 2175 is activated to move rack 4174 outward, which in turn drives the meshing gear 4173 and the mounting box 171 to rotate. This, combined with the contact rotation between the guide post 2172 and the substrate, causes the mounting box 171 to rotate 90 degrees quickly, adjusting the clamping arm 177 to a vertical position. Then, the motor is activated to drive the screw groove post 176 to rotate, causing the two clamping arms 177 to slide relative to each other within the mounting box 171 to clamp the substrate. Next, the operator or the unloading robot places the material to be spot welded into the corresponding position. With the position adjustment of the robot welding mechanism 6 mentioned above, and the multi-axis arm of the robot welding mechanism 6 performing the corresponding welding operation, the spot welding is completed. After the assembly materials are spot-welded, when full welding is required, the controller starts the motor to rotate the screw groove post 176, causing the clamping arm 177 to release its grip on the substrate. Then, by activating the electric push rod 175, the rack 174 moves inward, causing the meshing gear 173 and the mounting box 171 to rotate and reset. Simultaneously, the hydraulic mechanism activates the electric push rod 13 to move the rack 14 inward, and through the meshing gear 15, it drives the adjusting frame 161 to rotate. This, combined with the contact rotation between the guide post 162 and the guide post 172 and the substrate, causes the adjusting frame 161 to rotate rapidly by ninety degrees. Then, the motor is activated again to drive the screw groove post 176 to rotate. The groove column 176 rotates, causing the clamping arm 177 to clamp the substrate again. At this time, the robot welding mechanism 6 is adjusted to the corresponding full welding position. During the welding process, when the substrate needs to be rotated to adjust its position, the controller turns on the motor to drive the gear 3 165 to rotate, so that the rotating frame 164 and the mounting box 171 rotate back and forth more than 90 degrees within the limit slide groove 163 to adjust the corresponding position. When the substrate is fully welded, the rotating frame 164 rotates back and forth to adjust the corresponding position, providing the robot welding mechanism 6 with the best welding position. This allows some welds to be fully welded in one go, improving the stability of the weld. In the above-mentioned clamping process, the top head 178 elastically extends and retracts within the groove on the inner side of the clamping arm 177, so that when the clamping arm 177 clamps some irregular positions of the substrate, the top head 178 at the corresponding position can retract into the groove on the inner side of the clamping arm 177, preventing the excessively heavy substrate from sliding and falling between the clamping arms 177 when the mounting box 171 rotates. When welding a wider substrate, the adjustment frame 161 and the mounting box 171 are rotated and reset as described above, so that the adjustment frame 161 and the mounting box 171 are kept horizontal with the sliding seat 8, which facilitates the horizontal placement of the wider substrate. With the rotation and installation of the guide post 162 and the guide post 272, the substrate can be assisted in sliding and adjusting its horizontal position on the surface of the sliding seat 8.

[0021] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-posture, highly stable collaborative welding robot, characterized in that: The base (1) includes a base, a ground rail mechanism (2) fixed to the upper rear side of the base (1), a guide rail platform (3) slidably mounted on the track of the ground rail mechanism (2) via a motor, a bidirectional adjustment mechanism (4) fixed to the upper end of the guide rail platform (3), a robot welding mechanism (6) slidably mounted on the front wall of the bidirectional adjustment mechanism (4) via a motor, a mounting bracket (9) fixed in the opening on the front side of the base (1), a turntable (10) rotatably mounted in the circular groove of the mounting bracket (9) via a motor, a slide rail (7) fixed to the upper front side of the base (1), and two sliding seats (8) slidably mounted on the upper end of the slide rail (7). Each of the sliding seats (8) has an adjustment assembly (16) mounted in the groove in the middle through a bearing. Each of the two sliding seats (8) has an electric push rod (13) fixed in the groove at the top front and rear. Each of the electric push rods (13) has a rack (14) mounted at the output end. The rack (14) has a gear (15) meshed on the upper end. The gear (15) is mounted on the adjustment assembly (16). Each of the two sliding seats (8) has a gear (12) connected to the bottom front side through a motor. The gear (12) has a rack (11) meshed on the outside of the rack (12). The rack (11) is fixed on the front side of the front slide rail (7). A clamping assembly (17) is disposed within an adjusting assembly (16) and is used for clamping and fixing.

2. The multi-posture highly stable collaborative welding robot according to claim 1, characterized in that: The two sliding seats (8) are arranged opposite to each other, and the inner sides of the two sliding seats (8) are designed with a protrusion arc distribution structure. The arc protrusion structure of the two sliding seats (8) is used for clamping and fixing.

3. The multi-posture highly stable collaborative welding robot according to claim 1, characterized in that: The adjustment assembly (16) includes an adjustment frame (161), which is rotatably mounted in the groove in the middle of the sliding seat (8) via a bearing. A guide post (162) is rotatably mounted on the upper end of the adjustment frame (161). A limiting groove (163) is opened in the arc-shaped notch of the adjustment frame (161). A rotating frame (164) is rotatably mounted in the limiting groove (163). A gear three (165) is meshed with the outer tooth of the rotating frame (164). The gear three (165) is rotatably mounted in the square opening of the adjustment frame (161) via a motor.

4. The multi-posture highly stable collaborative welding robot according to claim 3, characterized in that: The rotating frame (164) is limited to rotate within the limiting slide (163), and the rotation range is greater than 90 degrees.

5. The multi-posture highly stable collaborative welding robot according to claim 1, characterized in that: The clamping assembly (17) includes a mounting box (171), which is rotatably mounted inside the notch of the rotating frame (164). A guide post (172) is rotatably mounted on the upper end of the mounting box (171). A gear (173) is fixed on the outer side of the front shaft of the mounting box (171). A rack (174) is meshed on the upper end of the gear (173). An electric push rod (175) is connected to one end of the rack (174) inward. The electric push rod (175) is fixed inside the notch of the rotating frame (164). A threaded column (176) is rotatably mounted inside the mounting box (171) by a motor. Clamping arms (177) are threadedly connected to the front and rear outer sides of the threaded column (176). A top head (178) is slidably connected to multiple grooves on the inner side of the two clamping arms (177) by spring limiting.

6. The multi-posture highly stable collaborative welding robot according to claim 5, characterized in that: The first guide post (162) and the second guide post (172) are initially at the same level as the top of the sliding seat (8). The first guide post (162) and the second guide post (172) are used for sliding adjustment of the top substrate.

7. The multi-posture highly stable collaborative welding robot according to claim 5, characterized in that: The outer side of the gear four (173) is designed with a fan-shaped tooth structure, and the fan-shaped tooth on the outer side of the gear four (173) is used for the mounting box (171) to rotate at a 90-degree position.

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