A feeding device for a filling production line of a perfluorohexanone fire extinguishing device

Abstract

The utility model discloses a feeding device for a filling production line of a perfluorohexanone fire extinguishing device, comprising a conveyor belt for conveying steel cylinders, the steel cylinders are used to fill the perfluorohexanone fire extinguishing agent, a feeding device is arranged in front of the conveyor belt entrance, the feeding device comprises a base, a mechanical arm, and a grabbing part, the base is arranged on the side of the conveyor belt, the mechanical arm is installed on the base, the grabbing part is installed on the working end of the mechanical arm, the grabbing part can be extended into the steel cylinder, and the grabbing part moves the steel cylinder to the conveyor belt through its own volume change to realize automatic feeding. The utility model can realize automatic feeding, reduce the labor intensity of manual labor, save time and labor, and is conducive to improving the efficiency of filling.

Description

Technical Field

[0001] The utility model relates to the technical field of fire extinguishing device production, in particular to a feeding device used for a perfluorohexanone fire extinguishing device filling production line. Background Art

[0002] Perfluorohexanone fire extinguisher is a special type of fire extinguisher that uses perfluorohexanone as the extinguishing agent. It is a colorless, odorless, non-toxic, non-conductive chemical substance with good fire extinguishing performance and can quickly extinguish fires. At present, the cylinders of perfluorohexanone fire extinguishers are generally filled in a traditional way. During the filling production process, the loading process of placing the cylinders on the conveyor belt is still done manually. This method has high labor intensity, is time-consuming and labor-intensive, and will also lead to low filling efficiency, which will greatly reduce its production capacity. Utility Model Content

[0003] The utility model aims to provide a feeding device for a perfluorohexanone fire extinguishing device filling production line, which can realize automatic feeding, reduce manual labor intensity, save time and effort, and is conducive to improving filling efficiency.

[0004] In order to solve the above technical problems, the utility model adopts the following solutions:

[0005] A feeding device for a filling production line of a perfluorohexanone fire extinguishing device comprises a conveyor belt for conveying steel cylinders, wherein the steel cylinders are used to be filled with perfluorohexanone fire extinguishing agent, and a feeding device is arranged in front of an entrance of the conveyor belt, the feeding device comprises a base, a mechanical arm, and a grasping part, wherein the base is arranged on a side of the conveyor belt, the mechanical arm is mounted on the base, the grasping part is mounted on a working end of the mechanical arm, the grasping part can extend into the steel cylinder, and the grasping part moves the steel cylinder to the conveyor belt through its own volume change to realize automatic feeding.

[0006] Due to the adoption of the above technical solution, the feeding device is arranged on the side of the conveyor belt, which can shorten the feeding distance and help improve the feeding efficiency; the conveyor belt is the main means of transportation on the production line, which is used to transport empty cylinders to the filling area and transport the cylinders filled with perfluorohexanone fire extinguishing agent out after filling. The base is the foundation of the entire loading device. It is fixed on the ground to provide stable support for the robotic arm. The robotic arm is installed on the base and can achieve precise movements through programming or manual control. It is responsible for driving the grasping part to grasp and place the cylinder. The grasping part is the part that directly contacts the cylinder. It can extend into the cylinder and grasp the cylinder by changing its own volume. When the grasping part extends into the cylinder, it will change its volume to firmly grasp the cylinder. The cylinder to be filled is placed within the coverage of the robotic arm with the bottle mouth facing up. The robotic arm will drive the grasping part to extend into the cylinder. The grasping part firmly grasps the cylinder by changing its own volume and accurately places it on the conveyor belt. Then the volume of the grasping part changes again, so that the robotic arm can drive the grasping part to detach from the cylinder. Then the conveyor belt transports the cylinder to the filling area for filling with perfluorohexanone fire extinguishing agent. After filling, the cylinder continues to move to the next link of the production line. The design of this feeding device greatly improves the automation level of the production line, reduces manual intervention, reduces labor intensity, saves time and effort, and thus improves production efficiency and product quality. At the same time, due to the precise control of the robotic arm and the gripping part, it can also ensure that each cylinder is accurately placed and gripped, avoiding production accidents caused by human factors.

[0007] Optionally, the grasping part includes a mounting seat, an air inlet pipe is provided on the side of the mounting seat, the outlet end of the air inlet pipe is connected to a rubber airbag, the inlet end of the air inlet pipe is connected to the air pump through a hose, an air vent is provided on the side wall of the air inlet pipe, an electromagnetic air valve is provided at the air vent, and the rubber airbag is strip-shaped in a natural state and can extend into the cylinder from top to bottom.

[0008] Optionally, the surface of the rubber airbag is provided with some anti-slip parts.

[0009] Optionally, the anti-skid member is a plurality of anti-skid bumps, and the plurality of anti-skid bumps are evenly distributed on the surface of the rubber airbag.

[0010] Optionally, the anti-slip bump is a solid sphere.

[0011] Optionally, the anti-skid member is a plurality of anti-skid convex rings, and the plurality of anti-skid convex rings are distributed on the surface of the rubber airbag from top to bottom, and the plurality of anti-skid convex rings are distributed in concentric rings in a top view direction.

[0012] Optionally, the anti-slip convex ring is a solid ring.

[0013] Optionally, a fixing plate is provided in the air intake pipe, a connecting rod is provided between the fixing plate and the inner wall of the air intake pipe in the circumference, a support rod is provided on one side of the fixing plate, one end of the support rod extends into the rubber airbag and is connected to the bottom of the rubber airbag.

[0014] Optionally, a connecting piece is provided at one end of the support rod located inside the rubber airbag, and the connecting piece is connected to the rubber airbag.

[0015] Optionally, the end surface of the connecting piece connected to the rubber airbag is convex spherical.

[0016] The utility model has the beneficial effects:

[0017] 1. In the utility model, the steel cylinder can be taken and placed by the volume change of the grasping part. In cooperation with the mechanical arm, the steel cylinder can be accurately and quickly placed on the conveyor belt to realize automatic loading, which greatly improves the automation degree of the production line, reduces manual intervention, reduces manual labor intensity, saves time and effort, and thus improves production efficiency and product quality. At the same time, due to the precise control of the mechanical arm and the grasping part, it can also ensure that each steel cylinder is accurately placed and grasped, avoiding production accidents caused by human factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the utility model;

[0019] Figure 2 It is a structural schematic diagram of Example 3;

[0020] Figure 3 It is a structural schematic diagram of Example 4;

[0021] Figure 4 The cross-sectional structure diagram of the intake pipe.

[0022] Figure numerals: 1-transmission belt, 2-base, 3-mechanical arm, 4-mounting seat, 5-electromagnetic air valve, 6-support rod, 7-connecting piece, 8-intake pipe, 9-rubber air bag, 10-hose, 11-air pump, 12-steel cylinder, 13-anti-slip convex ring, 14-anti-slip bump, 15-fixing plate, 16-connecting rod. DETAILED DESCRIPTION

[0023] The present invention will be further described in detail below in conjunction with the embodiments and drawings, but the implementation manner of the present invention is not limited thereto.

[0024] In the description of the present utility model, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "longitudinal", "lateral", "horizontal", "inside", "outside", "front", "back", "top", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present utility model.

[0025] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "open", "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 or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] Example 1

[0027] A feeding device for a perfluorohexanone fire extinguishing device filling production line comprises a conveyor belt 1 for conveying a steel cylinder 12, wherein the steel cylinder 12 is used to fill the perfluorohexanone fire extinguishing agent, and a feeding device is provided in front of the entrance of the conveyor belt 1, wherein the feeding device comprises a base 2, a mechanical arm 3, and a grabbing part, wherein the base 2 is arranged on the side of the conveyor belt 1, the mechanical arm 3 is installed on the base 2, the grabbing part is installed on the working end of the mechanical arm 3, the grabbing part can extend into the steel cylinder 12, and the grabbing part moves the steel cylinder 12 to the conveyor belt 1 through its own volume change to realize automatic feeding.

[0028] In this embodiment, Figure 1As shown, the feeding device is arranged on the side of the conveyor belt 1, which can shorten the feeding distance and help improve the feeding efficiency; the conveyor belt 1 is the main transportation tool on the production line, which is used to transport the empty cylinders 12 to the filling area, and transport the cylinders 12 filled with perfluorohexanone fire extinguishing agent after the filling is completed. The base 2 is the foundation of the entire feeding device. It is fixed on the ground and provides stable support for the robot arm 3. The robot arm 3 is installed on the base 2 and can achieve precise movements through programming or manual control. It is responsible for driving the grasping part to grasp and place the cylinder 12. The grasping part is the part that directly contacts the cylinder 12. It can extend into the interior of the cylinder 12 and grasp the cylinder 12 by changing its own volume. When the grasping part extends into the cylinder 12, it will change the volume to firmly grasp the cylinder 12. The filled cylinder 12 is placed within the coverage of the robot arm 3 with the bottle mouth facing upwards. The robot arm 3 will drive the gripping part to extend into the cylinder 12. The gripping part firmly grasps the cylinder 12 by changing its own volume and accurately places it on the conveyor belt 1. Then the volume of the gripping part changes again, so that the robot arm 3 can drive the gripping part to detach from the cylinder 12. Then the conveyor belt 1 transports the cylinder 12 to the filling area for filling with perfluorohexanone fire extinguishing agent. After the filling is completed, the cylinder 12 continues to move to the next link of the production line. The design of this feeding device greatly improves the automation level of the production line, reduces manual intervention, reduces manual labor intensity, saves time and effort, and thus improves production efficiency and product quality. At the same time, due to the precise control of the robot arm 3 and the gripping part, it can also ensure that each cylinder 12 is accurately placed and grasped, avoiding production accidents caused by human factors.

[0029] Further, the gripping part includes a mounting seat 4, an air inlet pipe 8 is provided on the side of the mounting seat 4, a rubber airbag 9 is connected to the outlet end of the air inlet pipe 8, an inlet end of the air inlet pipe 8 is connected to the air pump 11 through a hose 10, an air release port is provided on the side wall of the air inlet pipe 8, an electromagnetic air valve 5 is provided at the air release port, and the rubber airbag 9 is in a strip shape in a natural state and can extend from top to bottom into the cylinder 12. Specifically, the mounting seat 4 is a fixed part of the gripping part, which is connected to the working end of the mechanical arm 3, and provides support and installation foundation for the air inlet pipe 8 and the rubber airbag 9. The outlet end of the air inlet pipe 8 is connected to the rubber airbag 9, which can be connected by bonding or clamping, and the inlet end is connected to the air pump 11 through a hose 10. The length of the hose 10 is moderate, and it only needs not to interfere with the movement of the mechanical arm 3. The air pump 11 can pump or extract air into or out of the rubber airbag 9 through the air inlet pipe 8, thereby changing the volume of the rubber airbag 9.

[0030] The rubber airbag 9 is a key part of the gripping portion. In its natural state, it is strip-shaped and can easily extend into the steel cylinder 12 from top to bottom. When the air pump 11 pumps air into the rubber airbag 9 through the air inlet pipe 8, the rubber airbag 9 will expand and its internal pressure will increase, making it fit tightly against the inner wall of the steel cylinder 12, thereby grasping the steel cylinder 12. On the contrary, when the solenoid air valve 5 opens the air vent, the air in the rubber airbag 9 will be quickly discharged, causing it to shrink quickly, thereby releasing the steel cylinder 12. The electromagnetic valve 5 is installed at the venting port, and its switch state is controlled by an electrical signal. When the electromagnetic valve 5 is closed, the air in the air intake pipe 8 cannot be discharged from the venting port, and the rubber airbag 9 remains in an expanded state, tightly grasping the steel cylinder 12. When the electromagnetic valve 5 is opened, the venting port is opened, and the air in the rubber airbag 9 is quickly discharged, causing it to shrink, thereby releasing the steel cylinder 12. The electromagnetic valve 5 can be used as a spare venting component. When the air pump 11 has a problem, the electromagnetic valve 5 can be opened to release the air in the rubber airbag 9, thereby releasing the steel cylinder 12. Furthermore, compared with the commonly used manipulator grasping the steel cylinder 12, the grasping of the steel cylinder 12 by the rubber airbag 9 will not cause wear to the inner or outer wall of the steel cylinder 12, and can better protect the integrity and aesthetics of the steel cylinder 12.

[0031] The design of this grabbing part cleverly utilizes the change in air pressure to realize the grabbing and releasing of the steel cylinder 12. By controlling the switch of the air pump 11 or the on-off of the electromagnetic air valve 5, the volume change of the rubber airbag 9 can be accurately controlled, thereby realizing the accurate grabbing and placement of the steel cylinder 12. At the same time, due to the flexibility and adaptability of the rubber airbag 9, it can adapt to steel cylinders 12 of different sizes and shapes, thereby improving the versatility and flexibility of the feeding device.

[0032] Example 2

[0033] Furthermore, the surface of the rubber airbag 9 is provided with some anti-slip parts.

[0034] Specifically, the anti-slip part is provided on the surface of the rubber airbag 9 to increase the friction between it and the inner wall of the steel cylinder 12, to ensure that during the process of grabbing and moving the steel cylinder 12, the rubber airbag 9 can grasp the steel cylinder 12 more firmly to prevent slipping or falling during the transmission process.

[0035] The anti-slip member may be in one of the following forms or a combination thereof: First, a raised texture or pattern, such as grooves, convex points or ripples, may be designed on the outer surface of the rubber airbag 9. These textures may form more contact points with the inner wall of the steel cylinder 12 when the rubber airbag 9 is inflated, thereby increasing friction.

[0036] Secondly, a rubber material with a higher friction coefficient is selected to make the airbag, which can increase the friction coefficient between the rubber airbag 9 and the inner wall of the steel cylinder 12 and improve the anti-slip performance.

[0037] Third, a layer of anti-skid material, such as an anti-skid rubber sheet or an anti-skid coating, can be added to the outer surface of the rubber airbag 9. These additional materials can provide additional friction and enhance the grip between the rubber airbag 9 and the inner wall of the steel cylinder 12.

[0038] Fourth, the outer surface of the rubber airbag 9 can also be roughened, such as sandblasting, grinding or chemical treatment, etc. These treatment methods can increase the roughness of the surface and improve the friction with the inner wall of the steel cylinder 12.

[0039] By arranging anti-skid parts on the surface of the rubber airbag 9, it can be ensured that the feeding device is more stable and reliable when grabbing and moving the cylinder 12, reducing the occurrence of accidents and improving the efficiency and safety of the production line.

[0040] Example 3

[0041] Furthermore, the anti-skid member is a plurality of anti-skid bumps 14 , and the plurality of anti-skid bumps 14 are evenly distributed on the surface of the rubber airbag 9 .

[0042] Furthermore, the anti-slip bump 14 is a solid sphere.

[0043] Based on implementation 2, Figure 2 As shown, the anti-skid protrusions 14 are designed to increase the friction between the rubber airbag 9 and the inner wall of the steel cylinder 12, ensuring that the rubber airbag 9 can firmly grasp the steel cylinder 12 to prevent slipping when the steel cylinder 12 is grasped and moved.

[0044] The anti-slip bumps 14 are designed as solid spheres, which means that each bump is a complete sphere without a hollow part. This design has several advantages:

[0045] First, stability: When the solid spherical protrusion contacts the inner wall of the steel cylinder 12, due to its complete spherical structure, it can provide more stable support. This stability helps prevent the steel cylinder 12 from shaking or slipping during movement.

[0046] Second, uniform distribution: When the anti-slip bumps 14 are evenly distributed on the surface of the rubber airbag 9, they can form multiple uniform contact points with the inner wall of the steel cylinder 12 when the rubber airbag 9 is inflated. These contact points can not only increase the friction, but also ensure that the rubber airbag 9 is evenly distributed on the inner wall of the steel cylinder 12, avoiding stress concentration or excessive local pressure.

[0047] Third adaptability: the solid spherical bumps have a certain elasticity and can adapt to the different shapes and surface roughness of the inner wall of the cylinder 12. This adaptability enables the anti-slip bumps 14 to maintain effective friction under different conditions, ensuring that the rubber airbag 9 can firmly grasp the cylinder 12.

[0048] The solid spherical anti-skid bumps 14 enhance the friction between the rubber airbag 9 and the inner wall of the cylinder 12 by providing stable support, uniform distribution and strong adaptability, so that the gripping part can more reliably grip and move the cylinder 12. This design helps to improve the stability and efficiency of the feeding device and reduce possible unexpected situations in the production line.

[0049] Example 4

[0050] Furthermore, the anti-skid member is a plurality of anti-skid convex rings 13, and the plurality of anti-skid convex rings 13 are distributed on the surface of the rubber airbag 9 from top to bottom, and the plurality of anti-skid convex rings 13 are distributed in concentric rings in a top view direction.

[0051] Furthermore, the anti-slip convex ring 13 is a solid ring.

[0052] On the basis of Example 2, Figure 3 As shown, the solid annular anti-skid convex ring 13 design further enhances the friction and stability between the rubber airbag 9 and the inner wall of the steel cylinder 12. The first anti-skid convex ring 13 is designed as a solid ring, which means that each convex ring is a complete ring without a hollow part. Stability: The solid annular convex ring can form a continuous support surface when contacting the inner wall of the steel cylinder 12. This continuous support helps to reduce the shaking and slipping of the steel cylinder 12 during movement and increase the overall stability.

[0053] Concentric annular distribution: The anti-skid convex rings 13 are distributed from top to bottom on the surface of the rubber airbag 9, and are distributed in concentric annular shapes when viewed from above. This layout ensures that the anti-skid convex rings 13 can evenly cover the outer surface of the rubber airbag 9, thereby forming uniform contact with the inner wall of the cylinder 12. The concentric annular distribution also helps to form a continuous anti-skid area when the rubber airbag 9 is inflated, thereby improving the anti-skid effect.

[0054] Adaptability: The solid annular convex ring has a certain elasticity and can adapt to the different shapes and surface roughness of the inner wall of the cylinder 12. This adaptability enables the anti-slip convex ring 13 to maintain effective friction under different conditions, ensuring that the rubber airbag 9 can firmly grasp the cylinder 12.

[0055] The solid annular anti-skid convex ring 13 significantly enhances the friction and stability between the rubber airbag 9 and the inner wall of the steel cylinder 12 by providing stable support, uniform contact and strong adaptability. This design enables the grasping part to grasp and move the steel cylinder 12 more reliably, thereby improving the stability and efficiency of the feeding device. In addition, the concentric annular distribution also enables the anti-skid convex ring 13 to evenly cover the outer surface of the rubber airbag 9, thereby improving the uniformity and consistency of the anti-skid effect. These advantages jointly promote the efficient and stable operation of the production line.

[0056] Example 5

[0057] Furthermore, a fixing plate 15 is provided in the air intake pipe 8, a connecting rod 16 is provided between the fixing plate 15 and the inner wall of the air intake pipe 8 in the circumferential direction, a support rod 6 is provided on one side of the fixing plate 15, one end of the support rod 6 extends into the rubber airbag 9 and is connected to the bottom of the rubber airbag 9.

[0058] Furthermore, a connecting piece 7 is provided at one end of the support rod 6 located inside the rubber airbag 9 , and the connecting piece 7 is connected to the rubber airbag 9 .

[0059] Furthermore, the end surface of the connecting member 7 connected to the rubber airbag 9 is convex spherical.

[0060] In this embodiment, Figure 4 As shown, the fixing plate 15 is fixed in the air intake pipe 8 by the connecting rod 16, which can effectively prevent the air intake pipe 8 from radial deformation or twisting during inflation or deflation, thereby maintaining the stability and shape of the air intake pipe 8. The fixing plate 15 provides a stable support point for the support rod 6 in the air intake pipe 8, which helps to maintain the structural stability of the entire grasping part. The support rod 6 provides an additional support point for the rubber airbag 9, especially when the rubber airbag 9 is inflated, it can prevent it from excessive expansion or deformation. Through the connection between the support rod 6 and the rubber airbag 9, the structural stability between the rubber airbag 9 and the air intake pipe 8 can be further enhanced to ensure that there will be no accidental falling off or slipping when grasping and moving the steel cylinder 12; before the rubber airbag 9 is inflated, the support rod 6 can ensure the verticality of the rubber airbag 9, so that the rubber airbag 9 can be more easily inserted into the steel cylinder 12, and the convex spherical end face can adapt to the curved shape of the inner wall of the rubber airbag 9 to avoid the end of the support rod 6 damaging the rubber airbag 9.

[0061] The above is only a preferred embodiment of the utility model and does not limit the utility model in any form. According to the technical essence of the utility model, within the spirit and principles of the utility model, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the utility model.

Claims

1. A feeding device for a perfluorohexanone fire extinguishing device filling production line, characterized in that: The invention comprises a conveyor belt (1) for conveying a steel cylinder (12), wherein the steel cylinder (12) is used to be filled with a perfluorohexanone fire extinguishing agent, and a loading device is arranged in front of the entrance of the conveyor belt (1), wherein the loading device comprises a base (2), a mechanical arm (3), and a grasping part, wherein the base (2) is arranged on the side of the conveyor belt (1), the mechanical arm (3) is mounted on the base (2), and the grasping part is mounted on the working end of the mechanical arm (3), wherein the grasping part can extend into the steel cylinder (12), and the grasping part can move the steel cylinder (12) to the conveyor belt (1) through the change of its own volume to realize automatic loading.

2. A feeding device for a perfluorohexanone fire extinguishing device filling production line according to claim 1, characterized in that: The gripping portion comprises a mounting seat (4), an air intake pipe (8) is arranged on the side of the mounting seat (4), the outlet end of the air intake pipe (8) is connected to a rubber air bag (9), the inlet end of the air intake pipe (8) is connected to an air pump (11) through a hose (10), a venting port is arranged on the side wall of the air intake pipe (8), and an electromagnetic air valve (5) is arranged at the venting port. The rubber air bag (9) is in a strip shape in a natural state and can extend from top to bottom into a steel cylinder (12).

3. A feeding device for a filling production line of a perfluorohexanone fire extinguishing device according to claim 2, characterized in that: The surface of the rubber airbag (9) is provided with some anti-slip parts.

4. A feeding device for a filling production line of a perfluorohexanone fire extinguishing device according to claim 3, characterized in that: The anti-skid parts are a plurality of anti-skid convex blocks (14), and the plurality of anti-skid convex blocks (14) are evenly distributed on the surface of the rubber airbag (9).

5. A feeding device for a filling production line of a perfluorohexanone fire extinguishing device according to claim 4, characterized in that: The anti-slip bump (14) is in the shape of a solid sphere.

6. A feeding device for a perfluorohexanone fire extinguishing device filling production line according to claim 3, characterized in that: The anti-skid parts are a plurality of anti-skid convex rings (13), which are distributed on the surface of the rubber airbag (9) from top to bottom, and are distributed in concentric annular shapes in a top-down direction.

7. A feeding device for a filling production line of a perfluorohexanone fire extinguishing device according to claim 6, characterized in that: The anti-slip convex ring (13) is a solid ring.

8. A feeding device for a perfluorohexanone fire extinguishing device filling production line according to claim 2, characterized in that: A fixing plate (15) is provided inside the air intake pipe (8), a connecting rod (16) is provided between the fixing plate (15) and the inner wall of the air intake pipe (8) in the circumferential direction, a supporting rod (6) is provided on one side of the fixing plate (15), one end of the supporting rod (6) extends into the interior of the rubber airbag (9) and is connected to the bottom of the rubber airbag (9).

9. A feeding device for a filling production line of a perfluorohexanone fire extinguishing device according to claim 8, characterized in that: One end of the support rod (6) located inside the rubber airbag (9) is provided with a connecting piece (7), and the connecting piece (7) is connected to the rubber airbag (9).

10. A feeding device for a perfluorohexanone fire extinguishing device filling production line according to claim 9, characterized in that: The end surface of the connecting piece (7) connected to the rubber airbag (9) is convex spherical.

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