CN211688123U - An omnidirectional AGV forklift - Google Patents

Abstract

The utility model provides a AGV fork truck that qxcomm technology traveles, including the automobile body, with car connection can turn to the drive of the rudderwheel mechanism, two universal wheels, universal wheel that travel to turn to the device, the automobile body is equipped with a landing leg respectively including riser, the fork that is connected, fork lower part both sides, and every universal wheel is connected with a landing leg respectively, and every universal wheel turns to the device with a drive respectively and is connected, and the drive turns to device and car connection, supports the fork and drives the fork motion through the universal wheel, rudderwheel mechanism passes through buffer gear and body connection. The utility model discloses an universal wheel can realize that the universal wheel independently turns to and goes, combines to turn to the helm mechanism that goes, adopts front steering wheel + can initiatively turn to the fork rear wheel that goes, can realize AGV fork truck omnidirectional and go, and the motion space is less, has saved fork truck's tunnel space, has satisfied the requirement that the commodity circulation transportation trade saved space, and AGV fork truck motion is nimble, and the transport action is fast, and handling efficiency is high, is convenient for charge, improves charge efficiency.

Description

An omnidirectional AGV forklift

technical field

The utility model relates to the technical field of cargo handling, in particular to an omnidirectional AGV forklift.

Background technique

With the rise of artificial intelligence and automated unmanned technology, the logistics and cargo handling industry is also affected. In terms of work efficiency and cost, people are more hopeful that machines can automate the handling of goods, thereby replacing manual handling. Therefore, AGV (Automated Guided Vehicle) technology came into being. It is mainly to complete the actions of lifting the goods → handling → putting down the goods. The current AGV forklift mainly uses the fork to lift the pallet and the goods, and then transport it to the designated position and put down the goods. The movement of the forklift includes going straight and turning. Various forms of forklifts have little difference in straight-line driving, and their work efficiency and activity space are mainly limited by steering.

First, when the ordinary forklift turns/turns, the turning radius is relatively large: when turning, only the steering wheel mechanism under the car body can change the driving direction, and the rear wheel under the fork (away from the car body end. The following text is based on the car body as the front , the fork is the rear, and the following will not be repeated) Although the universal wheel is used, it cannot steer and drive autonomously, and it steers while driving with the steering wheel. This causes the AGV forklift to turn with the center of the car body as the center of the circle, and the rear wheels move to form a larger arc trajectory, and the turning space is larger. This runs counter to the principle of space saving in the logistics and warehousing industry.

Second, when the non-omnidirectional AGV forklift is picking and placing goods in and out of the T-shaped roadway, the forklift action is broken down as follows: turn 90 degrees (enter the vertical roadway) → move straight to the vicinity of the goods (at this time, the fork is parallel to the roadway, and The goods are located on both sides of the roadway and cannot fork the goods) → turn 90 degrees → fork the goods → turn the angle of 90 degrees (the forks are parallel to the roadway at this time) → move straight to the roadway entrance → turn into the roadway in a parallel direction. The action steps are cumbersome, there are many turns, the work efficiency is not high, and the energy consumption of the forklift is large.

Third, the charging port of the AGV forklift is located at the rear of the vehicle body, and in order not to affect other AGV operations, the charging pile is generally located at the edge of the site or in inconspicuous places such as the corner and the root of the wall. Due to the non-omnidirectional AGV car, the activities are inflexible, and the car needs to be adjusted many times to find the charging pile, and there are many contour actions such as turning forward and backward. Like loading and unloading goods in a T-shaped aisle, the trolley needs to move many times, change the position and adjust the angle and driving direction, which makes the process of driving the trolley from the original position to the charging pile relatively slow, and wastes a long time before charging, which affects work efficiency. charging efficiency. And the non-omnidirectional AGV has a large turning radius and occupies a large charging area, which is a waste of space.

Utility model content

In order to solve the above-mentioned problems existing in the prior art, the utility model proposes an omnidirectional AGV forklift. The utility model realizes the active steering of the rear wheels of the fork through universal wheel steering, and adopts the front steering wheel + active steering. The rear wheel of the moving fork can realize the omnidirectional driving of the AGV forklift, with a small movement space, saving the forklift movement space and roadway space, and meeting the space saving requirements of the logistics and transportation industry. At the same time, the omnidirectional driving AGV forklift has flexible movement and handling actions Fast and efficient handling.

The technical scheme of the utility model to solve the technical problem is:

An omnidirectional driving AGV forklift includes a vehicle body, a steering wheel mechanism connected to the vehicle body and steerable, and also includes two universal wheels, a drive steering device for the universal wheels, and the vehicle body includes a connected vertical wheel. The plate, the fork, the lower part of the fork is respectively provided with a support leg, each universal wheel is respectively connected with a support leg, each universal wheel is respectively connected with a driving steering device, and the driving steering device is connected with the vehicle body, The fork is supported and driven by the universal wheel, and the steering wheel mechanism is connected with the vehicle body through the buffer mechanism.

The drive steering device of the universal wheel includes a drive source, the drive source is fixed on the vehicle body, and the drive source is connected with the universal wheel through a transmission mechanism.

The transmission mechanism includes a synchronous belt driving wheel and a synchronous belt driving wheel, and the synchronous belt driving wheel and the synchronous belt driving wheel are connected and driven by the synchronous belt; the driving source is connected with the synchronous belt driving wheel, and is driven by the synchronous belt driving the synchronous belt. wheel, and then drive the universal wheel connected with the synchronous belt drive wheel.

The transmission mechanism adopts a chain sprocket transmission structure, and the drive source and the universal wheel are connected through the chain sprocket transmission structure.

The driving source is a rear wheel motor installed on the vehicle body, the rear wheel motor is fixedly connected to the vehicle body through a bracket, and the fixed connection form includes structures such as welding or screw connection.

The vehicle body also includes a vertical plate, and the buffer mechanism includes a floating frame, an upper beam, a lower beam, and a guide rod. The floating frame is sleeved on the guide rod, and the guide rod is sleeved with a spring, the floating frame floats up and down along the guide rod, and the upper beam and the lower beam are respectively fixed to the vertical plate of the vehicle body.

The steering wheel mechanism includes a main wheel, a main wheel shaft, a main wheel motor, and the main wheel motor is fixed on the floating frame;

The steering wheel mechanism also includes a steering motor, a large gear, a pinion, and a deceleration mechanism. The steering motor is fixed to one side of the floating frame, the main wheel motor is fixed on the upper part of the floating frame, the pinion is connected to the steering motor, and the large gear is connected to the small gear. The gears are meshed, the large gear and the pinion are arranged under the floating frame, the floating frame is fixed with the outer ring of the first bearing, the large gear is fixed with the inner ring of the first bearing, and the shaft of the first bevel gear passes through the second bearing and the third bearing , the first bevel gear shaft is fixed with the inner ring of the second bearing and the inner ring of the third bearing, the outer ring of the second bearing and the outer ring of the third bearing are fixed on the casing of the reducer; the main wheel is connected with the main wheel shaft , the main wheel shaft and the gearbox casing are connected by bearings, the lower part of the motor shaft of the main wheel motor is provided with a second pinion gear, the upper part of the first bevel gear shaft is provided with a second large gear, and the second pinion gear meshes with the second large gear , the lower part of the first bevel gear shaft is provided with a first bevel gear, the main wheel shaft is provided with a second bevel gear, and the first bevel gear meshes with the second bevel gear;

Alternatively, the main wheel motor is horizontally placed and fixed on the floating frame, the main wheel motor and the main wheel shaft of the main wheel are parallel, the main wheel motor is connected to the main wheel through the deceleration mechanism, and the main wheel motor is directly decelerated through the deceleration mechanism. Drive the main wheel.

The vehicle body is also provided with a balance wheel, and the balance wheel is located on both sides of the steering wheel mechanism.

The driving source is an air cylinder, an electric cylinder or a hydraulic cylinder installed on the vehicle body.

Beneficial effects of the utility model:

1. During the driving process of the AGV forklift of the present utility model, when turning is required, the steering of the universal wheel is used to realize the active steering of the rear fork wheel, and by using the front steering wheel + the rear fork wheel that can be actively steered, the driving of the main wheel 7 is realized. Steering, the universal wheel can rotate 360 degrees in the same plane to realize autonomous steering driving, which can realize omnidirectional driving of AGV forklifts, with small movement space, saving forklift movement space and roadway space, meeting the space saving requirements of the logistics and transportation industry, and at the same time The omnidirectional AGV forklift has flexible movement and steering, fast handling action and high handling efficiency. It solves the problem that the non-omnidirectional AGV trolley has inflexible activities, loading and unloading goods in the T-shaped roadway, the trolley needs to move many times, change the position and adjust the angle and driving direction, and the trolley travels from the original position to the loading and unloading position. The problem of time, affecting work efficiency, and the problem of non-omnidirectional AGVs that occupy a large cargo area and waste space due to their large turning radius.

2. The present utility model is provided with the buffer mechanism, the steering wheel mechanism is connected with the vehicle body through the shock absorber mechanism, and the vibration of the AGV vehicle body is buffered by the compression and release of the spring in the shock absorber mechanism. When the road surface is uneven, the steering wheel structure floats up and down along the guide column with the floating frame, and is compressed and released by the spring, thereby achieving the shock absorption effect, improving the stability of the trolley movement, and preventing the main wheel from slipping, which solves the problem of the AGV trolley. When there are large potholes, it is easy to slip, stop moving forward, and cannot drive. At the same time, it can reduce the vibration and wear of the body parts and prolong the service life of the car.

3. The omnidirectional AGV has a small turning radius and flexible movement, which is convenient for charging and improves charging efficiency. It solves the problem that the non-omnidirectional AGV car has inflexible activities, and the car needs to be adjusted several times to find the charging pile. The process of driving the car from the original position to the charging pile is relatively slow, and the waste time before charging is long, which affects work efficiency and charging efficiency. The problem.

4. The vehicle body is also provided with a balance wheel, and the balance wheel is located on both sides of the steering wheel mechanism. When the ground is uneven, or when the steering wheel turns to change the direction of travel, the balance wheel is located on both sides of the steering wheel and can act together with the steering wheel, It plays the role of balancing the car body to ensure the stability and safety of the steering.

Description of drawings

Fig. 1 is a kind of omnidirectional traveling AGV forklift and its transmission device structural representation provided by the utility model;

Fig. 2 is the structural representation of the partial cross-sectional view of the left side view of the utility model;

3 is a schematic diagram of the parallel axis of the main wheel motor and the central axis of the main wheel in the second embodiment;

Figure 4 is a schematic diagram of the action of the prior art AGV forklift entering a T-shaped aisle or a cross-shaped aisle to pick up goods;

5 is a schematic diagram of the action of an AGV forklift in the prior art to pick up goods from a T-shaped aisle or a cross-shaped aisle;

6 is a schematic diagram of the action of the AGV forklift of the utility model entering a T-shaped roadway or a cross-shaped roadway to pick up goods;

FIG. 7 is a schematic diagram of the action of the AGV forklift of the present invention going out of a T-shaped aisle or a cross-shaped aisle to pick up goods.

8 is a schematic structural diagram of a cross-sectional view of the steering wheel mechanism of the present invention.

Among them, 1. Fork; 2. Universal wheel; 3. Timing belt driving wheel; 4. Timing belt; 5. Timing belt driving wheel; 6. Rear wheel motor; 7. Main wheel; 8. Damping mechanism; 9 , vertical plate; 10, floating frame; 11, main wheel motor; 12, steering motor; 13, pinion; 14, large gear; 15, transmission parts; 16, balance wheel; 17, bracket; 18, guide rod; 19 , upper beam; 20, spring; 22, lower beam; 40, gearbox shell; 41, first bearing outer ring; 42, first bearing inner ring; 43, second bearing; 44, first bevel gear shaft; 45 46, the first bevel gear; 47, the second bevel gear; 48, the motor shaft; 49, the second pinion; 50, the second gear; 51, the main axle.

Detailed ways

The present utility model will be further introduced below in conjunction with the accompanying drawings and specific embodiments.

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise specified, all technical and scientific terms used in this scheme have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

The following discloses a variety of different embodiments or examples for implementing the described subject technical solutions. Of course, these are only examples and do not limit the protection scope of the present invention. For example, where the first feature described later in the specification is arranged below or above the second feature, it may include an embodiment in which the first feature and the second feature are arranged in a direct relationship, or may include a combination of the first feature and the second feature. form an embodiment of additional features, so that there may be no direct connection between the first feature and the second feature. Further, when a first element is described as being connected or combined with a second element, the description includes embodiments in which the first element and the second element are directly connected or combined with each other, and also includes the use of one or more other intervening elements Joining indirectly connects or binds the first element and the second element to each other.

Example 1

1, 2, and 4 to 7, an omnidirectional AGV forklift truck includes a vehicle body, two universal wheels 2, a drive steering device for the universal wheels, and a steerable driving device connected to the vehicle body. Steering wheel mechanism, the vehicle body includes a connected vertical plate 9 and a fork 1, a support leg is respectively provided on both sides of the lower part of the fork, each universal wheel 2 is respectively connected with a support leg, and each universal wheel is respectively It is connected with a driving steering device, the driving steering device is connected with the vehicle body, the fork 1 is supported by the universal wheel 2 and the fork 1 is driven to move, and the steering wheel mechanism is connected with the vehicle body through the buffer mechanism. The universal wheel 2 can rotate 360 degrees in the same plane to realize autonomous steering.

The drive steering device of the universal wheel includes a drive source, a timing belt driving wheel 5, and a timing belt driving wheel 3. The driving source is fixed on the vehicle body, and the timing belt driving wheel 5 and the timing belt driving wheel 3. It is connected and driven by the synchronous belt 4; the driving source is connected with the synchronous belt driving wheel 5, and the synchronous belt driving wheel 3 is driven by the synchronous belt, and then drives the universal wheel 2 connected with the synchronous belt driving wheel.

The driving source is the rear wheel motor 6 installed on the vehicle body. The rear wheel motor 6 is fixedly connected to the vehicle body through the bracket 17 , and the fixed connection form includes structures such as welding or screw connection.

The vehicle body also includes a vertical plate 9, and the buffer mechanism includes a floating frame 10, an upper beam 19, a lower beam 22, and a guide rod 18. The upper beam 19 and the lower beam 22 are respectively connected with the upper ends of the guide rods 18, 22, and 18. , the lower beam 22 is respectively connected with the lower end of the guide rod 18, the floating frame 10 is sleeved on the guide rod 18, and the guide rod 18 is sleeved with a spring 20, under the action of the spring 20 of the guide rod 18, the floating frame 10 along the guide rod 18 The guide rod 18 floats up and down, and the upper beam and the lower beam are respectively fixed to the vertical plate 9 of the vehicle body. The guide rod 18 , the upper beam 19 , the spring 20 , and the lower spring together constitute the damping mechanism 8 .

The upper beam and the lower beam are fixed to the vertical plate 9 of the vehicle body by screws; or the upper beam and the lower beam are welded to the vertical plate 9 of the vehicle body.

Referring to FIG. 8 , the steering wheel mechanism includes a main wheel 7 , a main wheel shaft 51 , a main wheel motor 11 , a steering motor 12 , a large gear 14 , a pinion gear 13 , and a deceleration mechanism 15 . The steering motor 12 is fixed to one of the floating frame 10 . The main wheel motor 11 is fixed on the upper part of the floating frame 10, the pinion gear 13 is connected with the steering motor 12, the large gear meshes with the pinion gear, the large gear 14 and the pinion gear 13 are arranged under the floating frame 10, and the floating frame 10 is connected with the third gear. A bearing outer ring 41 is fixed, the large gear 14 is fixed with the first bearing inner ring 42, the first bevel gear shaft 44 passes through the second bearing 43, the third bearing 45, the first bevel gear shaft 44 and the inner part of the second bearing 43 The ring and the inner ring of the third bearing 45 are fixed, and the outer ring of the second bearing 43 and the outer ring of the third bearing 45 are fixed to the reduction box housing 40 .

The main wheel 7 is connected with the main wheel shaft 51, and the main wheel shaft 51 is connected with the reduction box housing 40 through bearings. The lower part of the motor shaft 48 of the main wheel motor 11 is provided with a second pinion 49, and the upper part of the first bevel gear shaft 44 is provided There is a second large gear 50, a second pinion gear 49 meshes with the second large gear 50, a first bevel gear 46 is arranged on the lower part of the first bevel gear shaft 44, a second bevel gear 47 is arranged on the main wheel shaft, and the first bevel gear 46 meshes with the second bevel gear 47 . The main wheel motor 11 meshes with the second large gear 50 through the second pinion gear 49 to drive the first bevel gear 46 and the second bevel gear 47 meshing with the first bevel gear, and the second bevel gear 47 drives the main wheel 7 to rotate .

The vehicle body is also provided with a balance wheel 16, and the balance wheel 16 is located on both sides of the steering wheel mechanism. When the ground is uneven, or the steering wheel changes the driving direction, the balance wheel can work together with the steering wheel to balance the AGV body and ensure the stability and safety of steering.

The use method of the present utility model is as follows:

The driving direction of the main wheel rotation: When the AGV forklift needs to turn, the driver controls the steering motor 12 to drive the pinion 13 to rotate by a certain angle/number of turns. Since the large gear 14 meshes with the pinion 13, the large gear 14 drives the deceleration The second mechanism and the transmission component 15 thus drive the main wheel 7 to rotate at a certain angle in the horizontal plane to change the running direction.

The driving direction of the universal wheel is rotated: the driver controls the rotation of the rear wheel motor 6, which in turn drives the synchronous belt driving wheel 5 to rotate, and the synchronous belt 4 drives the synchronous belt driving wheel 3 to rotate, thereby changing the driving direction of the universal wheel 2. The universal wheel 2 can rotate 360 degrees in the same plane.

During the driving process of the AGV forklift, when it needs to turn, the main wheel 7 and the universal wheel 2 can change the driving direction independently, realizing the omnidirectional driving of the AGV forklift, flexible movement and steering, and saving movement space.

The following is an example of taking a trolley in and out of a T-shaped roadway to pick up goods to illustrate the movement differences between the non-omnidirectional AGV forklift in the prior art and the omnidirectional AGV forklift of the present utility model:

As shown in Figure 4 and Figure 5, when the non-omnidirectional AGV forklift in the prior art is picking and placing goods in and out of the T-shaped roadway, the forklift action is decomposed as follows: turning 90° into the vertical roadway → moving straight to the vicinity of the goods, this When the fork is parallel to the roadway, and the goods are located on both sides of the roadway, the goods cannot be lifted → turn 90° → lift the goods → turn angle 90°, at this time the fork is parallel to the roadway → move straight to the roadway entrance → turn into a parallel direction alleyway. The action steps are cumbersome, there are many turns, the work efficiency is not high, and the energy consumption of the forklift is large.

As shown in Figure 6 and Figure 7, when the AGV forklift of the present utility model is moving in and out of the T-shaped roadway to pick up and place goods, the forklift action is decomposed as follows: drive straight to the intersection of the T-shaped roadway → steering wheel and universal wheel steering → lateral Straight-line movement into the vertical roadway → straight-line movement to the vicinity of the goods, the fork is vertical at this time, and the goods are located on both sides of the roadway, the goods can be directly fork up → the trolley moves in a straight line laterally to the roadway intersection → steering wheel and universal wheel turn → enter the horizontal direction roadway. When it is necessary to steer, only the steering wheel and the universal wheel can be turned to change the driving direction of the forklift without the need for the trolley to turn in circles. For example, the time for the wheel to rotate 90° is shorter than the time for the vehicle body to rotate 90°, thus improving the efficiency. The action steps of the body are few, the work efficiency is high, and the energy consumption of the forklift is lower.

Embodiment 2

As shown in FIG. 3 , the main wheel motor 11 is laterally placed and fixed on the floating frame 10 , the central axes of the main wheel motor 11 and the main wheel 7 are parallel, and the main wheel motor 11 is connected to the driving main wheel 7 through a reduction mechanism 1 , the main wheel motor 11 directly drives the main wheel 7 after being decelerated by the deceleration mechanism, without passing through the steering transmission components.

The rest refer to Embodiment 1, which will not be repeated here.

Embodiment 3

The driving source is an air cylinder, an electric cylinder or a hydraulic cylinder installed on the vehicle body. The air cylinder, electric cylinder and hydraulic cylinder are connected with the universal wheel 2 to realize the 360-degree rotation of the universal wheel 2 in the same plane to realize autonomous steering and driving. In addition, the transmission mechanism between the driving source and the universal wheel 2 may also adopt a chain sprocket transmission structure.

The rest refer to Embodiment 1, which will not be repeated here.

Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, it is not intended to limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solutions of the present invention, those skilled in the art do not need to Various modifications or deformations that can be made with creative work are still within the protection scope of the present invention.

Claims (9)

1. The utility model provides an AGV fork truck that qxcomm technology traveles, includes the automobile body, with body coupling can turn to the helm mechanism that traveles, characterized by, still includes the drive of universal wheel, universal wheel and turns to the device, the automobile body includes the fork, and fork lower part both sides are equipped with a landing leg respectively, and the universal wheel is connected with the landing leg, and the drive turns to device and body coupling, and the universal wheel supports the fork and drives the fork motion, helm mechanism passes through buffer gear and body coupling.

2. An omnidirectional traveling AGV forklift as recited in claim 1, wherein said universal wheel drive steering means includes a drive source fixed to the body, the drive source being connected to the universal wheels through a transmission mechanism.

3. The AGV according to claim 2, wherein the transmission mechanism comprises a synchronous belt driving wheel and a synchronous belt driving wheel, and the synchronous belt driving wheel are driven by a synchronous belt connection; the driving source is connected with the synchronous belt driving wheel, drives the synchronous belt driving wheel through the synchronous belt, and further drives the universal wheel connected with the synchronous belt driving wheel.

4. An omnidirectional traveling AGV according to claim 2, wherein said driving mechanism is a chain and sprocket driving structure, and said driving source is connected to said universal wheels through the chain and sprocket driving structure.

5. An omnidirectional traveling AGV forklift as recited in claim 2, wherein said driving source is a rear wheel motor mounted on the body, said rear wheel motor being fixedly connected to the body through a bracket.

6. The AGV forklift capable of traveling omnidirectionally as claimed in claim 1, wherein the body further comprises an upright plate, the buffer mechanism comprises a floating frame, an upper cross beam, a lower cross beam and a guide rod, the upper cross beam and the lower cross beam are respectively connected with the upper end of the guide rod, the lower cross beam is respectively connected with the lower end of the guide rod, the floating frame is sleeved on the guide rod, a spring is sleeved on the guide rod, the floating frame floats up and down along the guide rod, and the upper cross beam and the lower cross beam are respectively fixed on the upright plate of the body.

7. An omnidirectional traveling AGV forklift as recited in claim 6, wherein said steering wheel mechanism includes a main wheel, a main wheel shaft, a main wheel motor, the main wheel motor being fixed to the floating frame;

the steering wheel mechanism further comprises a steering motor, a large gear, a small gear and a speed reduction mechanism, wherein the steering motor is fixed to one side of the floating frame, the main wheel motor is fixed to the upper portion of the floating frame, the small gear is connected with the steering motor, the large gear is meshed with the small gear, the large gear and the small gear are arranged below the floating frame, the floating frame is fixed to the outer ring of the first bearing, the large gear is fixed to the inner ring of the first bearing, the first bevel gear shaft penetrates through the second bearing and the third bearing, the first bevel gear shaft is fixed to the inner ring of the second bearing and the inner ring of the third bearing, and the outer ring of the second bearing and the outer ring of the third; the main wheel is connected with a main wheel shaft, the main wheel shaft is connected with a shell of the reduction gearbox through a bearing, a second pinion is arranged at the lower part of a motor shaft of the main wheel motor, a second bull gear is arranged at the upper part of a first bevel gear shaft, the second pinion is meshed with the second bull gear, a first bevel gear is arranged at the lower part of the first bevel gear shaft, a second bevel gear is arranged on the main wheel shaft, and the first bevel gear is meshed with the second bevel gear;

or the main wheel motor is transversely placed and fixed on the floating frame, the main wheel motor is parallel to a main wheel shaft of the main wheel, the main wheel motor is connected with the main wheel through a first speed reducing mechanism, and the main wheel motor directly drives the main wheel after being reduced through the first speed reducing mechanism.

8. An omnidirectional AGV forklift as recited in claim 1 wherein said body further comprises balance wheels, said balance wheels being disposed on opposite sides of said steering wheel mechanism.

9. An omnidirectional traveling AGV forklift as recited in claim 2, wherein said driving source is an air cylinder, an electric cylinder or a hydraulic cylinder mounted on the body.

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