Feeding device

Abstract

The utility model relates to a feeding device. Comprising a mechanical arm and a lifting mechanism connected to the mechanical arm, the lifting mechanism can synchronously move along with the mechanical arm, the lifting mechanism comprises a base plate, a clamping unit and a fastening unit, the clamping unit comprises a pressing piece and a bearing piece connected to the base plate, and a clamping space used for clamping materials is formed between the pressing piece and the bearing piece; the fastening unit comprises a lifting driving part and a mounting plate connected to the lifting driving part; the mounting plate is driven to ascend through the lifting driving part, the pressing part is driven to move upwards, so that the clamping space is enlarged, and materials can be placed in the clamping space between the pressing part and the bearing part; the mechanical arm drives the lifting mechanism to move, so that materials are placed on the bearing piece; and then the mounting plate is driven by the lifting driving part to move downwards, so that the pressing part can abut against the materials, and the mounting plate can abut against the pressing part, so that lifting and positioning of the materials are completed, the stability of material clamping in the feeding process is guaranteed, and the production efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of feeding, and in particular to a feeding device. Background Art

[0002] The new energy vehicle battery casing is a key component of the electric vehicle power storage system and is the outer shell part used to protect the battery core.

[0003] In the related art, the loading and installation of the shell is all done manually, and the production efficiency is low. Utility Model Content

[0004] Based on this, it is necessary to provide a feeding device to address the problem of low efficiency in feeding the battery shell.

[0005] A feeding device, comprising:

[0006] Robotic arm;

[0007] A lifting mechanism is connected to the robot arm and can move synchronously with the robot arm; the lifting mechanism includes a base plate, a clamping unit and a fastening unit, the clamping unit includes a pressing member and a supporting member connected to the base plate, and a clamping space for clamping materials is formed between the pressing member and the supporting member;

[0008] The fastening unit includes a lifting drive member and a mounting plate connected to the lifting drive member; when the lifting drive member is in a first state, the lifting drive member is used to drive the mounting plate to rise, so that the mounting plate drives the clamping member to rise, so as to adjust the size of the clamping space; when the lifting drive member is in a second state, the lifting drive member is used to drive the mounting plate to descend, so that the mounting plate abuts against the clamping member.

[0009] In one embodiment, the clamping unit further includes a limiting member connected to a side of the pressing member facing away from the supporting member;

[0010] A sliding space is formed between the limiting member and the pressing member. The mounting plate is located in the sliding space and can move in the sliding space to abut against the pressing member or the limiting member.

[0011] In one of the embodiments, a floating joint is connected between the lifting drive member and the mounting plate.

[0012] In one of the embodiments, the limiting member is provided with an avoidance groove for the floating joint to pass through.

[0013] In one of the embodiments, an elastic member is connected to the pressing member, and after the external force acting on the pressing member is removed, the elastic member is used to drive the pressing member to move downward.

[0014] In one of the embodiments, a guide member is connected between the base plate and the supporting member, and the pressing member is slidably connected to the guide member.

[0015] In one embodiment, the guide member is disposed through the pressing member; and / or

[0016] The elastic member is connected between the base plate and the pressing member, and the elastic member is sleeved on the guide member; and / or

[0017] The pressing member is connected with a linear bearing, and the linear bearing is slidably connected to the guide member.

[0018] In one of the embodiments, a guide pin is provided on a side of the mounting plate facing the pressing member;

[0019] The guide pin can pass through a guide hole opened on the material; and / or the guide pin is arranged through the pressing member.

[0020] In one of the embodiments, a positioning pin is provided on a side of the pressing member facing the supporting member, and the positioning pin is used to engage with a positioning hole provided on the material.

[0021] In one embodiment, the robotic arms include at least two, and the at least two robotic arms are respectively disposed on opposite sides of the material; and the lifting mechanism is disposed on each of the robotic arms.

[0022] The above-mentioned feeding device drives the mounting plate to rise through the lifting drive member, driving the clamping member to move upward, so that the clamping space is increased, so that the material can be placed in the clamping space between the clamping member and the supporting member; the lifting mechanism is driven to move by the mechanical arm, so that the material is placed on the supporting member; and the lifting drive member drives the mounting plate to move downward, so that the clamping member can abut against the material, and the mounting plate can abut against the clamping member, thereby completing the lifting and positioning of the material, ensuring the stability of the material clamping during the feeding process, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of a loading device provided in one embodiment of the present application.

[0024] Figure 2 for Figure 1 A schematic diagram of the lifting mechanism in the loading device shown.

[0025] Figure 3 for Figure 2 The schematic diagram of the lifting mechanism in the feeding device shown is in another state.

[0026] Figure numbers: 10, feeding device; 100, mechanical arm; 200, lifting mechanism; 210, base plate; 211, guide member; 221, clamping member; 2211, positioning pin; 222, supporting member; 223, limiting member; 2231, avoidance groove; 224, sliding space; 225, elastic member; 226, linear bearing; 231, lifting drive member; 232, mounting plate; 2321, guide pin; 233, floating joint; 1000, material. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0028] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does 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 on the present application.

[0029] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0030] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0031] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0033] See also Figures 1 to 3As shown, a loading device 10 provided in one embodiment of the present application includes a robot arm 100 and a lifting mechanism 200 connected to the robot arm 100, and the lifting mechanism 200 can move synchronously with the robot arm 100, for example, as the robot arm 100 rises, falls or moves horizontally; the lifting mechanism 200 includes a base plate 210, a clamping unit and a fastening unit, and the base plate 210 is fixedly connected to the robot arm 100, and the robot arm 100 drives the lifting mechanism 200 to move through the base plate 210. The clamping unit includes a clamping member 221 and a supporting member 222 connected to the substrate 210, and a clamping space for clamping the material 1000 is formed between the clamping member 221 and the supporting member 222; the fastening unit includes a lifting drive member 231 and a mounting plate 232 connected to the lifting drive member 231, and the lifting drive member 231 is arranged on the substrate 210; when the lifting drive member 231 is in a first state, the lifting drive member 231 is used to drive the mounting plate 232 to rise in a vertical direction (the vertical direction is also the up and down direction in the figure), so that the mounting plate 232 drives the clamping member 221 to rise, so as to adjust the size of the clamping space; when the lifting drive member 231 is in a second state, the lifting drive member 231 is used to drive the mounting plate 232 to descend, so that the mounting plate 232 abuts against the clamping member 221. Taking the lifting driving member 231 as a telescopic cylinder as an example, the first state is that the telescopic cylinder is in a retracted state, and the second state is that the telescopic cylinder is in an extended state.

[0034] The above-mentioned feeding device 10 drives the mounting plate 232 to rise through the lifting drive member 231, and drives the clamping member 221 to move upward, so as to increase the clamping space, so that the material 1000 can be placed in the clamping space between the clamping member 221 and the supporting member 222; drives the lifting mechanism 200 to move through the robot arm 100, so that the material 1000 is placed on the supporting member 222; and then drives the mounting plate 232 to move downward through the lifting drive member 231, so that the clamping member 221 can abut against the material 1000, and the mounting plate 232 can abut against the clamping member 221, thereby completing the lifting and positioning of the material 1000, ensuring the stability of the clamping of the material 1000 during the feeding process, and improving production efficiency.

[0035] See also Figures 2 to 3As shown, in one embodiment, the clamping unit further includes a stopper 223 connected to the side of the pressing member 221 away from the supporting member 222; the stopper 223 is approximately an L-shaped plate, and a sliding space 224 is formed between the stopper 223 and the pressing member 221, and the mounting plate 232 is located in the sliding space 224 and can move in the sliding space 224. Specifically, when the lifting drive 231 drives the mounting plate 232 to move upward, the mounting plate 232 can move upward to abut against the stopper 223, and then when the lifting drive 231 continues to move upward, it will drive the stopper 223 and the pressing member 221 to move upward synchronously. When the lifting drive 231 drives the mounting plate 232 to move downward, the mounting plate 232 can move downward to abut against the pressing member 221, thereby improving the pressing effect of the pressing member 221 on the material 1000. The sliding space 224 is similar to a rectangular opening groove formed between the limiting member 223 and the pressing member 221, so that when the mounting plate 232 rises in the sliding space 224 (that is, when the mounting plate 232 is not in contact with the limiting member 223), the pressing member 221 will not move synchronously with the mounting plate 232, thereby ensuring the reliability of the pressing member 221 being crimped onto the material 1000.

[0036] See also Figures 2 to 3 As shown, in one embodiment, a floating joint 233 is connected between the lifting drive member 231 and the mounting plate 232. By setting the floating joint 233, a flexible connection is formed between the lifting drive member 231 and the mounting plate 232, reducing the risk of wear caused by direct contact between the lifting drive member 231 and the mounting plate 232, and improving the service life of the lifting drive member 231; and the floating joint 233 can also ensure the coaxiality of the lifting drive member 231 and the mounting plate 232, so that the force directions of the two are on the same straight line, reducing the risk of axial misalignment causing the lifting drive member 231 or the mounting plate 232 to be stuck during the lifting movement. The lifting drive member 231 can specifically be a telescopic cylinder, and the movement stroke of the mounting plate 232 is controlled by the telescopic cylinder. In other embodiments, the lifting drive member 231 can also be a linear push rod, etc.

[0037] In another embodiment, the floating joint 233 is provided with connecting parts at both ends along the axial direction (i.e., the lifting direction), and a threaded hole is provided at the center of the connecting part. The output shaft of the lifting drive 231 and the connecting shaft on the mounting plate 232 are both provided with threads, and the floating joint 233 is connected to the lifting drive 231 and the mounting plate 232 through the cooperation of the threads and the threaded holes. In another embodiment, the connecting part can be a connecting flange, which is provided with a plurality of fixing holes along its circumference, and the output shaft of the lifting drive 231 and the connecting shaft on the mounting plate 232 are both provided with a plurality of fixing columns along their circumference, and the floating joint 233 is tightly connected to the lifting drive 231 and the floating joint 233 is tightly connected to the mounting plate 232 through the cooperation of the plurality of fixing columns and the plurality of fixing holes.

[0038] See also Figures 2 to 3 As shown, in one embodiment, the limit member 223 is provided with an avoidance groove 2231 for the floating joint 233 to penetrate. During the loading process, since the lifting drive member 231 drives the mounting plate 232 to descend, the avoidance groove 2231 is provided on the limit member 223, so that the possibility of interference between the floating joint 233 and the limit member 223 during the lifting process can be reduced on the basis of reducing the space occupied by the limit member 223 and the lifting drive member 231, thereby ensuring the reliability of loading.

[0039] See also Figures 2 to 3 As shown, in one embodiment, the pressing member 221 is connected with an elastic member 225, and after the external force acting on the pressing member 221 is removed, the elastic member 225 is used to drive the pressing member 221 to move downward. For example, when the mounting plate 232 abuts against the lower end surface of the limiting member 223, the position of the pressing member 221 is fixed; when the lifting drive member 231 drives the mounting plate 232 to move downward in the sliding space 224, the elastic member 225 applies a downward elastic force to the pressing member 221, so that the pressing member 221 also moves downward until the pressing member 221 abuts against the material 1000 or moves to the lower limit position to abut against the supporting member 222. The elastic force applied by the elastic member 225 and the force applied by the lifting drive member 231 to the mounting plate 232 to abut against the pressing member 221 improve the stability of the feeding device 10 clamping the material 1000.

[0040] like Figure 2 and Figure 3As shown, in a specific embodiment, the elastic member 225 is connected between the substrate 210 and the pressing member 221. Even if the pressing member 221 moves down to abut against the supporting member 222, the elastic member 225 is still in a compressed state. Through this arrangement, it is ensured that the elastic member 225 always provides a downward pressing force to the pressing member 221, thereby ensuring the reliability of the pressing member 221 in pressing the material 1000. When the lifting drive member 231 drives the mounting plate 232 to move up to abut against the limiting member 223, as the mounting plate 232 continues to move up, the compression amount of the elastic member 225 will increase. The elastic member 225 can specifically be a compression spring.

[0041] In other embodiments, the elastic member 225 may also be connected between the pressing member 221 and the supporting member 222 . The elastic member 225 may specifically be a tension spring, so that the elastic member 225 always exerts a downward force on the pressing member 221 .

[0042] See also Figures 2 to 3 As shown, in one embodiment, a guide member 211 is connected between the substrate 210 and the supporting member 222, for example, one end of the guide member 211 along its own axial direction is fixed to the substrate 210 by a fastener such as a screw, and the other end is fixed to the supporting member 222 by a screw. Since the substrate 210 and the supporting member 222 are fixedly connected by the guide member 211, the robot arm 100 can drive the lifting mechanism 200 and the material 1000 located on the supporting member 222 to descend synchronously. Further, the pressing member 221 is slidably connected to the guide member 211, so that the lifting and lowering movement of the pressing member 221 is guided by the guide member 211, and the stability of the pressing member 221 in linear motion relative to the supporting member 222 is improved. Further, a linear bearing 226 is fixedly connected to the pressing member 221, and the linear bearing 226 moves up and down along the guide member 211, thereby driving the pressing member 221 to move, and the linear bearing 226 and the pressing member 221 can be connected by fasteners such as screws. The linear bearing 226 is provided to reduce the friction and noise of the pressing member 221 during the movement. The guide member 211 may be a guide rod.

[0043] See also Figures 2 to 3 As shown, in one embodiment, the guide member 211 is inserted into the pressing member 221, and the elastic member 225 is sleeved on the guide member 211. In other words, one end of the elastic member 225 abuts against the lower end of the base plate 210, and the other end abuts against the linear bearing 226, thereby limiting the deformation direction of the elastic member 225.

[0044] See also Figures 2 to 3As shown, in one embodiment, the mounting plate 232 is provided with a guide pin 2321 on one side facing the pressing member 221, and the guide pin 2321 can be inserted into the pressing member 221. Furthermore, the pressing member 221 is provided with a positioning pin 2211 on one side facing the supporting member 222, and the positioning pin 2211 is used to engage with the positioning hole provided on the material 1000. For example, the material 1000 is a battery shell, the battery shell is located above the battery pack, the battery shell is provided with a guide hole, and the battery pack is provided with a positioning hole. When the robot arm 100 drives the lifting mechanism 200 to move above the guide hole, the lifting drive member 231 drives the mounting plate 232 to move downward, so that the guide pin 2321 passes through the guide hole opened on the shell and abuts against the battery pack under the shell; at the same time, the clamping member 221 also moves downward under the action of the elastic member 225 until the positioning pin 2211 set on the clamping member 221 cooperates with the positioning hole on the material 1000, thereby achieving the positioning of the shell. After the positioning is completed, since the shell is directly above the battery pack, it only needs to be lowered to the base, without long-distance or other complex actions, and the clamping effect on the shell can be maintained by the clamping force of the elastic member 225 on the clamping member 221.

[0045] See also Figure 1 As shown, in one embodiment, the robot arm 100 includes at least two, and the at least two robot arms 100 are respectively arranged on opposite sides of the material 1000; each of the robot arms 100 is provided with the lifting mechanism 200. Figure 1 In the embodiment shown, taking the material 1000 as a shell as an example, there are two mechanical arms 100, which are respectively located on both sides of the shell along the length direction, and the stability of the shell during loading is ensured by lifting both sides of the shell. The two mechanical arms 100 can be independently controlled or collaboratively controlled. For example, the two mechanical arms 100 are respectively a master mechanical arm 100 and a slave mechanical arm 100. The master mechanical arm 100 adopts a position-based control method, and the slave mechanical arm 100 senses the movement trend of the master mechanical arm 100 through a force sensor to achieve the purpose of following the movement of the master mechanical arm 100.

[0046] The above-mentioned feeding device 10 takes the material 1000 as the shell of the power battery, the lifting drive member 231 as the telescopic cylinder, and the elastic member 225 as the compression spring as an example. The feeding device 10 is described below for loading the shell onto the battery pack.

[0047] First, the telescopic cylinder retracts, driving the mounting plate 232 to move up to abut against the limiter 223. As the telescopic cylinder performs its operation, the mounting plate 232 moves up to a high position with the pressing member 221 due to the limiter 223, so that there is a certain distance between the pressing member 221 and the supporting member 222, allowing the housing to enter. At this time, the spring is in a compressed state, and the reaction force causes the limiter 223 to press tightly against the mounting plate 232.

[0048] After the shell is placed on the supporting member 222, the telescopic cylinder extends, causing the mounting plate 232 to move downward and pass the guide pin 2321 through the guide hole on the shell. At the same time, under the action of the reaction force of the compression spring, the pressing member 221 will also move with the telescopic cylinder until the pressing member 221 presses on the shell and stops moving. At this time, the positioning pin 2211 will also pass through the positioning hole on the shell to position the shell. As the cylinder continues to extend, the mounting plate 232 continues to extend under the action of the telescopic cylinder until it is pressed on the pressing member 221, and the lifting and positioning of the shell is completed.

[0049] After positioning is completed, the telescopic cylinder is in a free state (that is, the cylinder can be retracted under the action of external force), and the pressing member 221 still maintains the state of pressing the shell under the elastic force of the elastic member 225. The robot arm 100 descends in the direction of gravity. Since the base plate 210 in the lifting mechanism 200 is integrally connected with the robot arm 100, and the base plate 210 and the supporting member 222 are integrally connected through the guide member 211, the lifting mechanism 200 and the shell clamped by the lifting mechanism 200 will descend together with the robot arm 100. Since the battery pack is fixed, during the process of the lifting mechanism 200 descending relative to the battery pack, the battery pack will give the guide pin 2321 an upward reaction force, causing the guide pin 2321 to move upward, and then bring the mounting plate 232 and the floating joint 233 on the guide pin 2321 up in the vertical direction. Since the mounting plate 232 moves upward in the sliding space 224 enclosed between the stopper 223 and the pressing member 221, and the mounting plate 232 does not abut against the stopper 223, the pressing member 221 is not affected by the upward movement of the mounting plate 232, and the pressing member 221 does not rise with the mounting plate 232, and still maintains the pressing state on the shell under the action of the elastic member 225. After the robot arm 100 descends to the specified position and the shell is placed on the base, the telescopic cylinder is ventilated and retracted, and the stopper 223 abutting against the mounting plate 232 and the pressing member 221 connected to the stopper 223 are retracted together, and the robot arm 100 and the lifting mechanism 200 leave the shell, completing the loading action of the shell.

[0050] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A feeding device, characterized in that: The feeding device comprises: Robotic Arm (100); A lifting mechanism (200) connected to the mechanical arm (100) and capable of moving synchronously with the mechanical arm (100); the lifting mechanism (200) comprises a base plate (210), a clamping unit and a fastening unit, the clamping unit comprising a pressing member (221) and a supporting member (222) connected to the base plate (210), a clamping space for clamping a material (1000) being formed between the pressing member (221) and the supporting member (222); The fastening unit comprises a lifting drive member (231) and a mounting plate (232) connected to the lifting drive member (231); when the lifting drive member (231) is in a first state, the lifting drive member (231) is used to drive the mounting plate (232) to rise, so that the mounting plate (232) drives the pressing member (221) to rise, so as to adjust the size of the clamping space; when the lifting drive member (231) is in a second state, the lifting drive member (231) is used to drive the mounting plate (232) to descend, so that the mounting plate (232) abuts against the pressing member (221).

2. The feeding device according to claim 1, characterized in that: The clamping unit further comprises a limiting member (223) connected to a side of the pressing member (221) facing away from the supporting member (222); A sliding space (224) is formed between the limiting member (223) and the pressing member (221); the mounting plate (232) is located in the sliding space (224) and is capable of moving in the sliding space (224) to abut against the pressing member (221) or the limiting member (223).

3. The feeding device according to claim 2, characterized in that: A floating joint (233) is connected between the lifting drive component (231) and the mounting plate (232).

4. The feeding device according to claim 3, characterized in that: The limiting member (223) is provided with an avoidance groove (2231) for the floating joint (233) to pass through.

5. The feeding device according to claim 1, characterized in that: The pressing member (221) is connected to an elastic member (225), and after the external force acting on the pressing member (221) is removed, the elastic member (225) is used to drive the pressing member (221) to move downward.

6. The feeding device according to claim 5, characterized in that: A guide member (211) is connected between the base plate (210) and the supporting member (222), and the pressing member (221) is slidably connected to the guide member (211).

7. The feeding device according to claim 6, characterized in that: The guide member (211) is disposed through the pressing member (221); and / or The elastic member (225) is connected between the base plate (210) and the pressing member (221), and the elastic member (225) is sleeved on the guide member (211); and / or The pressing member (221) is connected to a linear bearing (226), and the linear bearing (226) is slidably connected to the guide member (211).

8. The feeding device according to claim 1, characterized in that: A guide pin (2321) is provided on a side of the mounting plate (232) facing the pressing member (221); The guide pin (2321) is capable of passing through a guide hole provided on the material (1000); and / or the guide pin (2321) is provided through the pressing member (221).

9. The feeding device according to claim 1, characterized in that: A positioning pin (2211) is provided on one side of the pressing member (221) facing the supporting member (222), and the positioning pin (2211) is used to engage with a positioning hole provided on the material (1000).

10. The feeding device according to claim 1, characterized in that: The mechanical arms (100) include at least two, and the at least two mechanical arms (100) are respectively arranged on two opposite sides of the material (1000); and the lifting mechanism (200) is arranged on each of the mechanical arms (100).

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