Motor shaft visual inspection automatic feeding and unloading workstation

Abstract

The application discloses a motor shaft visual inspection automatic feeding and discharging workstation, which comprises a transfer box, a spacing placement assembly, a scraper and a turning transmission assembly. The transfer box is fixedly arranged and internally provided with a transfer cavity and a first outlet. The spacing placement assembly is horizontally movable and provided with a plurality of equidistant or non-equidistant arc grooves. The spacing placement assembly is a frame body, one end of the frame body is fixed on a sliding block of a first electric linear guide rail, and the other end is fixed on a sliding block of a driven guide rail, so that the electric linear guide rail controls the horizontal movement in the transverse direction and realizes feeding. The scraper is vertically adjustable and fixedly arranged. The distance between the bottom of the scraper and the bottom of the arc groove is greater than or equal to the diameter of one motor shaft and less than 1.5 times the diameter of one motor shaft. The turning transmission assembly is a visual inspection assembly and a classification turning transmission assembly. Compared with the prior art, the motor shaft visual inspection automatic feeding and discharging workstation has the advantages that the structure is simple, and the feeding, discharging, visual inspection and classification of the motor shaft can be realized.

Description

Technical Field

[0001] This invention belongs to the field of visual inspection, specifically relating to an automatic loading and unloading workstation for visual inspection of motor shafts. Background Technology

[0002] The motor shaft is one of the most important components of a motor. Only when the motor shaft operates safely and efficiently can the motor perform at its best. Traditional motor shaft visual inspection is mostly done manually or by comparing and judging with traditional CCD cameras, resulting in a low success rate. Therefore, it is very important to develop an automated loading and unloading workstation for motor shaft visual inspection that overcomes these shortcomings. Summary of the Invention

[0003] To solve at least one of the above-mentioned technical problems, the present invention provides an automatic loading and unloading workstation for visual inspection of motor shafts, comprising: The transfer box is fixedly installed and has a transfer cavity inside and a first outlet at the bottom. The spaced placement component is horizontally movable and has several equally or unequally spaced arc grooves, each arc groove being less than 1 / 2 of a circular arc. It also includes a first electric linear guide and a driven guide. The spaced placement component is a frame, with one end fixed to the slider of the first electric linear guide and the other end fixed to the slider of the driven guide, enabling the electric linear guide to control horizontal movement for material loading.

[0004] The scraper is vertically adjustable and fixed. The distance between the bottom of the scraper and the bottom of the arc groove is greater than or equal to the diameter of one motor shaft and less than 1.5 times the diameter of one motor shaft. The steering drive assembly includes: The first column is fixedly installed, and a first bevel gear is rotatably connected to the first column; The first transmission rod has a second bevel gear fixed at one end, which meshes with the first bevel gear. The first transmission rod has a bent part, and a clamping assembly is installed at the other end of the first transmission rod. The connector includes a first sleeve, a second sleeve, and a sleeve connecting rod that fixes the first sleeve and the second sleeve together. The first sleeve is rotatably sleeved outside the first column, and the second sleeve is rotatably sleeved outside the first transmission rod. The vision inspection assembly includes at least three vision inspection devices, two relatively movable motor shaft clamping arms, a detection placement position formed between the two motor shaft clamping arms, and three vision inspection devices equally spaced around the outer periphery of the detection placement position. After classifying the turning transmission components, the motor shaft located in the detection placement position is removed and placed in separate zones according to the detection results of the vision inspection device.

[0005] The visual inspection of the present invention has multiple methods. One method is that the visual inspection device is an infrared transceiver device, which also includes a light intensity detection device. The receiving module of the infrared transceiver device connects the received signal to the light intensity detection device to determine whether the light loss meets the set threshold. The determined information is then transmitted to the controller, which controls the classification turning transmission component to classify the motor shaft.

[0006] Secondly, the visual inspection device is a CCD camera, which also includes a processing module. The processing module converts the images captured by each CCD camera into vector graphics. It selects the edge of the motor shaft and proportionally increases or decreases the edge of each image to ensure consistent size. These images are then converted into bitmaps, which are divided into three images: A, B, and C. The coordinates of the dark colors in these three bitmaps are extracted, and the color depth of these coordinates is determined to be above a threshold, thus determining whether the condition is repairable. This information is transmitted to the controller, which then controls the classification and turning transmission components to perform the classification. The coordinates of the dark colors XA1, XA2, XA3…, XB1, XB2, XB3…, XC1, XC2, XC3… are extracted from the three bitmaps. If the trajectories formed by these coordinates are similar across different bitmaps, then the texture is considered normal.

[0007] Thirdly, the visual inspection device is a CCD camera, and also includes a processing module. The processing module converts the images captured by each CCD camera into vector graphics, selects the edge of the motor shaft, and proportionally increases or decreases the edge of each image to make each image size consistent. Then it converts the image into a bitmap, compresses the bitmap to within 10x10 pixels, adjusts the grayscale, calculates the grayscale value, calculates the generated binary hash value, and judges the similarity by the "Hamming distance" (the number of different bits). The smaller the Hamming distance, the more similar the images are. The color depth of the differences determines whether repair is possible. The controller controls the classification turning transmission component to classify the images.

[0008] In the second and third visual inspection methods, an illumination ring is installed on one side of the motor shaft clamping arm. The illumination ring is perpendicular to the axis of the motor shaft, and the illumination light is parallel to the generatrix. This provides sufficient lighting for visual inspection and also ensures that when there is damage, the deeper the damage, the darker the image will appear due to the lighting on one side, thus enabling identification.

[0009] The clamping assembly includes a clamping fixing member fixed to the first transmission rod. A clamping cylinder is fixed to the clamping fixing member. Two symmetrically arranged clamping gears are rotatably connected to the clamping fixing member. A clamping arm is fixed to the clamping gear. A clamping control member is fixed to the output end of the clamping cylinder. Engaging grooves for meshing with the clamping gears are formed on both sides of the clamping control member. Silicone is fixed to the clamping arm. Several elastic perforations are formed along the motor shaft axis on the silicone. The elastic perforations have a Reuleaux triangle structure, with the apex angles of every three adjacent elastic perforations located on the circumference of the same circle. The outer arm of the silicone is wavy, adapting to the arcuate outer wall of the Reuleaux triangle. The arcuate outer wall has textured surfaces to increase friction. These textures can be several raised, honeycomb-shaped flexible lips, ensuring precise contact with the surface of the motor shaft during clamping, enabling capillary adsorption and negative pressure adsorption. Negative pressure groove areas are formed between the protrusions. The cross-section of the protrusions is triangular.

[0010] Through the above technical solution, the elastic perforation set by the Reuleaux triangle can provide resistance elasticity when the outer arc wall abuts against the motor shaft, increasing the buffering of the contact and the stability of the contact.

[0011] The silicone material used in this invention is as follows: The silicone material of this invention is divided into three integrally formed layers from the clamping arm to the motor shaft, namely, an outer buffer sub-layer, a middle support sub-layer, and an inner elastic sub-layer. The outer buffer sub-layer has a thickness of 1mm, a Shore hardness of A15, and is made of pure liquid silicone material. It has an "irregular polygonal cavity" (the cavity volume accounts for 40%), and the cavity is filled with 5% aerogel particles (particle size of 5μm). During impact, energy is absorbed through compression in the cavity, with a buffering efficiency of ≥85%. The deformation is 1-2mm under a 50N impact pressure, with no permanent deformation. The middle support sublayer, 1mm thick, with a Shore hardness of A45, is composed of 15% short-cut carbon fibers (500μm in length, 10μm in diameter) and 10% glass microspheres (20μm in particle size) doped in silicone, forming a "rigid skeleton-elastic matrix" composite structure. Internally, it features "regular hexagonal honeycomb chambers" (2mm side length, 0.2mm wall thickness), with a deformation ≤0.5mm under 300N pressure and a support strength of 5MPa, providing stable support for the overall structure and preventing collapse during adsorption. The inner elastic sublayer, 1mm thick, with a Shore hardness of A10, is composed of 20% elastic polyurethane microcapsules (100-300μm in diameter, containing high-elasticity silicone oil) added to the silicone. The chambers are "spherical or rugby ball shaped," allowing adaptive deformation to follow the contours of the part, with a deformation range of up to 50% of its own thickness and an elastic recovery rate ≥95%, ensuring an adhesion of ≥98% between the adsorption layer and irregular surfaces.

[0012] The aforementioned chambers avoid the Reuleaux triangle of the present invention.

[0013] The classified turning transmission component structure is the same as the turning transmission component structure and has three parts, which are divided into finished product category, repairable category and defective product category.

[0014] The transfer cavity has at least one side wall that is inclined; it also includes a turning drive motor, which is fixedly installed and its output end is fixedly connected to a third bevel gear that meshes with the first bevel gear.

[0015] Compared with the prior art, the advantages of the present invention are: the present invention has a simple structure and can realize the feeding, unloading, visual inspection and classification of motor shafts. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic cross-sectional view of the motor shaft clamping arm of the present invention; Figure 3 This is a perspective view of the turning transmission component of the present invention; Figure 4 This is a perspective view of the clamping component of the present invention; Figure 5 This is a three-dimensional view of the silicone material of the present invention; Figure label: 1. Transfer box; 2. Transfer chamber; 3. First outlet; 4. Circular groove; 5. First electric linear guide rail; 6. Scraper; A. Turning transmission assembly; 7. First column; 8. First bevel gear; 9. First transmission rod; 10. Second bevel gear; 11. Bending part; 12. Clamping assembly; 1201. Clamping fixing part; 1202. Clamping cylinder; 1203. Clamping gear; 1204. Clamping arm; 1205. Clamping control part; 1206. Engaging groove; 1207. Silicone; 1208. Elastic perforation; 1209. Wavy shape; 1210. Flexible lip; 1211. Negative pressure groove area; 13 Connector; 14 First sleeve; 15 Second sleeve; 16 Connecting rod; 17 Vision inspection device; 18 Motor shaft clamping arm; 19 Inspection placement position; 20 Second electric linear guide rail; 21 Vertical plate; 22 Disc clamping component; 23 Illumination ring; 24 Inclined surface; 25 motor shaft. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present invention and to more clearly define the scope of protection claimed by the present invention, the present invention will be described in detail below with reference to certain specific embodiments. It should be noted that the following are only some specific embodiments of the present invention, and are merely a part of the embodiments of the present invention. The specific and direct descriptions of related structures are only for the convenience of understanding the present invention, and the specific features do not necessarily or directly limit the scope of the present invention.

[0018] Referring to the accompanying drawings, the present invention adopts the following technical solution: an automatic loading and unloading workstation for motor shaft 25 with visual inspection, comprising: The transfer box 1 is fixedly installed and has a transfer cavity 2 inside and a first outlet 3 at the bottom; The spaced-placement component is horizontally movable. It has several equally or unequally spaced arc-shaped grooves 4, each less than half the length of an arc. It also includes a first electric linear guide rail 5 and a parallel driven guide rail. The spaced-placement component is a frame, with one end fixed to the slider of the first electric linear guide rail 5 and the other end fixed to the slider of the driven guide rail, enabling horizontal movement controlled by the electric linear guide rail for material loading.

[0019] The scraper 6 is vertically adjustable and fixed. The distance between the bottom of the scraper 6 and the bottom of the arc groove 4 is greater than or equal to the diameter of one motor shaft 25 and less than 1.5 times the diameter of the motor shaft 25. Turning drive assembly A includes: The first column 7 is fixedly installed, and the first bevel gear 8 is rotatably connected to the first column 7; The first transmission rod 9 has a second bevel gear 10 fixed at its end, which meshes with the first bevel gear 8. The first transmission rod 9 has a bent part 11, and the other end of the first transmission rod 9 is equipped with a clamping assembly 12. The connector 13 includes a first sleeve 14, a second sleeve 15, and a sleeve connecting rod 16 that is fixedly connected to the first sleeve 14 and the second sleeve 15. The first sleeve 14 is rotatably sleeved outside the first column 7, and the second sleeve 15 is rotatably sleeved outside the first transmission rod 9. The visual inspection assembly includes at least three visual inspection devices 17, two relatively movable motor shafts 25 clamping arms 18, a detection placement position 19 formed between the two motor shafts 25 clamping arms 18, and the three visual inspection devices 17 are equally spaced around the outer periphery of the detection placement position 19. It also includes two second electric linear guides 20, whose sliders are respectively fixedly connected to the motor shaft 25 clamping arm 18. The motor shaft 25 clamping arm 18 includes a vertical plate 21 fixedly connected to the slider and a disc clamping member 22 fixed on the vertical plate 21, the disc clamping member 22 being smaller than the diameter of the motor shaft 25. The lighting ring 23 is fixed on the motor shaft 25 clamping arm 18.

[0020] The visual inspection device 17 of this experimental primary school can be fixed on the workbench using existing brackets.

[0021] After classifying the turning transmission assembly A, the motor shaft 25 located at the detection placement position 19 is removed and placed in sections according to the detection results of the vision inspection device 17.

[0022] The visual detection of the present invention has multiple methods. One method is that the visual detection device 17 is an infrared transceiver device, which also includes a light intensity detection device. The receiving module of the infrared transceiver device connects the received signal to the light intensity detection device to determine whether the light loss meets the set threshold. The determined information is then transmitted to the controller, which controls the classification turning transmission component A to classify the motor shaft 25.

[0023] Secondly, the visual inspection device 17 is a CCD camera and also includes a processing module. The processing module converts the images captured by each CCD camera into vector graphics. It selects the edge of the motor shaft 25 and proportionally increases or decreases the edge of each image to ensure consistent size. These are then converted into bitmaps, which are divided into three images: A, B, and C. The coordinates of the dark colors in the three bitmaps are extracted, and the color depth of these coordinates is determined to be above a threshold, thus determining whether the condition is repairable. This information is transmitted to the controller, which then controls the classification and turning transmission component A to perform the classification. The coordinates of the dark colors XA1, XA2, XA3…, XB1, XB2, XB3…, XC1, XC2, XC3… are extracted from the three bitmaps. If the trajectories formed by these coordinates are similar in different bitmaps, then it is determined to be a normal texture.

[0024] Thirdly, the visual inspection device 17 is a CCD camera and also includes a processing module. The processing module converts the images captured by each CCD camera into vector graphics, selects the edge of the motor shaft 25, and proportionally increases or decreases the edge of each image to make each image size consistent. Then it converts the image into a bitmap, compresses the bitmap to within 10x10 pixels, adjusts the grayscale, calculates the grayscale value, calculates the generated binary hash value, and judges the similarity by the number of different bits of the "Hamming distance". The smaller the Hamming distance, the more similar the images are. The color depth of the differences determines whether repair is possible. The controller controls the classification turning transmission component A to perform classification.

[0025] In the second and third visual inspection methods, an illumination ring 23 is installed on one side of the clamping arm 18 of the motor shaft 25. The illumination ring 23 is perpendicular to the axis of the motor shaft 25, and the illumination light is parallel to the generatrix. This provides sufficient lighting for visual inspection and also ensures that when there is damage, the deeper the damage, the darker the image will appear due to the lighting on one side, thus enabling identification.

[0026] The clamping assembly 12 includes a clamping fixing member 1201 fixed to the first transmission rod 9. A clamping cylinder 1202 is fixed on the clamping fixing member 1201. Two symmetrically arranged clamping gears 1203 are rotatably connected to the clamping fixing member 1201. A clamping arm 1204 is fixed on the clamping gear 1203. A clamping control member 1205 is fixed to the output end of the clamping cylinder 1202. The clamping control member 1205 has meshing grooves 1206 on both sides that mesh with the clamping gears 1203. A silicone rubber 1207 is fixed on the clamping arm 1204. Several elastic perforations 1208 are formed on the silicone rubber 1207 along the axial direction of the motor shaft 25. Each elastic perforation 1208 has a Reuleaux triangle structure, with the apex of every three adjacent elastic perforations 1208 located on the circumference of the same circle. The outer arm of the silicone rubber 1207 is wavy 1209, which adapts to the arcuate outer wall of the Reuleaux triangle. The arcuate outer wall has textured surfaces to increase friction. These textures can be several raised, honeycomb-shaped flexible lips 1210, ensuring precise contact with the surface of the motor shaft 25 during clamping, enabling capillary adsorption and negative pressure adsorption. Negative pressure groove areas 1211 are formed between the protrusions. The cross-section of each protrusion is triangular.

[0027] Through the above technical solution, the elastic perforation 1208 set in the Reuleaux triangle can have contact elasticity when the outer wall of the arc abuts against the motor shaft 25, increasing the buffering of the contact and the contact stability.

[0028] The silicone 1207 material used in this invention is as follows: The silicone 1207 of this invention is divided into three integrally formed layers between the clamping arm 1204 and the motor shaft 25, namely, an outer buffer sub-layer, a middle support sub-layer, and an inner elastic sub-layer. The outer buffer sub-layer has a thickness of 1mm, a Shore hardness of A15, and is made of pure liquid silicone 1207 material. It has an "irregular polygonal cavity" inside, with the cavity volume accounting for 40%. The cavity is filled with 5% aerogel particles with a particle size of 5μm. During impact, the energy is absorbed through the compression of the cavity, with a buffering efficiency of ≥85%. The deformation is 1-2mm under a 50N impact pressure, with no permanent deformation. The middle support sublayer, 1mm thick, has a Shore hardness of A45. It consists of 15% short-cut carbon fibers (500μm long, 10μm diameter) and 10% glass microspheres (20μm diameter) doped with silicone 1207, forming a "rigid skeleton-elastic matrix" composite structure. Internally, it features "regular hexagonal honeycomb chambers" with a side length of 2mm and a wall thickness of 0.2mm. Under 300N pressure, the deformation is ≤0.5mm, and the support strength reaches 5MPa, providing stable support for the overall structure and preventing collapse during adsorption. The inner elastic sublayer, 1mm thick, has a Shore hardness of A10. It consists of 20% elastic polyurethane microcapsules (100-300μm diameter) added to silicone 1207, containing high-elasticity silicone oil. The chambers are "spherical or rugby ball shaped," allowing adaptive deformation to follow the contours of the part, with a deformation range of up to 50% of its own thickness and an elastic recovery rate ≥95%, ensuring an adhesion of ≥98% between the adsorption layer and irregular surfaces.

[0029] The aforementioned chambers avoid the Reuleaux triangle of the present invention.

[0030] The structure of the classified turning transmission component A is the same as that of the turning transmission component A and has three parts, which are divided into finished product category, repairable category and defective product category.

[0031] The transfer cavity 2 has at least one side wall that is inclined 24; it also includes a turning drive motor, which is fixedly installed and its output end is fixedly connected to a third bevel gear that meshes with the first bevel gear 8.

[0032] Compared with the prior art, the advantages of the present invention are: the present invention has a simple structure and can realize the feeding, unloading, visual inspection and classification of motor shaft 25.

[0033] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A vision inspection automatic loading and unloading workstation for a motor shaft (25), characterized in that: include: The transfer box (1) is fixedly installed, with a transfer cavity (2) inside and a first outlet (3) at the bottom. The spaced placement component is horizontally movable and has several equally or unequally spaced arc grooves (4) on it, the arc grooves (4) being less than 1 / 2 arc. The scraper (6) is vertically adjustable and fixed. The distance between the bottom of the scraper (6) and the bottom of the arc groove (4) is greater than or equal to the diameter of one motor shaft (25) and less than 1.5 motor shafts (25). The steering drive assembly (A) includes: The first column (7) is fixedly installed, and the first bevel gear (8) is rotatably connected to the first column (7). The first transmission rod (9) has a second bevel gear (10) fixed at its end, which meshes with the first bevel gear (8). The first transmission rod (9) has a bent part (11), and the other end of the first transmission rod (9) is equipped with a clamping assembly (12). The connector (13) includes a first sleeve (14), a second sleeve (15), and a sleeve connecting rod (16) that is fixedly connected to the first sleeve (14) and the second sleeve (15). The first sleeve (14) is rotatably sleeved outside the first column (7), and the second sleeve (15) is rotatably sleeved outside the first transmission rod (9). The visual inspection assembly includes at least three visual inspection devices (17), two relatively movable motor shafts (25) clamping arms (18), a detection placement position (19) is formed between the two motor shafts (25) clamping arms (18), and the three visual inspection devices (17) are equally spaced around the outer periphery of the detection placement position (19). After classifying the turning transmission assembly (A), the motor shaft (25) located at the detection placement position (19) is removed and placed in sections according to the detection results of the vision inspection device (17); the vision inspection device adopts one of the following three types: Secondly: The visual inspection device (17) is a CCD camera and also includes a processing module. The processing module converts the images captured by each CCD camera into vector graphics, selects the edge of the motor shaft (25), and increases or decreases the edge of each image proportionally to make each image size consistent. Then it is converted into a bitmap. The bitmap is divided into three images: A, B, and C. The coordinates of the dark colors in the three bitmaps are extracted, and the color depth of the coordinates is judged to see if it is higher than the threshold. Then it is judged whether it belongs to the repairable situation. The information is transmitted to the controller, and the controller controls the classification turning transmission component (A) to classify. Thirdly: The visual inspection device (17) is a CCD camera and also includes a processing module. The processing module converts the images captured by each CCD camera into vector graphics, selects the edge of the motor shaft (25), and proportionally increases or decreases the edge of each image to make each image size consistent, and then converts it into a bitmap; the bitmap is compressed to within 10x10 pixels, the grayscale is adjusted, the grayscale value is calculated, the generated binary hash value is calculated, and the similarity is judged by the number of different bits of the "Hamming distance". The smaller the Hamming distance, the more similar they are; the color depth of the differences is used to determine whether repair can be performed, and the controller controls the classification turning transmission component (A) to perform classification. The structure of the classified turning transmission component (A) is the same as that of the turning transmission component (A) and it has three parts, which are divided into finished product category, repairable category and defective product category.

2. The automatic loading and unloading workstation for visual inspection of the motor shaft (25) according to claim 1, characterized in that: Firstly, the visual inspection device (17) can also be an infrared transceiver device, and also includes a light intensity detection device. The receiving module of the infrared transceiver device connects the received signal to the light intensity detection device, thereby determining whether the light loss meets the set threshold, and transmitting the determined information to the controller. The controller controls the classification turning transmission component (A) to classify the motor shaft (25).

3. The automatic loading and unloading workstation for visual inspection of the motor shaft (25) according to claim 1, characterized in that: Extract the coordinates XA1, XA2, XA3..., XB1, XB2, XB3..., XC1, XC2, XC3... of the dark colors in the three bitmaps. If the trajectories formed by the above coordinates are similar in different bitmaps, then it is determined to be a normal texture.

4. The automatic loading and unloading workstation for visual inspection of the motor shaft (25) according to claim 1 or 3, characterized in that: An illumination ring (23) is installed on one side of the clamping arm (18) of the motor shaft (25). The illumination ring (23) is perpendicular to the axis of the motor shaft (25), and the illumination light is parallel to the generatrix.

5. The automatic loading and unloading workstation for visual inspection of the motor shaft (25) according to claim 1, characterized in that: The clamping assembly (12) includes a clamping fixing member (1201) fixed to the first transmission rod (9). A clamping cylinder (1202) is fixed on the clamping fixing member (1201). Two symmetrically arranged clamping gears (1203) are rotatably connected to the clamping fixing member (1201). A clamping arm (1204) is fixed on the clamping gear (1203). A clamping control member (1205) is fixed at the output end of the clamping cylinder (1202). The clamping control member (1205) has meshing grooves (1206) on both sides that mesh with the clamping gears (1203).

6. The automatic loading and unloading workstation for visual inspection of the motor shaft (25) according to claim 5, characterized in that: The clamping arm (1204) is fixed with silicone (1207). The silicone (1207) has a plurality of elastic perforations (1208) along the motor shaft (25). The elastic perforations (1208) are Reuleaux triangles. The apex of every three adjacent elastic perforations (1208) is located on the circumference of the same circle. The outer arm of the silicone (1207) is wavy (1209). The wavy (1209) is adapted to the arc outer wall of the Reuleaux triangle. The arc outer wall is provided with textures to increase friction.

7. The automatic loading and unloading workstation for visual inspection of the motor shaft (25) according to claim 1, characterized in that: The transfer cavity (2) has at least one side wall that is inclined (24); And / or, it also includes a turning drive motor, which is fixedly installed and its output end is fixedly connected to a third bevel gear that meshes with the first bevel gear (8).

Images