Auxiliary device for a robot and robot

Abstract

The present invention relates to the technical field of robots, and discloses an auxiliary device for a robot and a robot. The auxiliary device for the robot includes a lifting bucket (1), a support arm (4), a rotating pod (2) and an auxiliary component (5). The rotating pod (2) is sleeved on the lifting bucket (1), the support arm (4) is fixedly arranged at one end of the lifting bucket (1), and the auxiliary component (5) is fixedly connected to the rotating pod (2) and has a locked state of being locked to the support arm (4) and an unlocked state of disengaging from the support arm (4), so as to be able to prevent the rotating pod (2) from axially disengaging from the lifting bucket (1) in the locked state. The auxiliary device for the robot in the present invention can prevent the pod from falling and is convenient for disassembling the pod.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an auxiliary device for a robot and a robot. Background Art

[0002] At present, robots have been increasingly widely used in life. In particular, indoor hanging-rail robots have been widely used in the power distribution room scenario to achieve unmanned patrol, thereby reducing labor intensity, improving productivity, and providing a strong guarantee for promoting the upgrading of the industrial structure.

[0003] However, power places such as power distribution rooms and substations usually carry dozens or even hundreds of kilovolts of electric energy, with high risks. The equipment and instruments are precise and expensive. If damaged or malfunctioned, accidents are likely to occur, resulting in major energy security problems. Since robots generally operate above these equipment and instruments, there is a risk that the robot may fall onto the equipment. Therefore, the structural stability and safety are of crucial importance. Summary of the Invention

[0004] The object of the present invention is to overcome the problem that the lifting main body pod of the existing robot needs to rotate 360° around the lifting arm, and the pod is placed at the lower part of the lifting barrel. As the lifting barrel moves up and down, since the pod needs to rotate 360° and also move linearly up and down, the structure of the pod will fall. The present invention provides an auxiliary device for a robot and a robot. The auxiliary device for a robot can prevent the pod from falling and is convenient for disassembling the pod.

[0005] To achieve the above object, on the one hand, the present invention provides an auxiliary device for a robot, including a lifting barrel, a support arm, a rotating pod, and an auxiliary component. The rotating pod is sleeved on the lifting barrel. The support arm is fixedly arranged at one end of the lifting barrel. The auxiliary component is fixedly connected to the rotating pod and has a locked state of locking to the support arm and an unlocked state of disengaging from the support arm, so as to be able to prevent the rotating pod from axially disengaging from the lifting barrel in the locked state.

[0006] Preferably, a trigger wedge block is installed on the lifting barrel. The rotating pod is arranged to be able to rotate circumferentially relative to the lifting barrel. The trigger wedge block is arranged to be able to trigger the auxiliary component to switch from the locked state to the unlocked state during the rotation of the auxiliary component with the rotating pod, so as to be able to axially remove the rotating pod from the lifting barrel in the unlocked state.

[0007] Preferably, the support arm forms a shoulder. In the locked state, the auxiliary component is locked to the support arm by cooperating with the shoulder.

[0008] Preferably, the lifting bucket is mounted on the robot and is configured to be able to lift the support arm and the rotating pod by lifting itself relative to the robot; and / or the lifting bucket is mounted on the robot and is configured to be able to drive the lifting of the support arm to achieve the lifting of the rotating pod; and / or the support arm is a telescopic rod, and the telescopic rod is configured to have a lifting function at one end connected to the lifting bucket to achieve the lifting of the rotating pod.

[0009] Preferably, the auxiliary component includes a locking mechanism, a rocking mechanism and a triggering mechanism, wherein the triggering mechanism is installed on the rocking mechanism and can be triggered by the triggering wedge during the rotation of the rotating pod to drive the rocking mechanism to swing tangentially to the support arm, and the locking mechanism is transmission-connected to the rocking mechanism so that it can be driven to disengage from the support arm and switch to the unlocked state as the rocking mechanism swings.

[0010] Preferably, the locking mechanism comprises a slideway fixedly connected to the rotating pod and a bearing seat mounted on the slideway, and the rocking mechanism is swingably connected to the slideway via the bearing seat.

[0011] Preferably, the rocking mechanism comprises a bearing seat sleeve groove, a limit swing arm and a horizontal limit arm, the bearing seat sleeve groove is rotatably mounted on the bearing seat and connected to one end of the limit swing arm, the bearing seat sleeve groove is configured to be able to swing along the tangential direction of the support arm, and the horizontal limit arm is connected to the other end of the limit swing arm.

[0012] Preferably, the auxiliary component includes an elastic member, one end of which is connected to the bearing seat sleeve groove, and the other end of which is connected to a base fixed to the rotating pod, so as to elastically act on the swing mechanism and keep the auxiliary component in the locked state.

[0013] Preferably, the trigger mechanism comprises a support frame mounted on the horizontal limit arm and a contact roller mounted on the support frame, and the support frame is configured to be able to adjust the height position of the contact roller so that the contact roller can contact the trigger wedge.

[0014] Preferably, the locking mechanism includes a push rod member, a transmission member and an anti-drop member, and the push rod member, the transmission member and the anti-drop member are connected in sequence. The push rod member is configured to be able to convert the swinging of the rocking mechanism into a linear motion of the push rod member, and the transmission member is configured to be able to convert the linear motion of the push rod member into a linear motion of the anti-drop member perpendicular to the linear motion of the push rod member, so that the anti-drop member is locked on the support arm.

[0015] Preferably, the push rod member includes a pulley and a transmission rod. The transmission rod is installed on the bearing seat. The pulley is installed at one end of the transmission rod and is configured to be able to slide on the slideway and cause the transmission rod to linearly slide relative to the swing mechanism.

[0016] Preferably, the transmission member includes a pull rod and a sector gear. One end of the pull rod is connected to the other end of the transmission rod. The other end of the pull rod is connected to the middle of the radius of the sector gear. The vertex of the sector gear is rotatably installed on the limit swing arm. The sector gear can mesh with the tooth surface on the anti-falling member.

[0017] A second aspect of the present invention provides a robot, including the above-mentioned auxiliary device for the robot.

[0018] By the above technical solutions, the present invention has the following beneficial effects:

[0019] Regardless of how the robot moves, the auxiliary components on the robot can be locked on the support arm to prevent the rotating pod from falling. This can not only protect the rotating pod from detaching from the robot, but also protect other devices from being damaged by the falling pod. The auxiliary components are of a pure mechanical structure, simple in structure and safe and reliable. Among them, the rotating pod can be freely switched between the locked state and the unlocked state through the linkage mode between the various parts of the auxiliary components. When in the locked state, it can prevent the rotating pod from falling. When in the unlocked state, it is convenient to disassemble and install the rotating pod, making the maintenance of the rotating pod more convenient and easier. Among them, the auxiliary device in the present invention does not use an electric control, sensor detection, detection marker and other electric control pressing safety limit mechanisms, which not only simplifies the robot system, but also improves the reliable stability of the robot operation.

[0020] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation part.

[0021] In the drawings:

[0022] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific implementation, they are used to explain the present invention, but do not constitute a limitation to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a front view of an embodiment of the auxiliary device for a robot in the present invention;

[0024] Figure 2 is Figure 1 an enlarged view of the partial A in

[0025] Figure 3 is a right view of an embodiment of the auxiliary device for a robot in the present invention.

[0026] Description of Reference Numerals

[0027] 1 - Lifting bucket, 2 - Rotating pod, 21 - Base, 3 - Trigger wedge, 4 - Support arm, 5 - Auxiliary component, 51 - Slideway, 52 - Bearing seat, 53 - Rocking mechanism, 531 - Bearing seat sleeve groove, 532 - Limit swing arm, 533 - Horizontal limit arm, 54 - Elastic member, 55 - Push rod member, 551 - Pulley, 552 - Transmission rod, 56 - Transmission member, 561 - Pull rod, 561 - Sector gear, 57 - Anti - drop component, 58 - Trigger mechanism, 581 - Support frame, 582 - Contact roller. Detailed Embodiment

[0028] The following will describe the detailed embodiment of the present invention in conjunction with the accompanying drawings. It should be understood that the detailed embodiment described herein is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0029] In the present invention, unless otherwise stated, the orientation terms such as "upper, lower, left, right" generally refer to the directions as shown in Figure 1 , Figure 2 and Figure 3 shown.

[0030] As shown in Figure 1 and Figure 3 shown, the auxiliary device for a robot in the present invention includes a lifting bucket 1, a support arm 4, a rotating pod 2 and an auxiliary component 5. The rotating pod 2 is sleeved on the lifting bucket 1. The support arm 4 is fixedly arranged at one end of the lifting bucket 1. The auxiliary component 5 is fixedly connected to the rotating pod 2 and has a locked state of locking to the support arm 4 and an unlocked state of disengaging from the support arm 4, so as to be able to prevent the rotating pod 2 from axially disengaging from the lifting bucket 1 in the locked state.

[0031] Regardless of how the robot moves, the auxiliary component 5 on the robot can be locked on the support arm 4 to prevent the rotating pod 2 from falling. This can not only protect the rotating pod 2 from detaching from the robot, but also protect other devices from being damaged by the falling rotating pod 2. The auxiliary component 5 is a pure mechanical structure, which is simple and safe and reliable. Among them, the rotating pod 2 can freely switch between the locked state and the unlocked state through the linkage mode between the various parts in the auxiliary component 5. When in the locked state, it can prevent the rotating pod 2 from falling. When in the unlocked state, it is convenient to disassemble and install the rotating pod 2, making the maintenance of the rotating pod 2 more convenient and easier. Among them, the auxiliary component 5 in the present invention does not use an electric control, sensor detection, detection marker and other electric control pressing safety limit mechanisms, which not only simplifies the robot system, but also improves the reliable stability of the robot operation.

[0032] Among them, the auxiliary component 5 in the present invention is preferably a mechanical bidirectional linkage anti-falling safety mechanism. As a key structure of the hanging-rail intelligent inspection robot, this mechanism can ensure the safe and stable operation of the robot and avoid the risk of potential safety hazards to the in-station equipment caused by the falling of the rotating nacelle.

[0033] As Figures 1 to 3 shown, the trigger structure in the present invention is preferably a trigger wedge 3. The shape of the trigger wedge 3 can be any shape, and its specific shape is related to the specific installation position, the cooperation relationship with the auxiliary component 5, etc. Specifically, the trigger wedge 3 is installed on the lifting barrel 1, the rotating nacelle 2 is arranged to be able to rotate circumferentially relative to the lifting barrel 1, and the trigger wedge 3 is arranged to be able to trigger the auxiliary component 5 to switch from the locked state to the unlocked state during the rotation of the auxiliary component 5 with the rotating nacelle 2, so that the rotating nacelle 2 can be axially removed from the lifting barrel 1 in the unlocked state; among them, the trigger wedge 3 is not limited to being installed on the lifting barrel 1 and can be installed on the support arm 4. If the support arm 4 and the lifting barrel 1 are fixed, then the trigger wedge 3 can also be fixedly installed on both the support arm 4 and the lifting barrel 1 (as Figure 2 shown); regardless of the installation situation of the trigger wedge 3, as long as the actual cooperation between each component is satisfied, the trigger wedge 3 can have the function of switching the auxiliary component 5 from the locked state to the unlocked state.

[0034] Among them, when the rotating nacelle 2 is working normally, the trigger wedge 3 and the auxiliary component 5 are not in a cooperative state. Therefore, the auxiliary component 5 is always in the locked state; when the robot needs to be repaired or fails, by rotating the rotating nacelle 2, the trigger wedge 3 cooperates with the auxiliary component 5, thereby triggering the auxiliary component 5 and causing it to switch from the locked state to the unlocked state, so as to facilitate the removal of the rotating nacelle 2.

[0035] As Figure 1 and Figure 3 shown, the structure formed on the support arm 4 in the present invention is preferably a shoulder. In the locked state, the auxiliary component 5 is locked on the support arm 4 by cooperating with the shoulder.

[0036] As Figures 1 to 3 shown, the lifting barrel 1 in the present invention is installed on the robot and is arranged to be able to lift itself relative to the robot for lifting the support arm 4 and the rotating nacelle 2; and / or the lifting barrel 1 is installed on the robot and is arranged to be able to drive the lifting of the support arm 4 to realize the lifting of the rotating nacelle 2; and / or the support arm 4 is a telescopic rod, and the telescopic rod is arranged to have a lifting function at the end connected to the lifting barrel 1 to realize the lifting of the rotating nacelle 2.

[0037] like Figures 1 to 3 As shown, the auxiliary component 5 in the present invention includes a locking mechanism, a rocking mechanism 53 and a trigger mechanism 58. The trigger mechanism 58 is installed on the rocking mechanism 53 and can be triggered by the trigger wedge 3 during the rotation of the rotating pod 2 to drive the rocking mechanism 53 to swing tangentially to the support arm 4. The locking mechanism is transmission-connected to the rocking mechanism 53 so that it can be driven to disengage from the support arm 4 and switch to the unlocked state as the rocking mechanism 53 swings.

[0038] like Figure 2 As shown, the locking mechanism in the present invention includes a slideway 51 fixedly connected to the rotating pod 2 and a bearing seat 52 installed on the slideway 51, and the swing mechanism 53 is swingably connected to the slideway 51 through the bearing seat 52. Figure 3 In the direction shown, in the horizontal direction, the horizontal distance L from point a to the slide 51 1 , in the vertical direction, the vertical distance L from point a to the slideway 51 2 In the present invention, L 1 Always greater than L 2 , so as to convert the swing of the swing mechanism 53 into the linear motion of the push rod member 55, wherein a waist-shaped groove is opened on the slideway 51.

[0039] like Figure 2 As shown, the swing mechanism 53 in the present invention includes a bearing seat sleeve groove 531, a limit swing arm 532 and a horizontal limit arm 533. The bearing seat sleeve groove 531 is rotatably mounted on the bearing seat 52 and connected to one end of the limit swing arm 532. The bearing seat sleeve groove 531 is configured to be able to swing along the tangential direction of the support arm 4, and the horizontal limit arm 533 is connected to the other end of the limit swing arm 532. When the swing mechanism 53 is not in a swinging state, if the rotating pod 2 fails and falls, the anti-falling member 57 is locked on the shaft shoulder of the support arm 4, and the horizontal limit arm 533 is not locked on the shaft shoulder of the support arm 4.

[0040] like Figure 2 As shown, the auxiliary component 5 in the present invention includes an elastic member 54, one end of which is connected to the bearing seat groove 531, and the other end of which is connected to the base 21 fixed to the rotating pod 2, so as to elastically act on the swing mechanism 53 and keep the auxiliary component 5 in the locked state. The elastic member 54 is mainly used to prevent the swing mechanism 53 from swinging during operation, so that the auxiliary component 5 is automatically unlocked, thereby causing the rotating pod 2 to fall off, wherein the elastic member 54 is preferably a spring.

[0041] like Figure 2As shown, the triggering mechanism 58 in the present invention includes a support frame 581 mounted on the horizontal limiting arm 533 and a contact roller 582 mounted on the support frame 581. The support frame 581 is arranged to be able to adjust the height position of the contact roller 582 so that the contact roller 582 can come into contact with the trigger wedge 3.

[0042] As Figure 2 shown, the locking mechanism in the present invention includes a push rod member 55, a transmission member 56, and an anti-drop member 57. The push rod member 55, the transmission member 56, and the anti-drop member 57 are connected in sequence. The push rod member 55 is arranged to be able to convert the swing of the swing mechanism 53 into a linear motion of the push rod member 55. The transmission member 56 is arranged to be able to convert the linear motion of the push rod member 55 into a linear motion of the anti-drop member 57 perpendicular to the linear motion of the push rod member 55, so that the anti-drop member 57 is locked on the support arm 4.

[0043] As Figure 2 shown, the push rod member 55 in the present invention includes a pulley 551 and a transmission rod 552. The transmission rod 552 is mounted on the bearing seat 52. The pulley 551 is mounted at one end of the transmission rod 552 and is arranged to be able to slide on the slideway 51 and make the transmission rod 552 linearly slide relative to the swing mechanism 53. The pulley 551 can slide on the slideway 51. Due to the design of the slideway 51 (L 1 is always greater than L 2 ), during the swing of the swing mechanism 53, the pulley 551 drives the transmission rod 552 to linearly slide relative to the swing mechanism 53.

[0044] As Figure 2 shown, the transmission member 56 in the present invention includes a pull rod 561 and a sector gear 562. One end of the pull rod 561 is connected to the other end of the transmission rod 552. The other end of the pull rod 561 is connected to the middle of the radius of the sector gear 562. The vertex of the sector gear 562 is rotatably mounted on the limiting swing arm 532. The sector gear 562 can mesh with the tooth surface on the anti-drop member 57.

[0045] The second aspect of the present invention provides a robot, including the above-mentioned auxiliary device for the robot.

[0046] Working principle:

[0047] (1)When the robot is in normal operation, the auxiliary component 5 is always in a locked state to prevent the rotary pod 2 from falling off in case of a malfunction. Among them, the elastic member 54 is in an elastic state, and its elasticity has a very small effect. This elastic force is used to prevent the swing mechanism 53 from swinging by itself, thereby avoiding the detachment of the rotary pod 2. The elastic member 54 makes the swing mechanism 53 not swing (that is, the auxiliary component 5 is in a locked state) through the acting force. Therefore, the transmission rod 552 is parallel to the axis of the support arm 4, and the pulley 551 is at the lowest point of the slideway 51 (see Figure 3 for the shown state), the sector gear 562 is at the limit position of counterclockwise rotation. Since the sector gear 562 cooperates with the anti-falling member 57, the anti-falling member 57 is at the leftmost end of the horizontal position (see Figure 2 for the shown state). At this time, on the horizontal line, the horizontal limit position of the anti-falling member 57 is closer to the axis of the support arm 4 than the horizontal limit arm 533. That is, if the rotary pod 2 malfunctions and falls off, the anti-falling member 57 is locked on the shoulder of the support arm 4, and the horizontal limit arm 533 is not locked on the shoulder of the support arm 4.

[0048] (2)When the robot is malfunctioning or needs to be repaired, the auxiliary component 5 is in an unlocked state to facilitate the removal of the rotary pod 2 for repair or replacement. The worker rotates the rotary pod 2, and the auxiliary component 5 rotates together with the rotary pod 2. The contact roller 582 contacts and presses against the trigger wedge 3, so that the swing mechanism 53 starts to swing (refer to Figures 1 to 3 for the shown state, the swing mechanism 53 has a certain angle with the vertical line). Among them, the pulley 551 slides on the slideway 51. When the pulley 551 slides to the extreme, the transmission rod 552 is in a horizontal position, that is, the transmission rod 552 moves upward relative to the swing mechanism 53 (refer to Figures 1 to 3 for the shown state). The transmission rod 552 pushes the pull rod 561, and the pull rod 561 pushes the sector gear 562 to rotate clockwise. Finally, the sector gear 562 drives the anti-falling member 57 to move horizontally to the right (see Figure 2 ). The anti-falling member 57 cannot be locked on the shoulder of the support arm 4. Finally, the rotary pod 2 is removed.

[0049] If the rotary pod 2 is not removed, the acting force of the elastic member 54 will stop the swing of the swing mechanism 53 and make the robot return to the normal working state. Among them, the movement process of the auxiliary component 5 is opposite to the movement process when the auxiliary component 5 is in the unlocked state.

[0050] The preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solutions of the present invention. These include combinations of each specific technical feature in any suitable manner. To avoid unnecessary repetition, the present invention will not separately describe various possible combination methods. However, these simple modifications and combinations should also be regarded as the content disclosed by the present invention and all fall within the protection scope of the present invention.

Claims

1. An auxiliary device for a robot, It is characterized in that The invention comprises a lifting bucket (1), a support arm (4), a rotating pod (2) and an auxiliary component (5), wherein the rotating pod (2) is sleeved on the lifting bucket (1), the support arm (4) is fixedly arranged at one end of the lifting bucket (1), and the auxiliary component (5) is fixedly connected to the rotating pod (2) and has a locking state in which the pod is locked on the support arm (4) and an unlocking state in which the pod is separated from the support arm (4), so as to prevent the rotating pod (2) from axially separating from the lifting bucket (1) in the locking state; A trigger wedge (3) is mounted on the lifting bucket (1); the rotating pod (2) is arranged to be rotatable in a circumferential direction relative to the lifting bucket (1); the trigger wedge (3) is arranged to be able to trigger the auxiliary component (5) to switch from the locked state to the unlocked state when the auxiliary component (5) rotates with the rotating pod (2), so that the rotating pod (2) can be removed axially from the lifting bucket (1) in the unlocked state; The auxiliary component (5) comprises a locking mechanism, a swing mechanism (53) and a trigger mechanism (58); the trigger mechanism (58) is mounted on the swing mechanism (53) and can be triggered by the trigger wedge (3) during the rotation of the rotating pod (2) to drive the swing mechanism (53) to swing tangentially on the support arm (4); the locking mechanism is transmission-connected to the swing mechanism (53) so as to be driven to disengage from the support arm (4) as the swing mechanism (53) swings to switch to the unlocked state; The locking mechanism comprises a slideway (51) fixedly connected to the rotating pod (2) and a bearing seat (52) mounted on the slideway (51), and the swing mechanism (53) is swingably connected to the slideway (51) via the bearing seat (52); The swing mechanism (53) comprises a bearing seat sleeve groove (531), a limit swing arm (532) and a horizontal limit arm (533); the bearing seat sleeve groove (531) is rotatably sleeved on the bearing seat (52) and connected to one end of the limit swing arm (532); the bearing seat sleeve groove (531) is configured to be able to swing along the tangential direction of the support arm (4); and the horizontal limit arm (533) is connected to the other end of the limit swing arm (532); The trigger mechanism (58) comprises a support frame (581) mounted on the horizontal limit arm (533) and a contact roller (582) mounted on the support frame (581), wherein the support frame (581) is configured to be able to adjust the height position of the contact roller (582) so that the contact roller (582) can contact the trigger wedge (3); The locking mechanism includes a push rod member (55), a transmission member (56), and an anti-drop member (57). The push rod member (55), the transmission member (56), and the anti-drop member (57) are connected in sequence. The push rod member (55) is configured to convert the swing of the swing mechanism (53) into a linear motion of the push rod member (55). The transmission member (56) is configured to convert the linear motion of the push rod member (55) into a linear motion of the anti-drop member (57) perpendicular to the linear motion of the push rod member (55), so that the anti-drop member (57) is locked on the support arm (4).

2. The auxiliary device for a robot according to claim 1, wherein, the support arm (4) is formed with a shoulder. In the locked state, the auxiliary assembly (5) is locked on the support arm (4) by cooperating with the shoulder.

3. The auxiliary device for a robot according to claim 1, wherein, the lifting barrel (1) is installed on the robot and is configured to be able to lift the support arm (4) and the rotating pod (2) by its own lifting relative to the robot; and / or the lifting barrel (1) is installed on the robot and is configured to be able to drive the lifting of the support arm (4) to realize the lifting of the rotating pod (2); and / or the support arm (4) is a telescopic rod, and the telescopic rod is configured to have a lifting function at the end connected to the lifting barrel (1) to realize the lifting of the rotating pod (2).

4. The auxiliary device for a robot according to claim 1, wherein, the auxiliary assembly (5) includes an elastic member (54). One end of the elastic member (54) is connected to the bearing seat sleeve groove (531), and the other end thereof is connected to the base (21) fixed to the rotating pod (2), so as to elastically act on the swing mechanism (53) and keep the auxiliary assembly (5) in the locked state.

5. The auxiliary device for a robot according to claim 1, wherein, the push rod member (55) includes a pulley (551) and a transmission rod (552). The transmission rod (552) is installed on the bearing seat (52). The pulley (551) is installed at one end of the transmission rod (552) and is configured to be able to slide on the slideway (51) and make the transmission rod (552) linearly slide relative to the swing mechanism (53).

6. The auxiliary device for a robot according to claim 1, wherein, the transmission member (56) includes a pull rod (561) and a sector gear (562). One end of the pull rod (561) is connected to the other end of the transmission rod (552). The other end of the pull rod (561) is connected to the middle of the radius of the sector gear (562). The vertex of the sector gear (562) is rotatably installed on the limit swing arm (532), and the sector gear (562) can be meshed with the tooth surface on the anti-drop member (57).

7. A robot, wherein, Comprising an auxiliary device for a robot according to any one of claims 1-6.

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