Robot clamping part

Abstract

The utility model discloses a robot clamping portion which comprises a base, a first finger, a second finger and a third finger, the first finger, the second finger and the third finger are located on the base, the first finger comprises a first section body and a second section body, the first section body is located on the base, and a first torsion mechanism is connected between the first section body and the second section body; the second finger comprises a third section body and a fourth section body, and a second torsion mechanism is connected between the third section body and the fourth section body; the third finger comprises a fifth section body and a sixth section body, and a third torsion mechanism is connected between the fifth section body and the sixth section body; the base is provided with a fourth torsion mechanism connected with the fifth section body, and a reverse transmission mechanism is arranged between the third section body and the fifth section body. The utility model further discloses a scheme that the third section body is independently provided with an eighth torsion mechanism. Each finger can be bent independently, a linkage mechanism between the finger parts is established, and the clamping posture can be flexibly adjusted according to the shape and the requirement of a grabbed object, so that the three gestures of grabbing, holding and clamping are switched, and the adaptability and the practicability of the clamping part are improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot, concretely relates to robot clamping part. BACKGROUND

[0002] With the rapid development of robot technology in the fields of industrial automation, service robots and medical devices, the robot clamping part (i.e. robot hand or manipulator) as an important executive component of the robot interacting with the outside world, its design and function optimization has been widely concerned. The main function of the robot clamping part is to realize stable clamping and operation of objects with different shapes, sizes and materials by simulating the grasping action of human hands. The existing robot clamping part usually adopts multi-finger structure, which completes the clamping task through the movement of the finger part, and the design goal includes improving the flexibility, adaptability and stability of clamping.

[0003] Traditional robot clamping part adopts rigid finger structure, and realizes the opening and closing movement of the finger part through simple hinge or sliding mechanism. For example, the common design includes two-finger or three-finger gripper, which relies on motor to drive the finger part to move along the fixed trajectory to clamp the object. For example, the Chinese utility model patent with the patent name of "industrial robot mechanical grabbing device" and the announcement number of CN222494311U discloses such a simple grabbing device. However, this structure often shows uneven clamping force distribution, insufficient adaptability and other problems when facing complex shape or irregular objects. In addition, the degree of freedom of the finger part in the prior art is usually less, and it is difficult to realize flexible adjustment in multiple directions and angles, resulting in limited clamping range and application scenarios.

[0004] In order to improve the flexibility of the clamping part, some existing technologies introduce torsion mechanism or joint design. For example, by adding a rotary joint in the finger part, the clamping part can simulate the bending and twisting action of the human hand to a certain extent. For example, the patent application with the patent name of "gripping robot and gripping method" and the publication number of CN119489463A discloses a multi-joint structure between the fingers. However, these designs still have some shortcomings: first, the coordination between the multiple fingers is poor, and it is difficult to realize synchronous or differential motion control; second, the layout of the torsion mechanism is relatively single, usually limited to independent movement of a single finger, lacking linkage mechanism between fingers or between finger and base; third, for complex grasping tasks, the existing reverse transmission or power distribution mechanism design is simple, which cannot effectively balance the motion relationship of each finger, thereby limiting the performance of the clamping part in high-precision or high-load scenarios.

[0005] In addition, with the expansion of the application scenarios of robots, for example, in flexible manufacturing, micro object operation or human-robot collaboration, the requirements for the structural compactness, motion accuracy and multifunctionality of the clamping part are increasing. In the prior art, although part of the clamping part increases the number of knuckles or motors to improve the degree of freedom, it often accompanies the disadvantages of structural complexity, control difficulty and increased manufacturing cost. Therefore, designing a robot clamping part with high degree of freedom, strong coordination and optimized structure has become a technical problem to be solved in the field. SUMMARY

[0006] The technical problem to be solved by the utility model is to provide a robot clamping part with independent bending between fingers, strong coordination, linkage mechanism between fingers or between the fingers and the base, and the ability to complete three gestures of grabbing, holding and clamping.

[0007] The utility model adopts the technical scheme that the robot clamping part comprises a base and a first finger, a second finger and a third finger on the base, the first finger comprises a first section body and a second section body, the first section body is located on the base, and a first torsion mechanism is connected between the first section body and the second section body.

[0008] The second finger comprises a third section body and a fourth section body, and a second torsion mechanism is connected between the third section body and the fourth section body.

[0009] The third finger comprises a fifth section body and a sixth section body, and a third torsion mechanism is connected between the fifth section body and the sixth section body.

[0010] The base is provided with a fourth torsion mechanism connected to the fifth section body, and a reverse transmission mechanism is arranged between the third section body and the fifth section body.

[0011] The utility model sets the first torsion mechanism, the second torsion mechanism and the third torsion mechanism in the first finger, the second finger and the third finger respectively, so that each finger can bend independently and realize flexible motion with multiple degrees of freedom. Meanwhile, the fourth torsion mechanism connected to the fifth section body is arranged on the base, and the linkage mechanism between the fingers is established through the reverse transmission mechanism between the third section body and the fifth section body. This design not only enhances the coordination between the fingers, but also flexibly adjusts the clamping posture according to the shape and requirements of the grasped object, so as to realize the switching of the three gestures of grabbing, holding and clamping, and improve the adaptability and practicality of the clamping part.

[0012] In a preferred embodiment, the reverse transmission mechanism includes a first gear fixed on the third segment body and a second gear fixed on the fourth torsion output shaft, and the first gear and the second gear are in meshing connection. The reverse transmission mechanism adopts the structure of the first gear fixed on the third segment body and the second gear fixed on the fourth torsion output shaft in meshing connection. This design realizes the coordination of the reverse movement between the third finger and the second finger through gear meshing, ensuring uniform distribution of force and smoothness of movement during clamping. This reverse transmission mechanism further improves the coordination of the clamping part, especially in the scene of clamping irregular objects or needing opposite clamping, which can significantly improve the stability of clamping.

[0013] In another embodiment, the robot clamping part includes a base and a first finger, a second finger and a third finger located on the base, the first finger includes a first segment body and a second segment body, the first segment body is located on the base, and a first torsion mechanism is connected between the first segment body and the second segment body;

[0014] The second finger includes a third segment body and a fourth segment body, and a second torsion mechanism is connected between the third segment body and the fourth segment body;

[0015] The third finger includes a fifth segment body and a sixth segment body, and a third torsion mechanism is connected between the fifth segment body and the sixth segment body;

[0016] The base is provided with a fourth torsion mechanism connected to the fifth segment body and an eighth torsion mechanism connected to the third segment body.

[0017] In another embodiment, the base is provided with an eighth torsion mechanism connected to the third segment body. This design enhances the movement freedom of the second finger and its coordination with the base through the direct linkage of the base and the second finger. Combined with the control of the fourth torsion mechanism on the third finger, the clamping part is more flexible in multi-finger coordinated movement, which can adapt to more complex grasping tasks, such as holding actions that require the second finger and the third finger to adjust the angle at the same time, thereby further expanding the application scenarios of the clamping part.

[0018] In a preferred embodiment of all the embodiments, the second segment body includes a first branch and a second branch, a fifth torsion mechanism is connected between the first branch and the second branch, and the first branch is connected to the first torsion mechanism. By dividing the second segment body into a first branch and a second branch and setting a fifth torsion mechanism therebetween, the movement freedom of the first finger is further improved. This segmented design enables the first finger to simulate the multi-joint bending of human fingers, not only increasing the delicacy of clamping, but also providing more accurate posture adjustment when grasping small or irregular objects, significantly improving the flexibility of the clamping part in completing "grabbing" and "clamping" gestures.

[0019] In the preferred embodiment, the fourth segment comprises a third branch and a fourth branch, connected by a sixth torsion mechanism. The third branch is connected to a second torsion mechanism. The fourth segment, divided into a third and fourth branch and connected by the sixth torsion mechanism, allows the second finger greater flexibility. This structure enhances the independence of the second finger and its coordination with the first finger, especially in gripping gestures requiring multiple fingers, allowing for better wrapping of the object's surface and improved stability and adaptability of the grip.

[0020] In the preferred embodiment, the sixth segment includes a fifth and a sixth branch, connected by a seventh torsion mechanism. The fifth branch is connected to the third torsion mechanism. The sixth segment, divided into a fifth and a sixth branch and equipped with the seventh torsion mechanism, allows the third finger to also possess multi-joint movement capabilities. This design further enhances the symmetry and independence of the three-finger structure, ensuring that each finger can flexibly adjust its angle and position when performing complex gestures, thereby achieving precise grasping and stable clamping of objects of different shapes.

[0021] In a preferred embodiment, the first torsion mechanism includes a first motor located on the first segment and a first output shaft fixedly connected to the second segment;

[0022] The fifth torsion mechanism includes a fifth motor located on the first branch and a fifth output shaft fixedly connected to the second branch;

[0023] The second torsion mechanism includes a second motor located on the third branch and a second output shaft fixedly connected to the third segment.

[0024] The sixth torsion mechanism includes a sixth motor located on the fourth branch and a sixth output shaft fixedly connected to the third branch;

[0025] The third torsion mechanism includes a third motor located on the fifth branch and a third output shaft fixedly connected to the fifth segment.

[0026] The seventh torsion mechanism includes a seventh motor located on the sixth branch and a seventh output shaft fixedly connected to the fifth branch.

[0027] By incorporating independent motors and output shafts in each torsion mechanism, this invention achieves precise control of each finger segment and joint. This motor-driven approach not only improves the response speed and accuracy of movement but also simplifies the control system through modular design, enabling the gripping unit to quickly switch between three hand gestures—grasping, holding, and clamping—while maintaining high coordination and stability.

[0028] In the preferred scheme, the palm plate is arranged on the base, and the first groove and the second groove are arranged on the palm plate and are perpendicular to each other. The palm plate is arranged on the base, and the first groove and the second groove which are perpendicular to each other are arranged on the palm plate. This design enhances the positioning ability of the clamping part to the object, especially in the 'holding' gesture, the groove can effectively limit the sliding of the object, and improve the stability of clamping. At the same time, the vertical groove layout provides multi-directional support force for the clamping part, further improving its adaptability in complex grasping tasks.

[0029] In summary, compared with the prior art, the robot clamping part of the utility model through the optimization of the multi-finger independent torsion mechanism, the segmented knuckle design, the reverse transmission mechanism and the base linkage structure, the independent bending ability of each finger, the coordination between the fingers and the linkage between the fingers and the base are significantly improved. Compared with the prior art, the application can flexibly realize three gestures of grabbing, holding and clamping, adapt to objects of different shapes and sizes, have higher motion freedom, clamping stability and wide applicability, and provide important technical support for the development of robot clamping technology. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a schematic diagram of a holding posture of the embodiment one of the utility model;

[0031] Figure 2 is a schematic diagram of a grabbing posture of the embodiment one of the utility model;

[0032] Figure 3 is a schematic diagram of a clamping posture of the embodiment one of the utility model;

[0033] Figure 4 is an exploded schematic diagram of Figure 1 ;

[0034] Figure 5 is a further exploded schematic diagram of Figure 4 ;

[0035] Figure 6 is an exploded schematic diagram of the embodiment two;

[0036] Figure 7 is a structural schematic diagram of the third finger in the embodiment one and the embodiment two;

[0037] Figure 8 is an exploded schematic diagram of Figure 7 ;

[0038] Figure 9 is a structural schematic diagram of the second finger in the embodiment one and the embodiment two;

[0039] Figure 10 is an exploded schematic diagram of Figure 9 ;

[0040] Figure 11 is a structural schematic diagram of the first finger in Example One and Example Two;

[0041] Figure 12 is a structural schematic diagram of the first finger in Example One and Example Two; Figure 11

[0042] Figure 13 is a demonstration diagram of the bottle 9 being gripped in Example One;

[0043] Figure 14 is a demonstration diagram of the bottle 9 being gripped in Example One;

[0044] Figure 15 is a demonstration diagram of the bottle 9 being gripped in Example One. DETAILED DESCRIPTION

[0045] The embodiments of the present application will be further described in conjunction with the accompanying drawings.

[0046] wherein the reference signs are: a first finger 1, a first segment body 11, a second segment body 12, a first branch 121, a second branch 122, a first torsion mechanism 13, a first motor 131, a first output shaft 132, a fifth torsion mechanism 14, a fifth motor 141, a fifth output shaft 142, a second finger 2, a third segment body 21, a fourth segment body 22, a third branch 221, a fourth branch 222, a second torsion mechanism 23, a second motor 231, a second output shaft 232, a sixth torsion mechanism 24, a sixth motor 241, a sixth output shaft 242, a third finger 3, a fifth segment body 31, a sixth segment body 32, a fifth branch 321, a sixth branch 322, a third torsion mechanism 33, a third motor 331, a third output shaft 332, a seventh torsion mechanism 34, a seventh motor 341, a seventh output shaft 342, a base 4, a fourth torsion mechanism 5, a reverse transmission mechanism 6, a first gear 61, a second gear 62, an eighth torsion mechanism 7, a palm plate 8, a first recess 81, a second recess 82, a bottle 9.

[0047] Example One, as shown in Figures 1 to 5 .

[0048] The robot gripping part of Example One, comprising a base 4, and a first finger 1, a second finger 2, and a third finger 3 located on the base 4, the first finger 1 comprising: a first segment body 11 and a second segment body 12, the first segment body 11 being located on the base 4, and a first torsion mechanism 13 being connected between the first segment body 11 and the second segment body 12;

[0049] as shown in Figure 3 , the second finger 2 comprising: a third segment body 21 and a fourth segment body 22, and a second torsion mechanism 23 being connected between the third segment body 21 and the fourth segment body 22;

[0050] as shown in Figures 1 to 5 ​As shown, the third finger 3 comprises a fifth segment 31 and a sixth segment 32, and a third torsion mechanism 33 is connected between the fifth segment 31 and the sixth segment 32.

[0051] As shown, the base 4 is provided with a fourth torsion mechanism 5 connected to the fifth segment 31, and a reverse transmission mechanism 6 is provided between the third segment 21 and the fifth segment 31. Figure 4 Figure 5 As shown, the reverse transmission mechanism 6 comprises a first gear 61 fixed on the third segment 21 and a second gear 62 fixed on the fourth torsion output shaft, and the first gear 61 and the second gear 62 are meshed and connected.

[0052] As shown, the reverse transmission mechanism 6 comprises a first gear 61 fixed on the third segment 21 and a second gear 62 fixed on the fourth torsion output shaft, and the first gear 61 and the second gear 62 are meshed and connected. Figure 5 As shown, the second segment 12 comprises a first branch 121 and a second branch 122, and a fifth torsion mechanism 14 is connected between the first branch 121 and the second branch 122, and the first branch 121 is connected to the first torsion mechanism 13.

[0053] Figures 1 to 5 Figure 11 12 As shown, the second segment 12 comprises a first branch 121 and a second branch 122, and a fifth torsion mechanism 14 is connected between the first branch 121 and the second branch 122, and the first branch 121 is connected to the first torsion mechanism 13.

[0054] As shown, the fourth segment 22 comprises a third branch 221 and a fourth branch 222, and a sixth torsion mechanism 24 is connected between the third branch 221 and the fourth branch 222, and the third branch 221 is connected to the second torsion mechanism 23. Figures 1 to 5 Figure 9 10 As shown, the fourth segment 22 comprises a third branch 221 and a fourth branch 222, and a sixth torsion mechanism 24 is connected between the third branch 221 and the fourth branch 222, and the third branch 221 is connected to the second torsion mechanism 23.

[0055] ​​​​​​In the embodiment, as shown in Figures 1 to 5 , and Figure 7 , and 8 The sixth segment 32 includes a fifth branch 321 and a sixth branch 322, a seventh torsion mechanism 34 is connected between the fifth branch 321 and the sixth branch 322, and the fifth branch 321 is connected to the third torsion mechanism 33. The sixth segment 32 is divided into the fifth branch 321 and the sixth branch 322, and the seventh torsion mechanism 34 is arranged, so that the third finger 3 also has multi-joint movement capability. This design further improves the symmetry and independence of the three-finger structure, ensures that each finger can be flexibly adjusted in angle and position when the clamping part performs complex gestures, and thus realizes precise grabbing and stable clamping of different shaped objects.

[0056] In the embodiment, as shown in Figures 1 to 5 , and Figure 11 , and 12 The first torsion mechanism 13 includes a first motor 131 located on the first segment 11 and a first output shaft 132 fixedly connected to the second segment 12;

[0057] As shown in Figure 11 , and 12 The fifth torsion mechanism 14 includes a fifth motor 141 located on the first branch 121 and a fifth output shaft 142 fixedly connected to the second branch 122;

[0058] As shown in Figure 9 , and 10 The second torsion mechanism 23 includes a second motor 231 located on the third branch 221 and a second output shaft 232 fixedly connected to the third segment 21;

[0059] As shown in Figure 9 , and 10 The sixth torsion mechanism 24 includes a sixth motor 241 located on the fourth branch 222 and a sixth output shaft 242 fixedly connected to the third branch 221;

[0060] As shown in Figure 7 , and 8 The third torsion mechanism 33 includes a third motor 331 located on the fifth branch 321 and a third output shaft 332 fixedly connected to the fifth segment 31;

[0061] As shown in Figure 7 , and 8 The seventh torsion mechanism 34 includes a seventh motor 341 located on the sixth branch 322 and a seventh output shaft 342 fixedly connected to the fifth branch 321.

[0062] By setting independent motors and output shafts in each torsion mechanism, the present application realizes the precise control of each finger segment and branch. This motor-driven mode not only improves the response speed and accuracy of movement, but also simplifies the control system through modular design, enabling the gripping part to quickly switch between the three gestures of grabbing, holding, and clamping while maintaining high coordination and stability.

[0063] As shown in Figure 1 and 5 , the palm plate 8 is provided on the base 4, and the first groove 81 and the second groove 82 are provided on the palm plate 8, which are perpendicular to each other. The palm plate 8 is provided on the base 4, and the first groove 81 and the second groove 82 are provided on the palm plate 8, which are perpendicular to each other. This design enhances the positioning ability of the gripping part to the object, especially in the "holding" gesture, the grooves can effectively limit the sliding of the object, improve the stability of clamping. At the same time, the vertical groove layout provides multi-directional support force for the gripping part, further improving its adaptability in complex grasping tasks.

[0064] As shown in Figure 1 and Figure 13 , when the first embodiment grips the bottle 9, the second finger 2 and the third finger 3 are located on one side of the bottle 9, and the first finger 1 is located on the other side of the bottle 9.

[0065] As shown in Figure 2 and Figure 14 , when the first embodiment grips the bottle 9, the first finger 1, the second finger 2 and the third finger 3 are distributed on the side of the bottle 9 to form a triangular distribution.

[0066] As shown in Figure 3 and Figure 15 , when the first embodiment grips the bottle 9, the first finger 1 is bent and does not press the bottle 9, and the second finger 2 and the third finger 3 jointly hold the bottle 9. In actual use, it is not limited to the bottle 9, but also can hold other objects.

[0067] The second embodiment, as shown in Figure 6 .

[0068] The structure of the second embodiment is similar to that of the first embodiment, except that the second embodiment does not have a reverse transmission mechanism 6, but instead has an eighth torsion mechanism 7 on the third segment body 21. The structure of the eighth torsion mechanism 7 is the same as that of the other torsion mechanisms, so that the second finger 2 and the third finger 3 can independently rotate on the base 4. This design enhances the freedom of movement of the second finger 2 and the coordination with the base 4 through the direct linkage of the base 4 and the second finger 2. Combined with the control of the fourth torsion mechanism 5 on the third finger 3, the gripping part is more flexible when multiple fingers move together, and can adapt to more complex grasping tasks, such as holding actions that require the second finger 2 and the third finger 3 to adjust the angle at the same time, thereby further expanding the application scenarios of the gripping part. Example three

[0069] The structure of example three is similar to example one, except that the second segment 12, the fourth segment 22 and the sixth segment 32 are integral structures respectively. Example four

[0070] The structure of example four is similar to example one, except that the first torsion mechanism 13, the second torsion mechanism 23, the third torsion mechanism 33, the fourth torsion mechanism 5, the fifth torsion mechanism 14, the sixth torsion mechanism 24 and the seventh torsion mechanism 34 are not rotor motors, but hydraulic driving devices, whose hydraulic structures are the same as the invention with the invention name of "a slip-proof mechanical hand for injection molding machine" and the announcement number of CN218053852U, and the hydraulic structures can also be replaced by the existing technology.

[0071] The best embodiment of the utility model has been illustrated, and various changes or modifications made by those skilled in the art will not deviate from the scope of the invention.

Claims

1. A robot gripper, comprising a base (4) and a first finger (1), a second finger (2), and a third finger (3) located on the base (4), characterized in that, The first finger (1) includes: a first segment (11) and a second segment (12), wherein the first segment (11) is located on the base (4), and a first torsion mechanism (13) is connected between the first segment (11) and the second segment (12); The second finger (2) includes a third segment (21) and a fourth segment (22), and a second torsion mechanism (23) is connected between the third segment (21) and the fourth segment (22); The third finger (3) includes a fifth segment (31) and a sixth segment (32), and a third torsion mechanism (33) is connected between the fifth segment (31) and the sixth segment (32); The base (4) is provided with a fourth torsion mechanism (5) connecting the fifth segment (31), and a reverse transmission mechanism (6) is provided between the third segment (21) and the fifth segment (31).

2. The robot gripper according to claim 1, characterized in that, The reverse transmission mechanism (6) includes a first gear (61) fixed on the third segment (21) and a second gear (62) fixed on the fourth torque output shaft. The first gear (61) and the second gear (62) are meshed together.

3. The robot gripper according to any one of claims 1 to 2, characterized in that, The second segment (12) includes a first branch (121) and a second branch (122), and a fifth torsion mechanism (14) is connected between the first branch (121) and the second branch (122). The first branch (121) is connected to the first torsion mechanism (13).

4. The robot gripper according to claim 3, characterized in that, The fourth segment (22) includes a third branch (221) and a fourth branch (222), and a sixth torsion mechanism (24) is connected between the third branch (221) and the fourth branch (222). The third branch (221) is connected to the second torsion mechanism (23).

5. A robot gripper, comprising a base (4) and a first finger (1), a second finger (2), and a third finger (3) located on the base (4), characterized in that, The first finger (1) includes: a first segment (11) and a second segment (12), wherein the first segment (11) is located on the base (4), and a first torsion mechanism (13) is connected between the first segment (11) and the second segment (12); The second finger (2) includes a third segment (21) and a fourth segment (22), and a second torsion mechanism (23) is connected between the third segment (21) and the fourth segment (22); The third finger (3) includes a fifth segment (31) and a sixth segment (32), and a third torsion mechanism (33) is connected between the fifth segment (31) and the sixth segment (32); The base (4) is provided with a fourth torsion mechanism (5) connecting the fifth segment (31) and an eighth torsion mechanism (7) connecting the third segment (21).

6. The robot gripper according to claim 5, characterized in that, The second segment (12) includes a first branch (121) and a second branch (122), and a fifth torsion mechanism (14) is connected between the first branch (121) and the second branch (122). The first branch (121) is connected to the first torsion mechanism (13).

7. The robot gripper according to claim 6, characterized in that, The fourth segment (22) includes a third branch (221) and a fourth branch (222), and a sixth torsion mechanism (24) is connected between the third branch (221) and the fourth branch (222). The third branch (221) is connected to the second torsion mechanism (23).

8. The robot gripper according to claim 7, characterized in that, The sixth segment (32) includes a fifth branch (321) and a sixth branch (322), and a seventh torsion mechanism (34) is connected between the fifth branch (321) and the sixth branch (322). The fifth branch (321) is connected to the third torsion mechanism (33).

9. The robot gripper according to claim 8, characterized in that, The first torsion mechanism (13) includes a first motor (131) located on the first segment (11) and a first output shaft (132) fixedly connected to the second segment (12); The fifth torsion mechanism (14) includes a fifth motor (141) located on the first branch (121) and a fifth output shaft (142) fixedly connected to the second branch (122); The second torsion mechanism (23) includes a second motor (231) located on the third branch (221) and a second output shaft (232) fixedly connected to the third segment (21); The sixth torsion mechanism (24) includes a sixth motor (241) located on the fourth branch (222) and a sixth output shaft (242) fixedly connected to the third branch (221); The third torsion mechanism (33) includes a third motor (331) located on the fifth branch (321) and a third output shaft (332) fixedly connected to the fifth segment (31); The seventh torsion mechanism (34) includes a seventh motor (341) located on the sixth branch (322) and a seventh output shaft (342) fixedly connected to the fifth branch (321).

10. The robot gripper according to claim 9, characterized in that, The base (4) is provided with a palm plate (8), the palm plate (8) is provided with a first groove (81) and a second groove (82), the first groove (81) and the second groove (82) are perpendicular to each other.

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