Multi-arm binding collaborative binding robot

Abstract

The utility model discloses a multi-arm binding collaborative binding robot. The multi-arm binding collaborative binding robot is characterized in that a continuous wire feeding mechanism is arranged on a binding mechanism; the two supporting columns are oppositely arranged, and each group of supporting columns is provided with a longitudinal supporting beam; the supporting cross beam is arranged between the two longitudinal supporting beams and is movably connected with the longitudinal supporting beams through a moving driving mechanism, the binding mechanism is arranged on the supporting cross beam and is movably connected with the supporting cross beam through a second moving driving mechanism, racks are arranged on the inner sides of the longitudinal supporting beams, linear rails are arranged on the upper portions of the longitudinal supporting beams, and a set of drag chain boxes are arranged on the outer sides of the longitudinal supporting beams. The drag chain box is connected with the end of the supporting cross beam through an adapter frame, and a guide rail is arranged above the longitudinal supporting beam. According to the multi-arm binding device, the structure is optimized, at least one supporting cross beam is arranged, at least one binding structure is arranged on the cross beam, multi-arm simultaneous binding can be achieved according to production requirements, the binding rhythm is shortened, the binding efficiency is improved, and meanwhile the longitudinal supporting beam is further arranged.

Description

Technical Field

[0001] The utility model belongs to the technical field of steel bar binding, and particularly relates to a multi-arm binding cooperative binding robot. Background Art

[0002] Rebar tying is the process of tying the intersections of transversely arranged steel bars and longitudinally arranged steel bars. It is a rigid process in construction. The current operating methods mainly include manual tying and machine tying.

[0003] Pure manual tying will waste a lot of manpower and have low tying efficiency, which will seriously affect the subsequent construction;

[0004] Most machine lashing uses a single-arm robot, which can only tie one node at a time, and the lashing gun needs to move multiple times to complete the lashing of one node, which seriously affects its lashing efficiency.

[0005] In addition, the wire feeding reel of the existing wire feeding mechanism is small and has low sustainable working performance. Some wires are tied with a tying gun. During the tying process, the wires are easy to loosen, and the existing wire feeding mechanism cannot stop feeding the wires immediately. This will cause more and more wires to accumulate or even get entangled, seriously affecting the normal tying of the tying gun. Utility Model Content

[0006] Purpose of the utility model: In order to overcome the above-mentioned shortcomings, the purpose of the utility model is to provide a multi-arm collaborative binding robot, which optimizes the structure, arranges at least one supporting beam, and arranges at least one binding structure on the beam, so that it can realize multi-arm simultaneous binding according to production needs, and at the same time, a longitudinal support beam is also arranged, so that the supporting beam can be moved along the longitudinal support beam according to actual needs, thereby completing the binding task within its own binding area and effectively improving the binding efficiency.

[0007] Technical solution: In order to achieve the above purpose, the utility model provides a multi-arm lashing collaborative lashing robot, comprising:

[0008] At least one binding mechanism, wherein a continuous wire feeding mechanism is provided on the binding mechanism;

[0009] Two support columns, the two support columns are arranged opposite to each other, and each group of support columns is provided with a longitudinal support beam;

[0010] At least one supporting beam is provided between the two longitudinal supporting beams and is movably connected to the longitudinal supporting beams through a movable driving mechanism; the binding mechanism is provided on the supporting beam and is movably connected to the supporting beam through a second movable driving mechanism.

[0011] The inner side of the longitudinal support beam is provided with a rack, the upper part is provided with a linear rail, and the outer side is provided with a group of drag chain boxes, the drag chain boxes are connected to the end of the support beam through an adapter frame, and a guide rail is provided above the longitudinal support beam. The multi-arm lashing collaborative lashing robot described in the utility model optimizes the structure, sets at least one support beam, and sets at least one lashing structure on the beam, so that it can realize multi-arm simultaneous lashing according to production needs, so as to shorten the lashing cycle and improve the lashing efficiency. At the same time, a longitudinal support beam is also provided, so that the support beam can move along the longitudinal support beam according to actual needs, so as to complete the lashing task within its own lashing area, and effectively improve the lashing efficiency.

[0012] Wherein, movable driving plates are arranged at both ends of the supporting crossbeam, a group of sliding blocks are arranged on the movable driving plates, the sliding blocks are slidably connected with the guide rails, the adapter frame is connected with the movable driving plates; and a transverse rack is arranged on the supporting crossbeam.

[0013] Furthermore, the mobile drive mechanism includes a drive shaft, a first drive motor and a group of drive gears. The drive shaft is arranged parallel to the supporting beam, one end of which passes through the end of the supporting beam, and the other end is provided with a gear box, and the gear box is meshed and connected with the main drive gear at the output end of the first drive motor. The drive gears are arranged at both ends of the drive shaft, and the drive gears are meshed with corresponding racks.

[0014] Furthermore, the tying mechanism includes a tying structure, and the tying structure is fixed on a fixing frame;

[0015] A buffer mechanism, wherein the buffer mechanism is arranged on the top of the fixing frame;

[0016] A swing cylinder is arranged above the buffer mechanism and connected to the buffer mechanism, and the upper part of the swing cylinder is fixed on the lashing arm; and a calibration rod for calibrating the lashing arm is also included, and the calibration rod is arranged on the fixing frame. The setting of the swing cylinder enables it to drive the lashing structure to rotate 90 degrees to achieve cross lashing, and the setting of the calibration rod can calibrate the installation position of the lashing gun to improve its lashing quality.

[0017] Preferably, the second mobile driving mechanism includes a transverse moving mounting plate, a transverse moving driving motor and a transverse driving gear, the binding arm is installed on the transverse moving mounting plate, the transverse moving driving motor is fixed on the transverse moving mounting plate, the transverse driving gear is installed on the output end of the transverse moving driving motor, and it is meshed with the transverse rack, and the top of the transverse moving mounting plate is connected to the corresponding chain box through an adapter plate.

[0018] Further preferably, the buffer mechanism comprises a top plate, a bottom plate and a group of buffer springs, the top plate and the bottom plate are arranged opposite to each other up and down, the buffer spring is arranged between the top plate and the bottom plate, and the upper and lower ends are respectively connected to the top plate and the bottom plate, the top plate is connected to the output end of the swing cylinder, and the bottom plate is connected to the disc on the top of the fixed frame;

[0019] More preferably, the buffer mechanism further includes a protective cover, which is arranged outside the buffer spring. The setting of the buffer mechanism can achieve a good buffering effect, and the setting of the spring can not only protect the lashing structure, but also play a certain fine-tuning role.

[0020] In addition, it also includes a longitudinal horizontal moving module, which is fixed to the tying arm through a cylinder fixing seat, and the top of the swing cylinder is slidably connected to the slide table of the longitudinal horizontal moving module through a sliding seat. The longitudinal horizontal moving module is set to adjust the longitudinal position of the tying structure to better meet the tying needs.

[0021] The continuous wire feeding mechanism includes a wire feeding mounting frame, a wire guide disc assembly, a wire guide mechanism and a wire disc brake mechanism. The wire guide disc assembly is arranged on the wire feeding mounting frame, the wire guide mechanism is arranged on the upper part of the wire feeding mounting frame, and the wire disc brake mechanism is arranged behind the wire guide disc assembly and connected to the wire guide mechanism through a connecting rod. The wire guide disc assembly continuously feeds wire to the wire guide mechanism. Once the binding wire is loose, the wire disc brake mechanism will brake the wire guide disc assembly to stop feeding wire.

[0022] The wire guide reel assembly includes a wire reel support frame, a first drive shaft, a wire reel and a wire reel driving mechanism. The wire reel support frame is arranged on the wire feeding mounting frame, the first drive shaft is arranged on the wire reel support frame, the wire reel is arranged on the outside of the first drive shaft, and the wire reel driving mechanism is connected to the wire feeding mounting frame through a second fixing frame, and its output end is connected to the first drive shaft.

[0023] It can be seen from the above technical solution that the utility model has the following beneficial effects:

[0024] 1. The utility model discloses a multi-arm collaborative tying robot, which has an optimized structure, and is provided with at least one supporting beam and at least one tying structure on the beam, so that it can realize multi-arm simultaneous tying according to production needs. At the same time, a longitudinal support beam is also provided, so that the supporting beam can be moved along the longitudinal support beam according to actual needs, thereby completing the tying task within its own tying area and effectively improving the tying efficiency.

[0025] 2. The setting of the swing cylinder enables it to drive the tying structure to rotate 90° to achieve cross tying. At the same time, the setting of the calibration rod can calibrate the installation position of the tying gun to improve its tying quality.

[0026] 3. The setting of the buffer mechanism can play a good buffering effect. The setting of the spring can not only protect the binding structure, but also play a certain fine-tuning role.

[0027] 4. The setting of the longitudinal horizontal moving module allows it to adjust the longitudinal position of the binding structure to better meet the binding needs.

[0028] 5. The wire guide disc assembly continuously feeds wire to the wire guide mechanism. Once the binding wire becomes loose, the wire disc brake mechanism will brake the wire guide disc assembly and stop feeding wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the multi-arm lashing cooperative lashing robot described in the utility model;

[0030] Figure 2 It is a rear view of the multi-arm lashing cooperative lashing robot described in the utility model;

[0031] Figure 3 This is a schematic diagram of the structure of the lashing robot in the utility model;

[0032] Figure 4 It is a partial schematic diagram of the installation of the lashing mechanism and the supporting beam in the utility model;

[0033] Figure 5 It is a partial schematic diagram of the buffer structure in the utility model;

[0034] Figure 6 This is a schematic diagram of the installation of the longitudinal and horizontal moving module in the utility model;

[0035] Figure 7 It is a partial schematic diagram of the connection between the supporting cross beam and the longitudinal supporting beam in the utility model;

[0036] Figure 8 It is a side view of the continuous wire feeding mechanism in the utility model;

[0037] Fig. 9 It is a structural schematic diagram of the continuous wire feeding mechanism in the utility model;

[0038] Fig.10 It is a partial schematic diagram of the guide wire assembly in the utility model;

[0039] Fig.11 It is a structural schematic diagram of another viewing angle in the utility model;

[0040] Fig.12 It is a schematic diagram of the internal structure of the wire guide mechanism in the utility model. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Example

[0042] like Figures 1 to 12 A multi-arm binding collaborative binding robot is shown, comprising: at least one binding mechanism 1, a continuous wire feeding mechanism 2, a support column 3, a longitudinal support beam 4, at least one support crossbeam 5, a mobile drive mechanism 6 and a second mobile drive mechanism 7. The binding mechanism 1 is provided with a continuous wire feeding mechanism 2, two support columns 3, the two support columns 3 are arranged opposite to each other, and each group of support columns 3 is provided with a longitudinal support beam 4; the support crossbeam 5 is arranged between the two longitudinal support beams 4, and is movably connected to the longitudinal support beam 4 through the mobile drive mechanism 6, and the binding mechanism 1 is arranged on the support crossbeam 5, and is movably connected to the support crossbeam 5 through the second mobile drive mechanism 7.

[0043] A rack 41 is provided on the inner side of the longitudinal support beam 4 , a linear rail 42 is provided on the upper part, and a group of drag chain boxes 43 are provided on the outer side. The drag chain boxes 43 are connected to the end of the support cross beam 5 through an adapter frame 44 .

[0044] The two ends of the support beam 5 are provided with a movable driving plate 51, and the movable driving plate 51 is provided with a group of sliding blocks 52. The sliding blocks 52 are slidably connected to the linear rail 42, and the adapter frame 44 is connected to the movable driving plate 51; and a transverse rack 53 is provided on the support beam 5.

[0045] like Figure 7 The mobile drive mechanism 6 shown includes a drive shaft 61, a first drive motor 62 and a group of drive gears 63. The drive shaft 61 is arranged parallel to the supporting beam 5, one end of which passes through the end of the supporting beam 5, and the other end is provided with a gear box, and the gear box is meshed and connected with the main drive gear at the output end of the first drive motor 62. The drive gears 63 are arranged at both ends of the drive shaft 61, and the drive gears 63 are meshed with the corresponding racks 41.

[0046] like Figures 1 to 4 The tying mechanism 1 shown includes a tying structure 11, a buffer mechanism 13 and a swing cylinder 14, wherein the tying structure 11 is fixed on a fixed frame 12; the buffer mechanism 13 is arranged on the top of the fixed frame 12; the swing cylinder 14 is arranged above the buffer mechanism 13 and connected to the buffer mechanism 13, and the top of the swing cylinder 14 is fixed on the tying arm 15; and also includes a calibration rod 16 for calibrating the tying arm 15, and the calibration rod 16 is arranged on the fixed frame 12.

[0047] like Figure 3The second mobile driving mechanism 7 shown includes a transverse moving mounting plate 71, a transverse moving driving motor 72 and a transverse driving gear 73, the binding arm 15 is installed on the transverse moving mounting plate 71, the transverse moving driving motor 72 is fixed on the transverse moving mounting plate 71, the transverse driving gear 73 is installed on the output end of the transverse moving driving motor 72, and it is meshed with the transverse rack 53, and the top of the transverse moving mounting plate 71 is connected to the corresponding chain box through an adapter plate.

[0048] like Figure 5 The buffer mechanism 13 shown includes a top plate 131, a bottom plate 132 and a group of buffer springs 133. The top plate 131 and the bottom plate 132 are arranged opposite to each other up and down. The buffer spring 133 is arranged between the top plate 131 and the bottom plate 132, and the upper and lower ends are connected to the top plate 131 and the bottom plate 132 respectively. The top plate 131 is connected to the output end of the swing cylinder 14, and the bottom plate 132 is connected to the disc on the top of the fixing frame 12.

[0049] The buffer mechanism 13 further includes a protective cover 134 , and the protective cover 134 is disposed outside the buffer spring 133 .

[0050] like Figure 4 The figure also includes a longitudinal horizontal moving module 17, which is fixed to the tie arm 15 through a cylinder fixing seat, and the top of the swing cylinder 14 is slidably connected to the slide of the longitudinal horizontal moving module 17 through a sliding seat 141. A set of travel limit switches 171 are provided on one side of the slide of the longitudinal horizontal moving module 17, and a brake pad 142 is provided on the sliding seat 141, and the brake pad 142 cooperates with the travel limit switch 171.

[0051] A wire guide tube 18 is provided on one side of the fixing frame 12 .

[0052] The binding structure 11 is provided with a groove, and the lower part of the fixing frame 12 is arranged in the groove, and the two cooperate with each other and are fixed by a connecting piece.

[0053] like Figures 8 to 12 The continuous wire feeding mechanism 2 shown includes a wire feeding mounting frame 21, a wire guide disc assembly 22, a wire guiding mechanism 23 and a wire disc brake mechanism 24, wherein the wire guide disc assembly 22 is arranged on the wire feeding mounting frame 21, the wire guiding mechanism 23 is arranged on the upper part of the wire feeding mounting frame 21, and the wire disc brake mechanism 24 is arranged at the rear of the wire guide disc assembly 22 and is connected to the wire guiding mechanism 23 through a connecting rod 25.

[0054] like Figure 8 , Fig. 9The wire guide reel assembly 22 shown includes a wire reel support frame 221, a first drive shaft 222, a wire reel 223 and a wire reel drive mechanism 224, wherein the wire reel support frame 221 is arranged on the wire feeding mounting frame 21, the first drive shaft 222 is arranged on the wire reel support frame 221, the wire reel 223 is arranged outside the first drive shaft 222, and the wire reel drive mechanism 224 is connected to the wire feeding mounting frame 21 through a second fixing frame 225, and its output end is connected to the first drive shaft 222. The second fixing frame 225 adopts a clamp-shaped fixing frame, the lower end of which is provided with an opening connected by bolts, and the upper part is connected to the wire feeding mounting frame 21. It should be noted that the structure of the second fixing frame 225 can be adjusted according to actual installation needs, and it only needs to meet the installation needs.

[0055] like Figures 6 to 10 The guide wire mechanism 23 shown includes a guide wire mounting seat 231, a guide wire support frame 232 and a guide wire assembly 233. The guide wire mounting seat 231 is arranged on the wire feeding mounting frame 21, the guide wire support frame 232 is connected to the guide wire mounting seat 231 through an adjusting screw 235, and the guide wire assembly 233 is arranged on the guide wire support frame 232.

[0056] The guide wire support frame 232 includes a guide wire mounting tube frame 2321 and a group of side panels 2322, the side panels 2322 are relatively arranged on the guide wire mounting tube frame 2321, and a gap is provided between the two side panels 2322, and waist holes 2323 are relatively provided on the two side panels 2322, and the first guide wire connecting plate 2331 and the second guide wire connecting plate 2332 are arranged between the two side panels 2322.

[0057] like Fig.10 , the guide wire assembly 233 as shown in 12 includes a first guide wire connecting piece 2331, a second guide wire connecting piece 2332, a guide wire connecting rod 2333, a first guide wire wheel 2334, a second guide wire wheel 2335, and a third guide wire wheel 2336, wherein the first guide wire connecting piece 2331 and the second guide wire connecting piece 2332 are arranged opposite to each other and pass through the guide wire support frame 232, the first guide wire connecting piece 2331 and the second guide wire connecting piece 2332 are coaxially connected to the guide wire support frame 232 through a connecting pin, and one end of the first guide wire connecting piece 2331 and the second guide wire connecting piece 2332 are connected through a perforated pin 2339, and the other end is connected through a pin, and the upper end of the connecting rod 25 is inserted into the perforated pin 2339 and fixed by a nut;

[0058] One end of the guide wire connecting rod 2333 is arranged between the two side plates 2322 and is connected by a connecting shaft 2331. The first guide wire wheel 2334 and the second guide wire wheel 2335 are installed on the first guide wire connecting plate 2331, and the third guide wire wheel 2336 is installed on the other end of the guide wire connecting rod 2333.

[0059] The length of the first guide wire connecting piece 2331 is greater than the length of the second guide wire connecting piece 2332 .

[0060] The wire reel brake mechanism 24 includes a brake disc 241, a brake belt 242 and a fixing plate 243. The brake disc 241 is arranged on the first drive shaft 222 and behind the wire reel 223. The brake belt 242 is arranged on the outside of the brake disc 241, and its two ends are respectively connected to the connecting rod 25 and the fixing plate 243 through connecting parts.

[0061] The working principle of a multi-arm binding collaborative binding robot described in this embodiment is as follows: first, the binding area of ​​each binding mechanism 1 is divided according to the needs of steel bar binding, the calibration rod 16 calibrates the position of the binding structure 11, the continuous wire feeding mechanism 2 feeds the wire to the wire guide tube 18, and the binding structure 11 clamps the binding wire to bind the steel bar nodes. During the binding process, the swing cylinder 14 drives the binding structure 11 to rotate for easy binding. At the same time, the longitudinal position of the binding structure 11 can be adjusted through the longitudinal horizontal moving module 17 to better complete the node binding;

[0062] After one node is tied, the mobile driving mechanism 6 drives the tying mechanism 1 to move horizontally to the next node, and repeats the above steps for welding until the points in the horizontal direction in the tying area are tied.

[0063] The second moving drive mechanism 7 drives the supporting cross beam 5 to move to a designated position along the longitudinal supporting beam 4, and then continues to bind the corresponding nodes.

[0064] The above is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.

Claims

1. A multi-arm lashing collaborative lashing robot, characterized in that: include: At least one binding mechanism (1), wherein the binding mechanism (1) is provided with a continuous wire feeding mechanism (2); Two groups of support columns (3), the two groups of support columns (3) are arranged opposite to each other, and each group of support columns (3) is provided with a longitudinal support beam (4); At least one supporting crossbeam (5), the supporting crossbeam (5) being arranged between the two longitudinal supporting beams (4) and being movably connected to the longitudinal supporting beam (4) via a movable drive mechanism (6); the binding mechanism (1) being arranged on the supporting crossbeam (5) and being movably connected to the supporting crossbeam (5) via a second movable drive mechanism (7).

2. The multi-arm lashing cooperative lashing robot according to claim 1, characterized in that: The longitudinal support beam (4) is provided with a rack (41) on the inner side, a linear rail (42) on the upper side, and a group of drag chain boxes (43) on the outer side. The drag chain boxes (43) are connected to the end of the supporting cross beam (5) via an adapter frame (44), and a guide rail (45) is provided above the longitudinal support beam (4).

3. The multi-arm lashing cooperative lashing robot according to claim 2, characterized in that: A movable drive plate (51) is provided at both ends of the support beam (5), a group of sliding blocks (52) is provided on the movable drive plate (51), the sliding blocks (52) are slidably connected to the guide rail (45), and the adapter frame (44) is connected to the movable drive plate (51); and a transverse rack (53) is provided on the support beam (5).

4. The multi-arm lashing cooperative lashing robot according to claim 1, characterized in that: The mobile drive mechanism (6) comprises a drive shaft (61), a first drive motor (62) and a group of drive gears (63). The drive shaft (61) is arranged in parallel with the support beam (5), one end of which passes through the end of the support beam (5), and the other end is provided with a gear box, and the gear box is meshed with a main drive gear at the output end of the first drive motor (62). The drive gears (63) are arranged at both ends of the drive shaft (61), and the drive gears (63) are meshed with corresponding racks (41).

5. The multi-arm lashing cooperative lashing robot according to claim 1, characterized in that: The binding mechanism (1) comprises a binding structure (11), wherein the binding structure (11) is fixed on a fixing frame (12), and a wire guide tube (18) is provided on one side of the fixing frame (12); A buffer mechanism (13), wherein the buffer mechanism (13) is arranged on the top of the fixing frame (12); A swing cylinder (14) is disposed above the buffer mechanism (13) and connected to the buffer mechanism (13), and the upper part of the swing cylinder (14) is fixed to the lashing arm (15); and also includes a calibration rod (16) for calibrating the lashing arm (15), and the calibration rod (16) is disposed on the fixing frame (12).

6. The multi-arm lashing cooperative lashing robot according to claim 5, characterized in that: The second mobile drive mechanism (7) comprises a transverse mobile mounting plate (71), a transverse mobile drive motor (72) and a transverse drive gear (73); the lashing arm (15) is mounted on the transverse mobile mounting plate (71); the transverse mobile drive motor (72) is fixed on the transverse mobile mounting plate (71); the transverse drive gear (73) is mounted on the output end of the transverse mobile drive motor (72) and meshes with the transverse rack (53); and the top of the transverse mobile mounting plate (71) is connected to the corresponding chain box via an adapter plate.

7. The multi-arm lashing cooperative lashing robot according to claim 5, characterized in that: The buffer mechanism (13) comprises a top plate (131), a bottom plate (132) and a group of buffer springs (133); the top plate (131) and the bottom plate (132) are arranged opposite to each other in an upper and lower direction; the buffer spring (133) is arranged between the top plate (131) and the bottom plate (132); the top plate (131) is connected to the output end of the swing cylinder (14); and the bottom plate (132) is connected to a disc at the top of the fixing frame (12); The buffer mechanism (13) further comprises a protective cover (134), wherein the protective cover (134) is arranged outside the buffer spring (133).

8. The multi-arm lashing cooperative lashing robot according to claim 5, characterized in that: It also includes a longitudinal horizontal moving module (17), wherein the longitudinal horizontal moving module (17) is fixed to the tie-up arm (15) via a cylinder fixing seat, and the top of the swing cylinder (14) is slidably connected to the slide table of the longitudinal horizontal moving module (17) via a sliding seat (141).

9. The multi-arm lashing cooperative lashing robot according to claim 1, characterized in that: The continuous wire feeding mechanism (2) comprises a wire feeding mounting frame (21), a wire guide disc assembly (22), a wire guide mechanism (23) and a wire disc brake mechanism (24); the wire guide disc assembly (22) is arranged on the wire feeding mounting frame (21); the wire guide mechanism (23) is arranged on the upper part of the wire feeding mounting frame (21); and the wire disc brake mechanism (24) is arranged behind the wire guide disc assembly (22) and is connected to the wire guide mechanism (23) via a connecting rod (25).

10. The multi-arm lashing cooperative lashing robot according to claim 9, characterized in that: The wire guide reel assembly (22) comprises a wire reel support frame (221), a first drive shaft (222), a wire reel (223) and a wire reel drive mechanism (224); the wire reel support frame (221) is arranged on a wire feeding mounting frame (21); the first drive shaft (222) is arranged on the wire reel support frame (221); the wire reel (223) is arranged outside the first drive shaft (222); the wire reel drive mechanism (224) is connected to the wire feeding mounting frame (21) via a second fixing frame (225); and an output end of the wire reel drive mechanism (224) is connected to the first drive shaft (222).

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