CN217996000U - Suction device and unstacking equipment - Google Patents

Abstract

The utility model belongs to the goods field of breaking a jam especially relates to an absorbing device and equipment of breaking a jam, and this absorbing device includes that first subassembly and the second that sets up on first carrier through lift actuating mechanism absorb the subassembly, and the second absorbs the subassembly and can make second vacuum chuck switch under lift actuating mechanism's drive between protrusion in first vacuum chuck place planar stick absorption state and the whole layer absorption state that is in the coplanar with first vacuum chuck. When single goods need to be sucked, the second vacuum chuck is switched to a single-goods sucking state through the lifting driving mechanism, and the single goods can be sucked by the second vacuum chuck; when the whole layer of goods need be absorb, make second vacuum chuck switch to the whole layer state of absorbing through lift actuating mechanism, utilize first vacuum chuck and second vacuum chuck can absorb the goods of whole layer, use this suction means's equipment of unstacking can enough tear singleton goods open, can tear the whole layer of goods again, the commonality is strong.

Description

Suction device and unstacking equipment

Technical Field

The utility model relates to a goods technical field that breaks a jam especially relates to an absorbing device and equipment of breaking a jam.

Background

In the automatic field of storage and commodity circulation, the goods is packed and is put things in good order the stack storage on the tray according to certain rule of putting things in good order often, when needs carry the letter sorting to the goods on the tray, automatic equipment of breaking a jam is torn open the goods and is taken off from the tray through actuating mechanism such as sucking disc formula, manipulator formula.

The manipulator type actuating mechanism has the defects that one or more goods are difficult to take out from one layer of goods arranged orderly, the sucker type actuating mechanism can overcome the defects, but the existing sucker type actuating mechanism can only absorb single goods or whole layers of goods, so that the automatic unstacking equipment cannot realize the functions of disassembling the single goods and the whole layers of goods, and the universality is poor.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a suction means and equipment of breaking a jam for solve current sucking disc formula actuating mechanism and can't realize absorbing the function that can absorb the stick goods and can absorb whole layer goods, the relatively poor technical problem of commonality.

To this end, according to an aspect of the present invention, there is provided a suction device, including:

the first suction assembly comprises a first bearing piece and a plurality of first vacuum chucks which are arranged on the suction side of the first bearing piece and are mutually communicated;

the second suction assembly comprises a second bearing piece and a plurality of second vacuum chucks which are arranged on the suction side of the second bearing piece and are communicated with each other; and

the lifting driving mechanism is arranged on the first bearing piece, the driving end of the lifting driving mechanism is connected to the second bearing piece, the direction of the suction side of the second bearing piece is the same as that of the suction side of the first bearing piece, and the lifting driving mechanism is used for driving the second bearing piece to move along the direction perpendicular to the suction side of the first bearing piece, so that the second vacuum chucks are switched between a single-piece suction state protruding out of the plane where the first vacuum chucks are located and a whole-layer suction state located in the same plane with the first vacuum chucks.

Optionally, the first bearing part is provided with a through hole, the lifting driving mechanism is installed on one side of the first bearing part, which is away from the first vacuum chuck, and is located above the through hole, and the second bearing part is driven by the lifting driving mechanism to move in the through hole along the axis direction of the through hole.

Optionally, the suction device further includes an external connection structure, and the external connection structure is disposed on the first carrier for external connection.

Optionally, the external connection structure is disposed on a side of the first carrier deviating from the first vacuum chuck, and the external connection portion of the external connection structure, the middle portion of the first carrier, and the through hole are coaxial.

Optionally, the external connection structure includes a connection plate and a plurality of sets of buffer assemblies, the connection plate is installed on one side of the first bearing piece deviating from the first vacuum chuck through the plurality of sets of buffer assemblies, a flange hole is formed in the connection plate, and the flange hole forms the external connection portion.

Optionally, each group of buffer assemblies includes a guiding post fixed on the first carrier, a sliding sleeve slidably sleeved on the guiding post, an anti-release member disposed at one end of the guiding post away from the first carrier, and an elastic member elastically abutted between the sliding sleeve and the first carrier, and the sliding sleeve is fixedly connected to the connecting plate.

Optionally, the lifting driving mechanism includes a mounting bracket arranged on the first bearing part and a lifting driving part arranged on the mounting bracket, and the driving end of the lifting driving part is connected to one side of the second bearing part deviating from the second vacuum chuck.

Optionally, the first bearing part comprises a first bearing plate, the second bearing part comprises a second bearing plate, the first bearing plate and the second bearing plate are both hollow inside, each first vacuum chuck is communicated with the inside of the first bearing plate, and each second vacuum chuck is communicated with the inside of the second bearing plate.

Optionally, the first bearing plate is provided with an air pipe interface and an air release valve which are communicated with the inside of the first bearing plate, the second bearing plate is provided with a vacuum generator, and a vacuum port of the vacuum generator is communicated with the inside of the second bearing plate.

According to another aspect of the utility model, an equipment of breaking a jam is provided, this equipment of breaking a jam includes the arm and as above-mentioned suction means, suction means installs in the end of arm.

The utility model provides a suction means and equipment of breaking a jam's beneficial effect lies in: compared with the prior art, the utility model discloses an extraction element includes first absorption subassembly and absorbs the subassembly through the second that lift actuating mechanism set up on first carrier, and the second absorbs the subassembly and can make second vacuum chuck switch under lift actuating mechanism's drive between protrusion in first vacuum chuck place planar stick absorption state and the whole layer of absorption state that is in the coplanar with first vacuum chuck. When single goods need to be sucked, the second vacuum chuck is switched to a single-goods sucking state through the lifting driving mechanism, and the single goods can be sucked by the second vacuum chuck; when the whole layer of goods need be absorb, make second vacuum chuck switch to the whole layer state of absorbing through lift actuating mechanism, utilize first vacuum chuck and second vacuum chuck can absorb the goods of whole layer, use this suction means's equipment of unstacking can enough tear singleton goods open, can tear the whole layer of goods again, the commonality is strong.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Wherein:

fig. 1 is a schematic perspective view of a suction device according to an embodiment of the present invention;

fig. 2 is a schematic structural view of the suction sides of the first bearing member and the second bearing member of the suction device according to an embodiment of the present invention;

fig. 3 is a schematic structural view illustrating a second vacuum chuck in a single-piece suction state in a second suction assembly of the suction device according to an embodiment of the present invention;

fig. 4 is a schematic structural view illustrating a second vacuum chuck in a second suction assembly of the suction device according to an embodiment of the present invention in a full-layer suction state;

fig. 5 is a schematic perspective view of a suction device with an external connection structure according to an embodiment of the present invention;

FIG. 6 is a schematic side view of the suction device of FIG. 5;

fig. 7 is a schematic structural view of the unstacking apparatus according to an embodiment of the present invention.

Description of the main element symbols:

10. a suction device;

20. a mechanical arm;

30. a gas transmission pipeline; 31. an air tube; 32. a rotary joint;

100. a first intake assembly; 110. a first bearing member; 111. a through hole; 120. a first vacuum chuck; 130. a tracheal tube interface; 140. a gas release valve;

200. a second suction assembly; 210. a second bearing member; 220. a second vacuum chuck;

300. a lifting drive mechanism; 310. mounting a bracket; 320. a lifting drive member; 330. a guide assembly;

400. an external connection structure; 410. a connecting plate; 411. an external connection portion; 420. a buffer assembly; 421. a guide post; 422. a sliding sleeve; 423. a drop-off prevention member; 424. an elastic member.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Just as record in the background art, current sucking disc formula actuating mechanism can only absorb single piece goods or can only absorb whole layer of goods for automatic equipment of breaking a jam can't realize the function that can tear single piece goods and tear whole layer of goods apart, and the commonality is relatively poor.

In order to solve the above problem, according to an aspect of the present invention, an embodiment of the present invention provides a suction device, as shown in fig. 1 to 4, the suction device 10 includes a first suction assembly 100, a second suction assembly 200, and a lifting driving mechanism 300.

The first suction assembly 100 includes a first carrier 110 and a plurality of first vacuum chucks 120 disposed on a suction side of the first carrier 110 and communicating with each other. The second suction assembly 200 includes a second carrier 210 and a plurality of second vacuum chucks 220 disposed at a suction side of the second carrier 210 and communicating with each other. The lifting driving mechanism 300 is disposed on the first carrier 110, a driving end of the lifting driving mechanism 300 is connected to the second carrier 210, a suction side of the second carrier 210 and a suction side of the first carrier 110 face the same direction, and the lifting driving mechanism 300 is configured to drive the second carrier 210 to move along a direction perpendicular to the suction side of the first carrier 110, so that each second vacuum chuck 220 is switched between a single suction state protruding out of a plane where each first vacuum chuck 120 is located and a full layer suction state located in the same plane as each first vacuum chuck 120.

In the embodiment of the present invention, the second sucking component 200 of the sucking device 10 can make the second vacuum chuck 220 switch between the single sucking state protruding from the plane where the first vacuum chuck 120 is located and the whole sucking state located in the same plane with the first vacuum chuck 120 under the driving of the lifting driving mechanism 300. When a single piece of goods needs to be sucked, the second vacuum chuck 220 is switched to a single piece sucking state through the lifting driving mechanism 300, and the single piece of goods can be sucked by using the second vacuum chuck 220; when the whole layer of goods needs to be sucked, the second vacuum chuck 220 is switched to the whole layer sucking state through the lifting driving mechanism 300, the whole layer of goods can be sucked by utilizing the first vacuum chuck 120 and the second vacuum chuck 220, the sucking device 10 can be used for sucking single goods and sucking the whole layer of goods, and the universality is high.

It should be noted that the size of the first carrier 110 and the size of the second carrier 210 need to be designed according to the size of the cargo box for packing the cargo.

Specifically, the size of the suction side of the second carrier 210 is adapted to the size of the top of the single cargo box, so that in the single-piece suction state, the single cargo can be sucked by the second vacuum chuck 220 on the suction side of the second carrier 210; in the full-layer suction state, the sum of the sizes of the suction sides formed by the suction side of the first carrier 110 and the suction side of the second carrier 210 together is matched with the top size of the full-layer container, so that the full-layer cargo can be sucked by the first vacuum suction cups 120 and the second vacuum suction cups 220.

In one embodiment, as shown in fig. 1-2 and 5-6, the first carrier 110 has a through hole 111, the lifting driving mechanism 300 is mounted on a side of the first carrier 110 facing away from the first vacuum chuck 120 and above the through hole 111, and the second carrier 210 moves in the through hole 111 along an axial direction of the through hole 111 under the driving of the lifting driving mechanism 300.

By providing the through hole 111 on the first carrier 110, the second suction assembly 200 is disposed in the through hole 111 through the lifting driving mechanism 300, which facilitates the design of the sizes of the first carrier 110 and the second carrier 210, and also facilitates the installation and disposition of the lifting driving mechanism 300 on the first carrier 110.

Specifically, the suction side edge of the first carrier 110 is sized to fit the top of a full layer of containers, the aperture 111 is sized slightly larger than the top of a single container, and the suction side of the second carrier 210 is sized to fit the top of a single container.

In a specific embodiment, as shown in fig. 5 and 6, the suction device 10 further includes an external connection structure 400, and the external connection structure 400 is disposed on the first carrier 110 for external connection.

By providing the external connection structure 400 on the first carrier 110, the suction device 10 can be connected to the end of a robotic arm or a multi-axis motion platform in use.

In a more specific embodiment, as shown in fig. 5 and fig. 6, the external connection structure 400 is disposed on a side of the first carrier 110 facing away from the first vacuum chuck 120, and the external connection portion 411 of the external connection structure 400, a middle portion of the first carrier 110, and the through hole 111 are coaxial.

The external connection portion 411 is a portion at which the external connection structure 400 is connected to the end of the mechanical arm or the multi-axis motion platform, and the external connection portion 411, the middle portion of the first bearing member 110, and the through hole 111 are coaxially disposed, so that the end of the mechanical arm or the multi-axis motion platform is coaxial with the center of the whole suction device 10, and alignment between the suction device 10 and the goods is facilitated when the goods are sucked and released in a case where the goods need to be steered.

Specifically, the through hole 111 is located in the middle of the first carrier 110, the first carrier 110 is in a shape of a Chinese character 'hui', the external connection structure 400 is disposed across the through hole 111, and the external connection portion 411 is located directly above the through hole 111.

In some embodiments, as shown in fig. 5 and 6, the external connection structure 400 includes a connection plate 410 and a plurality of sets of buffer assemblies 420, the connection plate 410 is mounted on a side of the first carrier 110 facing away from the first vacuum chuck 120 through the plurality of sets of buffer assemblies 420, a flange hole is formed on the connection plate 410, and the flange hole forms an external connection portion 411 through which the whole suction device 10 can be mounted on a flange at the end of the robot arm.

Specifically, the four buffer assemblies 420 are arranged in four groups and are respectively close to four corners of the rectangular through hole 111, the connecting plate 410 is rectangular and is positioned above the lifting driving mechanism 300, the four corners of the connecting plate 410 are correspondingly connected with the four buffer assemblies 420 in one-to-one manner, and the flange holes are coaxial with the through hole 111.

The connecting plate 410 is mounted on the first bearing part 110 through the buffer assembly 420, and in the process that the mechanical arm or the multi-axis motion platform drives the suction device 10 at the tail end of the mechanical arm or the multi-axis motion platform to press and hold on the top of the goods to suck the goods through the first vacuum chuck 120 and/or the second vacuum chuck 220, the buffer assembly 420 can play a role in buffering and damping, on one hand, the situation that the suction device 10 and the goods are crushed due to the overlarge pressure applied to the tail end of the mechanical arm or the multi-axis motion platform can be avoided, on the other hand, the situation that each first vacuum chuck 120 and/or each second vacuum chuck 220 stably press and hold on the goods can be ensured, and the goods can be effectively sucked.

In some embodiments, as shown in fig. 5, each set of buffering assemblies 420 includes a guiding post 421 fixed on the first carrier 110, a sliding sleeve 422 slidably sleeved on the guiding post 421, an anti-separation member 423 (e.g., a nut screwed on an end of the guiding post 421 away from the first carrier 110) disposed at an end of the guiding post 421 away from the first carrier 110, and an elastic member 424 elastically abutted between the sliding sleeve 422 and the first carrier 110, wherein the sliding sleeve 422 is fixedly connected to the connecting plate 410.

In one implementation, the elastic member 424 is a coil spring, the coil spring is sleeved on the guiding column 421, and two ends of the coil spring respectively abut against the sliding sleeve 422 and the first bearing member 110.

Of course, in other implementations, the elastic element 424 may also adopt other elastic elements (e.g., metal spring, air bag, etc.) instead of the coil spring.

In one embodiment, as shown in fig. 1 and 5-6, the lifting driving mechanism 300 includes a mounting bracket 310 disposed on the first carrier 110 and a lifting driving member 320 mounted on the mounting bracket 310, wherein a driving end of the lifting driving member 320 is connected to a side of the second carrier 210 facing away from the second vacuum chuck 220.

The lifting driving member 320 may be an air cylinder, an oil cylinder, or an electric push rod. The number of the lifting driving members 320 may be one, or may be a plurality of lifting driving members that are synchronously operated, and is not limited herein.

In this embodiment, the lifting driving member 320 is provided with two air cylinders, the two air cylinders are spaced apart from each other, the cylinder bodies of the air cylinders are fixed on the bracket, and the piston ends (i.e. the driving ends) of the air cylinders are fixedly connected to the second bearing member 210.

Furthermore, the lifting process is more stable and reliable. A plurality of sets of guide assemblies 330 are further disposed between the mounting bracket 310 and the second bearing member 210, each set of guide assemblies 330 includes a polish rod and a guide sleeve slidably sleeved on the polish rod, the polish rod is fixed on the second bearing member 210 and is parallel to the driving direction of the lifting driving member 320, and the guide sleeve is fixedly connected to the bracket.

In one embodiment, the first carrier 110 comprises a first carrier plate, the second carrier 210 comprises a second carrier plate, the first carrier plate and the second carrier plate are both hollow inside, each of the first vacuum cups 120 is communicated with the inside of the first carrier plate, and each of the second vacuum cups 220 is communicated with the inside of the second carrier plate.

Through setting up as above, each first vacuum chuck 120 communicates with each other through the inside of first loading board, and each second vacuum chuck 220 communicates with each other through the inside of second loading board, and simple structure has saved the loaded down with trivial details of arranging the pipeline. The first vacuum chucks 120 can be driven to suck the goods by pumping the inside of the first loading plate to form a vacuum, and the second vacuum chucks 220 can be driven to suck the goods by pumping the inside of the second loading plate to form a vacuum.

Specifically, mounting holes are uniformly distributed on the mounting side of the first bearing plate, and the air suction joint of the first vacuum chuck 120 is screwed in the mounting holes, so that the first vacuum chuck 120 is fixed on the first bearing plate and is communicated with the inside of the first bearing plate. Similarly, mounting holes are uniformly distributed on the mounting side of the second bearing plate, and the air suction joint of the second vacuum chuck 220 is screwed in the mounting holes, so that the second vacuum chuck 220 is fixed on the second bearing plate and is communicated with the inside of the second bearing plate.

Of course, it is understood that in other embodiments, the first supporting member 110 and the second supporting member 210 can be a first supporting frame and a second supporting frame, respectively, each of the first vacuum chucks 120 is uniformly fixed on the first supporting frame and connected in series through a connecting pipe, and each of the first vacuum chucks 120 is uniformly fixed on the second supporting frame and connected in series through another connecting pipe.

In one embodiment, as shown in fig. 1, 5 and 6, the first carrier plate is provided with an air pipe connector 130 and an air release valve 140 communicated with the inside thereof, and the second carrier plate is provided with a vacuum generator (not shown) having a vacuum port communicated with the inside of the second carrier plate.

By the arrangement, when the vacuum pump is used, the air pipe interface 130 is communicated with the air suction port of the air suction pump through the air pipe, and the air supply port of the vacuum generator is communicated with the air delivery port of the air compressor through the pipeline.

The air release valve 140 may be an electromagnetic valve for communicating the inside of the first loading plate with the outside under control to break the negative pressure inside the first loading plate, thereby releasing the goods sucked by the first vacuum chuck 120.

According to another aspect of the present invention, there is provided an unstacking apparatus, as shown in fig. 7, including a mechanical arm 20 and the suction device 10 in any one of the above embodiments, wherein the suction device 10 is mounted at the end of the mechanical arm 20.

Due to the adoption of the suction device 10 capable of sucking single goods and the whole layer of goods, the unstacking equipment has the capability of realizing the removal of single goods and the removal of the whole layer of goods, and is strong in universality.

The air pipeline 30 for communicating the air pipe interface 130 with the air source in the unstacking equipment comprises a plurality of sections of air pipes 31 and a plurality of rotary joints 32, wherein the adjacent air pipes 31 are communicated through the rotary joints 32, and the rotary joints 32 are arranged at the rotary joints of the mechanical arm 20. Therefore, the air tube 31 can be prevented from being wound or worn during the movement of the robot arm 20.

The unstacking apparatus further comprises a visual recognition system (not shown) and a control system (not shown), the visual recognition system being mounted on the robotic arm 20 or located adjacent to the robotic arm 20 and being adapted to recognize the position and orientation of the stack. The control system is connected to the vision recognition system and can be used to control the movements of the robotic arm 20 and the suction device 10 according to the information collected by the vision recognition system.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A suction device, comprising:

the first suction assembly comprises a first bearing piece and a plurality of first vacuum chucks which are arranged on the suction side of the first bearing piece and are communicated with each other;

the second suction assembly comprises a second bearing piece and a plurality of second vacuum chucks which are arranged on the suction side of the second bearing piece and are communicated with each other; and

the lifting driving mechanism is arranged on the first bearing piece, the driving end of the lifting driving mechanism is connected to the second bearing piece, the direction of the suction side of the second bearing piece is the same as that of the suction side of the first bearing piece, and the lifting driving mechanism is used for driving the second bearing piece to move in the direction perpendicular to the suction side of the first bearing piece, so that the second vacuum chucks protrude out of the single suction state of the plane where the first vacuum chucks are located and the whole layer suction state of the first vacuum chucks in the same plane are switched.

2. The suction device as claimed in claim 1, wherein the first carrier has a through hole, the lifting drive mechanism is mounted on a side of the first carrier facing away from the first vacuum chuck and above the through hole, and the second carrier moves in the through hole along an axial direction of the through hole under the driving of the lifting drive mechanism.

3. The suction device as claimed in claim 2, further comprising an external connection arrangement provided on the first carrier for external connection.

4. The suction device as claimed in claim 3, wherein the external connection structure is disposed on a side of the first carrier member facing away from the first vacuum chuck, and an external connection portion of the external connection structure, a middle portion of the first carrier member, and the through hole are coaxial.

5. The suction device as claimed in claim 4, wherein the external connection structure includes a connection plate and a plurality of sets of buffer assemblies, the connection plate is mounted on a side of the first bearing member facing away from the first vacuum chuck through the plurality of sets of buffer assemblies, and a flange hole is formed in the connection plate and forms the external connection portion.

6. The suction device as claimed in claim 5, wherein each set of the buffering components includes a guiding post fixed on the first carrier, a sliding sleeve slidably fitted on the guiding post, an anti-separation member disposed at an end of the guiding post away from the first carrier, and an elastic member elastically abutting between the sliding sleeve and the first carrier, and the sliding sleeve is fixedly connected to the connecting plate.

7. The suction device as claimed in any one of claims 1 to 5, wherein the lifting drive mechanism comprises a mounting bracket provided on the first carrier member and a lifting drive member mounted on the mounting bracket, the driving end of the lifting drive member being connected to a side of the second carrier member facing away from the second vacuum chuck.

8. The suction device as claimed in any one of claims 1 to 5, wherein the first carrier comprises a first carrier plate and the second carrier comprises a second carrier plate, the first carrier plate and the second carrier plate each being hollow in their interiors, each of the first vacuum cups being in communication with the interior of the first carrier plate and each of the second vacuum cups being in communication with the interior of the second carrier plate.

9. The suction device as claimed in claim 8, wherein the first loading plate is mounted with an air pipe port and an air release valve communicating with the inside thereof, and the second loading plate is mounted with a vacuum generator having a vacuum port communicating with the inside of the second loading plate.

10. An unstacking apparatus comprising a robotic arm and a suction device as claimed in any one of claims 1 to 9 mounted to the distal end of the robotic arm.

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