CN210884189U

CN210884189U - Snatch mechanism and battery equipment system

Info

Publication number: CN210884189U
Application number: CN201920996957.4U
Authority: CN
Inventors: 李鹏; 王高鹏; 游浩; 王雄力
Original assignee: Wuhan Yifi Laser Equipment Co ltd
Current assignee: Wuhan Yifi Laser Corp Ltd
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2020-06-30
Anticipated expiration: 2029-06-28

Abstract

The utility model relates to the technical field of mechanical equipment, a snatch mechanism and battery equipment system is disclosed, wherein snatch the mechanism and include: grasping the part; the grabbing piece comprises a pneumatic claw cylinder; two clamping jaws of gas claw cylinder set up relatively, and the tip of clamping jaw is the curved form of arc and makes two clamping jaws be the form of surroundingly relatively. The utility model provides a grabbing mechanism and battery assembly system, set up the gas claw cylinder as grabbing the piece, can snatch article through two clamping jaws, simple structure, the control of being convenient for; the end part of the clamping jaw is arranged in an arc-shaped bent shape, so that the clamping jaw can better adapt to an object to be grabbed with an arc-shaped surface, can be more attached to the surface of the object to be grabbed, and can realize firmer and more stable grabbing and prevent falling off; and the two clamping jaws are in an encircling shape relatively, so that the article to be grabbed can be grabbed in the encircling shape, and the damage to the surface of the article can be avoided.

Description

Snatch mechanism and battery equipment system

Technical Field

The utility model relates to a mechanical equipment technical field especially relates to a snatch mechanism and battery equipment system.

Background

With the national emphasis on new energy, the lithium battery industry is taken as a faucet of new energy, and the lithium battery industry is rapidly developed in recent years. Because the stability performance in the work of the lithium battery is very good, the lithium battery is widely applied to various electronic fields, such as: high-grade highlight flashlight, portable power supply, wireless data transmitter, electric heating thermal clothes, shoes, portable instruments and meters, portable lighting equipment, portable printers, industrial instruments, photovoltaic power generation storage batteries, medical instruments, automobile power batteries and the like.

An important step to be performed in the production process of the lithium ion battery is the assembly of the battery core and the protection plate, i.e. the protection plate and the battery core are welded together through a nickel strap. The lithium battery is fixedly assembled by adopting a bracket in the assembling process. Because the battery core volume is less, the battery core is generally stored by adopting a material box due to the cylindrical appearance. At present, when the battery cell is arranged in the bracket, a mode of grabbing by both hands or sucking by a permanent magnet of the positive pole is mainly adopted.

However, the relative position between the electric cores cannot be guaranteed when the electric cores are installed in the bracket in a manner of grabbing by two hands, and the electric cores are not aligned and are difficult to install. Meanwhile, the hands are used for grabbing the battery easily to cause fatigue and acid anesthesia, the working strength is high, and the cleanliness of the battery cell can be influenced. And the phenomenon that the electric core drops takes place again easily at the in-process that snatchs of traditional anodal post permanent magnet absorption mode.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model aims at providing a snatch mechanism and battery equipment system for solve or partially solve at electric core material loading in-process, traditional anodal post permanent magnet absorbs the problem that the in-process that the mode takes place electric core easily and drops.

(II) technical scheme

In order to solve the technical problem, the utility model discloses the first aspect provides a snatch mechanism, include: grasping the part; the grabbing piece comprises a pneumatic claw cylinder; two clamping jaws of gas claw cylinder set up relatively, just the tip of clamping jaw is arc curved form and makes two the clamping jaw is the form of embracing relatively.

On the basis of the scheme, the plurality of air claw cylinders are respectively connected with the connecting plate and arranged side by side at intervals along the width direction of the connecting plate, and the connecting plate is fixedly connected with the mechanical arm.

On the basis of the scheme, the method further comprises the following steps: a distance adjusting structure; the pneumatic claw cylinder is fixedly connected with the fixed plate, the fixed plate is connected with the connecting plate in a sliding mode along the width direction of the connecting plate, and the distance adjusting structure is connected with the fixed plate and used for driving the fixed plate to move along the width direction of the connecting plate so as to adjust the distance between every two adjacent pneumatic claw cylinders.

On the basis of the scheme, the distance adjusting structure comprises a sliding plate and a pushing structure; the sliding plate is arranged on one side of the fixing plate, and the pushing structure is connected with the sliding plate and used for pushing the sliding plate to move along the height direction of the connecting plate; the fixing plate is characterized in that a convex block is arranged on the surface of one side of the fixing plate, an inclined long-strip-shaped hole is formed in the position, corresponding to the convex block, of the sliding plate, and the convex block is inserted into the long-strip-shaped hole.

On the basis of the scheme, guide rails are respectively arranged on two sides of the connecting plate in the width direction along the height direction, and two sides of the sliding plate are correspondingly connected with the guide rails in a sliding manner; a bearing is sleeved on the outer side of the convex block; the pushing structure comprises a pushing cylinder.

On the basis of the scheme, the connecting plate is fixedly connected with the mechanical arm through the adapter plate, a circle of threaded holes are uniformly formed in the adapter plate along the circumferential direction, and the adapter plate is in threaded connection with the mechanical arm at a plurality of or all of the threaded holes.

On the basis of the scheme, a first limiting block is further arranged on the surface of one side of the fixing plate, a plurality of mounting holes are formed in the height direction of the connecting plate and are arranged on the fixing plate, and the first limiting block is detachably connected with the fixing plate in the mounting holes.

On the basis of the scheme, two ends of the guide rail are respectively provided with a second limiting block.

On the basis of the scheme, the inclination of the plurality of strip-shaped holes relative to the width direction of the connecting plate is gradually reduced along the direction from the middle to two sides of the connecting plate, so that the distance between any two adjacent air claw cylinders is kept the same.

The utility model discloses the second aspect provides a battery equipment system, including above-mentioned arbitrary scheme snatch the mechanism.

(III) advantageous effects

The utility model provides a grabbing mechanism and battery assembly system, set up the gas claw cylinder as grabbing the piece, can snatch article through two clamping jaws, simple structure, the control of being convenient for; the end part of the clamping jaw is arranged in an arc-shaped bent shape, so that the clamping jaw can better adapt to an object to be grabbed with an arc-shaped surface, can be more attached to the surface of the object to be grabbed, and can realize firmer and more stable grabbing and prevent falling off; and the two clamping jaws are in an encircling shape relatively, so that the article to be grabbed can be grabbed in the encircling shape, and the damage to the surface of the article can be avoided.

Drawings

Fig. 1 is a first overall schematic view of a gripping mechanism according to an embodiment of the present invention;

fig. 2 is a schematic front view of a gripping mechanism according to an embodiment of the present invention;

fig. 3 is a second overall schematic view of a gripping mechanism according to an embodiment of the present invention;

fig. 4 is a rear view schematic diagram of a grabbing mechanism according to an embodiment of the present invention.

Description of reference numerals:

1-air claw cylinder; 2-clamping jaw; 3, connecting a plate;

4, fixing a plate; 5, sliding plates; 6-a bump;

7-strip-shaped holes; 8-a pushing structure; 9-a guide rail;

10, a patch panel; 11-a first stopper; 12-a second stopper;

13-support.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The embodiment of the utility model provides a snatch mechanism, refer to fig. 1, should snatch the mechanism and include: grasping the part; the gripping member comprises a pneumatic claw cylinder 1. Two clamping jaws 2 of gas claw cylinder 1 set up relatively, and the tip of clamping jaw 2 is the curved form of arc and makes two clamping jaws 2 be the form of embracing relatively.

The grabbing mechanism provided by the embodiment adopts the pneumatic claw cylinder 1 as a grabbing piece, and is directly used for grabbing objects to be grabbed. The pneumatic claw cylinder 1 is provided with two clamping jaws 2, and the pneumatic claw cylinder 1 can drive the two clamping jaws 2 to move in opposite directions or in opposite directions so as to adjust the distance between the two clamping jaws 2 and realize grasping and releasing of an object to be grasped.

In the embodiment, the free end of the clamping jaw 2 on the air jaw cylinder 1 is arranged to be arc-shaped and bent. I.e. the free end of the jaw 2 is arc-shaped. The arcs of the free ends of the two clamping jaws 2 are oppositely arranged, so that the free ends of the two clamping jaws 2 are in an encircling shape. Can treat to snatch article and carry out firm the snatching of laminating more, be particularly useful for snatching cylindric article.

According to the grabbing mechanism provided by the embodiment, the air claw cylinder 1 is arranged as a grabbing piece, and objects can be grabbed through the two clamping jaws 2, so that the grabbing mechanism is simple in structure and convenient to control; the end part of the clamping jaw 2 is arranged to be in an arc-shaped bent shape, so that the clamping jaw 2 can better adapt to an object to be grabbed with an arc-shaped surface, can be more attached to the surface of the object to be grabbed, and can realize firmer and more stable grabbing and prevent falling; and the two clamping jaws 2 are relatively in an encircling shape, so that the article to be grabbed can be grabbed in the encircling shape, and the damage to the surface of the article can be avoided.

On the basis of the above embodiment, further, referring to fig. 2, a plurality of air claw cylinders 1 are respectively connected with a connecting plate 3 and arranged side by side at intervals along the width direction of the connecting plate 3, and the connecting plate 3 is fixedly connected with the mechanical arm. A plurality of gas claw cylinder 1 interval sets up side by side, can snatch a plurality of article of waiting to snatch of array arrangement simultaneously, can improve and snatch efficiency. The distance between the adjacent pneumatic claw cylinders 1 can be set according to the position where the object to be grabbed is placed.

The plurality of air claw cylinders 1 are connected with the mechanical arm through a connecting plate 3. The pneumatic claw cylinder 1 can be driven to move by the movement of the mechanical arm so as to smoothly reach the position of an article to be grabbed to grab and place the grabbed article at a required position.

On the basis of the above embodiment, further, referring to fig. 3, a grasping mechanism further includes: and (5) a distance adjusting structure. The air claw cylinder 1 is fixedly connected with the fixed plate 4. The fixing plate 4 is slidably connected to the connecting plate 3 in the width direction of the connecting plate 3. The distance adjusting structure is connected with the fixed plate 4 and used for driving the fixed plate 4 to move along the width direction of the connecting plate 3 so as to adjust the distance between the adjacent air claw cylinders 1.

The plurality of gripper cylinders 1 are provided along the width direction of the connecting plate 3. The fixed plate 4 and the air claw cylinders 1 are driven to move along the width direction of the connecting plate 3 through the distance adjusting structure, and the distance between the adjacent air claw cylinders 1 can be adjusted. The different intervals of placing of adaptable article of waiting to snatch improves this suitability and the flexibility of snatching the mechanism.

Further, the fixing plate 4 can be slidably connected with the connecting plate 3 through a sliding groove structure. Can set up the sand grip along width direction on connecting plate 3, set up the draw-in groove of being connected with the sand grip block on fixed plate 4, and then realize fixed plate 4 and connecting plate 3's sliding connection. The cross section of the raised line can be in a dovetail shape or a T shape, and correspondingly, the cross section of the clamping groove can be in a dovetail shape or a T shape. The air claw cylinder 1 is fixed on the fixing plate 4.

On the basis of the above embodiment, further, the distance adjusting structure comprises a sliding plate 5 and a pushing structure 8; the sliding plate 5 is arranged on one side of the fixed plate 4, and the pushing structure 8 is connected with the sliding plate 5 and used for pushing the sliding plate 5 to move along the height direction of the connecting plate 3. A convex block 6 is arranged on one side surface of the fixing plate 4, an inclined strip-shaped hole 7 is arranged at the position of the sliding plate 5 corresponding to the convex block 6, and the convex block 6 is inserted into the strip-shaped hole 7.

Every gas claw cylinder 1 all with a fixed plate 4 fixed connection, every fixed plate 4 all with connecting plate 3 sliding connection. The distance adjusting structure provided by the embodiment can simultaneously drive each fixing plate 4 to move along the width direction of the connecting plate 3 so as to simultaneously adjust the position of each air claw cylinder 1.

When this snatch mechanism is arranged in electric core material loading in-process, because the comparison of placing of electric core in the storage tank is denser, adjacent electric core interval is less. And the space between the battery cores and the material frame to be placed is larger. By using the grabbing mechanism, the distance between the adjacent air claw cylinders 1 can be made smaller initially, and the grabbing requirement is met. After grabbing the electric core, the interval of accessible roll adjustment structure to gas claw cylinder 1 is adjusted, makes it satisfy the material loading needs.

A projection 6 is provided on one side of each fixing plate 4. The projections 6 on each fixing plate 4 are inserted into one elongated hole 7 on the sliding plate 5 in a one-to-one correspondence. The inclined elongated holes 7 are holes that have a span in both the width direction and the height direction of the connecting plate 3. The elongated hole 7 may be an elliptical hole, and is not particularly limited.

Each fixed plate 4 is connected to a slide plate 5. When the sliding plate 5 moves along the height direction of the connecting plate 3 under the action of the pushing structure 8, the sliding plate 5 can play a pushing role on each fixing plate 4. Because the fixing plate 4 is fixedly connected with the connecting plate 3 in the height direction, relative displacement cannot occur, so that the lug 6 on the fixing plate 4 moves along the elongated hole 7 under the pushing of the sliding plate 5, so that the fixing plate 4 moves along the width direction of the connecting plate 3. The purpose of adjusting the position of the air claw cylinder 1 is achieved.

Further, the width direction and the height direction of the connection plate 3 may be two directions perpendicular to each other. When connecting plate 3 is vertical, every gas claw cylinder 1 all vertical setting, and the gas claw sets up downwards promptly. At this time, the width direction of the connection plate 3 refers to the horizontal direction, and the height direction refers to the vertical direction.

On the basis of the above embodiment, further, the two sides of the connecting plate 3 in the width direction are respectively provided with the guide rails 9 in the height direction, and the two sides of the sliding plate 5 are correspondingly connected with the guide rails 9 in a sliding manner. The outside cover of lug 6 is equipped with the bearing. The pushing structure 8 comprises a pushing cylinder.

The guide rail 9 is arranged, so that the moving path of the sliding plate 5 can be limited, the sliding plate 5 can smoothly move along a preset path, and the position of the air claw cylinder 1 can be smoothly adjusted; the moving displacement of the sliding plate 5 can be accurately positioned; the sliding plate 5 and the connecting plate 3 can be connected, and the structural integrity and the connection firmness are improved. The guide rails 9 may also be of a raised strip structure, and correspondingly, the two sides of the sliding plate 5 are respectively provided with a clamping groove connected with the raised strip in a clamping manner. The guide rail 9 may be any other structure capable of realizing linear sliding, such as a sliding table, and is not particularly limited.

The bearing is sleeved on the outer side of the lug 6, the bearing and the long strip-shaped hole 7 can rotate relatively, and the friction resistance of the lug 6 in the movement of the long strip-shaped hole 7 can be reduced, so that the movement in the long strip-shaped hole 7 can be smoothly realized. The pushing structure 8 may be any other structure capable of providing a driving force for linear movement, and is not limited in particular.

On the basis of the above embodiment, further, referring to fig. 4, the connection plate 3 is fixedly connected with the robot arm through an adapter plate 10, a circle of threaded holes are uniformly formed in the adapter plate 10 along the circumferential direction, and the adapter plate 10 is in threaded connection with the robot arm at a plurality of or all of the threaded holes.

That is, the adapter plate 10 is provided with as many threaded holes as possible, which is suitable for different mechanical arms. For example, for a robot arm, some joints need four threaded holes, and some joints need six threaded holes, and the adapter plate 10 can be connected and fixed with a first robot arm or a second robot arm. The grabbing mechanism is applicable to various mechanical arms, and the applicability and the installation flexibility are improved.

Specifically, the connecting plate 3 may be connected to one side of the bracket 13, the other side of the bracket 13 is connected to the adapter, and the adapter plate 10 is a round plate-shaped structure arranged outside the adapter, similar to a flange structure. The grabbing mechanism is detachably and fixedly connected with the mechanical arm through the threaded connection of the adapter plate 10 and the mechanical arm adapter part.

Further, the pushing structure 8 may be fixed on the bracket 13 and may also be fixed on the connecting plate 3 for the purpose of driving the sliding plate 5 to move, which is not limited in particular.

On the basis of the above embodiment, further, a first limiting block 11 is further arranged on the surface of one side of the fixing plate 4, a plurality of mounting holes are formed in the fixing plate 4 along the height direction of the connecting plate 3, and the first limiting block 11 is detachably connected with the fixing plate 4 at the mounting holes.

The first stopper 11 can limit the movement displacement of the slide 5 in the height direction of the connecting plate 3 by stopping the movement of the slide 5. By limiting the moving displacement of the sliding plate 5, the sliding plate 5 can be ensured to stably move within a preset range, and the distance for adjusting the position of the air claw cylinder 1 can be indirectly limited. That is, the smaller the displacement of the slide plate 5 in the height direction of the link plate 3, the smaller the displacement of the gas claw cylinder 1 in the width direction of the link plate 3.

Furthermore, by arranging a plurality of mounting holes, the position of the first limiting block 11 can be flexibly set, so that the sliding plate 5 can be controlled to move in different ranges. The position of the first limiting block 11 can be set according to the distance of the air claw cylinder 1 which needs to be adjusted.

On the basis of the above embodiment, further, two ends of the guide rail 9 are respectively provided with a second stopper 12. The second limiting blocks 12 limit the movement of the sliding plate 5 at two ends of the guide rail 9, so that the sliding plate 5 can be prevented from being separated from the guide rail 9, and the stability of the structure is ensured.

On the basis of the above embodiment, further, the inclination of the plurality of elongated holes 7 with respect to the width direction of the connecting plate 3 is gradually decreased in the direction from the middle to both sides of the connecting plate 3, so that the distance between any two adjacent gas claw cylinders 1 is kept the same.

The inclination of the elongated hole 7 with respect to the width direction of the connecting plate 3 can be represented by an acute angle between the center line of the elongated hole 7 and the width direction of the connecting plate 3. The larger the inclination of the elongated hole 7, the steeper the elongated hole 7 is with respect to the width direction of the link plate 3, that is, the smaller the component of the elongated hole 7 in the width direction of the link plate 3. So that the displacement of the respective fixing plates 4 in the width direction of the connecting plate 3 is smaller.

As the items to be gripped are generally regularly placed. The interval between any adjacent two gas claw cylinders 1 should be kept the same. Before the position of the air claw cylinder 1 is adjusted, the distance between any two adjacent air claw cylinders 1 is the same; after adjustment, the distance between any two adjacent air claw cylinders 1 is still the same, except that the distance is different from the distance before adjustment.

For one exhaust claw cylinder 1, when the distance between two adjacent cylinders needs to be adjusted, the moving distance of the two exhaust claw cylinders 1 is larger than that of the middle exhaust claw cylinder 1, so that the distance between any two adjacent exhaust claw cylinders 1 is the same after adjustment. The displacement that the fixed plate 4 of different positions takes place is different to the slope that sets up the rectangular form hole 7 that every fixed plate 4 corresponds is different, finally makes, before the adjustment, the interval between two arbitrary adjacent gas claw cylinders 1 is the same.

For example, four air gripper cylinders 1 are uniformly distributed on the connecting plate 3, corresponding to the four fixing plates 4. The length component of the long-strip-shaped holes 7 corresponding to the two fixing plates 4 in the middle in the width direction of the connecting plate 3 is half of the length component of the long-strip-shaped holes 7 corresponding to the two fixing plates 4 on the two sides in the width direction of the connecting plate 3. In any state that the sliding plate 5 moves for distance adjustment, the distance between two adjacent air claw cylinders 1 is the same.

Further, when the number of the air claw cylinders 1 connected to the connecting plate 3 is odd, the strip-shaped hole 7 corresponding to the fixing plate 4 located in the middle may be perpendicular to the width direction of the connecting plate 3, so that the air claw cylinders 1 do not displace in the width direction during the distance adjustment process. The air claw cylinders 1 on the two sides of the air claw cylinder can be displaced.

On the basis of the above embodiments, further, a battery assembling system includes the grasping mechanism described in any of the above embodiments.

On the basis of the above embodiment, further, a grabbing mechanism is applied to a battery assembling system to grab and feed the battery core. The grabbing mechanism is connected with the manipulator through the adapter plate 10, and the manipulator can move in multiple degrees of freedom. Several transfer robots can be used in common by the transfer plate 10.

The pushing cylinder drives the sliding plate 5 to do vertical motion along the guide rails 9 on the two sides, so that the convex blocks 6 on the fixing plate 4 do regular parallel diameter-changing motion in the distance-changing track pattern holes of the sliding plate 5. The fixed plate 4 is promoted to drive the air claw cylinder 1 to move so as to adjust the distance between the air claw cylinder and the fixed plate. The clamping jaw 2 of the pneumatic jaw cylinder 1 is a streamline anti-skid clamping jaw 2. Cam bearing followers are arranged outside the lugs 6 in the elongated holes 7.

The grabbing mechanism moves vertically and downwards and regularly carries out left-right parallel displacement by changing the pitch; the slide block is supported on the guide rail 9 by a guide track, so that each connecting plate 3 of the main body device can make linear motion along the slide rail, and the positioning is accurate; the friction coefficient is small, the sliding is smooth, and the displacement change deviation cannot be generated.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A grasping mechanism comprising: grasping the part; the grabbing piece is characterized by comprising a pneumatic claw cylinder; the two clamping jaws of the pneumatic jaw cylinder are oppositely arranged, and the end parts of the clamping jaws are in an arc-shaped bent shape, so that the two clamping jaws are oppositely encircled;

the pneumatic claw cylinders are respectively connected with the connecting plate and arranged side by side at intervals along the width direction of the connecting plate, and the connecting plate is fixedly connected with the mechanical arm.

2. The grasping mechanism according to claim 1, further comprising: a distance adjusting structure; the pneumatic claw cylinder is fixedly connected with the fixed plate, the fixed plate is connected with the connecting plate in a sliding mode along the width direction of the connecting plate, and the distance adjusting structure is connected with the fixed plate and used for driving the fixed plate to move along the width direction of the connecting plate so as to adjust the distance between every two adjacent pneumatic claw cylinders.

3. The grasping mechanism according to claim 2, wherein the pitch adjustment structure includes a slide plate and a pushing structure; the sliding plate is arranged on one side of the fixing plate, and the pushing structure is connected with the sliding plate and used for pushing the sliding plate to move along the height direction of the connecting plate; the fixing plate is characterized in that a convex block is arranged on the surface of one side of the fixing plate, an inclined long-strip-shaped hole is formed in the position, corresponding to the convex block, of the sliding plate, and the convex block is inserted into the long-strip-shaped hole.

4. The grabbing mechanism according to claim 3, wherein two sides of the connecting plate in the width direction are respectively provided with a guide rail in the height direction, and two sides of the sliding plate are correspondingly connected with the guide rails in a sliding manner; a bearing is sleeved on the outer side of the convex block; the pushing structure comprises a pushing cylinder.

5. The grabbing mechanism as claimed in any one of claims 1 to 4, wherein the connecting plate is fixedly connected with the mechanical arm through an adapter plate, a circle of threaded holes are uniformly formed in the adapter plate along the circumferential direction, and the adapter plate is in threaded connection with the mechanical arm at a plurality of or all of the threaded holes.

6. The grabbing mechanism according to claim 3, wherein a first limiting block is further arranged on one side surface of the fixing plate, a plurality of mounting holes are formed in the fixing plate along the height direction of the connecting plate, and the first limiting block is detachably connected with the fixing plate at the mounting holes.

7. The grasping mechanism according to claim 4, wherein second stoppers are respectively provided at both ends of the guide rail.

8. The gripping mechanism according to claim 3, wherein the inclination of the plurality of elongated holes with respect to the width direction of the connecting plate is gradually decreased in a direction from the middle to both sides of the connecting plate so that the distance between any two adjacent air gripper cylinders is kept the same.

9. A battery assembly system comprising a gripping mechanism according to any one of claims 1 to 8.