Automatic unhooking and hooking device of unmanned tractor and unmanned tractor

Abstract

The utility model relates to the technical field of unmanned traction, in particular to an automatic unhooking and hooking device of an unmanned tractor and the unmanned tractor. The device comprises a mounting seat, the mounting seat is provided with a supporting part and a mounting part, and a proximity switch and a buffer part are arranged in the mounting part; the guide plate is arranged on the mounting seat, the guide plate is in sliding connection with the mounting seat, and an auxiliary capturing mechanism is arranged on the guide plate; the guide device is arranged on the supporting part, and the guide device is connected with the guide plate and drives the guide plate to do lifting motion relative to the mounting seat; the traction mechanism comprises a traction electric push rod, a traction bolt and a trailer traction rod, and the traction electric push rod is arranged on the supporting part and connected with the traction bolt. Due to the fact that the auxiliary capturing mechanism is arranged and clamped in the groove in the front end of the trailer traction rod, the trailer traction rod cannot be collided open, and the success rate of butt joint is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned traction, in particular to an automatic unhooking device for an unmanned tractor and an unmanned tractor. Background Art

[0002] In the field of unmanned traction, unmanned tractors need to frequently uncouple and hook up with the unpowered trailer at the rear. Currently, automatic hooking has always been a difficult problem in the industry. The accuracy of automatic navigation docking, docking angle deviation, docking speed, etc. all affect the success of automatic uncoupling. Basically, multiple repeated docking is required to succeed. Especially for the uncoupling of heavy-loaded unmanned tractors and trailers that are braked by the gravity of the tow bar, the docking success rate is lower because the braking, steering and other flexibility of heavy-loaded tractors are worse than those of light-loaded ones. Utility Model Content

[0003] Therefore, the technical problem to be solved by the utility model is to overcome the problem that the unmanned tractor and its automatic unhooking device in the prior art are prone to knocking the trailer away during docking, thus causing docking failure, thereby providing an automatic unhooking device for an unmanned tractor and an unmanned tractor.

[0004] In order to solve the above technical problems, the utility model provides an automatic unhooking device for an unmanned tractor, comprising: a mounting seat, the mounting seat having a supporting portion and a mounting portion, a proximity switch and a buffer member being arranged in the mounting portion; a guide plate, arranged on the mounting seat, and the guide plate is slidably connected to the mounting seat, and an auxiliary capture mechanism is arranged on the guide plate; a guide device, the guide device is arranged on the supporting portion, the guide device is connected to the guide plate, and drives the guide plate to perform lifting movement relative to the mounting seat; a traction mechanism, the traction mechanism comprising a traction electric push rod and a traction bolt, and a trailer traction rod, the traction electric push rod is arranged on the supporting portion and connected to the traction bolt, the traction bolt passes through the mounting portion and is connected to the trailer traction rod, the trailer traction rod abuts against the buffer member, and grooves are arranged on both sides of the trailer traction rod, and the grooves are suitable for inserting the auxiliary capture mechanism.

[0005] Furthermore, the auxiliary capture mechanism is a spring plunger.

[0006] Furthermore, the traction mechanism also includes a traction mounting plate, which is arranged at the bottom of the support portion, and the traction electric push rod passes through the traction mounting plate and is connected to the traction bolt.

[0007] Furthermore, the traction mechanism also includes a traction connector, and the traction connector connects the traction electric push rod and the traction bolt.

[0008] Furthermore, a traction hole is provided at one end of the trailer traction rod, and the traction hole is suitable for inserting the traction bolt.

[0009] Furthermore, the guide device includes a guide electric push rod and a guide connector, the guide electric push rod is arranged on the support part, one end of the guide electric push rod is connected to the guide connector, and the guide connector is connected to the guide plate.

[0010] Furthermore, the guide device also includes a guide mounting plate, the guide mounting plate is arranged on the support portion, and one end of the guide electric push rod passes through the guide mounting plate.

[0011] Furthermore, the traction electric push rod and the guide electric push rod are both equipped with limit switches.

[0012] Furthermore, it also includes a sliding mechanism, which includes a linear guide rail and a slider, the linear guide rail is arranged on the mounting seat, the slider is arranged on the guide plate, and the slider is connected to the linear guide rail.

[0013] The utility model also provides an unmanned tractor and an automatic unhooking device for the unmanned tractor.

[0014] The technical solution of the utility model has the following advantages:

[0015] The utility model provides an automatic unhooking device for an unmanned tractor, comprising: a mounting seat, the mounting seat having a supporting portion and a mounting portion, a proximity switch and a buffer member being arranged in the mounting portion; a guide plate, arranged on the mounting seat, the guide plate being slidably connected with the mounting seat, and an auxiliary capturing mechanism being arranged on the guide plate; a guiding device, the guiding device being arranged on the supporting portion, the guiding device being connected with the guide plate, and driving the guide plate to perform lifting movement relative to the mounting seat; a traction mechanism, the traction mechanism comprising a traction electric push rod and a traction bolt, and a trailer traction rod, the traction electric push rod being arranged on the supporting portion and connected with the traction bolt, the traction bolt passing through the mounting portion and connected with the trailer traction rod, the trailer traction rod abutting against the buffer member, grooves being arranged on both sides of the trailer traction rod, and the grooves being suitable for inserting the auxiliary capturing mechanism.

[0016] By arranging the proximity switch and the buffer in the mounting part, a mounting position is provided for the proximity switch and the buffer. At the same time, the guide plate is slidably arranged on the mounting seat, that is, the guide plate is driven by the guide device to perform lifting and lowering movements relative to the mounting seat; by arranging the traction electric push rod on the support part, the traction electric push rod can be used to drive the traction bolt to perform lifting and lowering movements. When traction is required, the guide plate plays a guiding role at the lower end, and the trailer traction rod can be inserted into the mounting part along the guide plate. At this time, the trailer traction rod is continuously inserted into the mounting part until it touches the buffer and the proximity switch. The proximity switch can feedback a signal to the main control device, and the trailer traction rod is inserted into place. Then, the traction electric push rod is used to drive the traction bolt to descend, thereby realizing the connection between the trailer traction rod and the traction bolt; since grooves are provided on both sides of the traction rod, it is convenient to insert the auxiliary capture mechanism, thereby realizing the locking of the trailer traction rod;

[0017] The tractor continues to reverse, and the buffer triggers the proximity switch fixed inside at the same time. The system senses that the trailer drawbar is in place, and the tractor stops backing up. Since the auxiliary capture mechanism has popped out and stuck in the groove at the front end of the trailer drawbar, the trailer drawbar cannot be knocked apart, ensuring the success rate of docking.

[0018] When the tractor drives the trailer forward, the guide plate is at the uppermost end, and the trailer can rotate significantly around the towing bolt. The overall turning radius after towing will be smaller than when there is a guide plate restriction.

[0019] The buffer is used to cushion the impact force when the tractor and the trailer's drawbar are docked; the proximity switch is used to sense the arrival signal of the trailer's drawbar during docking, so as to accurately stop the reverse.

[0020] The utility model summary is provided to introduce a selection of concepts in a simplified form, which will be further described in the following detailed description. The utility model summary is not intended to identify key features or essential features of the present disclosure, nor is it intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the structure of the automatic unhooking device for an unmanned tractor provided by the utility model;

[0023] Figure 2A side view of a mounting seat of the automatic unhooking device for an unmanned tractor provided by the utility model;

[0024] Figure 3 A schematic diagram of the structure of the guide mechanism of the automatic unhooking device for the unmanned tractor provided by the utility model;

[0025] Figure 4 This is a front view of the automatic unhooking device for an unmanned tractor provided by the utility model;

[0026] Figure 5 A schematic diagram of the structure of the traction mechanism of the automatic unhooking device for the unmanned tractor provided by the utility model;

[0027] Figure 6 A schematic diagram of the structure of a trailer traction rod of an automatic unhooking device for an unmanned tractor provided by the utility model;

[0028] Figure 7 The present invention is a schematic structural diagram of an unmanned tractor provided by the utility model.

[0029] Description of reference numerals:

[0030] 1. Mounting seat; 2. Support part; 3. Mounting part; 4. Proximity switch; 5. Buffer; 6. Guide plate; 7. Auxiliary capture mechanism; 8. Guide device; 9. Towing mechanism; 10. Towing electric push rod; 11. Towing bolt; 12. Trailer towing rod; 13. Groove; 14. Towing mounting plate; 15. Towing connector; 16. Towing hole; 17. Guide electric push rod; 18. Guide connector; 19. Guide mounting plate; 20. Sliding mechanism; 21. Linear guide rail; 22. Slider; 23. Towing vehicle. DETAILED DESCRIPTION

[0031] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0032] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0033] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0034] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0035] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0036] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0037] See also Figures 1 to 7 As shown, the utility model provides an automatic unhooking device for an unmanned tractor, comprising: a mounting seat 1, wherein the mounting seat 1 has a supporting portion 2 and a mounting portion 3, wherein a proximity switch 4 and a buffer 5 are arranged in the mounting portion 3; a guide plate 6, which is arranged on the mounting seat 1 and is slidably connected to the mounting seat 1, and an auxiliary capture mechanism 7 is arranged on the guide plate 6; a guide device 8, wherein the guide device 8 is arranged on the supporting portion 2, the guide device 8 is connected to the guide plate 6, and drives the guide plate 6 to perform lifting and lowering movements relative to the mounting seat 1; a traction mechanism 9, wherein the traction mechanism 9 comprises a traction electric push rod 10 and a traction bolt 11, and a trailer traction rod 12, wherein the traction electric push rod 10 is arranged on the supporting portion 2 and is connected to the traction bolt 11, the traction bolt 11 passes through the mounting portion 3 and is connected to the trailer traction rod 12, the trailer traction rod 12 abuts against the buffer 5, and grooves 13 are arranged on both sides of the trailer traction rod 12, and the grooves 13 are suitable for the insertion of the auxiliary capture mechanism 7.

[0038] By arranging the proximity switch 4 and the buffer 5 in the mounting portion 3, a mounting position is provided for the proximity switch 4 and the buffer 5. At the same time, the guide plate 6 is slidably arranged on the mounting seat 1, that is, the guide plate 6 is driven by the guide device 8 to perform lifting and lowering movements relative to the mounting seat 1; by arranging the traction electric push rod 10 on the support portion 2, the traction electric push rod 10 can be used to drive the traction bolt 11 to perform lifting and lowering movements. When traction is required, the guide plate 6 plays a guiding role at the lower end, and the trailer traction rod 12 can be inserted into the mounting portion 3 along the guide plate 6. At this time, the trailer traction rod 12 is continuously inserted into the mounting portion 3 until it touches the buffer 5 and the proximity switch 4. The proximity switch 4 can feedback a signal to the general control device, and the trailer traction rod 12 is inserted into place. Then, the traction electric push rod 10 is used to drive the traction bolt 11 to descend, thereby realizing the connection between the trailer traction rod 12 and the traction bolt 11; since grooves 13 are provided on both sides of the traction rod, it is convenient to insert the auxiliary capture mechanism 7, thereby realizing the locking of the trailer traction rod 12;

[0039] The tractor 23 continues to reverse, and the buffer 5 triggers the proximity switch 4 fixed inside at the same time. The system senses that the trailer drawbar 12 is in place, and the tractor 23 stops moving backward. Since the auxiliary capture mechanism 7 has popped out and stuck in the groove 13 at the front end of the trailer drawbar 12, the trailer drawbar 12 cannot be knocked away, ensuring the success rate of docking.

[0040] When the tractor 23 drives the trailer forward, the guide plate 6 is at the uppermost end, and the trailer can rotate significantly around the traction bolt 11. The overall turning radius after traction is smaller than when there is a restriction by the guide plate 6.

[0041] The mounting base 1 is fixedly connected to the rear of the tractor 23. Through the waist-shaped hole structure at the rear of the tractor 23, the mounting height of the automatic unhooking device can be manually adjusted up and down to adapt to different trailer heights.

[0042] The buffer 5 is used to buffer the impact force when the tractor 23 and the trailer traction rod 12 are docked; the proximity switch 4 is used to sense the arrival signal of the trailer traction rod 12 during docking, so as to accurately stop the reverse. The buffer 5 is a polyurethane buffer block.

[0043] Specifically, the auxiliary capture mechanism 7 is a spring plunger, which is installed on both sides of the guide plate 6 through threads.

[0044] During docking, the auxiliary capture mechanism 7 contacts both sides of the trailer traction bar 12. Under the force of the tractor 23 reversing backward, the spring in the auxiliary capture mechanism 7 is compressed until the auxiliary capture mechanism 7 is stuck in the groove 13 of the trailer traction bar 12. The tractor 23 continues to reverse backward, and the buffer 5 triggers the proximity switch 4 fixed inside at the same time. The system senses that the trailer traction bar 12 is in place, and the tractor 23 stops backing up. Since the auxiliary capture mechanism 7 has popped out at this time and is stuck in the groove 13 at the front end of the trailer traction bar 12, the trailer traction bar 12 will not be able to be knocked open, ensuring the success rate of docking.

[0045] In some optional embodiments, the traction mechanism 9 further includes a traction mounting plate 14 , which is disposed at the bottom of the support portion 2 , and the traction electric push rod 10 passes through the traction mounting plate 14 and is connected to the traction bolt 11 .

[0046] The setting of the traction mounting plate 14 provides a fixing function for the traction electric push rod 10, ensuring the stability of the installation of the traction electric push rod 10. The traction electric push rod 10 drives the traction bolt 11 to move vertically up and down to achieve the uncoupling and hooking of the unmanned tractor 23 and the trailer.

[0047] Meanwhile, the traction mechanism 9 further comprises a traction connector 15 , and the traction connector 15 connects the traction electric push rod 10 and the traction bolt 11 .

[0048] The traction connector 15 is provided to realize the connection between the traction electric push rod 10 and the traction bolt 11 , and mainly plays a transition role to ensure the stability of the connection between the traction electric push rod 10 and the traction bolt 11 .

[0049] A traction hole 16 is provided at one end of the trailer traction rod 12, and the traction hole 16 is suitable for inserting the traction bolt 11. The provision of the traction hole 16 facilitates the insertion of the traction bolt 11, thereby realizing the connection between the trailer traction rod 12 and the traction bolt 11, that is, realizing the uncoupling and hooking of the unmanned tractor 23 with the trailer.

[0050] In some optional embodiments, the guide device 8 includes a guide electric push rod 17 and a guide connecting head 18, the guide electric push rod 17 is arranged on the support part 2, one end of the guide electric push rod 17 is connected to the guide connecting head 18, and the guide connecting head 18 is connected to the guide plate 6.

[0051] Meanwhile, the guide device 8 further comprises a guide mounting plate 19 , wherein the guide mounting plate 19 is arranged on the support portion 2 , and one end of the guide electric push rod 17 passes through the guide mounting plate 19 .

[0052] By setting the guide mounting plate 19, the guide electric push rod 17 is installed on the support part 2 of the mounting seat 1, and the guide electric push rod 17 passes through the support part 2 and is connected to the guide connecting head 18. The guide connecting head 18 is hinged to the guide plate 6, so that the guide plate 6 can be driven by the guide electric push rod 17 to perform lifting movement relative to the mounting seat 1, thereby providing power for the lifting movement of the guide plate 6.

[0053] Among them, floating connection is adopted between the traction connector 15 and the traction bolt 11, and between the guide connector 18 and the guide plate 6 to prevent the lateral shaking of the traction bolt 11 and the guide plate 6 from damaging the traction electric push rod 10 and the guide electric push rod 17 on the top.

[0054] In some optional embodiments, both the traction electric push rod 10 and the guide electric push rod 17 are built with limit switches. When the traction electric push rod 10 and the guide electric push rod 17 are at their limit positions, signals are output.

[0055] The automatic unhooking device for the unmanned tractor further comprises a sliding mechanism 20 , which comprises a linear guide rail 21 and a slider 22 . The linear guide rail 21 is arranged on the mounting seat 1 , and the slider 22 is arranged on the guide plate 6 . The slider 22 is connected to the linear guide rail 21 .

[0056] The arrangement of the linear guide rail 21 and the slider 22 enables the guide plate 6 to move up and down relative to the mounting seat 1 under the drive of the guide device 8 .

[0057] The automatic uncoupling process of the automatic uncoupling device for unmanned tractor is as follows: after the tractor 23 reaches the vicinity of the trailer, it reverses. At this time, the guide plate 6 is at the bottom, the towing bolt 11 is at the top, the trailer towing rod 12 enters the guide plate 6, and continues to reverse. The trailer towing rod 12 enters the end of the bell mouth under the guidance of the guide plate 6, and the auxiliary capture mechanism 7 is stuck in the groove 13 at the front end of the trailer towing rod 12. The trailer towing rod 12 hits the buffer 5 and triggers the proximity switch 4 fixed inside. The tractor 23 stops reversing, the towing electric push rod 10 is started, driving the towing bolt 11 to move downward, and the towing towing bolt 11 enters the towing hole 16 on the trailer towing rod 12. The guide electric push rod 17 is completed. When the tractor 23 is fully extended, the guide electric push rod 17 feeds back the lower limit switch signal, and the tractor 23 moves forward. At the same time, the traction electric push rod 10 starts, driving the guide plate 6 to move upward until the traction electric push rod 10 feeds back the upper limit switch signal. At this time, the tractor 23 is allowed to turn sharply and arrive at the destination. The tractor 23 stops moving, the guide electric push rod 17 starts, driving the traction bolt 11 to move upward, and the guide electric push rod 17 feeds back the upper limit switch signal. The tractor 23 moves forward and leaves the unloading area. The guide electric push rod 17 starts, driving the guide plate 6 to move downward, and the guide electric push rod 17 feeds back the lower limit switch signal. At this time, the tractor 23 can enter the next unhooking process.

[0058] The utility model also provides an unmanned tractor, comprising the automatic unhooking device for the unmanned tractor.

[0059] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. An automatic unhooking device for an unmanned tractor, characterized in that: include: A mounting seat (1), the mounting seat (1) comprising a supporting portion (2) and a mounting portion (3), wherein a proximity switch (4) and a buffer member (5) are arranged in the mounting portion (3); A guide plate (6) is arranged on the mounting seat (1), and the guide plate (6) is slidably connected to the mounting seat (1), and an auxiliary capture mechanism (7) is provided on the guide plate (6); A guide device (8), wherein the guide device (8) is arranged on the support portion (2), the guide device (8) is connected to the guide plate (6), and drives the guide plate (6) to perform lifting movement relative to the mounting seat (1); A traction mechanism (9), the traction mechanism (9) comprising a traction electric push rod (10) and a traction bolt (11), and a trailer traction rod (12), the traction electric push rod (10) being arranged on the support portion (2) and connected to the traction bolt (11), the traction bolt (11) passing through the mounting portion (3) and connected to the trailer traction rod (12), the trailer traction rod (12) abutting against the buffer (5), grooves (13) being arranged on both sides of the trailer traction rod (12), the grooves (13) being suitable for the insertion of the auxiliary capture mechanism (7).

2. The automatic unhooking device for an unmanned tractor according to claim 1, characterized in that: The auxiliary capture mechanism (7) is a spring plunger.

3. The automatic unhooking device for an unmanned tractor according to claim 1, characterized in that: The traction mechanism (9) further comprises a traction mounting plate (14), wherein the traction mounting plate (14) is arranged at the bottom of the support portion (2), and the traction electric push rod (10) passes through the traction mounting plate (14) and is connected to the traction bolt (11).

4. The automatic unhooking device for an unmanned tractor according to claim 3 is characterized in that: The traction mechanism (9) further comprises a traction connector (15), wherein the traction connector (15) connects the traction electric push rod (10) and the traction bolt (11).

5. The automatic unhooking device for an unmanned tractor according to claim 4 is characterized in that: One end of the trailer traction rod (12) is provided with a traction hole (16), and the traction hole (16) is suitable for inserting the traction bolt (11).

6. The automatic unhooking device for an unmanned tractor according to any one of claims 3 to 5, characterized in that: The guide device (8) comprises a guide electric push rod (17) and a guide connecting head (18); the guide electric push rod (17) is arranged on the support portion (2); one end of the guide electric push rod (17) is connected to the guide connecting head (18); and the guide connecting head (18) is connected to the guide plate (6).

7. The automatic unhooking device for an unmanned tractor according to claim 6, characterized in that: The guide device (8) further comprises a guide mounting plate (19), wherein the guide mounting plate (19) is arranged on the support portion (2), and one end of the guide electric push rod (17) passes through the guide mounting plate (19).

8. The automatic unhooking device for an unmanned tractor according to claim 7, characterized in that: The traction electric push rod (10) and the guide electric push rod (17) are both equipped with limit switches.

9. The automatic unhooking device for an unmanned tractor according to claim 8, characterized in that: The invention also comprises a sliding mechanism (20), wherein the sliding mechanism (20) comprises a linear guide rail (21) and a sliding block (22), wherein the linear guide rail (21) is arranged on the mounting seat (1), the sliding block (22) is arranged on the guide plate (6), and the sliding block (22) is connected to the linear guide rail (21).

10. An unmanned tractor, characterized in that: The invention comprises the automatic unhooking device for an unmanned tractor according to any one of claims 1 to 9.

Images