Mobile line marking robot with peristaltic pump

Abstract

The present invention relates to a line marking robot with a peristaltic pump for paint flow control of paint to the paint nozzle.

Description

[0001] Mobile line marking robot with peristaltic pump

[0002] Technical field of the invention

[0003] The present invention relates to line marking robots adapted for marking or painting a surface.

[0004] Background of the invention

[0005] Mobile robots are now used as line marking apparatuses for marking surfaces. The mobile robot replaces tedious and hard manual marking operations done today, e.g., at construction sites or roads, using strings and measurement tapes combined with aerosol cans and handheld markers.

[0006] When using an autonomous robot for line marking e.g., for pre-marking on roads and for precision marking at construction sites, there is a need for a robot that can produce both low and precise flow rates of paint. The paint consumption must be kept at a minimum while still producing a visible line. The current line marking robots on the market today are built to accommodate aerosol spray cans and are thus limited by the construction of the aerosol spray can.

[0007] It is an objective of the present invention to provide a versatile line marking robot that solves the above-mentioned problems.

[0008] Summary of the invention

[0009] One aspect relates to a mobile line marking robot, comprising:

[0010] - a chassis;

[0011] - a spray means comprising a spray nozzle with an outlet;

[0012] - a paint reservoir; and

[0013] - a pump unit operably connected to said spray means and said paint reservoir, thereby allowing paint from the paint reservoir to exit said spray nozzle; wherein the pump unit comprises a peristaltic pump.

[0014] A peristaltic pump is a positive displacement pump used for pumping a variety of fluids. The fluid is contained in a flexible tube fitted inside a pump casing which is mostly circular. Most peristaltic pumps work through rotary motion, though linear peristaltic pumps have also been made. In the linear peristaltic pump, a series of actuators rhythmically compress the elastic tube. In the circular peristaltic pump, a rotor has a plurality of rollers attached to its external circumference, which compress the flexible tube as they rotate by. The part of the tube under compression is closed, forcing the fluid to move through the tube. When the tube opens to its natural state after the rollers pass, more fluid is drawn into the tube.

[0015] This configuration result in a versatile line marking robot where the pump parts are easily replaceable, especially the nozzle and tubing can be exchanged for different tasks with regards to line marking width. The use of a peristaltic pump allows for a refillable paint reservoir and the expensive cans can be omitted. Furthermore, the peristaltic pump allows for a very precise control of paint flow, e.g., compared to spray cans, where the amount left of propellant within the spray can may affect the flow rate.

[0016] The term “chassis” is used herein to refer to at least a part of the main framework of a mobile marking robot.

[0017] The term “spray nozzle” is defined to be a nozzle, an orifice, a spray valve, a pressure reducing tubing section, and any combination thereof.

[0018] Brief description of the figures

[0019] Figure 1 shows a rear perspective view of a mobile line marking robot in accordance with various embodiments of the invention. Figures 2-4 show different views of a pump unit in accordance with various embodiments of the invention.

[0020] References

[0021] 100 Mobile line marking robot

[0022] 110 Chassis

[0023] 120 Spray nozzle

[0024] 130 Paint reservoir

[0025] 140 Peristaltic pump

[0026] 141 Rotor

[0027] 142 Tube

[0028] 143 Flange

[0029] 144 Pump casing

[0030] 145 Recess

[0031] 146 Hair pin retainer

[0032] 147 Roller

[0033] 148 Knob

[0034] 149 Covering retainer

[0035] Detailed description of the invention

[0036] One aspect relates to a mobile line marking robot, comprising:

[0037] - a chassis;

[0038] - a spray means comprising a spray nozzle with an outlet;

[0039] - a paint reservoir; and

[0040] - a pump unit operably connected to said spray means and said paint reservoir, thereby allowing paint from the paint reservoir to exit said spray nozzle; wherein the pump unit comprises a peristaltic pump. In one or more embodiments, the peristaltic pump comprises an exchangeable tube fitted inside a pump casing. Preferably, the pump casing is adapted for receiving tubes of varying diameter. This configuration result in a versatile line marking robot where the tubing can be exchanged for different tasks with regards to line marking width and / or operating speed of the robot.

[0041] In one or more embodiments, the spray nozzle’s outlet is positioned 1-50 mm above the ground on which the mobile line marking robot is operating, preferably positioned 1-20 mm above the ground on which the mobile line marking robot is operating. In some embodiments, the spray nozzle’s outlet may be moved up and down either before or during the planned operation of the robot. This movement may e.g., be performed by a linear actuator operatively connected to the entire spray nozzle or simply to the part of the spray nozzle holding the spray nozzle’s outlet. In other embodiments, the spray nozzle or the part of the spray nozzle holding the spray nozzle’s outlet may be adapted for being manually displaced up and down, e.g., by the aid of mounting pins / bolts and corresponding mounting holes, e.g., formed in the chassis. Preferably, the spray nozzle’s outlet diameter is within the range of 0.05-2 mm, preferably chosen to perform a paint line width of within the range of 1 -10 mm.

[0042] In one or more embodiments, the spray nozzle’s outlet is arranged facing the ground surface on which the mobile line marking robot is operating.

[0043] In one or more embodiments, the mobile line marking robot further comprises:

[0044] - a positioning system receiver unit configured for receiving a positioning signal; and

[0045] - a processor configured to receive the positioning information signal from the positioning system receiver unit and to activate or deactivate the peristaltic pump in response thereto. This configuration allows the mobile robot to mark or paint more complex tasks, where the mobile robot may have to reposition itself prior to continuing the marking or painting operation.

[0046] In one or more embodiments, the mobile line marking robot further comprises:

[0047] - a sensor, such as a vision sensor, adapted for determining the position of the mobile line marking robot;

[0048] - a processor configured to receive the positioning information signal from the sensor and to activate or deactivate the peristaltic pump in response thereto. The vision sensor may, apart from determining the robot’s position, also identify obstacles that require that the marking or painting operation is temporarily halted.

[0049] In many embodiments, the mobile line marking robot is configured to send an activation or deactivation signal to the peristaltic pump. When the peristaltic pump receives a deactivation signal, the peristaltic pump may in some embodiments be configured to reverse its operating direction for a preset period of time, preferably to suck a little air into the spray nozzle to prevent the spray nozzle from dripping paint.

[0050] In one or more embodiments, the mobile line marking robot further comprises:

[0051] - a sensor adapted for determining the operating speed of the mobile line marking robot; and

[0052] - a processor configured to receive the operating speed information signal from the sensor and to accelerate or decelerate the operating speed of the peristaltic pump in response thereto and in accordance with preset rules. This embodiment allows the mobile robot to regulate the paint flow through the spray nozzle relative to the operating speed of the mobile robot, i.e. , to how fast or slow it is moving across a surface.

[0053] In one or more embodiments, the spray nozzle comprises a replaceable tip. Preferably, the spray nozzle is adapted for receiving tips with different outlet diameter. The line marking robot may be configured to halt automatically or send an alarm to a user to halt the apparatus, if a refill of paint is needed, or if the spray nozzle is not operating properly.

[0054] In one or more embodiments, the mobile line marking robot further comprises: a control unit configured to:

[0055] - determine the paint level, such as an empty level, in said paint reservoir based on received data input; and

[0056] - deactivate the peristaltic pump if the paint level in the paint reservoir is determined to be below a predetermined threshold.

[0057] In one or more embodiments, the control unit is further configured to:

[0058] - instruct the drive system to stop the movement of the line marking robot if the paint level in said paint reservoir is determined to be below a predetermined threshold.

[0059] In one or more embodiments, the control unit is configured to:

[0060] - determine if the spray nozzle is operating outside one or more predetermined thresholds, e.g., being partly or completely clogged, based on received data input; and

[0061] - deactivate the peristaltic pump unit and / or instruct the drive system to stop the movement of the line marking robot if the spray nozzle is determined to operate outside one or more predetermined.

[0062] In one or more embodiments, the spray means further comprises a return line through which paint can recirculate from a position upstream to the spray nozzle outlet and back to the paint reservoir, and wherein a control unit is configured to:

[0063] - instruct the return line to activate;

[0064] - instruct the peristaltic pump to operate in a de-aeration / degassing mode;

[0065] - determine if the paint has been properly de-aerated / degassed by being recirculated through said return line based on said received data input, and

[0066] - instruct the peristaltic pump to stop the de-aeration / degassing mode when the paint is determined to be de-aerated / degassed to a predetermined threshold level.

[0067] One example of data input that could be used by the control unit(s) to regulate initiate the various programs could be to measure the power consumption of the peristaltic pump. If the tubing is not filled with paint, or if the paint is abnormally air-filled, less energy may be needed to compress the elastic tube.

[0068] The mobile marking robot has a localization system telling the robot where it is, and how it is orientated, to be able to mark the data in an area. Furthermore, the data needs to be aligned to the locations system used by the robot. Most common used technologies for positioning are total stations and GNSS, but some solutions use advanced localization technologies together with cameras or lidars.

[0069] The orientation of the mobile marking robot can be determined by having two independent location systems placed apart with enough distance to allow the robot to calculate its orientation. Another method of orientation is to let the robot drive a certain distance with one location system, and by driving, it can calculate its orientation. Aligning the robot’s localization with the digital data provided requires a shared coordinate system.

[0070] If the location system is global, like the GNSS, the global coordinates are sufficient for aligning the data and letting the robot start working.

[0071] In one or more embodiments, the positioning system is configured for continuously receiving a positioning signal from a Global Navigation Satellite System (GNSS). Global Navigation Satellite Systems (GNSS) is a collective term for a variety of satellite navigation systems, which use orbiting satellites as navigation reference points to determine position fixes on the ground. GNSS includes the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), the Compass system, Galileo, and several Satellite based augmentation systems (SBAS). In typical civilian applications, a single GNSS receiver can measure a ground position with a precision of about ten meters. This is, in part, due to various error contributions, which often reduce the precision of determining a position fix. For example, as the GNSS signals pass through the ionosphere and troposphere, propagation delays may occur. Other factors, which may reduce the precision of determining a position fix, may include satellite clock errors, GNSS receiver clock errors, and satellite position errors. One method for improving the precision for determining a position fix is Real- Time Kinematic (RTK) GNSS. Real Time Kinematic (RTK) satellite navigation is a technique using the phase of the signal's carrier wave, rather than the information content of the signal, and relies on a single reference station or interpolated virtual station to provide real-time corrections.

[0072] In one or more embodiments, the positioning system is configured for continuously receiving a positioning signal from a total station. The total station needs to use fix points to calculate its own position as well as the position of the mobile robot. The fix points can be reflectors placed beforehand at known coordinates or it can be fixed points in the construction like corners of walls or windows, that has known coordinates and can be used to localize the total station. The mobile marking robot may comprise a retroreflector. Any retroreflector with retroreflectors, generally known within the art of land surveying, may be used. In one or more embodiments, the retroreflector is a 360- degree all-around retroreflector.

[0073] In one or more embodiments, the positioning system is positioned on an elongate member extending upward from the chassis. In one or more embodiments, the elongate member is height adjustable, e.g., comprising telescoping elongate members, or the like. If the localization system is cameras or lidars, several methods can be used. A common method is to let the robot move around and generate a map of the area. This map can then be used for positioning the robot.

[0074] In one or more embodiments, the chassis comprises two differentially driven wheel in a fixed orientation and arranged on the same first axis line in parallel; and one off-centered orientable wheel arranged along a second axis line perpendicular to the first axis line, and in front or behind the first axis line.

[0075] The term “off-centered wheel” (castor wheel) is defined to be a wheel, where the vertical axis does not pass through the center of the wheel but is slightly off- centered. Some designs include a swivel joint (orientable) between the wheel and the fork so that it can rotate freely with 360° of freedom. The advantage with an off-centered orientable wheel compared to a centered orientable wheel is that the centered orientable wheel tends to lock in specific positions.

[0076] In one or more embodiments, the spray means comprises means adapted for adjusting the drive mechanism and / or spray nozzle position in the vertical direction relative to the ground surface on which the mobile marking is robot moving.

[0077] In one or more embodiments, the spray means comprises a mechanism, such as a telescopic arm or the like, adapted for lowering and raising said spray nozzle(s) relative to the surface on which the mobile marking robot is moving. In one or more embodiments, the mobile marking robot further comprises a sensor configured for continuously determining the distance between said spray nozzle(s) and said surface, and wherein said control unit is configured to receive data about said distance from said sensor and in response thereto, change said distance by activating said mechanism to move said spray nozzle(s) relative to said surface. Distance sensors are well-known within the art and will thus not receive further attention.

[0078] In one or more embodiments, the differentially driven wheels are positioned near the rear end of the chassis, and wherein the off-centered orientable wheel is positioned near the front end of the chassis. Preferably, the off-centered orientable wheel is positioned equally distanced from each of the drive wheels.

[0079] As an example, an in order for the line marking mobile robot to operate, the control unit(s) may comprise a computing system including a processor, a memory, a communication unit, an output device, an input device, and a data store, which may be communicatively coupled by a communication bus. The mentioned computing system should be understood as an example and that it may take other forms and include additional or fewer components without departing from the scope of the present disclosure. For instance, various components of the computing device may be coupled for communication using a variety of communication protocols and / or technologies including, for instance, communication buses, software communication mechanisms, computer networks, etc. The computing system may include various operating systems, sensors, additional processors, and other physical configurations. The processor, memory, communication unit, etc., are representative of one or more of these components. The processor may execute software instructions by performing various input, logical, and / or mathematical operations. The processor may have various computing architectures to method data signals (e.g., CISC, RISC, etc.). The processor may be physical and / or virtual and may include a single core or plurality of processing units and / or cores. The processor may be coupled to the memory via the bus to access data and instructions therefrom and store data therein. The bus may couple the processor to the other components of the computing system including, for example, the memory, the communication unit, the input device, the output device, and the data store. The memory may store and provide data access to the other components of the computing system. The memory may be included in a single computing device or a plurality of computing devices. The memory may store instructions and / or data that may be executed by the processor. For example, the memory may store instructions and data, including, for example, an operating system, hardware drivers, other software applications, databases, etc., which may implement the techniques described herein. The memory may be coupled to the bus for communication with the processor and the other components of computing system. The memory may include a non-transitory computer-usable (e.g., readable, writeable, etc.) medium, which can be any non-transitory apparatus or device that can contain, store, communicate, propagate, or transport instructions, data, computer programs, software, code, routines, etc., for processing by or in connection with the processor. In some implementations, the memory may include one or more of volatile memory and non-volatile memory (e.g., RAM, ROM, hard disk, optical disk, etc.). It should be understood that the memory may be a single device or may include multiple types of devices and configurations. The input device may include any device for inputting information into the computing system. In some implementations, the input device may include one or more peripheral devices. For example, the input device may include the display unit comprising a touchscreen integrated with the output device, etc. The output device may be any device capable of outputting information from the computing system. The output device may be the display unit, which display electronic images and data output by a processor of the computing system for presentation to a user, such as the processor or another dedicated processor. The data store may include information sources for storing and providing access to data. In some implementations, the data store may store data associated with a database management system (DBMS) operable on the computing system. For example, the DBMS could include a structured query language (SQL) DBMS, a NoSQL DMBS, various combinations thereof, etc. In some instances, the DBMS may store data in multi-dimensional tables comprised of rows and columns, and manipulate, e.g., insert, query, update and / or delete, rows of data using programmatic operations. The data stored by the data store may be organized and queried using various criteria including any type of data stored by them. The data store may include data tables, databases, or other organized collections of data. The data store may be included in the computing system or in another computing system and / or storage system distinct from but coupled to or accessible by the computing system. The data stores can include one or more non-transitory computer-readable mediums for storing the data. In some implementations, the data stores may be incorporated with the memory or may be distinct therefrom. The components may be communicatively coupled by the bus and / or the processor to one another and / or the other components of the computing system. In some implementations, the components may include computer logic (e.g., software logic, hardware logic, etc.) executable by the processor to provide their acts and / or functionality. These components may be adapted for cooperation and communication with the processor and the other components of the computing system.

[0080] Preferably, the peristaltic pump comprises a pump casing with a recess adapted for receiving the flexible tube. In one or more embodiments, the recess comprises a hairpin retainer, such as a turn or loop, adapted for securing the flexible tube within the recess.

[0081] In one or more embodiments, the peristaltic pump is a circular peristaltic pump comprising a rotor with a plurality of rollers attached to its external circumference, which are adapted for compressing the flexible tube as they rotate by.

[0082] In one or more embodiments, the recess comprises an open side adapted for receiving the flexible tube. Preferably, the recess is adapted for receiving the flexible tube by user insertion into the recess by application of an axial pressure, thereby guiding the flexible tube through the open side of the recess until it is securely seated.

[0083] In one or more embodiments, the circular peristaltic pump’s rotor is operably connected to a hand knob. In one or more embodiments, the recess is configured with a partially covering retainer that allows for secure placement of the flexible tube.

[0084] In one or more embodiments, the recess is configured with a flange that extends inward and functions as a retainer that allows for secure placement of the flexible tube.

[0085] It should be noted that embodiments and features described in the context of one of the aspects of the present invention also apply to the other aspects of the invention.

[0086] In the present context, the term “in general” when used when mentioning a feature relating to the present invention, it must be understood that the feature may be used with all embodiments of the invention, even if the mentioning is made in the detailed part of the document.

[0087] Referring to Figure 1 , a preferred embodiment is shown. The mobile line marking robot 100 comprises a chassis 110, a spray means comprising a spray nozzle 120 with an outlet, a paint reservoir 130, and a peristaltic pump unit 140 operably connected to the spray means and to the paint reservoir 130 via tubing 142, thereby allowing paint from the paint reservoir 130 to exit the spray nozzle 120. A control unit (cannot be seen) configured to operate the peristaltic pump is integrated into the paint reservoir 130. The paint reservoir 130 comprises an inlet for refill of paint, here covered by a lid 132. The shown tubing 142 and spray nozzle 120 are replaceable. The tubing 142 is fitted inside a circular pump casing 144. The circular pump casing 144 is adapted for receiving tubing of different diameter, and a corresponding spray nozzle may be used. In principle, a simple spray nozzle may be used in the form of a syringe tip, which is available in many different sizes and with many different diameter outlets.

[0088] The paint is always moved from the paint reservoir 130 and through the peristaltic pump unit 140. From here, two paths may be possible. The first path is when the paint is pumped through the spray nozzle 120, e.g., via a valve, although a valve may not be necessary due to the peristaltic pump unit, in some embodiments, being able to operate in reverse to suck paint back into the tubing and reservoir. The valve may either be automatically operated, e.g., operated via a control unit, or manually controlled / adjusted. The second path may be present when the spray means further comprises a return line (not shown) through which paint can recirculate from a position upstream to the spray nozzle 120 and back to the paint reservoir 130, e.g., via a 2-way valve, or a multiport solenoid valve. This configuration removes air from the paint and tubing, such that the spray nozzle will not splutter when painting.

[0089] Figures 2-4 show a preferred pump unit 140 in accordance with various embodiments of the invention.

[0090] The pump unit 140 comprises a pump casing 144 with a recess 145 adapted for receiving the flexible tube 142. The recess 145 features a comprehensive retention system comprising a partially covering retainer 149, a flange 143, and a hairpin retainer 146, each serving distinct functions. The partially covering retainer 149 and the flange 143 are primarily designed to secure the flexible tube 142 within the recess 145, preventing it from dislodging. The covering retainer 149 allows for the insertion of the tube 142 through the open side of the recess 145, while the flange 143 on the opposite side further ensures the tube 142 is held firmly in place. In general, the three different retainers may be used alone or in combination.

[0091] In contrast, the hairpin retainer 146 has a specialized role. It is strategically positioned within the recess 145 to prevent longitudinal movement of the flexible tube 142, thereby stopping it from moving back and forth. This additional retention feature ensures that the tube 142 remains stable and maintains its intended position within the recess 145, even under dynamic conditions, e.g., when the circular peristaltic pump 140 is operating. The hairpin retainer 146 thus complements the securing functions of the covering retainer 149 and the flange 143 by providing axial stability to the flexible tube 142.

[0092] In Figure 4, the covering retainer 149 has been removed for a better view of other components. The circular peristaltic pump 140 is here shown comprising a rotor 141 with a plurality of rollers 147 attached to its external circumference, which are adapted for compressing the flexible tube 142 as they rotate by. The rotor 141 is operably connected to a hand knob 148 to allow for manual emptying of the flexible tube 142.

[0093] Generally, additionally, or in an alternative embodiment, the recess 145 may be designed with a retainer system to secure the flexible tube 142 within the recess 145, thereby preventing it from dislodging. Here, the retainer system is shown with a first part being part of (or an extension of) the tubing 142, and a second part being part of the recess 145. The first part is here shown as a hollow (e.g., hexagonal, squared, or triangular) fitting shaped to fit (either as a snap fit or simply shaped to be pushed into the end of the second part) into the second part (here shown as a channel but could also be a clamp).

Claims

Claims1. A mobile line marking robot (100), comprising:- a chassis (110);- a spray means comprising a spray nozzle (120) with an outlet;- a paint reservoir (130); and- a pump unit operably connected to said spray means and said paint reservoir (130), thereby allowing paint from the paint reservoir to exit said spray nozzle; wherein said pump unit comprises a peristaltic pump (140) and a flexible tube (142); characterized in that the peristaltic pump (140) comprises a pump casing(144) with a recess (145) adapted for receiving the flexible tube (142), wherein said recess (145) comprises a hairpin retainer, such as a turn or loop, adapted for securing the flexible tube within the recess (145).

2. The mobile line marking robot (100) according to claim 1 , wherein the peristaltic pump (140) is a circular peristaltic pump comprising a rotor with a plurality of rollers (147) attached to its external circumference, which are adapted for compressing the flexible tube as they rotate by.

3. The mobile line marking robot (100) according to any one of the claims 1 -2, wherein the recess (145) comprises an open side adapted for receiving the flexible tube (142).

4. The mobile line marking robot (100) according to claim 3, wherein the recess(145) is adapted for receiving the flexible tube (142) by user insertion into the recess (145) by application of an axial pressure, thereby guiding the flexible tube (142) through the open side of the recess (145) until it is securely seated.

5. The mobile line marking robot (100) according to any one of the claims 2-4, wherein the circular peristaltic pump’s rotor is operably connected to a hand knob (148).

6. The mobile line marking robot (100) according to any one of the claims 1 -5, wherein the recess (145) is configured with a partially covering retainer (149) that allows for secure placement of the flexible tube (142).

7. The mobile line marking robot (100) according to any one of the claims 1 -6, wherein the recess (145) is configured with a flange (143) that extends inward and functions as a retainer that allows for secure placement of the flexible tube (142).

8. The mobile line marking robot (100) according to any one of the claims 1-7, wherein the peristaltic pump (140) comprises an exchangeable tube (142) fitted inside the pump casing (144), and wherein said pump casing (144) is adapted for receiving tubes of varying diameter.

9. The mobile line marking robot (100) according to any one of the claims 1-8, wherein the spray nozzle’s outlet is positioned 1-50 mm above the ground on which the mobile line marking robot is operating.

10. The mobile line marking robot (100) according to any one of the claims 1-9, wherein the spray nozzle’s outlet is arranged facing the ground surface on which the mobile line marking robot is operating.

11. The mobile line marking robot (100) according to any one of the claims 1-10, further comprising:- a positioning system receiver unit configured for receiving a positioning signal;- a processor configured to receive the positioning information signal from the positioning system receiver unit and to activate or deactivate the peristaltic pump in response thereto.

12. The mobile line marking robot (100) according to any one of the claims 1-11 , further comprising:- a sensor, such as a vision sensor, adapted for determining the position of the mobile line marking robot;- a processor configured to receive the positioning information signal from the sensor and to activate or deactivate the peristaltic pump in response thereto.

13. The mobile line marking robot (100) according to any one of the claims 1 -12, wherein when the peristaltic pump (140) receives a deactivation signal, the peristaltic pump (140) is configured to reverse its operating direction, thereby sucking a little air into the spray nozzle (120) to prevent the spray nozzle (120) from dripping paint.

14. The mobile line marking robot (100) according to any one of the claims 1 -13, wherein the spray nozzle’s outlet is positioned 1 -50 mm above the ground on which the mobile line marking robot is operating, and wherein the spray nozzle’s outlet diameter is within the range of 0.05-2 mm, preferably chosen to perform a paint line width of within the range of 1 -10 mm.

15. The mobile line marking robot (100) according to any one of the claims 1 -14, further comprising:- a sensor adapted for determining the operating speed of the mobile line marking robot; and- a processor configured to receive the operating speed information signal from the sensor and to accelerate or decelerate the operating speed of the peristaltic pump (140) in response thereto and in accordance with preset rules.

16. The mobile line marking robot (100) according to any one of the claims 1 -15, wherein the spray nozzle (120) comprises a replaceable tip, and wherein said spray nozzle (120) is adapted for receiving tips with different outlet diameter.

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