Discharging mechanism

Abstract

The utility model belongs to the technical field of photovoltaic blanking, and discloses a blanking mechanism. Comprising a discharging frame, a lifting assembly is arranged on the top of the discharging frame, the bottom of the lifting assembly is connected with a rotary clamping assembly, the side face of the lower portion of the discharging frame is movably connected with a centering opening assembly, and a discharging roller way is arranged under the discharging frame and penetrates through the bottom of the discharging frame; the set height of the centering opening assembly is larger than the height of the discharging roller way. The blanking device is simple in structure and convenient to operate, workpieces processed by the slicing machine can be stably blanked, the working rhythm is shortened, the working efficiency is improved, and the labor cost is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of photovoltaic material cutting, and relates to a material cutting mechanism. Background Art

[0002] In the photovoltaic industry, after the slicer slices the silicon rod, the processed workpiece needs to be sent to the next process for degumming. The current method is to manually unload the silicon rod from the slicer, manually take the workpiece on the slicer from the robot or the slicer outlet, and manually transfer it to the AGV car or the next process. However, the overall size of the silicon rod is large, manual handling is time-consuming and labor-intensive, and there are safety risks. In addition, the overall working rhythm is slow, and continuous and stable production cannot be achieved, and labor costs are increased. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies in the above-mentioned background technology and provide a feeding mechanism with simple structure and convenient operation, which can realize stable feeding of workpieces processed by a slicer, shorten the working cycle, improve work efficiency and reduce labor costs.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a material unloading mechanism for receiving workpieces from the previous process, the material unloading mechanism comprising a material unloading frame, a lifting assembly is arranged on the top of the material unloading frame, the bottom of the lifting assembly is connected with the rotating clamping assembly, the lower side of the material unloading frame is movably connected with the centering and opening assembly, a material unloading roller is arranged directly below the material unloading frame, and the material unloading roller is arranged through the bottom of the material unloading frame; the centering and opening assembly is arranged at a height higher than the height of the material unloading roller.

[0005] The unloading frame includes a frame body, and a workpiece guide assembly is arranged on the upper side of the frame body. The workpiece guide assembly is used to guide the workpiece processed in the previous process to the rotating clamping assembly on the unloading frame. The workpiece in the previous process is transferred to the rotating clamping assembly through the workpiece guide assembly by a robot or other equipment for carrying the workpiece.

[0006] The workpiece guide assembly includes a workpiece guide rail and a workpiece guide fixing frame. The workpiece guide fixing frame is arranged on the frame body, and the workpiece guide rail is arranged below the workpiece guide fixing frame. The workpiece guide rail includes two rails arranged side by side, and each rail is a U-shaped structure with an opening arranged outward.

[0007] A material frame opening assembly is also arranged on the inner side of the bottom of the material unloading frame, which is arranged on the material unloading frame and above the material unloading roller.

[0008] The lifting assembly includes a lifting frame, a lifting connecting frame is arranged at the bottom of the lifting frame, a lifting cylinder is arranged on the top surface of the lifting frame, the front end of the cylinder rod of the lifting cylinder is connected to the floating joint, the floating joint is fixed on the lifting connecting frame, and a rotating clamping assembly is fixedly arranged on the bottom surface of the lifting connecting frame; a guide column is arranged on the lifting connecting frame, the bottom of the guide column is fixed on the lifting connecting frame, and the upper end thereof passes through the lifting frame.

[0009] A guide sleeve is arranged at the connection between the lifting frame and the guide column, and a plurality of guide columns are arranged, preferably four.

[0010] The rotary clamping assembly includes a rotary clamping base plate and a steering cylinder fixing plate. The steering cylinder fixing plate is arranged above the rotary clamping base plate. A tensioning cylinder is arranged on the rotary clamping base plate. The front end of the cylinder rod of the tensioning cylinder is connected to the bottom surface of the steering cylinder fixing plate through a connecting piece. A steering cylinder is arranged on the rotary clamping base plate. The output end of the steering cylinder is connected to a transmission member. The end of the transmission member is connected to a steering member. The end of the steering member passes through the rotary clamping base plate and is arranged above the workpiece.

[0011] The transmission member includes a steering connecting plate, the front end of the steering cylinder rod is connected to the steering connecting plate through a connecting member, the steering connecting plate and the steering cylinder fixed plate are slidably connected through a linear guide A and a slider, a rack is arranged at the front end of the steering connecting plate, the rack is meshed with a gear, and a steering member is passed through the inner circumference of the gear.

[0012] The steering member includes a guide rod, which passes through the steering cylinder fixing plate and the inner periphery of the gear. The top of the guide rod is fixedly connected to the inner periphery of the gear. The bottom of the guide rod is provided with a steering limiter, and its structure is preferably an oblong shape.

[0013] The number of transmission members and steering members is the same, and there is no specific limit on the number of transmission members. Preferably, two transmission members and steering members are provided, and they are symmetrically arranged at both ends of the steering cylinder.

[0014] A track for moving the workpiece is arranged on the rotary clamping bottom plate. The track comprises two tracks arranged side by side. Each track is a U-shaped structure with an opening arranged outward.

[0015] A position switch for detecting that the transmission member is in place is also arranged on the steering cylinder fixing plate.

[0016] A position detection switch for detecting whether a workpiece is in place is arranged on the end surface of the rotary clamping base plate.

[0017] The steering connecting plate is a T-shaped structure.

[0018] The centering opening component includes a centering opening frame, which is a U-shaped structure. A ball screw is arranged on the concave surface of the frame, a servo motor is arranged on the top of the ball screw, a fixed seat is arranged at the bottom of the ball screw, and linear guide rails B for connecting to the unloading frame are also arranged at both ends of the ball screw. An opening cylinder is arranged at each of the two end points of the centering opening frame, a cylinder connecting plate is arranged at the front end of the cylinder rod of the opening cylinder, and a joint for connecting to the material frame opening component is arranged on the cylinder connecting plate.

[0019] The blanking frame is slidably connected to the centering opening component via a linear guide rail B and a slider.

[0020] The unloading roller is used to transfer the pallet with workpieces to the transplanting mechanism. The unloading roller includes a unloading frame, a driving motor is arranged on one side of the unloading frame, two side plates are arranged on the unloading frame, a plurality of driving rollers are arranged on the inner sides of the two side plates, and the plurality of driving rollers on the same side are connected by a chain, wherein the driving roller at one end point is provided with a driven wheel, and the two driving rollers on different sides of the other end point are connected by a coupling, and the driven wheel is connected to the driving gear at the output end of the driving motor by a chain.

[0021] A water spray assembly is also arranged at the bottom of the side plate of the unloading rack body. The bottom ends of the two side plates are respectively connected to the water receiving plates. The water receiving plates are provided with water guide grooves, and the water guide grooves are externally connected to the drainage outlets.

[0022] The water spray assembly includes a plurality of water spray pipes, each of which is provided with a plurality of spray heads. The spray heads are not limited in model, as long as they can achieve working functions.

[0023] The plurality of driving rollers are preferably arranged at equal intervals. The plurality of driving rollers are preferably arranged at equal intervals.

[0024] A switch for detecting whether there is material is also arranged above the middle area of ​​the unloading frame body, and the switch for detecting whether there is material is fixed on the unloading frame body through a bracket.

[0025] A baffle is arranged at one end of the unloading frame, and a workpiece position detection switch is arranged at the other end.

[0026] The material frame opening assembly comprises two long strips, and a socket for connecting the joint of the centering opening assembly is arranged on the side wall of each long strip.

[0027] The pallet is provided with a material frame, which includes a material frame body, and the material frame body is used to place the workpiece. The material frame is not a necessary part and can be set as needed. There is no special limitation on the material frame.

[0028] The bottom of the blanking frame is installed on the ground through anchor bolts.

[0029] The unloading mechanism is also equipped with a PLC control system, and the lifting cylinder, steering cylinder, tensioning cylinder, position detection switch, servo motor, opening cylinder, drive motor, water spray assembly, material detection switch, workpiece position detection switch, and position switch are connected to the PLC control system respectively. And they are not limited to a fixed model, as long as their working functions are realized.

[0030] The equipment in the previous process is a slicer, and the model is not restricted.

[0031] Compared with the prior art, the utility model has the following beneficial effects:

[0032] The utility model provides a feeding mechanism with simple structure and convenient operation, which can realize stable feeding of workpieces processed by a slicer, shorten the working cycle, improve the working efficiency and reduce the labor cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0034] Figure 1 It is the front view of the blanking mechanism of the utility model.

[0035] Figure 2 It is a side view of the feeding mechanism of the utility model.

[0036] Figure 3 This is a top view of the blanking mechanism of the utility model. (The blanking frame, lifting assembly, and rotating clamping assembly are removed)

[0037] Figure 4 It is a structural diagram of the blanking frame.

[0038] Figure 5 It is a three-dimensional diagram of the lifting assembly.

[0039] Figure 6 It is the front view of the lifting assembly.

[0040] Figure 7 It is a front view of the rotating clamping assembly with the workpiece mounted.

[0041] Figure 8 is a side view of the rotating clamping assembly with a workpiece mounted.

[0042] Fig. 9 It is a perspective view of the rotating clamping assembly without a workpiece.

[0043] Fig.10 is a top view of the rotating clamping assembly without a workpiece.

[0044] Fig.11 It is a structural diagram of the center opening component.

[0045] Fig.12 It is a structural schematic diagram of the unloading roller table.

[0046] Fig.13 It is a schematic diagram of the structure of a pallet.

[0047] In the figure, 1. unloading frame, 2. lifting assembly, 3. rotating clamping assembly, 4. centering opening assembly, 5. unloading roller, 6. workpiece, 7. material frame, 8. material frame opening assembly, 101 frame, 102. workpiece guide assembly, 201. lifting frame, 202. guide sleeve, 203. lifting cylinder, 204. lifting connecting frame, 205. guide column, 206. floating joint, 301. linear guide rail A, 302. steering cylinder, 303. tensioning cylinder, 304. Rotating clamping base plate, 305. Gear, 306. Guide rod, 307. Position detection switch, 308. Steering cylinder fixing plate, 309. Steering connecting plate, 401. Servo motor, 402. Ball screw, 403. Linear guide rail B, 404. Cylinder connecting plate, 405. Open cylinder, 501. Driving motor, 502. Unloading frame, 503. Water spray assembly, 504. Material detection switch, 505. Workpiece position detection switch. DETAILED DESCRIPTION

[0048] The present invention is further described below in conjunction with the accompanying drawings, but the present invention is not limited to the following embodiments.

[0049] Example 1

[0050] A feeding mechanism, such as Figure 1-13 As shown, it includes a material unloading frame 1, a lifting assembly 2 is arranged on the top of the material unloading frame 1, the bottom of the lifting assembly 2 is connected to the rotating clamping assembly 3, the lower side of the material unloading frame 1 is movably connected to the centering and opening assembly 4, and a material unloading roller 5 is arranged directly below the material unloading frame 1, and the material unloading roller 5 is arranged through the bottom of the material unloading frame 1; the centering and opening assembly 4 is arranged at a height higher than the height of the material unloading roller 5.

[0051] The unloading frame 1 includes a frame body 101, and a workpiece guide assembly 102 is arranged on the upper side of the frame body 101. The workpiece guide assembly 102 is used to guide the workpiece 6 processed in the previous process to the rotating clamping assembly 3 on the unloading frame 1. The workpiece 6 in the previous process is transferred to the rotating clamping assembly 3 through the workpiece guide assembly 102 by a robot or other equipment for carrying the workpiece.

[0052] The workpiece guide assembly 102 includes a workpiece guide rail and a workpiece guide fixing frame. The workpiece guide fixing frame is arranged on the frame body 101, and the workpiece guide rail is arranged below the workpiece guide fixing frame. The workpiece guide rail includes two rails arranged side by side, and each rail is a U-shaped structure opened outward.

[0053] A material frame opening assembly 8 is also provided on the inner side of the bottom of the material unloading frame 1 , and is arranged on the material unloading frame 1 and above the material unloading roller 5 .

[0054] The lifting assembly 2 includes a lifting frame 201, a lifting connecting frame 204 is arranged at the bottom of the lifting frame 201, a lifting cylinder 203 is arranged on the top surface of the lifting frame 201, the front end of the cylinder rod of the lifting cylinder 203 is connected to the floating joint 206, the floating joint 206 is fixed on the lifting connecting frame 204, and a rotating clamping assembly 3 is fixedly arranged on the bottom surface of the lifting connecting frame 204; a guide column 205 is arranged on the lifting connecting frame 204, the bottom of the guide column 205 is fixed on the lifting connecting frame 204, and the upper end thereof passes through the lifting frame 201.

[0055] A guide sleeve 202 is provided at the connection between the lifting frame 201 and the guide column 205 . A plurality of guide columns 205 are provided, preferably four.

[0056] The rotary clamping assembly 3 includes a rotary clamping base plate 304 and a steering cylinder fixing plate 308. The steering cylinder fixing plate 308 is arranged above the rotary clamping base plate 304. The tensioning cylinder 303 is arranged on the rotary clamping base plate 304. The front end of the cylinder rod of the tensioning cylinder 303 is connected to the bottom surface of the steering cylinder fixing plate 308 through a connecting piece; the steering cylinder 302 is arranged on the rotary clamping base plate 304, and the output end of the steering cylinder 302 is connected to the transmission member, and the end of the transmission member is connected to the steering member. The end of the steering member passes through the rotary clamping base plate 304 and is arranged above the workpiece 6.

[0057] The transmission part includes a steering connecting plate 309, the front end of the cylinder rod of the steering cylinder 302 is connected to the steering connecting plate 309 through a connecting part, the steering connecting plate 309 and the steering cylinder fixed plate 308 are slidably connected through a linear guide A301 and a slider, a rack is set at the front end of the steering connecting plate 309, the rack is meshed with the gear 305, and a steering part is passed through the inner periphery of the gear 305.

[0058] The steering member includes a guide rod 306, which passes through the steering cylinder fixing plate 308 and the inner periphery of the gear 305. The top of the guide rod 306 is fixedly connected to the inner periphery of the gear 305. The bottom of the guide rod 306 is provided with a steering limiter, and its structure is preferably an oblong shape.

[0059] The number of transmission members and steering members is the same, and there is no specific limit on the number of transmission members. Preferably, two transmission members and steering members are provided, and they are symmetrically arranged at both ends of the steering cylinder 302 .

[0060] A track for moving the workpiece 6 is arranged on the rotary clamping base plate 304 , and the track includes two tracks arranged side by side, and each track is a U-shaped structure with an opening arranged outward.

[0061] A position switch for detecting whether the transmission member is in place is also provided on the steering cylinder fixing plate 308 .

[0062] A position detection switch 307 for detecting whether the workpiece 6 is in position is provided on the end surface of the rotary clamping base plate 304 .

[0063] The steering connecting plate 309 is a T-shaped structure.

[0064] The centering opening component 4 includes a centering opening frame, which is a U-shaped structure. A ball screw 402 is arranged on its concave surface, a servo motor 401 is arranged on the top of the ball screw 402, a fixed seat is arranged at the bottom of the ball screw 402, and linear guide rails B 403 for connecting with the unloading frame 1 are also arranged at both ends of the ball screw 402. An opening cylinder 405 is arranged at each of the two end points of the centering opening frame, and a cylinder connecting plate 404 is arranged at the front end of the cylinder rod of the opening cylinder 405, and a joint for connecting with the material frame opening component 8 is arranged on the cylinder connecting plate 404.

[0065] The blanking frame 1 and the centering and opening component 4 are slidably connected via a linear guide rail B403 and a slider.

[0066] The unloading roller 5 is used to transfer the pallet with the workpiece 6 to the next process or the AGV trolley. The unloading roller 5 includes a unloading frame 502. A driving motor 501 is arranged on one side of the unloading frame 502. Two side plates are arranged on the unloading frame 502. A plurality of driving rollers are arranged on the inner sides of the two side plates. The plurality of driving rollers on the same side are connected by a chain. A driven wheel is arranged on the driving roller at one end point of one side, and two driving rollers on different sides of the other end point are connected by a coupling. The driven wheel is connected to the driving gear at the output end of the driving motor 501 by a chain.

[0067] A water spray assembly 503 is also provided at the bottom of the side plate of the unloading frame 502. The bottom ends of the two side plates are respectively connected to the water receiving plates. The water receiving plates are provided with water guide grooves, and the water guide grooves are externally connected to the drainage outlet.

[0068] The water spray assembly 503 includes a plurality of water spray pipes, each of which is provided with a plurality of spray heads. The spray heads are not limited in model, as long as they can achieve the working function.

[0069] The plurality of driving rollers are preferably arranged at equal intervals. The plurality of driving rollers are preferably arranged at equal intervals.

[0070] A material detection switch 2054 is also provided above the middle area of ​​the unloading frame 502 , and the material detection switch 504 is fixed on the unloading frame 502 through a bracket.

[0071] A baffle is provided at one end of the unloading frame 502, and a workpiece position detection switch 505 is provided at the other end.

[0072] The material frame opening assembly 8 includes two long strips, and a socket for connecting the joint of the centering opening assembly 204 is provided on the side wall of each long strip.

[0073] The pallet is provided with a material frame 7, which includes a material frame body, on which the workpiece 6 is placed. The material frame is not a necessary component and can be provided as required. There is no special limitation on the material frame.

[0074] The unloading mechanism is also equipped with a PLC control system, and the lifting cylinder 203, the steering cylinder 302, the tensioning cylinder 303, the position detection switch 307, the servo motor 401, the opening cylinder 405, the driving motor 501, the water spraying assembly 503, the material detection switch 504, the workpiece position detection switch 505, and the position switch are respectively connected to the PLC control system. And they are not limited to a fixed model, and their working functions can be realized.

[0075] During specific operation, the slicer (existing equipment) of the previous process transfers the processed workpiece 6 to the track of the workpiece guide assembly 102 in the unloading mechanism through a robot arm or a device for carrying the workpiece, and the workpiece 6 moves forward to the rotary clamping assembly 3 via the track, and the guide rod 306 of the rotary clamping assembly 3 is driven downward by the tensioning cylinder 303 to lower the steering limit piece at the bottom of the guide rod 306 into the groove on the top surface of the workpiece 6 itself. At this time, the steering limit piece is parallel to the two sides of the workpiece groove, and the steering cylinder 302 drives the gear 305 in the steering piece, and the gear 305 drives the guide rod 306 to rotate 90 degrees, so that the steering limit piece at the bottom of the guide rod 306 rotates 90 degrees, and the steering limit piece is horizontally arranged in the groove of the workpiece 6. At this time, the steering limit piece is perpendicular to the two sides of the groove of the workpiece 6, and the steering limit piece is driven upward by the tensioning cylinder 303 to drive the workpiece 6 to move upward as a whole. At this time, the lifting group Part 2 drives the rotary clamping assembly 3 to move downward as a whole. Before moving downward, the centering opening assembly 4 set on the unloading frame 1 opens the material frame opening assembly 8 through the joints at the front ends of the two opening cylinders 405, so that the workpiece 6 is lowered to the unloading roller 5. After it is in place, the steering cylinder 302 drives the gear 305 in the steering part, and the gear 305 drives the guide rod 306 to rotate 90 degrees, so that the steering limiter at the bottom of the guide rod 306 rotates 90 degrees. At this time, the steering limiter is parallel to the two sides of the workpiece groove. The tensioning cylinder 303 moves upward to separate the rotary clamping assembly 3 from the workpiece 6, and resets under the drive of the lifting assembly 2. A tray is set on the unloading roller 5, and the tray is transferred to the unloading roller 5 by a trolley (existing AGV trolley, no model restriction). The workpiece 6 is placed on the tray, and the tray with the workpiece 6 is transferred to the trolley or the next process through the drive motor 501 and the drive roller transmission. At this point, all operations are completed.

[0076] Although the utility model has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the utility model. Therefore, these modifications or improvements made without departing from the spirit of the utility model are within the scope of protection claimed by the utility model.

Claims

1. A feeding mechanism, characterized in that: The invention comprises a material discharging frame (1), a lifting assembly (2) is arranged on the top of the material discharging frame (1), the bottom of the lifting assembly (2) is connected to a rotary clamping assembly (3), the lower side of the material discharging frame (1) is movably connected to a centering and opening assembly (4), a material discharging roller (5) is arranged directly below the material discharging frame (1), and the material discharging roller (5) is arranged through the bottom of the material discharging frame (1); the centering and opening assembly (4) is arranged at a height higher than that of the material discharging roller (5); the rotary clamping assembly (3) comprises a rotary clamping bottom plate (304), a steering cylinder fixing plate (305), and a rotating cylinder fixing plate (306). 8), a steering cylinder fixing plate (308) is arranged above a rotating clamping base plate (304), a tensioning cylinder (303) is arranged on the rotating clamping base plate (304), and the front end of the cylinder rod of the tensioning cylinder (303) is connected to the bottom surface of the steering cylinder fixing plate (308) through a connecting piece; a steering cylinder (302) is arranged on the rotating clamping base plate (304), the output end of the steering cylinder (302) is connected to a transmission member, the end of the transmission member is connected to a steering member, and the end of the steering member passes through the rotating clamping base plate (304) and is arranged above the workpiece (6).

2. A feeding mechanism as claimed in claim 1, characterized in that: The blanking frame (1) comprises a frame body (101), and a workpiece guide assembly (102) is arranged on the upper side of the frame body (101).

3. A feeding mechanism as claimed in claim 1, characterized in that: The lifting assembly (2) comprises a lifting frame (201), a lifting connection frame (204) is arranged at the bottom of the lifting frame (201), a lifting cylinder (203) is arranged on the top surface of the lifting frame (201), the front end of the cylinder rod of the lifting cylinder (203) is connected to a floating joint (206), the floating joint (206) is fixed on the lifting connection frame (204), and a rotating clamping assembly (3) is fixedly arranged on the bottom surface of the lifting connection frame (204); a guide column (205) is arranged on the lifting connection frame (204), the bottom of the guide column (205) is fixed on the lifting connection frame (204), and the upper end of the guide column (205) passes through the lifting frame (201).

4. A feeding mechanism as claimed in claim 1, characterized in that: The centering opening component (4) comprises a centering opening frame, which is a U-shaped structure, a ball screw (402) is arranged on the concave surface, a servo motor (401) is arranged on the top of the ball screw (402), a fixed seat is arranged at the bottom of the ball screw (402), and linear guide rails B (403) for connecting with the unloading frame (1) are arranged at both ends of the ball screw (402), an opening cylinder (405) is arranged at each of the two end points of the centering opening frame, a cylinder connecting plate (404) is arranged at the front end of the cylinder rod of the opening cylinder (405), and a joint for connecting with the material frame opening component (8) is arranged on the cylinder connecting plate (404).

5. A feeding mechanism as claimed in claim 1, characterized in that: The unloading roller conveyor (5) comprises an unloading frame (502), a driving motor (501) is arranged on one side of the unloading frame (502), two side plates are arranged on the unloading frame (502), a plurality of driving rollers are arranged on the inner sides of the two side plates, and the plurality of driving rollers on the same side are connected by a chain, wherein a driven wheel is arranged on the driving roller at one end point of one side, and two driving rollers on different sides of the other end point are connected by a coupling, and the driven wheel is connected to a driving gear at the output end of the driving motor (501) by a chain.

6. A feeding mechanism as claimed in claim 2, characterized in that: The workpiece guide assembly (102) comprises a workpiece guide rail and a workpiece guide fixing frame, wherein the workpiece guide fixing frame is arranged on the frame body (101), and the workpiece guide rail is arranged below the workpiece guide fixing frame. The workpiece guide rail comprises two rails arranged side by side, and each rail is a U-shaped structure with an opening arranged outward.

7. A feeding mechanism as claimed in claim 4, characterized in that: The transmission member comprises a steering connecting plate (309), the front end of the cylinder rod of the steering cylinder (302) is connected to the steering connecting plate (309) through a connecting member, the steering connecting plate (309) and the steering cylinder fixing plate (308) are slidably connected through a linear guide rail A (301) and a slider, a rack is arranged at the front end of the steering connecting plate (309), the rack is meshed with a gear (305), and a steering member is passed through the inner circumference of the gear (305).

8. A feeding mechanism as claimed in claim 4, characterized in that: The steering member comprises a guide rod (306), which penetrates the steering cylinder fixing plate (308) and the inner periphery of the gear (305), the top of the guide rod (306) is fixedly connected to the inner periphery of the gear (305), and the bottom of the guide rod (306) is provided with a steering limiter.

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