Goods taking and placing device and robot

Abstract

The utility model relates to the technical field of intelligent warehousing, and particularly discloses a goods taking and placing device and a robot, which comprise a fork mechanism for taking and placing goods from a goods shelf and an anti-falling mechanism arranged on the fork mechanism, wherein the anti-falling mechanism has an extending state in which the anti-falling mechanism extends to abut against the goods shelf so as to limit the pallet fork mechanism from shaking relative to the goods shelf; the storage rack has a retraction state of being separated from the storage rack. According to the goods picking and placing device and the robot, the problem that an existing robot is prone to shaking after bearing counter-acting force of goods when picking and placing the goods can be effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent warehousing, and in particular to a cargo picking and placing device and a robot. Background Art

[0002] With the innovation of logistics technology, robots are widely used in warehouses in various fields. Robots can receive instructions to pick up and place goods at designated locations, greatly improving the handling efficiency of warehouse materials.

[0003] However, when the robot picks up and places goods, it needs to apply a thrust to the goods, and the goods then provide a reaction force to the robot. This reaction force can cause the robot to shake, affecting the stability of the robot when picking up and placing goods.

[0004] Therefore, it is necessary to improve the existing robots to solve the problem that they are prone to shaking after being subjected to the reaction force of the goods when picking up and placing the goods.

[0005] The above information disclosed in this Background section is included only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not form the prior art that is currently known to a person of ordinary skill in the art. Utility Model Content

[0006] One purpose of the utility model is to provide a cargo picking and placing device and a robot, which can effectively solve the problem that the existing robot is prone to shaking after receiving the reaction force of the cargo when picking and placing the cargo.

[0007] To achieve the above purpose, the utility model provides a cargo picking and placing device and a robot, comprising a fork mechanism for picking and placing cargo from a shelf and an anti-falling mechanism installed on the fork mechanism;

[0008] The anti-falling mechanism has an extended state in which it is extended to abut against the shelf to limit the fork mechanism from shaking relative to the shelf; and a retracted state in which it is separated from the shelf.

[0009] Optionally, the anti-falling mechanism includes two sets of linear telescopic components in opposite directions and against the shelf, wherein the linear telescopic components include an anti-falling linear driving mechanism and a push rod with one end connected to the driving end of the anti-falling linear driving mechanism.

[0010] Optionally, the fork mechanism includes a fork base plate, a telescopic fork module located above the fork base plate, and a rotation drive assembly that drives the telescopic fork module to rotate around a vertical axis relative to the fork base plate.

[0011] Optionally, the telescopic fork module includes:

[0012] A rotating bottom plate, the rotating bottom plate is located above the fork bottom plate;

[0013] A sliding top plate, the sliding top plate is located above the rotating bottom plate and is slidably connected to the rotating bottom plate;

[0014] A spring, one end of which is connected to the rotating bottom plate, and the other end of which is connected to the sliding top plate, for driving the sliding top plate to slide relative to the rotating bottom plate toward the shelf;

[0015] A linkage telescopic unit is installed on the rotating base plate.

[0016] Optionally, the rotation drive assembly includes:

[0017] Rotating drive chain;

[0018] A rotating drive sprocket, wherein the rotating drive sprocket is fixedly mounted on the bottom of the rotating base plate;

[0019] A first rotary drive mechanism is installed on the fork bottom plate, and a driving end of the first rotary drive mechanism is drivingly connected to the rotary drive sprocket through a rotary drive chain.

[0020] Optionally, a limiting groove coaxial with the rotating drive sprocket is provided at the bottom of the rotating base plate, and a limiting column protruding upward into the limiting groove is provided on the top surface of the fork base plate.

[0021] Optionally, the linkage telescopic unit includes:

[0022] A telescopic drive chain, the telescopic drive chain is rotatably mounted on the rotating base plate;

[0023] A second rotary drive mechanism, wherein a driving end of the second rotary drive mechanism is drivingly connected to the telescopic drive chain;

[0024] A middle fork driving plate, wherein the middle fork driving plate is fixedly mounted on the telescopic driving chain;

[0025] A middle fork plate, wherein the middle fork plate is fixedly mounted on the middle fork driving plate;

[0026] An inner fork plate, wherein the inner fork plate is slidably connected to the inner side of the middle fork plate and is fixedly arranged relative to the rotating bottom plate;

[0027] An outer fork plate, the outer fork plate being slidably connected to the outer side of the middle fork plate;

[0028] A pulley, the pulley being mounted on the middle fork plate;

[0029] A transmission belt is passed around the pulley, and one side of the transmission belt is fixedly connected to the inner fork plate, and the other side of the transmission belt is fixedly connected to the outer fork plate.

[0030] Optionally, an extension plate extending outward is fixedly provided on the side of the sliding top plate;

[0031] The middle fork driving plate is fixedly provided with a limit block located in front of the extension plate to limit the sliding top plate from continuing to slide toward the shelf.

[0032] Optionally, the fork mechanism further includes a third rotation drive mechanism fixedly mounted on the outer fork plate and a cargo baffle plate connected to the third rotation drive mechanism.

[0033] On the other hand, a robot is provided, comprising a material storage rack, a lifting mechanism, and any one of the picking and placing devices installed on the lifting mechanism.

[0034] The beneficial effects of the utility model are as follows: a picking and placing device and a robot are provided. When it is necessary to pick and place goods, the anti-falling mechanism first enters an extended state. At this time, the picking and placing device abuts against the shelf to limit the shaking of the fork mechanism relative to the shelf. Therefore, even if it is subjected to the reaction force of the goods, it will not shake easily. When the picking and placing of goods is completed, the anti-falling mechanism switches to a retracted state. After leaving the shelf, the picking and placing device can move to other workstations to perform handling operations.

[0035] Therefore, the cargo picking and placing device and robot provided by the utility model can effectively solve the problem that the existing robots are prone to shaking after receiving the reaction force of the cargo when picking and placing the cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] Figure 1 A schematic diagram of the structure of a robot provided in an embodiment;

[0038] Figure 2 A schematic diagram of the structure of a cargo picking and placing device provided in an embodiment;

[0039] Figure 3 A schematic diagram of the structure of the anti-fall mechanism provided in the embodiment;

[0040] Figure 4 A bottom schematic diagram of the cargo picking and placing device provided in the embodiment with the cargo fork bottom plate and the rotating bottom plate hidden;

[0041] Figure 5A top schematic diagram of the cargo picking and placing device provided in the embodiment with the cargo fork bottom plate and the sliding top plate hidden;

[0042] Figure 6 A schematic structural diagram of a linkage telescopic unit provided in an embodiment (the inner fork plate on the left is omitted).

[0043] In the figure:

[0044] 100, material storage rack; 200, lifting mechanism; 300, cargo picking and placing device;

[0045] 1. Fork mechanism;

[0046] 101, fork bottom plate; 1011, limit column;

[0047] 102, telescopic fork module; 1021, rotating bottom plate; 1021a, limiting groove; 1022, sliding top plate; 1023, spring; 1024, linkage telescopic unit; 1024a, telescopic drive chain; 1024b, second rotary drive mechanism; 1024c, middle fork drive plate; 1024d, middle fork plate; 1024e, inner fork plate; 1024f, outer fork plate; 1024g, pulley; 1024h, transmission belt; 1024i, chain wheel; 1024j, chain shaft; 1025, extension plate; 1026, limiting block;

[0048] 103, rotation drive assembly; 1031, rotation drive chain; 1032, rotation drive sprocket; 1033, first rotation drive mechanism;

[0049] 104. A third rotation driving mechanism;

[0050] 105. Cargo baffle;

[0051] 2. Anti-fall mechanism; 201. Anti-fall linear drive mechanism; 202. Push rod; 203. Elastic pad. DETAILED DESCRIPTION

[0052] In order to make the purpose, features and advantages of the utility model more obvious and easy to understand, the technical scheme in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the embodiment described below is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0053] In the description of the present utility model, it is to be understood that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally arranged component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a centrally arranged component at the same time.

[0054] In addition, terms such as "long", "short", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only used to facilitate the description of the present invention. They do not indicate or imply that the device or component referred to must have this specific direction or operate with a specific direction structure, and should not be understood as a limitation of the present invention.

[0055] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0056] The utility model provides a cargo picking and placing device, and provides a robot with the cargo picking and placing device, which is suitable for application scenarios of picking up cargo from shelves, and can effectively solve the problem that the existing robot is prone to shaking after being subjected to the reaction force of the cargo when picking up and placing the cargo.

[0057] See also Figure 1 The robot provided in this embodiment includes a storage rack 100, a lifting mechanism 200, and a picking and placing device 300 installed on the lifting mechanism 200.

[0058] See also Figure 2 The cargo picking and placing device 300 comprises a fork mechanism 1 for picking and placing cargo from a shelf and an anti-falling mechanism 2 mounted on the fork mechanism 1. The anti-falling mechanism 2 has an extended state in which the fork mechanism 1 is extended to abut against the shelf to limit the fork mechanism 1 from shaking relative to the shelf, and a retracted state in which the fork mechanism 1 is separated from the shelf.

[0059] The fork mechanism 1 includes a fork base plate 101 fixed to the lifting mechanism 200 , a telescopic fork module 102 located above the fork base plate 101 , and a rotation drive assembly 103 driving the telescopic fork module 102 to rotate relative to the fork base plate 101 around a vertical axis.

[0060] Taking the process of taking out goods from the shelf and placing them in the storage rack 100 as an example, the overall working process of the picking and placing device 300 provided in this embodiment is as follows:

[0061] S10: The cargo pick-up and placement device 300 is moved to a position close to the shelf, and the rotary drive assembly 103 drives the telescopic fork module 102 to rotate until the material inlet and outlet are facing the shelf;

[0062] S20: the anti-falling mechanism 2 enters the extended state. At this time, the anti-falling mechanism 2 abuts against the shelf, and the two are effectively relatively positioned to a certain extent. Therefore, even if the reaction force of the goods is applied during the subsequent transportation process, the shelf will not easily shake;

[0063] S30: The telescopic fork module 102 takes out the goods from the shelf;

[0064] S40: the anti-fall mechanism 2 switches to the retracted state and leaves the shelf;

[0065] S50: The rotary drive assembly 103 drives the telescopic fork module 102 to rotate to the material inlet and outlet facing the storage rack 100. The lifting mechanism 200 drives the picking and placing device 300 to move to a suitable height. The picking and placing device 300 puts the goods into the storage rack 100, thereby completing the goods removal operation.

[0066] See also Figure 3 In this embodiment, the anti-fall mechanism 2 includes two sets of linear telescopic components arranged in opposite directions, wherein the linear telescopic components include an anti-fall linear driving mechanism 201, a push rod 202 connected to the driving end of the anti-fall linear driving mechanism 201 at one end, and an elastic pad 203 connected to the other end of the push rod 202. The linear driving mechanism described in this embodiment can be a motor screw assembly, a cylinder, a hydraulic cylinder or an electric cylinder, etc., and the utility model does not limit this.

[0067] When the anti-falling linear driving mechanism 201 drives the push rod 202 to extend outward, the elastic pad 203 can laterally support the shelf to prevent the picking and placing device 300 from shaking.

[0068] Optionally, the driving direction of the anti-falling linear driving mechanism 201 is perpendicular to the cargo transporting direction of the cargo fork mechanism 1. For example, when the cargo fork mechanism 1 transports cargo in the front-to-back direction, the anti-falling linear driving mechanism 201 is extended and retracted in the left-to-right direction to maximize the maximum static friction between the anti-falling mechanism 2 and the shelf, so as to ensure the reliability of the relative positioning between the cargo picking and placing device 300 and the shelf.

[0069] See also Figure 4 and Figure 5In this embodiment, the telescopic fork module 102 includes a rotating base plate 1021, a sliding top plate 1022, a spring 1023, and a linkage telescopic unit 1024. The rotating base plate 1021 is located above the fork base plate 101. The sliding top plate 1022 is located above the rotating base plate 1021 and is slidably connected to the rotating base plate 1021. One end of the spring 1023 is connected to the rotating base plate 1021, and the other end is connected to the sliding top plate 1022, and is used to drive the sliding top plate 1022 to slide relative to the rotating base plate 1021 toward the shelf. The linkage telescopic unit 1024 is installed on the rotating base plate 1021. Optionally, the anti-fall mechanism 2 is installed at the bottom of the rotating base plate 1021.

[0070] The rotary drive assembly 103 includes a rotary drive chain 1031, a rotary drive sprocket 1032, and a first rotary drive mechanism 1033. The rotary drive sprocket 1032 is fixedly mounted on the bottom of the rotary base plate 1021. The first rotary drive mechanism 1033 is mounted on the fork base plate 101, and the driving end of the first rotary drive mechanism 1033 is connected to the rotary drive sprocket 1032 through the rotary drive chain 1031. The bottom of the rotary base plate 1021 is provided with a limiting groove 1021a coaxial with the rotary drive sprocket 1032, and the top surface of the fork base plate 101 is provided with a limiting column 1011 protruding upward into the limiting groove 1021a.

[0071] Specifically, in steps S10 and S50, when it is necessary to adjust the angle of the inlet and outlet of the telescopic fork module 102, it is only necessary to start the first rotary drive mechanism 1033, so that the rotary drive chain 1031 can drive the rotary drive sprocket 1032 and the rotating base plate 1021 to rotate. Since the telescopic fork module 102 is installed on the rotating base plate 1021, the direction of the inlet and outlet of the telescopic fork module 102 can be adjusted.

[0072] Optionally, the limiting groove 1021a is a semicircular structure with a central angle of 180°, so as to limit the rotation angle of the fork mechanism 1 to be between 0° and 180°.

[0073] See also Figure 6 In this embodiment, the linkage telescopic unit 1024 includes a telescopic drive chain 1024a, a second rotation drive mechanism 1024b, a middle fork drive plate 1024c, a middle fork plate 1024d, an inner fork plate 1024e, an outer fork plate 1024f, a pulley 1024g, and a transmission belt 1024h.

[0074] The telescopic drive chain 1024a is rotatably mounted on the rotating base plate 1021 through a chain wheel 1024i and a chain shaft 1024j. The middle fork drive plate 1024c is fixed on the telescopic drive chain 1024a, and the middle fork plate 1024d is fixed on the middle fork drive plate 1024c. The driving end of the second rotary drive mechanism 1024b is transmission-connected with the telescopic drive chain 1024a, so that the middle fork plate 1024d can be driven to perform telescopic translational movement in the front-rear direction relative to the rotating base plate 1021 through the telescopic drive chain 1024a and the middle fork drive plate 1024c.

[0075] The inner fork plate 1024e is slidably connected to the inner side of the middle fork plate 1024d, and the inner fork plate 1024e is fixedly arranged relative to the rotating base plate 1021. The outer fork plate 1024f is slidably connected to the outer side of the middle fork plate 1024d. The pulley 1024g is installed on the middle fork plate 1024d. The transmission belt 1024h passes around the pulley 1024g, and one side of the transmission belt 1024h is fixedly connected to the inner fork plate 1024e and the other side is fixedly connected to the outer fork plate 1024f.

[0076] In this embodiment, an outwardly extending extension plate 1025 is fixedly provided on the side of the sliding top plate 1022; a limit stopper 1026 is fixedly provided on the middle fork driving plate 1024c and is located in front of the extension plate 1025 to limit the sliding top plate 1022 from continuing to slide toward the shelf.

[0077] At the beginning, the middle fork driving plate 1024c is at a rearward position. Due to the blocking effect of the limit stopper 1026, the sliding top plate 1022 overcomes the elastic force of the spring 1023 and slides backward to the limit position. At this time, it does not protrude to the outside of the rotating bottom plate 1021.

[0078] When it is necessary to take the goods, the second rotary drive mechanism 1024b drives the middle fork drive plate 1024c to drive the limit stopper 1026 and the middle fork plate 1024d to move forward. In this process:

[0079] On the one hand, without the limiting effect of the limit stopper 1026 on the extension plate 1025, the spring 1023 drives the sliding top plate 1022 to slide forward until the sliding top plate 1022 abuts against the front surface of the shelf, so that the goods can be smoothly transferred from the shelf to the sliding top plate 1022;

[0080] On the other hand, since the inner fork plate 1024e is fixed relative to the rotating base plate 1021, when the second rotating drive mechanism 1024b drives the middle fork plate 1024d to move forward relative to the rotating base plate 1021, the transmission belt 1024h will drive the outer fork plate 1024f to move forward at twice the speed of the middle fork plate 1024d so as to reach into the shelf to pick up goods.

[0081] When the second rotary drive mechanism 1024b drives the middle fork drive plate 1024c to drive the limit stopper 1026 and the middle fork plate 1024d to move backward, the limit stopper 1026 overcomes the elastic force of the spring 1023 again, and pulls the sliding top plate 1022 backward to just above the rotating bottom plate 1021; similarly, the middle fork plate 1024d drives the transmission belt 1024h to rotate in the opposite direction, thereby realizing three-stage telescopic. Specifically, the three-stage telescopic structure of the linkage telescopic unit 1024 realized by the transmission belt 1024h belongs to the prior art, which is not the focus of this embodiment, and is therefore not described in detail.

[0082] Optionally, the fork mechanism 1 further comprises a third rotary drive mechanism 104 fixedly mounted on the outer fork plate 1024f and a cargo baffle 105 connected to the third rotary drive mechanism 104. When taking goods, the third rotary drive mechanism 104 can be driven to switch the cargo baffle 105 to a horizontal state to block the goods and prevent them from falling.

[0083] It should be noted that, in this embodiment, each of the linear drive mechanisms may be a cylinder, a hydraulic cylinder, an electric cylinder or a motor screw module, etc., and each of the rotary drive mechanisms may be a brushed motor, a brushless motor or an electric cylinder, etc. The utility model does not limit the specific structure and form of the linear drive mechanism and the rotary drive mechanism.

[0084] In summary, the cargo picking and placing device 300 and the robot provided in this embodiment have the following advantages:

[0085] ① When it is necessary to pick up and place goods, the anti-fall mechanism 2 enters the extended state to limit the shaking of the fork mechanism 1 relative to the shelf, thereby solving the problem that the existing robot is prone to shaking after receiving the reaction force of the goods when picking up and placing goods;

[0086] ② A rotary drive assembly 103 is provided so that the direction of the inlet and outlet of the telescopic fork module 102 can be adjusted, so as to facilitate multi-angle cargo handling operations;

[0087] ③ The sliding top plate 1022 can automatically extend and press against the shelf so that the goods can be smoothly transferred from the shelf to the sliding top plate 1022.

[0088] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0089] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the utility model. They are not intended to limit the protection scope of the utility model. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A cargo picking and placing device, characterized in that: It comprises a fork mechanism (1) for picking up and placing goods from a shelf and an anti-fall mechanism (2) installed on the fork mechanism (1); The anti-fall mechanism (2) has an extended state in which it is extended to abut against the shelf to limit the fork mechanism (1) from shaking relative to the shelf; and a retracted state in which it is separated from the shelf.

2. The cargo picking and placing device according to claim 1, characterized in that: The anti-falling mechanism (2) comprises two sets of linear telescopic components in opposite directions and against the shelf, wherein the linear telescopic components comprise an anti-falling linear driving mechanism (201) and a push rod (202) one end of which is connected to the driving end of the anti-falling linear driving mechanism (201).

3. The cargo picking and placing device according to claim 1, characterized in that: The fork mechanism (1) comprises a fork base plate (101), a telescopic fork module (102) located above the fork base plate (101), and a rotary drive assembly (103) for driving the telescopic fork module (102) to rotate relative to the fork base plate (101) around a vertical axis.

4. The cargo picking and placing device according to claim 3, characterized in that: The telescopic fork module (102) comprises: A rotating bottom plate (1021), wherein the rotating bottom plate (1021) is located above the fork bottom plate (101); A sliding top plate (1022), the sliding top plate (1022) is located above the rotating bottom plate (1021) and is slidably connected to the rotating bottom plate (1021); a spring (1023), one end of the spring (1023) being connected to the rotating bottom plate (1021), and the other end of the spring (1023) being connected to the sliding top plate (1022), and being used to drive the sliding top plate (1022) to slide relative to the rotating bottom plate (1021) toward the shelf; A linked telescopic unit (1024), wherein the linked telescopic unit (1024) is installed on the rotating base plate (1021).

5. The cargo picking and placing device according to claim 4, characterized in that: The rotary drive assembly (103) comprises: Rotating drive chain (1031); A rotating driving sprocket (1032), wherein the rotating driving sprocket (1032) is fixedly mounted on the bottom of the rotating base plate (1021); A first rotary drive mechanism (1033), wherein the first rotary drive mechanism (1033) is mounted on the fork base plate (101), and a driving end of the first rotary drive mechanism (1033) is transmission-connected to the rotary drive sprocket (1032) via a rotary drive chain (1031).

6. The cargo picking and placing device according to claim 5, characterized in that: The bottom of the rotating base plate (1021) is provided with a limiting groove (1021a) coaxial with the rotating drive sprocket (1032), and the top surface of the fork base plate (101) is provided with a limiting column (1011) protruding upward into the limiting groove (1021a).

7. The cargo picking and placing device according to claim 5, characterized in that: The linkage telescopic unit (1024) comprises: A telescopic driving chain (1024a), wherein the telescopic driving chain (1024a) is rotatably mounted on the rotating base plate (1021); A second rotating drive mechanism (1024b), wherein a driving end of the second rotating drive mechanism (1024b) is drivingly connected to the telescopic drive chain (1024a); A middle fork driving plate (1024c), wherein the middle fork driving plate (1024c) is fixedly mounted on the telescopic driving chain (1024a); A middle fork plate (1024d), wherein the middle fork plate (1024d) is fixedly mounted on the middle fork driving plate (1024c); An inner fork plate (1024e), wherein the inner fork plate (1024e) is slidably connected to the inner side of the middle fork plate (1024d), and the inner fork plate (1024e) is fixedly arranged relative to the rotating bottom plate (1021); An outer fork plate (1024f), wherein the outer fork plate (1024f) is slidably connected to the outer side of the middle fork plate (1024d); A pulley (1024g), the pulley (1024g) being mounted on the middle fork plate (1024d); A transmission belt (1024h), wherein the transmission belt (1024h) passes around the pulley (1024g), and one side of the transmission belt (1024h) is fixedly connected to the inner fork plate (1024e) and the other side is fixedly connected to the outer fork plate (1024f).

8. The cargo picking and placing device according to claim 7, characterized in that: An extension plate (1025) extending outward is fixedly provided on the side of the sliding top plate (1022); The middle fork driving plate (1024c) is fixedly provided with a limit stopper (1026) located in front of the extension plate (1025) to limit the sliding top plate (1022) from continuing to slide toward the shelf.

9. The cargo picking and placing device according to claim 7, characterized in that: The cargo fork mechanism (1) further comprises a third rotary drive mechanism (104) fixedly mounted on the outer fork plate (1024f) and a cargo baffle plate (105) connected to the third rotary drive mechanism (104).

10. A robot, characterized in that: It comprises a material storage rack (100), a lifting mechanism (200), and a cargo picking and placing device (300) as claimed in any one of claims 1 to 9 and installed on the lifting mechanism (200).

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