CN216072035U

CN216072035U - Automatic sorting and feeding device

Info

Publication number: CN216072035U
Application number: CN202122306077.XU
Authority: CN
Inventors: 段彬
Original assignee: Guangdong Gerrick Technology Co ltd
Current assignee: Guangdong Gerrick Technology Co ltd
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2022-03-18
Anticipated expiration: 2031-09-23

Abstract

The utility model discloses an automatic sorting and feeding device which comprises a controller, a limiting seat, a fixed support and a detection assembly, wherein a grabbing assembly and a sorting driving mechanism for driving the grabbing assembly to move are arranged on the fixed support; the sorting driving mechanism comprises a left displacement component, a right displacement component, a rotary displacement component and a lifting displacement component, wherein the left displacement component and the right displacement component are used for driving the grabbing components to move left and right, the rotary displacement component is used for driving the grabbing components to rotate, and the lifting displacement component is used for driving the grabbing components to lift. By adopting the technical scheme, the product can be fed in the uniform direction, the whole process does not need manual participation, the automation degree of the equipment is improved, the working strength of operators is reduced, and the production yield of the automation equipment is improved.

Description

Automatic sorting and feeding device

Technical Field

The utility model relates to the field of automation equipment, in particular to an automatic sorting and feeding device.

Background

In the production and processing processes of automatic equipment, some materials are fed manually, and some materials are fed by mechanical structures. The existing mechanical structure feeding device cannot judge and adjust the feeding direction of the product; the manufacturing and processing of some specific products cannot be satisfied, for example: tablet packaging, pharmaceutical packaging, and the like. In the specific fields, the direction of the products must be unified when the products are fed, and a proper feeding device is lacked at present and only manual picking and feeding can be adopted; not only promoted operating personnel's working strength, also appeared causing the processing harmfully because of artifical error easily.

SUMMERY OF THE UTILITY MODEL

Aiming at the technical problems, the utility model provides an automatic sorting and feeding device, and particularly provides the following technical scheme:

an automatic sorting and feeding device comprises a controller, a limiting seat, a fixed support and a detection assembly, wherein a grabbing assembly and a sorting driving mechanism for driving the grabbing assembly to move are arranged on the fixed support; the sorting driving mechanism comprises a left displacement component, a right displacement component, a rotary displacement component and a lifting displacement component, wherein the left displacement component and the right displacement component are used for driving the grabbing components to move left and right, the rotary displacement component is used for driving the grabbing components to rotate, and the lifting displacement component is used for driving the grabbing components to lift.

Further, the detection assembly comprises a position detection device and a direction detection device which are respectively connected with the controller, the position detection device is used for detecting whether a product is arranged on the limiting seat, and the direction detection device is used for detecting the direction of the product on the limiting seat.

Furthermore, the position detection device comprises a first optical fiber sensor, the first optical fiber sensor is connected with the controller, and the first optical fiber sensor is connected with the limiting seat; the direction detection device comprises a CCD camera, the CCD camera is connected with the controller, and the CCD camera is located above the limiting seat and connected with the fixed support.

Further, the grabbing assembly comprises a grabbing cylinder and a central shaft, the grabbing cylinder is connected with the controller, and the central shaft is connected with the sorting driving mechanism; the moving end of the grabbing cylinder is provided with two clamping fingers, the grabbing cylinder is provided with a finger pressing block, one end of the finger pressing block is connected with the grabbing cylinder, and the other end of the finger pressing block is limited between the two clamping fingers.

Furthermore, the rotary displacement assembly comprises a fixed plate and a rotary cylinder, the rotary cylinder is connected with the controller, the fixed plate is connected with the left and right displacement assemblies, the fixed plate is connected with the rotary cylinder, and a first rack is arranged at the moving end of the rotary cylinder; the central shaft is sleeved with a first gear, the first gear is meshed with the first rack, and one end, far away from the grabbing cylinder, of the central shaft is connected with the lifting displacement assembly.

Furthermore, the lifting displacement assembly comprises a lifting cylinder and a guide rod, the lifting cylinder is connected with the controller, one end of the guide rod is connected with the lifting cylinder, and the end, far away from the lifting cylinder, of the guide rod is connected with the fixing plate; the guide rod is sleeved with a connecting block, the connecting block is connected with the guide rod in a sliding mode, the moving end of the lifting cylinder is connected with the connecting block, and the connecting block is far away from the center shaft through a bearing and is connected with one end of the grabbing cylinder.

Furthermore, a shaft sleeve is sleeved outside the central shaft and is movably connected with the central shaft, steel balls are arranged on the inner side wall of the shaft sleeve, the first gear is sleeved outside the shaft sleeve, and the shaft sleeve and the first gear can rotate synchronously; be equipped with rectangular guide way on the lateral wall of center pin, rectangular guide way is followed the axial distribution of center pin, the steel ball card is gone into in the rectangular guide way, the steel ball with rectangular guide way sliding connection.

Furthermore, the left-right displacement assembly comprises a motor, a guide rail, a second gear and a second rack, the motor is connected with the controller, the motor is connected with the fixed support, a rotating shaft of the motor is connected with the second gear, and the guide rail is connected with the fixed support; the second rack is connected with the fixed plate, a sliding block is arranged on the second rack, the sliding block is connected with the guide rail in a sliding mode, and the second rack is meshed with the second gear.

The sensing assembly comprises a second optical fiber sensor and a shifting block, the second optical fiber sensor is connected with the controller, the second optical fiber sensor is connected with the fixed support, the shifting block is fixed on the second rack, and the shifting block can be connected with the second optical fiber sensor.

Furthermore, the number of the guide rails, the second rack, the grabbing component, the rotary displacement component and the lifting displacement component is two, the two guide rails are arranged on the fixed support in parallel, and the two second racks are meshed with the second gear respectively.

According to the utility model, whether a product is on the limiting seat or not and whether the direction of the product is correct or not can be detected through the detection component. The grabbing component is matched with the sorting driving mechanism to grab and sort the products; the direction of the products with incorrect directions can be adjusted to be unified with the directions of other products, and then sorting is carried out. By adopting the technical scheme, the product can be fed in the uniform direction, the whole process does not need manual participation, the automation degree of the equipment is improved, the working strength of operators is reduced, and the production yield of the automation equipment is improved.

Drawings

In order to illustrate the present application or prior art more clearly, a brief description of the drawings needed for the description of the embodiments or prior art will be given below, it being clear that the drawings in the following description are some embodiments of the present application and that other drawings can be derived from them by a person skilled in the art without inventive effort.

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

FIG. 2 is a schematic view of an assembly structure of the grabbing component, the rotary displacement component and the lifting displacement component in the embodiment of the utility model;

FIG. 3 is a sectional view of a connection structure of a center shaft and a boss in an embodiment of the present invention;

FIG. 4 is a schematic diagram of an assembly structure of the left and right displacement assemblies according to the embodiment of the present invention.

Detailed Description

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 application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

As shown in fig. 1, an automatic sorting feeder comprises a controller, a limiting seat 1, a fixed support 2 and a detection assembly, wherein the limiting seat 1 is used for placing a product to be processed, the fixed support 2 is provided with a sorting driving mechanism for grabbing a component 3 and driving the grabbing component 3 to move, the detection assembly, the grabbing component 3 and the sorting driving mechanism are respectively connected with the controller, the grabbing component 3 is used for grabbing the product on the limiting seat 1, and the detection assembly is used for detecting the product on the limiting seat 1. The sorting driving mechanism comprises a left-right displacement assembly 4 for driving the grabbing assembly 3 to move left and right, a rotary displacement assembly 5 for driving the grabbing assembly 3 to rotate, and a lifting displacement assembly 6 for driving the grabbing assembly 3 to lift.

Install this automatic sorting feedway during operation on the automation equipment, automation equipment's material loading structure can detect whether there is the product on the spacing seat 1 through detecting component on with product material loading to spacing seat 1. When a product is detected on the limiting seat 1, the detection assembly further detects whether the direction of the product is correct; products with the correct direction are grabbed by the grabbing component 3 and the lifting displacement component 6, and are transferred to the next station by the left and right displacement components 4; incorrect direction's product is picked up it through grabbing subassembly 3 and lift displacement subassembly 6, and rethread rotary displacement subassembly 5 turns around the product and turns to, makes it the same with predetermineeing the material loading direction, and displacement subassembly 4 is moved the product and is sent next station on at last through controlling.

The fixed bracket 2 is used as a main frame of the automatic sorting and feeding device and is used for installing and limiting each component. The fixing support 2 comprises two support plates 21 and two mounting plates 22, and the two support plates 21 are vertically distributed in parallel. The both ends of mounting panel 22 pass through the screw respectively with the upper end fixed connection of two backup pads 21, whole fixed bolster 2 is the door frame shape for fixed bolster 2's stable in structure.

The detection assembly comprises a first optical fiber sensor 7 and a CCD camera 8 which are respectively connected with the controller; the first optical fiber sensor 7 is fixed on the limiting seat 1 and used for detecting whether a product is on the limiting seat 1 or not; CCD camera 8 and fixed bolster 2 fixed connection, CCD camera 8 is located the top of spacing seat 1 for detect the product direction and the positive and negative on the spacing seat 1 correct. When the device works, when a product enters the limiting seat 1, the first optical fiber sensor 7 feeds back a signal to the controller; the controller controls the CCD camera 8 to shoot the product on the limiting seat 1, and whether the direction and the front and back sides of the product on the limiting seat 1 are correct or not is known through comparison and judgment with the picture prestored in the controller.

As shown in fig. 1-3, the grabbing component 3 includes a grabbing cylinder 31 and a central shaft 32, the grabbing cylinder 31 is connected to the controller, the grabbing cylinder 31 is fixedly connected to one end of the central shaft 32, the central shaft 32 is a hollow structure, that is, a through hole penetrating through the upper and lower end faces of the central shaft 32 is formed in the central shaft 32, the through hole can be used for placing an air receiving pipe of the grabbing cylinder 31, and the air receiving pipe can be prevented from being damaged when the central shaft 32 and the grabbing cylinder 31 rotate. The central shaft 32 is respectively connected with the lifting displacement assembly 6 and the rotary displacement assembly 5; the moving end of the grabbing cylinder 31 is provided with two clamping fingers 33, the grabbing cylinder 31 is provided with a finger pressing block 34, one end of the finger pressing block 34 is fixedly installed on the grabbing cylinder 31, and the other end of the finger pressing block is limited between the two clamping fingers 33. During operation, snatch two centre gripping fingers 33 of cylinder 31 drive and move in opposite directions, carry out the centre gripping to the product, point briquetting 34 can support the product by the centre gripping, prevent that the product perk from walking the position, influencing follow-up station processing.

The rotary displacement assembly 5 comprises a fixing plate 51 and a rotary cylinder 52, the rotary cylinder 52 is connected with the controller, the upper surface of the fixing plate 51 is connected with the left and right displacement assembly 4, a rotary cylinder fixing block 53 is arranged on the lower surface of the fixing plate 51, the rotary cylinder 52 is fixedly installed on the rotary cylinder fixing block 53, and a first rack 54 is connected to the moving end of the rotary cylinder 52. A shaft sleeve 35 is sleeved outside the central shaft 32, and the shaft sleeve 35 is movably matched and connected with the central shaft 32; the steel ball 36 is fixed on the inner side wall of the shaft sleeve 35, the long guide groove 37 is arranged on the outer side wall of the central shaft 32, and the long guide groove 37 is distributed along the axial direction of the central shaft 32; the steel ball 36 is caught in the elongated guide groove 37 and slidably connected to the elongated guide groove 37. The fixing plate 51 is provided with a through hole penetrating the upper and lower surfaces of the fixing plate 51, the shaft sleeve 35 and the central shaft 32 penetrate the through hole, and the shaft sleeve 35 is fixedly connected with the fixing plate 51 through a bearing. The outer side of the shaft sleeve 35 is fixedly sleeved with a first gear 55, the first gear 55 is located below the fixed plate 51, the shaft sleeve 35 can rotate synchronously with the first gear 55, the first gear 55 is meshed with the first rack 54, and one end of the central shaft 32, which is far away from the grabbing cylinder 31, is connected with the lifting displacement assembly 6. When the first gear 55 rotates, the shaft sleeve 35 and the central shaft 32 can be driven to synchronously rotate; when the central shaft 32 is driven to move up and down by the up-down displacement assembly 6, the steel balls 36 slide in the long guide grooves 37, so that the position of the shaft sleeve 35 and the first gear 55 is not moved.

When the rotary displacement assembly 5 works, the controller drives the rotary cylinder 52 to move, the rotary cylinder 52 drives the first rack 54 to move, the first rack 54 drives the first gear 55 to rotate, the first gear 55 drives the shaft sleeve 35 and the central shaft 32 to synchronously rotate, the central shaft 32 drives the grabbing cylinder 31 to rotate 180 degrees, and a product on the grabbing cylinder 31 is turned around to rotate 180 degrees.

In order to improve the turning accuracy of the automatic sorting and feeding device, a rack guide block 56 and a rack limiting block 57 are arranged on the fixed plate 51, and the rack guide block 56 is connected with the first rack 54 in a sliding manner and used for limiting the movement direction of the first rack 54; the rack limiting block 57 is used for limiting the movement stroke of the first rack 54, and when the rotary displacement assembly 5 works and the first rack 54 moves to abut against the rack limiting block 57, the product on the grabbing cylinder 31 just completes the rotary turning.

The lifting displacement assembly 6 comprises a lifting cylinder 61, a guide rod 62, a connecting block 63 and a lifting cylinder fixing plate 64, wherein the lifting cylinder 61 is connected with the controller, the lifting cylinder 61 is fixed on the lifting cylinder fixing plate 64, and the moving end of the lifting cylinder 61 is fixedly connected with the connecting block 63; the connecting block 63 is sleeved on the guide rod 62 and is connected with the guide rod 62 in a sliding manner, and the connecting block 63 is fixedly connected with one end of the central shaft 32 far away from the grabbing cylinder 31 through a bearing. In this embodiment, the number of the guide rods 62 is two, and the two guide rods 62 are parallelly and vertically arranged above the fixed plate 51 and are respectively and fixedly connected with the fixed plate 51, and one ends of the two guide rods 62 far away from the fixed plate 51 are respectively and fixedly connected with the lifting cylinder fixed plate 64. In other embodiments, the number of the guide rods 62 may be 1 or more.

When the lifting displacement assembly 6 works, the controller controls the lifting cylinder 61 to move, the lifting cylinder 61 drives the connecting block 63 to slide on the guide rod 62, the connecting block 63 drives the central shaft 32 to move up and down, and the central shaft 32 drives the grabbing cylinder 31 to move up and down, so that a product in the grabbing cylinder 31 moves up and down.

In this embodiment, be equipped with two products on the spacing seat 1 and place position 11, there are two first optical fiber sensor 7's quantity, and every first optical fiber sensor 7 can detect the product that corresponds on the product placement position 11. The number of the grabbing component 3, the rotating displacement component 5 and the lifting displacement component 6 is respectively two, so that the automatic sorting feeding device can process two products simultaneously, and the processing efficiency of the automatic sorting feeding device is improved.

As shown in fig. 1 and 4, the left-right displacement assembly 4 includes a motor 41, a speed reducer 42, a guide rail 43 and a second rack 44, the motor 41 is connected to the controller, the motor 41 is fixedly connected to the speed reducer 42, the speed reducer 42 is fixedly connected to the mounting plate 22 through a motor bracket 45, one end of the speed reducer 42, which is far away from the motor 41, is connected to a coupler 46, a rotating shaft 47 which is synchronous with the coupler 46 is arranged in the coupler 46, and a second gear 48 is sleeved on the rotating shaft 47. The number of the guide rails 43 is two, and the two guide rails are respectively arranged below the mounting plate 22 in parallel and fixedly connected with the lower surface of the mounting plate 22. The number of the second racks 44 is two, and the two second racks 44 are respectively fixedly connected with the upper surfaces of the corresponding fixing plates 51, the sliding blocks 49 are respectively arranged above the two second racks 44, the two sliding blocks 49 are respectively connected with the corresponding guide rails 43 in a sliding manner, and the two second racks 44 are respectively meshed with the second gear 48.

When the left-right displacement assembly 4 works, the controller controls the motor 41 to work, the motor 41 drives the speed reducer 42 to rotate, the speed reducer 42 drives the coupler 46, the rotating shaft 47 and the second gear 48 to rotate, the second gear 48 drives the two second racks 44 to synchronously slide left and right, the moving directions of the two second racks 44 are opposite, and the second racks 44 drive the rotary displacement assembly 5, the grabbing assembly 3 and the lifting displacement assembly 6 to move left and right.

In order to control the movement stroke of the second racks 44, a shifting block 410 is arranged on one of the second racks 44, a second optical fiber sensor 411 is arranged on the mounting plate 22, the second optical fiber sensor 411 is connected with a controller, and the shifting block 410 can be connected with the second optical fiber sensor 411; when the shifting block 410 on the second rack 44 is connected with the second optical fiber sensor 411, the second optical fiber sensor 411 feeds back a signal to the controller, and the controller controls the motor 41 to stop working, thereby playing a role in limiting the stroke of the second rack 44.

The working principle is as follows:

firstly, when the automatic sorting and feeding device is arranged on an automatic device to work, the limiting seat 1 is connected with a feeding device of the automatic device, the collecting box 9 is arranged on the outer side of the limiting seat 1, and the outer side of the collecting box 9 is connected with the feeding device of the automatic device.

When the automatic feeding device works, a product is conveyed to the limiting seat 1 by the feeding device of the automatic equipment, and when the first optical fiber sensor 7 detects that the product is on the limiting seat 1, a signal is fed back to the controller; the controller controls the CCD camera 8 to shoot the product on the limiting seat 1, and whether the direction and the front and back sides of the product on the limiting seat 1 are correct or not is known through comparison and judgment with the picture prestored in the controller.

When the controller learns that the product direction and the positive and negative are all correct on spacing seat 1, the controller snatchs subassembly 3, lift displacement subassembly 6 and the cooperation of controlling displacement subassembly 4 and snatchs the product on spacing seat 1 and transfer to the feed arrangement of automation equipment on through the control.

When the controller knows that the front and back sides of the product on the limiting seat 1 are correct but the direction is incorrect, the controller controls the grabbing component 3, the lifting displacement component 6 and the left and right displacement components 4 to be matched to grab the product on the limiting seat 1; then the rotary displacement component 5 is controlled to turn the product on the grabbing component 3 for 180 degrees; and finally, the product is transferred to a feeding device of the automatic equipment by controlling the cooperation of the grabbing component 3, the lifting displacement component 6 and the left and right displacement components 4.

When the controller learns that the product front and back on the spacing seat 1 is incorrect, the controller snatchs subassembly 3, lift displacement group 6 spare and controls the cooperation of displacement group spare 4 and snatch the product on the spacing seat 1 and transfer to collection box 9 in through control, and collection box 9 is collected the product.

It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the utility model and do not limit the scope of the utility model. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.

Claims

1. An automatic sorting and feeding device is characterized by comprising a controller, a limiting seat, a fixed support and a detection assembly, wherein the fixed support is provided with a grabbing assembly and a sorting driving mechanism for driving the grabbing assembly to move;

the sorting driving mechanism comprises a left displacement component, a right displacement component, a rotary displacement component and a lifting displacement component, wherein the left displacement component and the right displacement component are used for driving the grabbing components to move left and right, the rotary displacement component is used for driving the grabbing components to rotate, and the lifting displacement component is used for driving the grabbing components to lift.

2. The automatic sorting and feeding device according to claim 1, wherein the detecting assembly comprises a position detecting device and a direction detecting device respectively connected to the controller, the position detecting device is used for detecting whether the products are on the spacing seat, and the direction detecting device is used for detecting the direction of the products on the spacing seat.

3. The automatic sorting and feeding device according to claim 2, wherein the position detecting device comprises a first optical fiber sensor, the first optical fiber sensor is connected with the controller, and the first optical fiber sensor is connected with the limiting seat;

the direction detection device comprises a CCD camera, the CCD camera is connected with the controller, and the CCD camera is located above the limiting seat and connected with the fixed support.

4. The automated sortation feed apparatus of claim 1, wherein said gripper assembly comprises a gripper cylinder and a central shaft, said gripper cylinder being coupled to said controller, said central shaft being coupled to said sortation drive mechanism;

the moving end of the grabbing cylinder is provided with two clamping fingers, the grabbing cylinder is provided with a finger pressing block, one end of the finger pressing block is connected with the grabbing cylinder, and the other end of the finger pressing block is limited between the two clamping fingers.

5. The automatic sorting and feeding device according to claim 4, wherein the rotary displacement assembly comprises a fixed plate and a rotary cylinder, the rotary cylinder is connected with the controller, the fixed plate is connected with the left and right displacement assemblies, the fixed plate is connected with the rotary cylinder, and a moving end of the rotary cylinder is provided with a first rack;

the central shaft is sleeved with a first gear, the first gear is meshed with the first rack, and one end, far away from the grabbing cylinder, of the central shaft is connected with the lifting displacement assembly.

6. The automatic sorting and feeding device of claim 5, wherein the lifting and displacing assembly comprises a lifting cylinder and a guide rod, the lifting cylinder is connected with the controller, one end of the guide rod is connected with the lifting cylinder, and the end of the guide rod far away from the lifting cylinder is connected with the fixing plate;

the guide rod is sleeved with a connecting block, the connecting block is connected with the guide rod in a sliding mode, the moving end of the lifting cylinder is connected with the connecting block, and the connecting block is far away from the center shaft through a bearing and is connected with one end of the grabbing cylinder.

7. The automatic sorting and feeding device of claim 6, wherein a shaft sleeve is sleeved outside the central shaft, the shaft sleeve is movably connected with the central shaft, steel balls are arranged on the inner side wall of the shaft sleeve, the first gear is sleeved outside the shaft sleeve, and the shaft sleeve and the first gear can synchronously rotate;

be equipped with rectangular guide way on the lateral wall of center pin, rectangular guide way is followed the axial distribution of center pin, the steel ball card is gone into in the rectangular guide way, the steel ball with rectangular guide way sliding connection.

8. The automatic sorting and feeding device of claim 5, wherein the left and right displacement assemblies comprise a motor, a guide rail, a second gear and a second rack, the motor is connected with the controller, the motor is connected with the fixed bracket, a rotating shaft of the motor is connected with the second gear, and the guide rail is connected with the fixed bracket;

the second rack is connected with the fixed plate, a sliding block is arranged on the second rack, the sliding block is connected with the guide rail in a sliding mode, and the second rack is meshed with the second gear.

9. The automatic sorting and feeding device according to claim 8, further comprising a sensing assembly for controlling the motion stroke of the second rack, wherein the sensing assembly comprises a second optical fiber sensor and a shifting block, the second optical fiber sensor is connected with the controller, the second optical fiber sensor is connected with the fixed bracket, the shifting block is fixed on the second rack, and the shifting block can be connected with the second optical fiber sensor.

10. The automatic sorting and feeding device according to claim 8, wherein the number of the guide rails, the second rack, the grasping assembly, the rotary displacement assembly and the elevation displacement assembly is two, respectively, the two guide rails are disposed in parallel with each other on the fixed frame, and the two second rack are engaged with the second gear, respectively.