Lawn maintenance robot

Abstract

The invention discloses a lawn maintenance robot, and relates to the technical field of lawn maintenance. According to the lawn maintenance robot, through the arrangement of the trimming frame, when the machine body trims a lawn in the running process, limiting shafts in a limiting frame can be driven to run by adjusting the distance between two limiting side plates until the distance between two driving shafts is adjusted to be within the trimming range, and at the moment, the lawn is trimmed through running of the driving shafts; according to the lawn pruning device, the pruning transmission belt and the pruning rope can be driven to operate, lawn pruning operation is achieved, compared with traditional pruning equipment, the pruning range can be effectively widened, meanwhile, the pruning range of the device can be conveniently adjusted, and the operation effect of the device is improved.

Description

Technical Field

[0001] The invention relates to the technical field of lawn maintenance, in particular to a lawn maintenance robot. Background Art

[0002] At present, the domestic lawn coverage area is relatively large, which requires timely repair and maintenance, but the traditional manual care method requires a lot of manpower and material resources. This method is inefficient, labor-intensive, costly, and inconsistent in effect. Secondly, the market demand for lawn maintenance continues to grow. In addition, the existing lawn maintenance robots are costly, incomplete in functions, and complex to operate. Referring to the Chinese patent, the "Intelligent Lawn Maintenance System" with the announcement number "CN106304944B", this patent solves the problem that the existing equipment has a relatively single function, most of which only have the basic function of mowing, and the level of automation is low through X; however, the above-mentioned equipment still has the problem of poor mowing effect and inconvenient adjustment. In this regard, we propose a lawn maintenance robot to solve the above problems. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a lawn maintenance robot that solves the problems raised in the above-mentioned background technology.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a lawn maintenance robot, comprising a body, both sides of the body are rotatably connected with walking tracks for driving the body to move, a trimming frame is fixedly installed in front of the body, both sides of the trimming frame are slidably connected with slides, and the outer sides of the slides are fixedly installed with limit side plates, and the inside of the limit side plates is rotatably installed with a driving shaft;

[0005] A fixing plate is fixedly installed at the bottom of the trimming frame, and adjustment cylinders are installed on both sides of the fixing plate, and the piston ends of the adjustment cylinders are respectively fixedly connected to the corresponding limiting side plates, so as to drive the limiting side plates to slide along the slide plate;

[0006] A limit frame is fixedly installed at the bottom of the trimming frame, and a limit shaft is slidably connected inside the limit frame, a plurality of support springs are fixedly installed between the limit shaft and the inside of the limit frame, the end of the limit shaft and the ends of the two drive shafts are rotatably sleeved with shaft sleeves, and the outer sides of the plurality of shaft sleeves are rotatably connected with trimming transmission belts, and a plurality of trimming ropes are fixedly installed outside the trimming transmission belt for trimming the lawn;

[0007] A trimming motor is fixed to the top surface of the limiting side plate on one side, and an output end of the trimming motor is connected to a corresponding driving shaft.

[0008] Preferably, a screw motor is fixedly mounted on the outside of the machine body, and the output end of the screw motor is connected to the trimming frame to drive the trimming frame to move up and down to adjust the trimming height of the lawn.

[0009] Preferably, a collecting assembly is fixedly mounted on the top surface of the machine body for collecting and processing debris generated during the operation of the equipment, the collecting assembly comprises a collecting box, the collecting box is mounted above the machine body, a collecting cover is fixedly mounted on the outer side of the collecting box, the end of the collecting cover extends to the pruning frame, a negative pressure device is fixedly mounted on the outer side of the collecting box, a connecting cover is fixedly mounted on the inside of the collecting box, and a connecting pipe is connected between the air inlet end of the negative pressure device and the connecting cover.

[0010] Preferably, a baffle is fixedly installed inside the collection box, the installation position of the baffle is kept flush with the installation position of the connection cover, and the baffle is installed at an angle.

[0011] Preferably, a cutting shaft is rotatably connected inside the collecting cover, driving blades are fixedly sleeved on both ends of the cutting shaft, and a plurality of crushing pieces are fixedly installed on the outside of the cutting shaft.

[0012] Preferably, a fertilization assembly is fixedly mounted on the top surface of the machine body, and is used for fertilizing during lawn mowing. The fertilization assembly includes a storage rack, and the storage rack is fixedly mounted on the top of the machine body. A plurality of fertilization end tubes that are interconnected are fixedly mounted on the bottom of the storage rack. A driving rod is rotatably connected to the inside of the fertilization end tube, and a spiral material sheet is fixedly sleeved on the outside of the driving rod for driving waste to fall. A servo motor is fixedly mounted on the end of the fertilization end tube, and the output end of the servo motor is connected to the end of the driving rod for driving the driving rod to operate.

[0013] Preferably, the ends of the plurality of fertilizing end tubes away from the servo motor are fixedly mounted with a feeding cover, the interior of the feeding cover is rotatably connected with a feeding dial and a plurality of feeding slots are provided inside, a feeding motor is fixedly mounted at the end of the feeding cover, the output end of the feeding motor penetrates into the feeding cover and is connected to the feeding dial, so as to drive the feeding dial to rotate inside the feeding cover to feed out the fertilizer.

[0014] Preferably, the fertilization assembly further includes a storage box, which is fixedly installed on the top of the machine body, a fertilizer pipe is fixedly installed on the tail of the machine body, and a plurality of spray heads are fixedly installed on the outside of the fertilizer pipe, a pump machine that is interconnected is fixedly installed on the outside of the storage box, and a connecting pipe is provided between the pump machine and the fertilizer pipe.

[0015] Preferably, the rear portion of the machine body is rotatably connected to a rolling frame, and a plurality of loosening cone heads are installed on the outer side of the rolling frame. The loosening cone heads are used to be inserted into the soil as the rolling frame rotates to perform loosening operations.

[0016] Preferably, a transmission rod is rotatably connected inside the rolling frame, and a plurality of arc-shaped transmission parts are fixedly sleeved on the outer side of the transmission rod. The plurality of loosening cone heads are respectively slidably connected to the arc-shaped surfaces of the corresponding arc-shaped transmission parts, and are used to retract into the rolling frame as the arc-shaped transmission parts rotate.

[0017] The present invention provides a lawn maintenance robot. Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The lawn maintenance robot, through the setting of the mowing frame, can drive the limit shaft inside the limit frame to operate by adjusting the distance between the two limit side plates when the body is operating to mow the lawn, until the distance between the two drive shafts is adjusted to the mowing range. At this time, the operation of the drive shaft can drive the mowing transmission belt and the mowing rope to operate, thereby realizing the mowing operation of the lawn. Compared with traditional mowing equipment, the mowing range can be effectively increased, and the mowing range of the equipment can be easily adjusted, thereby improving the operation effect of the equipment.

[0019] (2) The lawn maintenance robot, through the fertilization component and the collection component installed on the top surface of the body, can further collect the grass clippings generated during the cutting process and fertilize the lawn during the lawn mowing process, thereby ensuring the uniformity of fertilization and improving the use effect of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the cross-sectional structure of the collection box of the present invention;

[0022] Figure 3 For the present invention Figure 2 The enlarged structural diagram at A in the middle;

[0023] Figure 4 This is a schematic diagram of the structure of the fertilization component of the present invention;

[0024] Figure 5 This is a schematic diagram of the cross-sectional structure of the material discharge cover of the present invention;

[0025] Figure 6 It is a schematic diagram of the cross-sectional structure of the rolling frame of the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of the pruning frame of the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the limiting side plate and the trimming transmission belt of the present invention.

[0028] In the figure: 1, machine body; 2, walking crawler; 3, collection box; 4, negative pressure device; 5, collection cover; 6, connection cover; 7, baffle; 8, cutting shaft; 801, driving blade; 802, crushing piece; 9, storage rack; 10, fertilizer end pipe; 1001, driving rod; 1002, spiral feeding piece; 1003, servo motor;

[0029] 11. Material discharge cover; 1101. Material discharge notch; 12. Material transfer plate; 13. Material transfer motor; 14. Storage box;

[0030] 1401, pump; 15, fertilizer pipe; 1501, spray head; 16, rolling frame; 1601, loosening cone head; 17, transmission rod; 1701, arc transmission member; 18, pruning frame; 19, limit side plate; 1901, slide plate; 1902, pruning motor; 20, driving shaft; 21, limit frame; 2101, limit shaft; 2102, support spring; 22, pruning drive belt; 2201, pruning rope; 23, fixing plate; 2301, adjusting cylinder; 24, screw motor. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figure 1-Figure 8 The present invention provides two technical solutions, which specifically include the following embodiments:

[0033] Embodiment 1:

[0034] In an embodiment of the present invention, a lawn maintenance robot includes a body 1, both sides of the body 1 are rotatably connected with walking tracks 2, the walking tracks 2 are existing devices, driven by a separate motor, and are used to drive the body 1 to move;

[0035] In the embodiment of the present invention, further, a trimming frame 18 is fixedly installed in front of the machine body 1, and a slide plate 1901 is slidably connected to both sides of the interior of the trimming frame 18, and a limited side plate 19 is fixedly installed on the outside of the slide plate 1901, and a driving shaft 20 is rotatably installed inside the limited side plate 19, and a trimming transmission belt 22 is connected to the outside of the driving shaft 20, and a trimming rope 2201 is connected to the outside of the trimming transmission belt 22. When the machine body 1 moves on the lawn, as the driving shaft 20 runs, the trimming transmission belt 22 can be driven to run, and as the trimming transmission belt 22 runs, the trimming rope 2201 installed on the outside thereof can be driven to run, thereby realizing the lawn trimming operation;

[0036] In the embodiment of the present invention, further, a fixing plate 23 is fixedly installed at the bottom of the trimming frame 18, and adjusting cylinders 2301 are installed on both sides of the fixing plate 23, and the piston ends of the adjusting cylinders 2301 are respectively fixedly connected to the corresponding limiting side plates 19, which are used to drive the limiting side plates 19 to slide along the slide plate 1901. The adjusting cylinders 2301 are existing devices, which are used to drive the limiting side plates 19 to operate and adjust the distance between the two limiting side plates 19;

[0037] In the embodiment of the present invention, specifically, a limiting frame 21 is fixedly installed at the bottom of the trimming frame 18, and a limiting shaft 2101 is slidably connected inside the limiting frame 21, and a plurality of supporting springs 2102 are fixedly installed between the limiting shaft 2101 and the inside of the limiting frame 21, and the ends of the limiting shaft 2101 and the ends of the two driving shafts 20 are rotatably sleeved with shaft sleeves, and the outer sides of the plurality of shaft sleeves are rotatably connected with trimming transmission belts 22, and a plurality of trimming ropes 2201 are fixedly installed outside the trimming transmission belt 22 for trimming the lawn;

[0038] In the embodiment of the present invention, the trimming transmission belt 22 is triangular in shape. When adjusting the trimming range thereof, the spacing between the two limit side plates 19 can be adjusted by adjusting the cylinder 2301. At this time, the limit shaft 2101 can be forced to slide inside the limit frame 21 until the adjustment is completed. With the operation of the driving shaft 20, the trimming transmission belt 22 and the plurality of trimming ropes 2201 can be driven to operate, thereby realizing the trimming operation of the lawn.

[0039] In the embodiment of the present invention, specifically, a trimming motor 1902 is fixed to the top surface of the limiting side plate 19 on one side, and the output end of the trimming motor 1902 is connected to the corresponding driving shaft 20. The trimming motor 1902 is an existing device and is used for driving operation;

[0040] In the embodiment of the present invention, this method can ensure the pruning effect and expand the pruning range, and at the same time, it can facilitate the adjustment of the pruning range of the equipment, further improving the convenience of the operation of the equipment;

[0041] In the embodiment of the present invention, further, a screw motor 24 is fixedly installed on the outer side of the machine body 1, and the output end of the screw motor 24 is connected to the trimming frame 18, which is used to drive the trimming frame 18 to move up and down to adjust the trimming height of the lawn. The screw motor 24 is an existing device. Through the operation of the screw motor 24, the height of the trimming frame 18 can be adjusted, thereby adjusting the height of the trimming transmission belt 22 and the multiple trimming ropes 2201, thereby improving the application range of the equipment;

[0042] In the embodiment of the present invention, further, a collecting assembly is fixedly installed on the top surface of the machine body 1, which is used to collect and process the debris from the pruning process during the operation of the equipment. The collecting assembly includes a collecting box 3, which is installed above the machine body 1, and a collecting cover 5 is fixedly installed on the outside of the collecting box 3. The end of the collecting cover 5 extends to the trimming frame 18, and a negative pressure device 4 is fixedly installed on the outside of the collecting box 3. A connecting cover 6 is fixedly installed inside the collecting box 3, and a connecting pipe is connected between the air inlet end of the negative pressure device 4 and the connecting cover 6;

[0043] In the embodiment of the present invention, when the pruning operation is performed, as the negative pressure device 4 is running, the debris splashed during the pruning process can be collected and processed through the cooperation of the connecting cover 6 and the collecting cover 5, thereby ensuring the operation effect of the equipment.

[0044] In the embodiment of the present invention, further, a baffle 7 is fixedly installed inside the collection box 3, and the installation position of the baffle 7 is kept flush with the installation position of the connection cover 6. The baffle 7 is installed obliquely, and the connection cover 6 has a mesh structure inside. By installing the baffle 7, the connection cover 6 can be prevented from being blocked;

[0045] In the embodiment of the present invention, further, the collection cover 5 is rotatably connected to the cutting shaft 8, both ends of the cutting shaft 8 are fixedly sleeved with driving blades 801, and the outer side of the cutting shaft 8 is fixedly installed with a plurality of crushing pieces 802. When the negative pressure device 4 is running, as negative pressure is generated inside the collection cover 5, the cutting shaft 8 can be driven to run by the plurality of driving blades 801, and the plurality of crushing pieces 802 can be driven to run, so that the longer grass clippings can be chopped and the collection effect can be ensured;

[0046] In the embodiment of the present invention, specifically, the negative pressure device 4 is an existing device, which will not be described in detail here;

[0047] In the embodiment of the present invention, specifically, the crushing sheet 802 is made of a PE material with high toughness, and will not be wound during the operation, thereby ensuring the shredding effect;

[0048] In the embodiment of the present invention, further, a fertilizer assembly is fixedly installed on the top surface of the machine body 1, which is used for fertilizing during lawn mowing. The fertilizer assembly includes a storage rack 9, which is fixedly installed on the top of the machine body 1. A plurality of fertilizer end pipes 10 that are interconnected are fixedly installed on the bottom of the storage rack 9. A driving rod 1001 is rotatably connected to the inside of the fertilizer end pipe 10, and a spiral material sheet 1002 is fixedly sleeved on the outside of the driving rod 1001 to drive the waste to fall. A servo motor 1003 is fixedly installed at the end of the fertilizer end pipe 10, and the output end of the servo motor 1003 is connected to the end of the driving rod 1001 to drive the driving rod 1001 to operate. The storage rack 9 is used to store solid fertilizers. When fertilization is required during lawn mowing, the servo motor 1003 can be used to drive the driving rod 1001 to rotate, so that the fertilizer inside the storage rack 9 can pass through the fertilizer end pipe 10 through the operation of the spiral material sheet 1002, and then fall, completing the fertilization operation.

[0049] In the embodiment of the present invention, further, ends of the plurality of fertilizing end tubes 10 away from the servo motor 1003 are fixedly installed with a feeding cover 11, the inside of the feeding cover 11 is rotatably connected with a feeding disc 12 and a plurality of feeding slots 1101 are provided inside, and a feeding motor 13 is fixedly installed at the end of the feeding cover 11, and the output end of the feeding motor 13 penetrates into the feeding cover 11 and is connected to the feeding disc 12, so as to drive the feeding disc 12 to rotate inside the feeding cover 11 to feed out the fertilizer, and when the raw materials can enter the inside of the feeding cover 11 after passing through the fertilizing end tubes 10, the feeding disc 12 can be driven to run by the feeding motor 13 to feed out the fertilizer through the plurality of feeding slots 1101, thereby completing the fertilization operation and further improving the uniformity of fertilization;

[0050] In the embodiment of the present invention, further, the fertilization component also includes a storage box 14, the storage box 14 is fixedly installed above the body 1, a fertilizer pipe 15 is fixedly installed at the tail of the body 1, and a plurality of spray heads 1501 are fixedly installed on the outside of the fertilizer pipe 15, and a pump 1401 connected to each other is fixedly installed on the outside of the storage box 14, and a connecting pipe is provided between the pump 1401 and the fertilizer pipe 15. The storage box 14 is used to store liquid fertilizer. During the fertilization process, as the pump 1401 runs, the fertilizer inside the storage box 14 can be extracted and then transported to the fertilizer pipe 15 until it is sprayed out through the plurality of spray heads 1501, completing the fertilization process;

[0051] Specifically, an integrated control system is provided inside the machine body 1, and control is achieved based on an existing PLC control module.

[0052] Embodiment 2: Based on embodiment 1, in the embodiment of the present invention, further, the tail of the machine body 1 is rotatably connected to a rolling frame 16, and a plurality of loosening cone heads 1601 are installed on the outer side of the rolling frame 16. The loosening cone heads 1601 are used to be inserted into the soil as the rolling frame 16 rotates to perform loosening operations, so that the equipment can complete the loosening operation at the same time during operation, thereby improving the use effect of the equipment;

[0053] In the embodiment of the present invention, the rolling frame 16 is rotatably connected to the transmission rod 17, and the outer side of the transmission rod 17 is fixedly sleeved with multiple arc-shaped transmission members 1701. The multiple loosening cone heads 1601 are respectively slidably connected to the arc-shaped surfaces of the corresponding arc-shaped transmission members 1701, and are used to retract into the rolling frame 16 as the arc-shaped transmission members 1701 rotate. Figure 6 The side of the arc-shaped transmission member 1701 is an arc-shaped surface. When the arc-shaped transmission member 1701 rotates, the multiple loosening cone heads 1601 can be retracted into the rolling frame 16. At this time, the rolling frame 16 runs with the machine body 1 and can roll the land, thereby realizing the combination of loosening and rolling, and improving the use effect of the equipment.

[0054] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0055] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A lawn maintenance robot, comprising a body (1), both sides of which are rotatably connected to walking tracks (2) for driving the body (1) to move, characterized in that: A trimming frame (18) is fixedly installed in front of the machine body (1), and a slide plate (1901) is slidably connected to both sides of the trimming frame (18), and a limiting side plate (19) is fixedly installed on the outside of the slide plate (1901), and a driving shaft (20) is rotatably installed inside the limiting side plate (19); A fixing plate (23) is fixedly installed at the bottom of the trimming frame (18), and adjustment cylinders (2301) are installed on both sides of the fixing plate (23), and piston ends of the adjustment cylinders (2301) are respectively fixedly connected to corresponding limiting side plates (19) for driving the limiting side plates (19) to slide along the slide plate (1901); A limiting frame (21) is fixedly installed at the bottom of the trimming frame (18), and a limiting shaft (2101) is slidably connected inside the limiting frame (21), a plurality of supporting springs (2102) are fixedly installed between the limiting shaft (2101) and the inside of the limiting frame (21), the end of the limiting shaft (2101) and the ends of the two driving shafts (20) are rotatably sleeved with shaft sleeves, and the outer sides of the plurality of shaft sleeves are rotatably connected with trimming transmission belts (22), and a plurality of trimming ropes (2201) are fixedly installed outside the trimming transmission belt (22) for trimming the lawn; A trimming motor (1902) is fixed to the top surface of the limiting side plate (19) on one side, and the output end of the trimming motor (1902) is connected to the corresponding driving shaft (20).

2. A lawn maintenance robot according to claim 1, characterized in that: A screw motor (24) is fixedly mounted on the outside of the machine body (1), and an output end of the screw motor (24) is connected to the trimming frame (18) for driving the trimming frame (18) to move up and down to adjust the trimming height of the lawn.

3. The lawn maintenance robot according to claim 1, characterized in that: A collecting assembly is fixedly mounted on the top surface of the machine body (1) for collecting and processing debris generated during the operation of the equipment. The collecting assembly comprises a collecting box (3). The collecting box (3) is mounted above the machine body (1). A collecting cover (5) is fixedly mounted on the outside of the collecting box (3). The end of the collecting cover (5) extends to the pruning frame (18). A negative pressure device (4) is fixedly mounted on the outside of the collecting box (3). A connecting cover (6) is fixedly mounted inside the collecting box (3). A connecting pipe is connected between the air inlet end of the negative pressure device (4) and the connecting cover (6).

4. The lawn maintenance robot according to claim 3, characterized in that: A baffle (7) is fixedly installed inside the collection box (3); the installation position of the baffle (7) is kept flush with the installation position of the connection cover (6); and the baffle (7) is installed at an angle.

5. The lawn maintenance robot according to claim 3, characterized in that: The interior of the collecting cover (5) is rotatably connected to a cutting shaft (8), both ends of the cutting shaft (8) are fixedly sleeved with driving blades (801), and the outer side of the cutting shaft (8) is fixedly mounted with a plurality of crushing blades (802).

6. The lawn maintenance robot according to claim 1, characterized in that: A fertilizer assembly is fixedly mounted on the top surface of the machine body (1) for performing a fertilizer operation during lawn mowing. The fertilizer assembly comprises a storage rack (9) which is fixedly mounted above the machine body (1). A plurality of fertilizer end pipes (10) which are interconnected are fixedly mounted on the bottom of the storage rack (9). A driving rod (1001) is rotatably connected to the inside of the fertilizer end pipe (10) and a spiral material sheet (1002) is fixedly sleeved on the outside of the driving rod (1001) for driving waste to fall. A servo motor (1003) is fixedly mounted on the end of the fertilizer end pipe (10). The output end of the servo motor (1003) is connected to the end of the driving rod (1001) for driving the driving rod (1001) to operate.

7. The lawn maintenance robot according to claim 6, characterized in that: A plurality of fertilizer end tubes (10) are fixedly mounted with a material discharge cover (11) at the ends away from the servo motor (1003); a material discharge plate (12) is rotatably connected to the inside of the material discharge cover (11) and a plurality of material discharge slots (1101) are provided inside; a material discharge motor (13) is fixedly mounted at the end of the material discharge cover (11); an output end of the material discharge motor (13) penetrates into the material discharge cover (11) and is connected to the material discharge plate (12) for driving the material discharge plate (12) to rotate inside the material discharge cover (11) to discharge fertilizer.

8. The lawn maintenance robot according to claim 6, characterized in that: The fertilization assembly further comprises a storage box (14), the storage box (14) being fixedly mounted above the machine body (1), a fertilization pipe (15) being fixedly mounted at the rear of the machine body (1), and a plurality of spray heads (1501) being fixedly mounted on the outside of the fertilization pipe (15), a pump (1401) being fixedly mounted on the outside of the storage box (14), and being interconnected, and a connecting pipe being arranged between the pump (1401) and the fertilization pipe (15).

9. The lawn maintenance robot according to claim 1, characterized in that: The rear part of the machine body (1) is rotatably connected to a rolling frame (16), and a plurality of loosening cone heads (1601) are installed on the outer side of the rolling frame (16). The loosening cone heads (1601) are used to be inserted into the soil as the rolling frame (16) rotates to perform a loosening operation.

10. The lawn maintenance robot according to claim 9, characterized in that: The rolling frame (16) is rotatably connected to a transmission rod (17) inside, and a plurality of arc-shaped transmission members (1701) are fixedly sleeved on the outer side of the transmission rod (17). The plurality of loosening cone heads (1601) are respectively slidably connected to the arc-shaped surfaces of the corresponding arc-shaped transmission members (1701) and are used to be retracted into the rolling frame (16) as the arc-shaped transmission members (1701) rotate.

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