Waist, crotch and leg assembly and humanoid robot

Abstract

According to the waist, crotch and leg assembly and the humanoid robot, the requirement for external space can be reduced, the waist, the crotch and the legs of the humanoid robot can all move at a large angle, the flexibility is high, and various action postures of the humanoid robot are completed with the small degree of freedom. The hip joint comprises a hipbone shell, an IMU unit, a hipbone driving assembly, a waist connecting piece, a leg unit and a knee driving unit. A hipbone driving assembly and an IMU unit are installed in the hipbone shell, a waist connecting piece is installed on the hipbone shell, and the waist connecting piece is used for being connected with a waist unit of the humanoid robot. The IMU unit is connected with the hipbone driving assembly, the knee driving unit and the leg unit. The hipbone driving assembly is connected with the leg unit and the waist connecting piece, and a knee driving unit is installed in the leg unit; the hipbone driving assembly is matched with the leg unit and the knee driving unit to control the waist, the crotch and the legs of the humanoid robot to move.

Description

Technical Field

[0001] This application relates to the field of intelligent machinery technology, and particularly relates to a waist-hip-leg assembly and a humanoid robot. Background Art

[0002] With the rapid progress of technology, robot technology is also constantly breaking through and innovating. As an important branch of the robot field, the development direction of humanoid robots is gradually moving towards the goals of large movement range, light weight, and high burst. Humanoid robots simulate human movement patterns, complete various complex actions, and possess high flexibility and adaptability.

[0003] In the overall structure of humanoid robots, the waist, hips, and thigh parts of humanoid robots are the positions of core strength. These parts not only bear the task of supporting the weight of the robot's body but also are responsible for driving the robot to perform various movements. Therefore, the design of the waist, hips, and thigh parts of humanoid robots directly affects the performance of humanoid robots such as miniaturization, lightweight, and high burst.

[0004] However, current solutions for humanoid robots often overly pursue anthropomorphism while neglecting the combination of the waist, hips, and thigh parts of humanoid robots, resulting in poor flexibility of humanoid robots and making them unable to complete movements with multiple degrees of freedom. Summary of the Utility Model

[0005] This application provides a waist-hip-leg assembly and a humanoid robot to solve the above technical problems.

[0006] The first aspect of this application provides a waist-hip-leg assembly, including: a hip bone housing, an IMU unit, a hip bone drive assembly, a waist connecting member, a leg unit, and a knee drive unit;

[0007] The hip bone drive assembly and the IMU unit are installed in the hip bone housing, and the waist connecting member is installed on the hip bone housing. The waist connecting member is used to connect the waist unit of the humanoid robot;

[0008] The IMU unit is respectively connected to the hip bone drive assembly, the knee drive unit, and the leg unit;

[0009] The hip bone drive assembly is connected to the leg unit and the waist connecting member, and the knee drive unit is installed in the leg unit;

[0010] The hip bone drive assembly, in cooperation with the leg unit and the knee drive unit, is used to control the waist, hips, and legs of the humanoid robot to move.

[0011] Optionally, the hip bone housing includes a front hip bone shell and a rear hip bone shell. The front hip bone shell and the rear hip bone shell are combined to form an integrated area. The hip bone drive assembly is placed in the integrated area. The integrated area is provided with a first opening, a second opening, and a third opening. The first opening is arranged at the upper end of the integrated area. The second opening is arranged at one side of the lower end of the integrated area. The third opening is arranged at the other side of the lower end of the integrated area.

[0012] Optionally, the hip bone drive assembly includes a first hip drive unit, a second hip drive unit, and a third hip drive unit. The second hip drive unit is connected to the third hip drive unit. The first hip drive unit is installed in the first opening. The second hip drive unit is installed in the second opening and the third opening.

[0013] Optionally, the leg unit includes an upper thigh, a lower thigh, and a thigh drive unit. The thigh drive unit is installed between the upper thigh and the lower thigh.

[0014] Optionally, the upper thigh is provided with a thigh connecting member. The third hip drive unit is connected to the upper thigh through the thigh connecting member.

[0015] Optionally, the knee drive unit is installed on the lower thigh.

[0016] Optionally, the first hip drive unit is connected to the waist connecting member.

[0017] Optionally, a wire harness fixing bracket is installed inside the hip bone housing. The wire harness fixing bracket is used to fix the cables inside the hip bone housing.

[0018] Optionally, a side decorative cover and a rear decorative cover are detachably installed on the third hip drive unit.

[0019] In the second aspect of the present application, a humanoid robot is provided. The humanoid robot is installed with a waist-hip-leg assembly as described in the first aspect and any one of the first aspect.

[0020] It can be seen from the above technical solutions that the present application has the following advantages:

[0021] 1. Through the cooperation with components such as the hip bone drive assembly and the waist connecting member, the compactness of the structure is realized, effectively reducing the overall weight. Through the waist connecting member, the waist-hip-leg assembly can be easily connected to the waist unit of the humanoid robot, not only simplifying the installation process, but also further reducing the weight and volume of the connecting components.

[0022] 2. The hip bone drive assembly serves as a power source, enabling the coordinated movement of the waist, hips, and legs. This allows the humanoid robot to smoothly cooperate in various parts when performing complex movements, enhancing the flexibility and fluency of movement. Moreover, the cooperation between the leg unit and the hip bone housing, as well as the setting of the knee drive unit, enable the legs to be flexibly adjusted according to the movement requirements, increasing the robot's movement range.

[0023] 3. The tight integration of the hip bone drive assembly with the hip bone housing reduces energy loss during power transmission, enabling efficient power transfer to the leg unit and allowing the humanoid robot to respond quickly when explosive power is required.

[0024] 4. Through the cooperative action of the hip bone housing, IMU unit, hip bone drive assembly, waist connecting piece, leg unit, and knee drive unit, the waist, hips, and legs of the humanoid robot can move at large angles with high flexibility, completing various movement postures of the humanoid robot with fewer degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solutions in this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 is the overall exploded structural schematic diagram of the waist-hip-leg assembly provided by this application;

[0027] Figure 2 is the internal structural schematic diagram of the waist-hip-leg assembly provided by this application;

[0028] Figure 3 is the external structural schematic diagram of the waist-hip-leg assembly provided by this application;

[0029] Figure 4 is a structural schematic diagram of the hip bone housing in the waist-hip-leg assembly provided by this application;

[0030] Figure 5 is the structural schematic diagram of the hip bone housing in the waist-hip-leg assembly with side decorative covers and rear decorative covers installed on the third hip drive unit;

[0031] Figure 6 is the structural schematic diagram of the hip bone housing in the waist-hip-leg assembly with the third hip drive unit installed;

[0032] Figure 7 is the structural schematic diagram of the leg unit in the waist-hip-leg assembly provided by this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] In this application, the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings, and is only used to illustrate the relative positional relationship between each component or component part, without particularly limiting the specific installation orientation of each component or component part.

[0034] Moreover, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0035] In addition, the terms "install", "set", "provided with", "connect", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is an internal connection between two devices, components or component parts. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0036] In addition, the structures, proportions, sizes, etc. drawn in the drawings in this application are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the conditions for the implementation of this application. Therefore, they do not have technical essential significance. Any modification of the structure, change in the proportional relationship or adjustment of the size, without affecting the effects that this application can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in this application.

[0037] Next, the technical solutions in this application will be clearly and completely described in conjunction with the drawings in this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0038] Currently, the existing humanoid robot solutions often pursue anthropomorphism too much, while ignoring the combination of the waist, hips and thighs of the humanoid robot, resulting in poor flexibility of the humanoid robot, making the humanoid robot unable to complete movements with multiple degrees of freedom.

[0039] Based on this, the present application provides a waist-hip-leg assembly and a humanoid robot. The waist, hips, and legs of the humanoid robot can all move at large angles, with high flexibility, and various motion postures of the humanoid robot can be completed with fewer degrees of freedom.

[0040] Please refer to Figures 1 to 7 , the first aspect of the present application provides a waist-hip-leg assembly, including: a hip bone housing 1, an IMU unit 9, a hip bone drive assembly, a waist connecting member 11, a leg unit, and a knee drive unit 13; the hip bone drive assembly and the IMU unit 9 are installed in the hip bone housing 1, the waist connecting member 11 is installed on the hip bone housing 1, and the waist connecting member 11 is used to connect the waist unit of the humanoid robot; the IMU unit 9 is respectively connected to the hip bone drive assembly, the knee drive unit 13, and the leg unit; the hip bone drive assembly is connected to the leg unit and the waist connecting member 11, and the knee drive unit 13 is installed in the leg unit; the hip bone drive assembly cooperates with the leg unit and the knee drive unit 13 to control the movement of the waist, hips, and legs of the humanoid robot.

[0041] First, introduce the functions and roles of each component of the present application:

[0042] Hip bone housing 1: As the support structure of the entire waist-hip-leg assembly, it provides installation space for the hip bone drive assembly and the IMU unit 9, and the hip bone housing 1 cooperates with the waist connecting member 11 to realize the connection with the waist unit of the humanoid robot, and the hip bone housing 1 is connected and cooperated with the leg unit to realize the connection with the leg unit of the humanoid robot.

[0043] IMU unit 9: Real-time sense the motion state of the humanoid robot, including posture, speed, acceleration, etc. The IMU unit 9 is connected to the hip bone drive assembly, the knee drive unit 13, and the leg unit, and provides feedback information required for motion control to achieve precise motion control.

[0044] Hip bone drive assembly: As the power source, it provides power for the movement of the waist, hips, and legs. The hip bone drive assembly is connected to the leg unit and the waist connecting member 11, and transmits the power to these parts to drive the legs and waist of the humanoid robot to move.

[0045] Waist connecting member 11: Connects the waist-hip-leg assembly to the waist unit of the humanoid robot and provides a stable connection interface

[0046] Leg unit: As the leg structure of the humanoid robot, it supports the robot body and realizes movements such as walking and running. The leg unit is connected to the hip bone drive assembly, receives power and converts it into leg movement; at the same time, the knee drive unit 13 is installed inside to realize the flexible movement of the knee joint.

[0047] Knee drive unit 13: Provides power for the knee joint to achieve flexion and extension of the knee joint. The knee drive unit 13 is installed inside the leg unit and cooperates with the IMU unit 9 and the hip drive assembly to adjust the motion state of the knee joint according to the motion requirements.

[0048] In the embodiment of the present application, the hip bone housing 1 is made of a lightweight and high-strength material and has an installation space inside. The hip drive assembly and the IMU unit 9 are installed inside the hip bone housing 1, and the hip drive assembly is connected to the leg unit and the waist unit.

[0049] Among them, the waist connecting piece 11 is fixed to the upper part of the hip bone housing 1 for connecting to the waist unit of the humanoid robot. The leg unit is connected to the hip bone housing 1, and the knee drive unit 13 is installed inside the leg unit for driving the motion of the knee joint. The IMU unit 9 is connected to the hip drive assembly, the knee drive unit 13, and the leg unit to sense and feedback the motion state of the humanoid robot in real time.

[0050] In practical applications, during operation, the hip drive assembly receives control signals and drives the leg unit and the waist unit to move. At the same time, the IMU unit 9 senses the motion state in real time to adjust the motion states of the hip drive assembly and the knee drive unit 13 to achieve precise motion control.

[0051] Through the waist-hip-leg assembly of the present application, the humanoid robot can achieve efficient coordinated motion of the waist, hip, and legs, improve the motion performance and stability. Through the cooperation of the hip bone housing 1, the IMU unit 9, the hip drive assembly, the waist connecting piece 11, the leg unit, and the knee drive unit 13, the waist, hip, and legs of the humanoid robot can move at large angles, with high flexibility, and complete various action postures of the humanoid robot with fewer degrees of freedom.

[0052] Optionally, the hip bone housing 1 includes a hip bone front shell 6 and a hip bone rear shell 5. The hip bone front shell 6 and the hip bone rear shell 5 form an integrated area. The hip drive assembly is placed in the integrated area. The integrated area is provided with a first opening, a second opening, and a third opening. The first opening is arranged at the upper end of the integrated area, the second opening is arranged on one side of the lower end of the integrated area, and the third opening is arranged on the other side of the lower end of the integrated area.

[0053] In the embodiment of the present application, the hip bone housing 1 is composed of two parts, namely the front hip bone shell 6 and the rear hip bone shell 5. The combination of the front hip bone shell 6 and the rear hip bone shell 5 forms a stable and sealed integrated area, which is used to place and protect the hip bone drive group. The hip bone drive assembly serves as a power source to provide power support for the movement of the waist, hip and legs of the humanoid robot. Placing the hip bone drive assembly in the integrated area can effectively protect the hip bone drive assembly from external environmental interference and damage, and at the same time ensure the stable operation of the assembly.

[0054] Among them, a first opening, a second opening and a third opening are provided on the integrated area. The first opening is provided at the upper end of the integrated area, and a waist connecting member 11 is provided on the first opening. Through the waist connecting member 11, the waist-hip-leg assembly can be installed on the waist unit of the humanoid robot.

[0055] The second opening is provided on one side of the lower end of the integrated area, and the second opening is used to connect with a leg unit. The third opening is provided on the other side of the lower end of the integrated area. Similar to the second opening, the third opening is also used to connect with another leg unit. By providing the second opening and the third opening, the waist-hip-leg assembly can more flexibly adapt to leg units with different shapes and structures.

[0056] Among them, the split design of the front hip bone shell 6 and the rear hip bone shell 5 makes the waist-hip-leg assembly have higher modularity and maintainability. When it is necessary to repair or replace the hip bone drive assembly, only need to disassemble the front hip bone shell 6 and the rear hip bone shell 5, then the components in the integrated area can be easily accessed, which greatly improves the repair efficiency.

[0057] The hip bone housing 1 is a compact and lightweight hip bone housing 1, which not only reduces the volume and weight of the waist-hip-leg assembly, but also improves the rigidity of its overall structure. And the settings of the first, second and third openings enable the waist-hip-leg assembly to more flexibly adapt to waist units and leg units with different shapes and structures.

[0058] Optionally, the hip bone drive assembly includes a first hip drive unit 4, a second hip drive unit 7 and a third hip drive unit 8. The second hip drive unit 7 is connected to the third hip drive unit 8. The first hip drive unit 4 is installed in the first opening, and the second hip drive unit 7 is installed in the second opening and the third opening.

[0059] In the embodiment of the present application, the hip bone drive assembly includes a first hip drive unit 4, a second hip drive unit 7 and a third hip drive unit 8.

[0060] The first hip driving unit 4 is installed in the first opening of the integrated area. The first opening is arranged at the upper end of the hip bone housing 1. The first hip driving unit 4 is connected to the waist connecting member 11. The first hip driving unit 4 is used to realize the relative motion drive between the waist and the hip, such as the twisting, forward inclination or backward inclination of the waist and other actions. Through the installation position of the first opening, the first hip driving unit 4 can be directly connected to the waist connecting member 11 to realize the effective transmission and control of force.

[0061] The second hip driving unit 7 is installed in the second opening of the integrated area. The second opening is arranged at one side of the lower end of the hip bone housing 1. The second hip driving unit 7 is connected to a leg unit. The second hip driving unit 7 realizes the relative motion drive on one side between the hip and the leg in the humanoid robot, such as the lifting, lowering or side swing of the thigh and other actions. Through the installation position of the second opening, the second hip driving unit 7 can directly transmit the power to a leg unit to realize the precise control of the leg movement.

[0062] The second hip driving unit 7 is installed in the third opening of the integrated area. The third opening is arranged at the other side of the lower end of the hip bone housing 1. The second hip driving unit 7 is connected to the other leg unit, and the third hip driving unit 8 is connected to the second hip driving unit 7 to jointly cooperate to realize the movement drive of the leg unit, so that the leg unit can perform various complex movements more flexibly, such as walking, running, jumping and so on.

[0063] Among them, the second hip driving unit 7 and the third hip driving unit 8 are connected by a transmission mechanism to ensure that the two can work together during the movement process to realize the stable and precise movement of the leg unit.

[0064] Optionally, the leg unit includes the upper thigh 2, the lower thigh 3 and the thigh driving unit 12, and the thigh driving unit 12 is installed between the upper thigh 2 and the lower thigh 3.

[0065] In the embodiment of the present application, the leg unit includes the upper thigh 2, the lower thigh 3 and the thigh driving unit 12. Among them, the upper thigh 2 is the upper segment part of the leg unit and is connected to the second opening and the third opening at the lower end of the hip bone housing 1. Among them, the lower thigh 3 is the lower segment part of the leg unit, and the thigh driving unit 12 is installed between the upper thigh 2 and the lower thigh 3 and is the power core of the leg unit. It is responsible for driving the relative motion between the upper thigh 2 and the lower thigh 3.

[0066] Among them, the leg unit is composed of three independent modules: the upper thigh 2, the lower thigh 3, and the thigh drive unit 12. The modular setting makes the leg unit easier to maintain and upgrade. When a certain module fails or needs to be replaced, it can be replaced separately without replacing the entire leg unit. Moreover, through the drive and control of the thigh drive unit 12, relative movement can be achieved between the upper thigh 2 and the lower thigh 3, enabling the leg unit to perform various complex movements more flexibly. The movement flexibility provides strong support for the actions of the humanoid robot such as walking, running, and jumping.

[0067] Optionally, the upper thigh 2 is provided with a thigh connecting member 14, and the third hip drive unit 8 is connected to the upper thigh 2 through the thigh connecting member 14.

[0068] In the embodiment of the present application, the thigh connecting member 14 is arranged on the upper thigh 2 and serves as a bridge between the hip bone drive unit and the upper thigh 2, for transmitting the power generated by the hip bone drive unit to the upper thigh 2, and then driving the movement of the entire leg unit.

[0069] Among them, it should be noted that the thigh connecting member 14 is made of high-strength and wear-resistant materials, such as metal alloys, composite materials, etc., to ensure that it can withstand large forces and torques. Through the cooperation of these components, a stable connection and flexible rotation between the hip bone drive unit and the upper thigh 2 are achieved.

[0070] The third hip drive unit 8 is connected to the upper thigh 2 through the thigh connecting member 14, which can achieve effective power transmission and movement coordination.

[0071] By providing the thigh connecting member 14, the power generated by the hip drive unit can be directly and efficiently transmitted to the upper thigh 2, and then drive the movement of the entire leg unit, effectively reducing the loss and delay in the power transmission process, and improving the movement efficiency and response speed.

[0072] Optionally, the knee drive unit 13 is installed on the lower thigh 3.

[0073] In the embodiment of the present application, the knee drive unit 13 is responsible for driving the flexion and extension movement of the knee joint, enabling the leg to perform various complex actions flexibly. Through the precise control of the knee drive unit 13, smooth and rapid movement of the knee joint can be achieved, improving the movement performance and stability of the humanoid robot.

[0074] The knee drive unit 13 is installed at a position close to the knee joint on the lower thigh 3 so as to directly drive the movement of the knee joint, enabling the knee drive unit 13 to fully exert its driving ability and achieve flexible movement of the knee joint.

[0075] Through the drive and control of the knee drive unit 13, the knee joint can achieve flexible flexion and extension movements, enabling the humanoid robot to perform actions such as walking, running, and jumping more naturally.

[0076] Optionally, a wire harness fixing bracket 10 is installed inside the hip bone housing 1, and the wire harness fixing bracket 10 is used to fix the cables inside the hip bone housing 1.

[0077] In the embodiment of the present application, the wire harness fixing bracket 10 is used to fix and support the cables inside the hip bone housing 1, preventing the cables from shaking or falling off during the movement of the robot. By using the wire harness fixing bracket 10, the arrangement of the cables can be ensured to be neat and orderly, improving the space utilization rate inside the hip bone housing 1, and at the same time facilitating the maintenance and replacement of the cables.

[0078] Optionally, a side decorative cover 15 and a rear decorative cover 16 are detachably installed on the third hip drive unit 8.

[0079] In the embodiment of the present application, the side decorative cover 15 and the rear decorative cover 16 play a role of decoration and protection. The side decorative cover 15 and the rear decorative cover 16 can cover the internal mechanical structure and cables of the third hip drive unit 8, making the appearance of the robot cleaner and more beautiful. At the same time, the side decorative cover 15 and the rear decorative cover 16 can also prevent external dust, sundries, etc. from entering the inside of the drive unit and damaging the mechanical components and cables, thereby improving the reliability and service life of the drive unit.

[0080] The second aspect of the present application provides a humanoid robot, and the waist-hip-leg assembly as described in the first aspect and any one of the first aspect is installed on the humanoid robot.

[0081] It should be noted that the above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A waist, hip and leg assembly, characterized in that: include: Hip housing, IMU unit, hip drive assembly, waist connection, leg unit and knee drive unit; The hip housing is provided with a hip driving assembly and an IMU unit, and the hip housing is provided with a waist connector, which is used to connect to a waist unit of a humanoid robot; The IMU unit is connected to the hip drive assembly, the knee drive unit and the leg unit respectively; The hip drive assembly is connected to the leg unit and the waist connection member, and the knee drive unit is installed in the leg unit; The hip drive assembly cooperates with the leg unit and the knee drive unit to control the movement of the waist, hips and legs of the humanoid robot.

2. The waist, hip and leg assembly according to claim 1, characterized in that: The hip shell includes a front hip shell and a rear hip shell, which are combined to form an integrated area. The hip drive assembly is placed in the integrated area. A first opening, a second opening and a third opening are provided on the integrated area. The first opening is provided at the upper end of the integrated area, the second opening is provided at one side of the lower end of the integrated area, and the third opening is provided at the other side of the lower end of the integrated area.

3. The waist, hip and leg assembly according to claim 2, characterized in that: The hip drive assembly includes a first hip drive unit, a second hip drive unit and a third hip drive unit, the second hip drive unit is connected to the third hip drive unit, the first hip drive unit is installed in the first opening, and the second hip drive unit is installed in the second opening and the third opening.

4. The waist, hip and leg assembly according to claim 3, characterized in that: The leg unit includes an upper thigh, a lower thigh and a thigh driving unit, and the thigh driving unit is installed between the upper thigh and the lower thigh.

5. The waist, hip and leg assembly according to claim 4, characterized in that: The upper thigh is provided with a thigh connecting piece, and the third driving unit of the crotch is connected to the upper thigh through the thigh connecting piece.

6. The waist, hip and leg assembly according to claim 4, characterized in that: The knee drive unit is installed at the lower part of the thigh.

7. The waist, hip and leg assembly according to claim 4, characterized in that: The first crotch driving unit is connected to the waist connecting piece.

8. The waist, hip and leg assembly according to claim 1, characterized in that: A wire harness fixing bracket is installed inside the hip shell, and the wire harness fixing bracket is used to fix the cables inside the hip shell.

9. The waist, hip and leg assembly according to claim 3, characterized in that: The third driving unit of the crotch portion is detachably mounted with a side decorative cover and a rear decorative cover.

10. A humanoid robot, characterized in that: The humanoid robot is equipped with a waist, hip and leg assembly as described in any one of claims 1 to 9.

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