Lifting mechanism, driving device, and cleaning robot

Abstract

The present disclosure relates to the field of cleaning apparatuses. Disclosed are a lifting mechanism, a driving device, and a cleaning robot. The lifting mechanism comprises a base, a rotating member and a driving assembly, wherein the base is configured to be connected to a travelling apparatus, a top plate is movably connected to the base, the top plate is configured to be connected to a chassis of the travelling apparatus, and the rotating member is capable of driving the top plate to move in a vertical direction during rotation. The driving device comprises a travelling frame and the lifting mechanism. The cleaning robot comprises the driving device. On the basis of the lifting mechanism provided in the present disclosure, the lifting mechanism can be disposed on the cleaning robot, the rotating member is driven to rotate by the driving assembly, and then the rotating member drives the top plate to move upwards during rotation and thus drives the chassis of the cleaning robot to move upwards by means of the top plate, such that the distance between the chassis of the cleaning robot and the ground is increased, and thus the cleaning robot is capable of travelling in special scenarios such as a shag carpet, thereby extending the use range of the cleaning robot.

Description

Lifting mechanism, drive unit and cleaning robot

[0001] Cross-references to related applications

[0002] This application claims the benefit of Chinese Patent Application No. 202422796780.7, filed on November 15, 2024, the contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of cleaning equipment, and more specifically to a lifting mechanism, a drive device, and a cleaning robot. Background Technology

[0004] Cleaning robots are a type of smart home appliance that uses artificial intelligence to automatically clean floors in a room. They typically use a combination of brushing and vacuuming to collect debris into their own dustbin, thus completing the cleaning process. However, current cleaning robots are limited by their chassis height, restricting their use to flat surfaces. They are less effective on heavy carpets or other rugged surfaces, limiting their applicability to various scenarios and thus limiting their usability. Summary of the Invention

[0005] To address the technical limitations of current cleaning robots due to chassis height constraints, this disclosure provides a lifting mechanism, a drive unit, and a cleaning robot.

[0006] This disclosure provides a lifting mechanism, including a base, a rotating member rotatably mounted on the base, and a drive assembly for driving the rotating member to rotate. The base is used to connect to a traveling device, and a top plate is movably connected to the base. The top plate is used to connect to the chassis of the traveling device and is configured as follows:

[0007] The rotating component can drive the top plate to move vertically during rotation.

[0008] Optionally, the rotating component includes a cam rotatably disposed on the base, the outer periphery of the cam forming a contact surface that abuts against the top plate.

[0009] Optionally, the cam includes a rotating wheel rotatably mounted on the base and a first protrusion and a second protrusion disposed on the outer periphery of the rotating wheel, wherein the first protrusion and the rotating wheel form a first support position, and the outer periphery of the second protrusion forms a second support position.

[0010] Optionally, the driving mechanism of the driving component is such that any position between the first support position and the second support position can support the top plate.

[0011] Optionally, a sliding shaft is rotatably connected to the top plate, and the sliding shaft abuts against the outer periphery of the rotating component.

[0012] Optionally, the base is provided with an extended housing, and the drive assembly includes a drive member and a transmission member disposed within the extended housing. The drive member can drive the rotating member to rotate through the transmission member.

[0013] Optionally, the driving component includes a drive motor disposed within the extended housing, the output shaft of the drive motor being provided with a worm gear, the transmission component including a gear set, the first gear of the gear set being provided with a worm gear matching the worm gear, and the last gear of the gear set meshing with a driven gear on the rotating component.

[0014] This disclosure also provides a driving device, including:

[0015] A walking frame for connecting to a walking device, wherein the walking frame is rotatably equipped with walking wheels;

[0016] The lifting mechanism described above has its base disposed on one side of the traveling frame.

[0017] Optionally, a rotating shaft is provided on the walking frame, the walking wheel is rotatably mounted on the rotating shaft, the rotating shaft extends into the base, and the rotating component is rotatably mounted on the outer periphery of the rotating shaft.

[0018] This disclosure also provides a cleaning robot, including the aforementioned drive mechanism.

[0019] The technical solution provided by this disclosure has the following advantages compared with the prior art:

[0020] Based on the lifting mechanism provided in this disclosure, the lifting mechanism can be installed on the cleaning robot. When the cleaning robot walks on a flat surface, the lifting mechanism does not work or supports the chassis of the cleaning robot at a certain height. When encountering special scenarios such as long-pile carpets, the drive component can drive the rotating part to rotate, thereby causing the rotating part to move the top plate upward during rotation. In turn, the top plate drives the chassis of the cleaning robot to move upward, increasing the distance between the chassis of the cleaning robot and the ground. This allows the cleaning robot to walk on special scenarios such as long-pile carpets, increasing the range of use of the cleaning robot. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0022] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0023] Figure 1 is a schematic diagram of the drive device according to an embodiment of the present disclosure;

[0024] Figure 2 is a cross-sectional view of the driving device according to an embodiment of the present disclosure;

[0025] Figure 3 is a schematic diagram of the structure of the top plate according to the embodiment of this disclosure;

[0026] Figure 4 is a structural schematic diagram of the cleaning robot according to an embodiment of this disclosure;

[0027] Figure 5 is a structural schematic diagram of the cleaning robot when the sliding shaft is located in the first support position according to the embodiment of this disclosure;

[0028] Figure 6 is a schematic diagram of the cleaning robot when the sliding shaft is located in the second support position according to the embodiment of this disclosure.

[0029] Explanation of reference numerals in the attached drawings: 1. Base; 11. Extended shell; 12. Circular shell; 121. Stepped surface; 2. Rotating component; 21. Cam; 211. Rotating wheel; 212. First protrusion; 213. Second protrusion; 214. First support position; 215. Second support position; 216. Turning cover; 22. Driven gear; 3. Drive assembly; 31. Drive component; 311. Drive motor; 3111. Worm gear; 32. Transmission component; 321. Gear set 3211, First Gear; 32111, Turbine; 3212, Second Gear; 32121, Second Synchronous Gear; 3213, Third Gear; 32131, Third Synchronous Gear; 3214, Fourth Gear; 3215, Fifth Gear; 3216, Sixth Gear; 32161, Sixth Synchronous Gear; 4, Top Plate; 41, Sliding Shaft; 5, Walking Frame; 51, Walking Wheel; 52, Rotating Shaft; 6, Body; 61, Universal Wheel. Detailed Implementation

[0030] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions of this disclosure will be further described below. It should be noted that, unless otherwise specified, the embodiments and features of these embodiments can be combined with each other.

[0031] The following description sets forth many specific details to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments described in the specification are only a part of the embodiments of this disclosure, and not all of them.

[0032] Referring to Figures 1 and 2, the lifting mechanism provided in this embodiment includes a base 1, a rotating component 2 rotatably mounted on the base 1, and a drive assembly 3 for driving the rotating component 2 to rotate. The base 1 is used to connect to a walking device; that is, the base 1 is mounted on the drive device of the walking device or on the walking device itself. The connection method between the base 1 and the drive device or the walking device is not limited; for example, it can be a snap-fit ​​or bolted connection, which can be selected according to actual needs. A top plate 4 is movably connected to the base 1. This movable connection means that the top plate 4 can move at least vertically relative to the base 1. The top plate 4 is used to connect to the chassis of the walking device, thereby enabling the chassis of the walking device to move synchronously. The walking device can be a cleaning robot, etc., meaning the top plate 4 is used to connect to the chassis of the cleaning robot. The device is configured such that the rotating component 2 can drive the top plate 4 to move vertically during rotation. The rotating component 2 can directly drive the top plate 4 vertically, or it can drive the top plate 4 vertically through other intermediate structures; these are not limiting factors and can be selected according to actual needs. In use, the device moves normally on flat ground. When encountering special scenarios such as carpets, the drive component 3 can drive the rotating component 2 to rotate, causing the top plate 4 to move upwards during rotation. The top plate 4 then drives the chassis of the device upwards, increasing the distance between the chassis and the ground, allowing the device to move on carpets and other special surfaces.

[0033] Among them, cleaning robots can be sweeping robots, sweeping and mopping robots, mopping robots, floor washing robots, etc.

[0034] Based on the lifting mechanism provided in this disclosure, the lifting mechanism can be installed on the cleaning robot. When the cleaning robot walks on a flat surface, the lifting mechanism does not work or supports the chassis of the cleaning robot at a certain height. When encountering special scenarios such as long-pile carpets, the drive component 3 can drive the rotating component 2 to rotate, thereby causing the rotating component 2 to drive the top plate 4 to move upward during rotation. In turn, the top plate 4 drives the chassis of the cleaning robot to move upward, increasing the distance between the chassis of the cleaning robot and the ground, enabling the cleaning robot to walk on special scenarios such as long-pile carpets, and increasing the range of use of the cleaning robot.

[0035] In some embodiments, as shown in Figures 1, 5 and 6, the rotating member 2 includes a cam 21 rotatably disposed on the base 1, the outer periphery of the cam 21 forming a contact surface that abuts against the top plate 4.

[0036] In this design, under normal conditions, the top plate 4 contacts the non-protruding part of the cam 21, thus supporting the top plate 4 and the chassis of the traveling device at a certain height through the non-protruding part of the cam 21. In special scenarios such as encountering long-pile carpets, the cam 21 can be rotated by the drive component 3. During the rotation of the cam 21, the protruding part of the cam 21 contacts the top plate 4, thereby driving the top plate 4 to move upward, and then driving the chassis of the traveling device to move upward through the top plate 4. The structure is simple and the operation is convenient.

[0037] In some embodiments, referring to Figures 1, 5 and 6, the cam 21 includes a rotating wheel 211 rotatably disposed on the base 1 and a first protrusion 212 and a second protrusion 213 disposed on the outer periphery of the rotating wheel 211. A first support position 214 is formed between the first protrusion 212 and the rotating wheel 211, and a second support position 215 is formed on the outer periphery of the second protrusion 213.

[0038] As shown in Figure 5, a groove structure is formed between the first protrusion 212 and the rotating wheel 211, and the first support position 214 is formed at the position of the groove structure. Under normal conditions, the first protrusion 212 is located at the top of the rotating wheel 211 (with a certain angle to the vertical direction), and the second protrusion 213 is located at the inclined downward position of the rotating wheel 211. The top plate 4 is supported by the first support position 214 through the intermediate structure (the sliding shaft 41 described below).

[0039] As shown in Figure 6, the second protrusion 213 is a protrusion structure formed on the rotating wheel 211, and the second support position 215 is formed at the protrusion position of the second protrusion 213. In special scenarios such as encountering long-pile carpets, the drive assembly 3 drives the rotating wheel 211 to rotate. During this process, the middle structure of the top plate 4 (the sliding shaft 41 mentioned below) is always in contact with the outer periphery of the cam 21 until the second protrusion 213 rotates to the top of the rotating wheel 211. Then, the second protrusion 213 lifts the middle structure of the top plate 4 (the sliding shaft 41 mentioned below), thereby driving the top plate 4 and the chassis of the mobile device to move upward.

[0040] Conversely, the drive rod assembly drives the rotating wheel 211 to rotate in the opposite direction until the middle structure of the top plate 4 (the sliding shaft 41 described below) is located at the first support position 214, and the chassis of the mobile device is reset.

[0041] In this design, the cam 21 can be supported at the first support position 214 under normal conditions to ensure the support effect, and the first protrusion 212 facilitates the accurate positioning of the middle structure of the top plate 4 (the sliding shaft 41 described below) when the chassis of the mobile device is reset.

[0042] In some implementations, the cleaning robot can raise the chassis to different heights by controlling the rotating component 2 to rotate at different angles, thereby achieving stepless chassis lifting. Specifically, the driving method of the drive component 3 ensures that the top plate 4 can be supported at any position between the first support position 214 and the second support position 215.

[0043] In this design, as the drive assembly 3 drives the cam 21 to rotate, the drive assembly 3 can drive the cam 21 to rotate at different angles so that the cam 21 supports the top plate 4 at different positions, and then the top plate 4 drives the chassis to be raised to different heights, thereby achieving stepless lifting of the chassis.

[0044] In some implementations, the cleaning robot can control the rotation angle of the rotating component 2 according to the working time of the drive motor 311, thereby achieving flexible control of the lifting height and realizing stepless lifting of the chassis.

[0045] In other embodiments, the lifting height can be controlled by adding an encoder to the drive motor 311, or by using a brushless motor or other motor with controllable rotation angle as the drive motor 311. By controlling the rotation angle of the motor, the rotation angle of the rotating component 2 can be controlled to achieve stepless lifting of the chassis. Alternatively, sensors can be installed on the rotating component 2 or the top plate 4 to detect the rotation position of the rotating component 2 or the rising position of the top plate 4 in real time and feed the feedback to the drive motor controller, thereby enabling flexible adjustment of the lifting height and achieving stepless lifting of the chassis.

[0046] Of course, the above embodiments are merely exemplary. Other implementation methods can be used for the specific stepless lifting of the chassis, as long as the lifting height can be flexibly adjusted and the chassis can be raised to any position. This disclosure does not limit this.

[0047] In some embodiments, the first protrusion 212 and the rotating wheel 211 have an arc transition.

[0048] This design increases the ease with which the intermediate structure of the top plate 4 (the sliding shaft 41 described below) can move to or away from the first support position 214, making the adjustment process smoother.

[0049] In some embodiments, the second protrusion 213 has an arc transition with the rotating wheel 211.

[0050] This design increases the ease with which the intermediate structure of the top plate 4 (the sliding shaft 41 described below) can move to or away from the second support position 215, making the adjustment process smoother.

[0051] In some embodiments, as shown in Figures 3, 5 and 6, a sliding shaft 41 is rotatably connected to the top plate 4, and the sliding shaft 41 abuts against the outer periphery of the rotating member 2.

[0052] In this design, the top plate 4 abuts against the rotating part 2 through the sliding shaft 41, which reduces the contact area between the top plate 4 and the rotating part 2, makes the sliding fit smoother, and increases the convenience of adjustment.

[0053] In some embodiments, as shown in Figures 1 and 2, the base 1 is provided with an extension housing 11, wherein the extension housing 11 is arranged along the extension direction of the chassis of the mobile device, and the drive assembly 3 includes a drive member 31 and a transmission member 32 disposed in the extension housing 11, wherein the drive member 31 can drive the rotating member 2 to rotate through the transmission member 32.

[0054] With this design, the drive component 31 can be supported in a suitable position by the transmission component 32, making reasonable use of the internal space of the mobile device, reducing the extra space occupied by the drive component 31, and making the overall structure more compact.

[0055] In some embodiments, continuing to refer to Figures 1 and 2, the driving member 31 includes a drive motor 311 disposed within the extended housing 11, with the output shaft of the drive motor 311 perpendicular to the rotation shaft 52 of the rotating member 2. The output shaft of the drive motor 311 is provided with a worm gear 3111, enabling the drive motor 311 to drive the worm gear 3111 to rotate synchronously. The transmission member 32 includes a gear set 321, with a worm gear 32111 on the first gear of the gear set 321 that matches the worm gear 3111, thereby enabling the rotation of the worm gear 3111 to drive multiple gears on the gear set 321 to rotate sequentially. The last gear of the gear set 321 meshes with a driven gear 22 on the rotating member 2, thereby enabling the gear set 321 to drive the driven gear 22 to rotate, and thus driving the rotating member 2 to rotate.

[0056] In this design, the transmission method using the worm gear 32111 and the gear set 321 has a high transmission ratio, and the arrangement of the gear set 321 can change the transmission path, making the design position of the drive motor 311 more flexible and the overall structure of the drive equipment more compact.

[0057] It is understandable that the output shaft of the drive motor 311 can also be set parallel to the rotation shaft 52 of the rotating part 2. For example, the drive motor 311 can be set on the side of the rotating part 2, and the driven gear 22 of the rotating part 2 can be driven directly by the drive motor 311. Alternatively, the drive motor 311 can drive the driven gear 22 to rotate through multiple gear transmissions. These are not restrictive and can be designed according to actual needs.

[0058] In some embodiments, as shown in FIG2, the gear set 321 includes a first gear 3211, a second gear 3212, a third gear 3213, a fourth gear 3214, a fifth gear 3215, and a sixth gear 3216 rotatably designed within the extended housing 11. A worm gear 32111 is coaxially arranged with the first gear 3211 and can rotate synchronously. The second gear 3212 meshes with the first gear 3211, and a second synchronizing gear 32121 is coaxially arranged on the second gear 3212. The second synchronizing gear 32121 and the second gear 3212 can rotate synchronously, and the diameter of the second synchronizing gear 32121 is smaller than the diameter of the second gear 3212. The third gear 3213 meshes with the second synchronizing gear 32121. A third synchronous gear 32131 is coaxially mounted on gear 3213. The third synchronous gear 32131 and the third gear 3213 can rotate synchronously, and the diameter of the third synchronous gear 32131 is smaller than the diameter of the third gear 3213. The fourth gear 3214 meshes with the third synchronous gear 32131. The fifth gear 3215 meshes with the fourth gear 3214. The sixth gear 3216 meshes with the fifth gear 3215. A sixth synchronous gear 32161 is coaxially mounted on the sixth gear 3216. The sixth synchronous gear 32161 and the sixth gear 3216 can rotate synchronously, and the diameter of the sixth synchronous gear 32161 is smaller than the diameter of the sixth gear 3216. The sixth synchronous gear 32161 meshes with the driven gear 22.

[0059] The gear set 321 in this design can transmit power, ensuring that the drive motor 311 can drive the driven gear 22 to rotate, and can transmit a certain distance in the direction perpendicular to the output shaft of the drive motor 311, so that the drive motor 311 and the driven gear 22 are not on the same vertical plane, further increasing the installation flexibility of the drive motor 311.

[0060] It is understood that the above implementation is only one embodiment of the gear set 321. The structure of the gear set 321 can be improved according to actual needs, as long as the drive motor 311 can drive the transmission gear to rotate through the gear set 321.

[0061] In some embodiments, continuing to refer to FIG2, the driven gear 22 is sleeved on the rotating shaft 52 of the base 1, and the driven gear 22 is a half gear. At this time, the drive assembly 3 drives the driven gear 22 to reciprocate, which satisfies the drive requirements and reduces space occupation.

[0062] In some embodiments, as shown in FIG1, the base 1 includes a circular housing 12, and the driven gear 22 is rotatably disposed inside the circular housing 12. The rotating wheel 211 is connected to the driven gear 22 by multiple bolts, which increases the convenience of disassembly and assembly. One side of the outer periphery of the rotating wheel 211, the first protrusion 212 and the second protrusion 213 is connected by a rotating cover 216. A stepped surface 121 is formed on the side of the circular housing 12. The rotating wheel 211, the first protrusion 212 and the second protrusion 213 are rotatably disposed on the stepped surface 121 of the circular housing 12 by the rotating cover 216, which makes the rotation smoother.

[0063] As shown in Figures 1 to 6, this disclosure also provides a drive device, which includes a traveling frame 5 and the aforementioned lifting mechanism.

[0064] The traveling frame 5 is used to connect with the traveling equipment. A traveling wheel 51 is rotatably mounted on the traveling frame 5. The traveling wheel 51 has an internal drive structure for rotating it. This drive method for the traveling wheel 51 is conventional technology and will not be described in detail here. The base 1 of the lifting mechanism is located on one side of the traveling frame 5. The lifting mechanism at this location includes all the technical features of the aforementioned lifting mechanism.

[0065] This design allows the drive unit to lift the chassis of the mobile equipment while driving it, thus increasing the equipment's usability.

[0066] In some embodiments, a rotating shaft 52 is provided on the walking frame 5, the walking wheel 51 is rotatably mounted on the rotating shaft 52, the rotating shaft 52 extends into the base 1, and the rotating member 2 is rotatably mounted on the outer periphery of the rotating shaft 52.

[0067] In this design, the rotating component 2 and the traveling wheel 51 are coaxially arranged and can both rotate relative to the rotating shaft 52, reducing the number of rotating shafts 52 and making the overall structure more compact.

[0068] Referring to Figures 4 to 6, this disclosure also provides a cleaning robot, including the aforementioned drive device. Specifically, the cleaning robot includes a body 6, and the drive device is mounted on the body 6. The walking frame 5 and the base 1 are both mounted on the body 6, and the top plate 4 is connected to the chassis of the body 6. This drive device includes all the technical features of the aforementioned drive device, and consequently, all the technical features of the aforementioned lifting mechanism.

[0069] In some embodiments, the cleaning robot also includes casters 61, which, along with the wheels 51, control the robot's movement. The casters 61 are driven independently and can move vertically relative to the body 6. In use, when the body 6 is raised, the casters 61 move downwards to ensure that the casters 61 and wheels 51 can still work together to drive the body 6.

[0070] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0071] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lifting mechanism, characterized in that The device includes a base (1), a rotating component (2) rotatably mounted on the base (1), and a drive assembly (3) for driving the rotating component (2) to rotate. The base (1) is used to connect with a walking device, and a top plate (4) is movably connected to the base (1). The top plate (4) is used to connect with the chassis of the walking device and is configured as follows: The rotating component (2) can drive the top plate (4) to move in the vertical direction during rotation.

2. The lifting mechanism of claim 1, wherein, The rotating component (2) includes a cam (21) rotatably mounted on the base (1), the outer periphery of which forms a contact surface that abuts against the top plate (4).

3. The lifting mechanism of claim 2, wherein, The cam (21) includes a rotating wheel (211) rotatably disposed on the base (1) and a first protrusion (212) and a second protrusion (213) disposed on the outer periphery of the rotating wheel (211). A first support position (214) is formed between the first protrusion (212) and the rotating wheel (211), and a second support position (215) is formed on the outer periphery of the second protrusion (213).

4. The lifting mechanism of claim 3, wherein, The driving method of the driving component (3) is such that any position between the first support position (214) and the second support position (215) can support the top plate (4).

5. The lifting mechanism of claim 1, wherein, A sliding shaft (41) is rotatably connected to the top plate (4), and the sliding shaft (41) abuts against the outer periphery of the rotating part (2).

6. The lifting mechanism of claim 1, wherein, The base (1) is provided with an extension housing (11), and the drive assembly (3) includes a drive member (31) and a transmission member (32) disposed in the extension housing (11). The drive member (31) can drive the rotating member (2) to rotate through the transmission member (32).

7. The lifting mechanism of claim 6, wherein, The drive component (31) includes a drive motor (311) disposed in the extended housing (11), the output shaft of the drive motor (311) is provided with a worm (3111), the transmission component (32) includes a gear set (321), the first gear of the gear set (321) is provided with a worm gear (3111) that matches the worm gear (3111), and the last gear of the gear set (321) meshes with the driven gear (22) on the rotating component (2).

8. A drive apparatus characterized by comprising: include: A walking frame (5) is used to connect with a walking device, and a walking wheel (51) is rotatably provided on the walking frame (5); The lifting mechanism as described in any one of claims 1 to 7, wherein the base (1) of the lifting mechanism is disposed on one side of the traveling frame (5).

9. The driving device according to claim 8, characterized in that, The walking frame (5) is provided with a rotating shaft (52), the walking wheel (51) is rotatably mounted on the rotating shaft (52), the rotating shaft (52) extends into the base (1), and the rotating component (2) is rotatably mounted on the outer periphery of the rotating shaft (52).

10. A cleaning robot, characterized in that, Includes the drive device as described in claim 8 or 9.

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