A box unstacking and stacking system device

Abstract

This invention relates to the field of material bin stacking technology, and discloses a material bin destacking and stacking system device, including a mounting support plate, a robotic arm mechanism, and an image acquisition device. The top of the mounting support plate is provided with a connecting seat bolted to the output end of the robotic arm mechanism. This invention optimizes the structure of the robotic claw mechanism by setting multiple sets of side-by-side movable clamping plates. When clamping the outside of the material bin, it can cooperate with the irregular structure of the outside of the material bin to realize the retraction of individual movable clamping plates. This allows the movable clamping plates to adapt to the clamping of the outside of the material bin and to engage with the upper and lower reinforcing ribs of the material bin, thereby improving the stability of the material bin clamping structure. A drive motor B provides driving force to drive the suction cup unit to move up and down. The suction cup support plate at the bottom of the suction cup unit transfers the material inside the material bin, thus realizing the dual functions of material bin destacking and stacking, and material transfer and merging.

Description

Technical Field

[0001] This invention relates to the field of material bin stacking technology, specifically to a material bin destacking and stacking system device. Background Technology

[0002] In modern factories, the destacking and stacking of bins are done using robotic arms. Existing robotic arm structures, combined with programming control systems, enable intelligent data analysis, thereby completing mechanized operations and reducing the labor intensity of manual labor.

[0003] Existing material bin structures typically employ a cuboid design with a top inlet and four enclosed sides. This structure maximizes material storage. During destacking and stacking, a robotic arm drives a gripper to grasp the bin's edges, and the arm's movement then moves the bin to achieve destacking and stacking. However, the existing mechanical structure has the following problems that urgently need optimization:

[0004] 1. Existing mechanical claw structures typically employ a two-sided clamping design. To increase the structural strength of the material box, existing material boxes have reinforcing ribs on the outside. The longitudinal and transverse arrangement of these reinforcing ribs makes the outside of the material box uneven, which causes the mechanical claw to slip and disengage when gripping the edge of the material box. This results in an unstable clamping structure and can lead to the material box falling.

[0005] 2. Simultaneously, during the destacking and stacking process of existing bins, there is a need to combine and transfer the materials within the bins. However, traditional bin destacking and stacking systems lack a structure for transferring the materials within the bins. The existing transfer method uses a robotic arm to drive a suction cup structure for adsorption-type transfer. However, the force points of adsorption-type transfer are all concentrated on the top of the material, resulting in a large pulling force on the top of the material. When the item is heavy, it is extremely easy for it to fall off. Therefore, in order to improve the functionality of the bin destacking and stacking system, a more sophisticated bin destacking and stacking system device is needed. Summary of the Invention

[0006] The purpose of this invention is to provide a material box depalletizing and palletizing system device to solve the problems mentioned in the background art, such as the slippage that easily occurs during the clamping of the material box in the existing material box depalletizing and palletizing system device, and the lack of a structure device for transferring the material in the material box in the existing depalletizing and palletizing system technology.

[0007] To achieve the above objectives, the present invention provides the following technical solution: It includes a mounting support plate, a robotic arm mechanism, and an image acquisition device. The top of the mounting support plate is provided with a connecting seat bolted to the output end of the robotic arm mechanism. The image acquisition device includes a camera unit and a support frame, and the camera unit is electrically connected to an external control system. Two sets of hydraulic cylinders are symmetrically arranged in the middle of the top two sides of the mounting support plate. A transition rod is provided at the output end of each hydraulic cylinder, and hinge rods are hinged to both ends of the transition rods. Connecting crossbars are provided at both ends of the top of the mounting support plate, and the inner sides of the connecting crossbars are respectively hinged to the other ends of the hinge rods. Displacement through holes are provided at both ends of the top two sides of the mounting support plate. An electric telescopic cylinder extending through the displacement through hole to the bottom of the mounting support plate is provided at the bottom of the connecting crossbar. Supporting crossbars are provided at the bottom of the two sets of electric telescopic cylinders located at the same end of the bottom of the mounting support plate, and clamping plates are provided on the inner sides of both sets of supporting crossbars.

[0008] Two sets of displacement driving mechanisms are symmetrically arranged on the outer side of the support crossbar. Each displacement driving mechanism is equipped with a mechanical claw mechanism at its bottom. The displacement driving mechanism is used to drive the mechanical claw mechanism to move on the surface of the support crossbar.

[0009] The mounting support plate has mounting bearings symmetrically arranged at both ends of the bottom center, and a bidirectional threaded rod is arranged between the two sets of mounting bearings. An internal threaded sleeve is symmetrically arranged on the outer side of the bidirectional threaded rod. A support hinge rod is hinged to the bottom of the internal threaded sleeve. The bottom of the four sets of support hinge rods is connected to a suction cup unit. The bottom of the suction cup unit is evenly provided with a suction cup support plate that communicates with the inside of the suction cup unit. A height adjustment mechanism is provided at one end of the two sets of bidirectional threaded rods. The height adjustment mechanism is used to adjust the position height of the suction cup unit.

[0010] Preferably, the driving mechanism includes a rack disposed inside the top of the supporting crossbar, two sets of L-shaped connecting blocks symmetrically disposed on the outer side of the supporting crossbar, a driving motor A disposed on the top of the L-shaped connecting blocks, a gear meshing with the rack at the output end of the driving motor A, and the bottom of the L-shaped connecting blocks connected to the top of the mechanical claw mechanism. By providing a driving mechanism, the mechanical claw mechanism can be moved at the bottom of the supporting crossbar, thereby realizing independent position adjustment of the mechanical claw mechanism. A displacement groove is provided at the bottom of the supporting crossbar, and a rotating ball adapted to the displacement groove is provided at the top of the L-shaped connecting blocks.

[0011] Preferably, the output end of the mechanical claw mechanism is provided with two sets of symmetrical gripper connecting arms. A fixed clamping plate is provided on the inner side of each set of gripper connecting arms. An inner through hole is uniformly provided on the inner side of each fixed clamping plate. A displacement slide rod extending to the outside of the fixed clamping plate is provided inside each inner through hole. A movable clamping plate is provided at the same end of the two sets of displacement slide rods at the same horizontal position. A spring is provided on one end of the back of the movable clamping plate, sleeved on the outside of the displacement slide rod. The other end of the spring is embedded inside the inner through hole. The cross-section inside the inner through hole has a T-shaped structure. By providing the mechanical claw mechanism, adaptation to different external reinforcing rib structures of material boxes is achieved, ensuring the stability of the mechanical claw mechanism's clamping structure.

[0012] Preferably, the height adjustment mechanism includes a drive motor B disposed at the bottom of the mounting support plate and connected to a set of bidirectional threaded rod shafts, and one end of the two sets of bidirectional threaded rods is provided with a belt drive mechanism. The output end of the drive motor B and the belt drive mechanism, through the provision of the height adjustment mechanism, realize the function of driving the bidirectional threaded rods to rotate and adjusting the position height of the suction cup unit, thereby enabling the bottom of the suction cup support plate to fit against the top of the material to be transferred.

[0013] Preferably, a vacuum transition plate is provided in the middle of the top of the suction cup unit, and a pneumatic terminal connected to the pipe of the vacuum transition plate is provided on one side of the top of the suction cup unit. The input end of the pneumatic terminal is connected to an external vacuum pump. The bottom of the vacuum transition plate is connected to the interior of the suction cup unit. By providing the pneumatic terminal and the vacuum transition plate, the function of connecting the external vacuum pump with the interior of the suction cup unit is realized.

[0014] Compared with the prior art, the present invention provides a depalletizing and palletizing system device for material bins, which has the following features:

[0015] Beneficial effects:

[0016] 1. This invention optimizes the structure of the mechanical claw mechanism by setting multiple sets of side-by-side movable clamping plates. When clamping the outside of the material box, the movable clamping plates can retract individually to accommodate the irregular structure of the outside of the material box. This allows the movable clamping plates to achieve adaptive clamping and engagement with the reinforcing ribs of the material box, thereby improving the stability of the material box clamping structure.

[0017] 2. This invention provides a driving force through a drive motor B to move the suction cup unit up and down. The suction cup support plate at the bottom of the suction cup unit transfers the material inside the hopper, thereby realizing the dual functions of hopper destacking and stacking, as well as material transfer and merging.

[0018] 3. This invention provides a clamping plate on the inner side of the support crossbar and uses two sets of hydraulic cylinders to provide driving force, which moves the support crossbar as a whole. This allows the support crossbar to drive the hydraulic cylinders to clamp the side of the material adsorbed by the suction cup support plate. In this way, the traditional top adsorption transfer method is optimized and the stability of material transfer and clamping is improved during the material transfer process. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0020] Figure 2 This is an enlarged schematic diagram of the top structure at the mounting support plate location in this invention;

[0021] Figure 3 This is a bottom view of the structure at the mounting support plate location in this invention;

[0022] Figure 4 This is an enlarged cross-sectional view of the suction cup unit in this invention;

[0023] Figure 5 For the present invention Figure 4 A diagram showing the view from below;

[0024] Figure 6 This is a schematic diagram of the structural connection relationship at the supporting crossbar in this invention;

[0025] Figure 7 This is an enlarged cross-sectional view of the structure at the supporting crossbar in this invention;

[0026] Figure 8 This is an enlarged schematic diagram of the mechanical claw mechanism in this invention.

[0027] In the diagram: 1. Mounting support plate; 2. Robotic arm mechanism; 3. Hinge rod; 4. Drive motor A; 5. Rack; 6. L-shaped connecting block; 7. Displacement through hole; 8. Transition rod; 9. Mechanical claw mechanism; 901. Gripper connecting arm; 902. Inner through hole; 903. Fixed clamping plate; 904. Movable clamping plate; 905. Spring; 906. Displacement slide bar; 10. Support crossbar; 11. Electric telescopic cylinder; 12. Connecting crossbar; 13. Hydraulic cylinder; 14. Connecting seat; 15. Suction cup unit; 16. Suction cup support plate; 17. Drive motor B; 18. Internal threaded sleeve block; 19. Pneumatic terminal; 20. Bidirectional threaded rod; 21. Support hinge rod; 22. Belt drive mechanism; 23. Air extraction transition plate; 24. Gear; 25. Clamping plate; 26. Displacement groove; 27. Rotating ball. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Example 1:

[0030] Please see Figure 1-8 This invention provides a technical solution: a bin depalletizing and stacking system device, including a mounting support plate 1, a robotic arm mechanism 2, and an image acquisition device. The top of the mounting support plate 1 is provided with a connecting seat 14 that is bolted to the output end of the robotic arm mechanism 2. The image acquisition device includes a camera unit and a support frame, and the camera unit is electrically connected to an external control system.

[0031] Two sets of displacement driving mechanisms are symmetrically arranged on the outer side of the support crossbar 10. Each displacement driving mechanism has a mechanical claw mechanism 9 at its bottom. The displacement driving mechanism is used to drive the mechanical claw mechanism 9 to move on the surface of the support crossbar 10. The bottom of the support crossbar 10 is provided with a displacement groove 26. The top of the L-shaped connecting block 6 is provided with a rotating ball 27 that matches the displacement groove 26.

[0032] Mounting support plate 1 has mounting bearings symmetrically arranged at both ends of the bottom center, and a bidirectional threaded rod 20 is arranged between the two sets of mounting bearings. A threaded sleeve 18 is symmetrically arranged on the outer side of the bidirectional threaded rod 20. A support hinge rod 21 is hinged to the bottom of the threaded sleeve 18. The bottom of the four sets of support hinge rods 21 are connected to a suction cup unit 15. A suction cup support plate 16 that communicates with the inside of the suction cup unit 15 is evenly arranged at the bottom of the suction cup unit 15. A height adjustment mechanism is arranged at one end of the two sets of bidirectional threaded rods 20. The height adjustment mechanism is used to adjust the position height of the suction cup unit 15.

[0033] As a preferred embodiment, the driving mechanism includes a rack 5 disposed inside the top of the support crossbar 10, two sets of L-shaped connecting blocks 6 symmetrically disposed on the outer side of the support crossbar 10, a drive motor A4 disposed on the top of the L-shaped connecting blocks 6, a gear 24 meshing with the rack 5 disposed at the output end of the drive motor A4, and the bottom of the L-shaped connecting blocks 6 connected to the top of the mechanical claw mechanism 9. By providing a driving mechanism, the mechanical claw mechanism 9 can be driven to move at the bottom of the support crossbar 10, thereby realizing independent position adjustment of the mechanical claw mechanism 9.

[0034] As a preferred embodiment, the output end of the mechanical claw mechanism 9 is provided with two sets of symmetrical gripper connecting arms 901. A fixed clamping plate 903 is provided on the inner side of each set of gripper connecting arms 901. An inner through hole 902 is uniformly provided on the inner side of each fixed clamping plate 903. A displacement slide rod 906 extending to the outside of the fixed clamping plate 903 is provided inside each inner through hole 902. A movable clamping plate 904 is provided at the same end of the two sets of displacement slide rods 906 at the same horizontal position. A spring 905 is sleeved on the outside of the displacement slide rod 906 at one end of the back of the movable clamping plate 904. The other end of the spring 905 is embedded inside the inner through hole 902. The cross-section inside the inner through hole 902 is a T-shaped structure. By providing the mechanical claw mechanism 9, adaptation to different material box outer reinforcing rib structures is achieved, ensuring the stability of the clamping structure of the mechanical claw mechanism 9.

[0035] like Figure 1 , 2 As shown in Figures 3, 6, 7, and 8, this device is intelligently controlled by an external control system during use. This control system is a control program based on the Windows operating system and can be matched according to actual needs, which will not be described in detail here.

[0036] When it is necessary to move the material box by unstacking and stacking, the mechanical arm mechanism 2 drives the entire mounting support plate 1 to move. At this time, the camera unit collects the position information of the material box and transmits it to the control system for data analysis. Through the set algorithm program, the drive components in the mounting support plate 1 and the mechanical arm mechanism 2 are controlled to switch. At this time, the four sets of drive motors A4 drive the gears 24 at their output ends respectively, so that the gears 24 mesh with the rack 5 and move. At this time, the drive motors A4 are limited by the L-shaped connecting block 6 and the support crossbar 10, and follow the movement. This drives the mechanical claw mechanism 9 at the bottom of the L-shaped connecting block 6 to move, so that the gripper connecting arm 901 drives the movable clamping plate 904 to the edge of the material box. Through the rotation and displacement of the gear 24, the position of the mechanical claw mechanism 9 can be adjusted independently, so as to adapt to the clamping requirements of material boxes of different lengths.

[0037] Further opening the electric telescopic cylinder 11 causes the support crossbar 10 to move downwards as a whole, so that the two sets of movable clamping plates 904 are located at both ends of the material box edge. Then, the mechanical claw mechanism 9 is opened, so that the claw connecting arm 901 drives the movable clamping plates 904 to clamp the material box. During this process, when the movable clamping plate 904 is in contact with the reinforcing rib on the outside of the material box, it is blocked by the reinforcing rib, which causes the movable clamping plate 904 to retract. Meanwhile, the other sets of movable clamping plates 904 insert into the inside of the reinforcing rib. At this time, the movable clamping plate 904 squeezes the displacement slide bar 906 to move into the inward through hole 902 and compresses the spring 905, so that the spring 905 generates a rebound force, which acts in the opposite direction on the movable clamping plate 904 to clamp the material box. At the same time, the other sets of movable clamping plates 904 insert into the inside of the reinforcing rib, and achieve an upper and lower interlocking structure with the reinforcing rib, thereby improving the stability of the material box clamping structure.

[0038] Example 2

[0039] The difference from Embodiment 1 is that: two sets of hydraulic cylinders 13 are symmetrically arranged in the middle of the top two sides of the mounting support plate 1. The output end of the hydraulic cylinder 13 is provided with a transition rod 8. Both ends of the transition rod 8 are hinged with hinge rods 3. Both ends of the top of the mounting support plate 1 are provided with connecting crossbars 12. The inner side of the connecting crossbars 12 is hinged to the other end of the hinge rods 3 respectively. Both ends of the top two sides of the mounting support plate 1 are provided with displacement through holes 7. The bottom of the connecting crossbars 12 is provided with an electric telescopic cylinder 11 that extends through the displacement through hole 7 to the bottom of the mounting support plate 1. The bottom of the two sets of electric telescopic cylinders 11 located at the same end of the bottom of the mounting support plate 1 is provided with a support crossbar 10. The inner side of the two sets of support crossbars 10 is provided with a clamping plate 25.

[0040] As a preferred embodiment, the height adjustment mechanism includes a drive motor B17 disposed at the bottom of the mounting support plate 1 and connected to a set of bidirectional threaded rods 20. One end of the two sets of bidirectional threaded rods 20 is provided with a belt drive mechanism 22. The output end of the drive motor B17 and the belt drive mechanism 22 are connected by the height adjustment mechanism, which enables the bidirectional threaded rods 20 to rotate and adjust the height of the suction cup unit 15, thereby allowing the bottom of the suction cup support plate 16 to fit against the top of the material to be transferred.

[0041] As a preferred embodiment: a vacuum transition plate 23 is provided in the middle of the top of the suction cup unit 15, and a pneumatic terminal 19 connected to the vacuum transition plate 23 is provided on one side of the top of the suction cup unit 15. The input end of the pneumatic terminal 19 is connected to an external vacuum pump. The bottom of the vacuum transition plate 23 is connected to the interior of the suction cup unit 15. By providing the pneumatic terminal 19 and the vacuum transition plate 23, the function of connecting the external vacuum pump to the interior of the suction cup unit 15 is realized.

[0042] like Figure 1-8 As shown, when it is necessary to transfer the material in the hopper, the drive motor B17 is turned on to provide driving force to the bidirectional threaded rod 20. The operation of the bidirectional threaded rod 20 drives the support hinge rod 21 hinged to the bottom of the internal threaded sleeve block 18 to extend and retract, thereby driving the suction cup unit 15 to move up and down. When the suction cup support plate 16 moves to the top of the material and adheres to it, the vacuum pump connected to the outside is used to evacuate the inside of the suction cup unit 15, so that the suction cup support plate 16 adsorbs the top of the material and lifts the material. When the material is lifted, At this time, the two sets of hydraulic cylinders 13 are opened to drive the hinge rods 3 at both ends of the transition rod 8 to extend and retract. The hinge rods 3 drive the electric telescopic cylinder 11 at the bottom of the connecting crossbar 12 to follow the displacement, which in turn drives the clamping plate 25 on the inner side of the supporting crossbar 10 to follow the displacement. As the two sets of clamping plates 25 move closer to each other, they clamp the material adsorbed by the suction cup support plate 16 on both sides, thereby reducing the weight borne by the suction cup support plate 16. While extending the service life of the suction cup support plate 16 structure, it also ensures the stability of the structure during material transfer, prevents the phenomenon of material falling off, and improves the safety of the device structure.

[0043] Working principle: By setting multiple sets of adaptable movable clamping plates 904, the device adapts to the irregular reinforcing rib structure on the outside of the material box, improving the stability of the clamping structure during the unpacking, stacking, and transfer of the material box. Furthermore, the mechanical claw mechanism 9 can be independently controlled by the drive motor A4 to move, allowing it to adapt to the structural design requirements of material boxes of different lengths. At the same time, the hydraulic cylinder 13 drives the overall displacement of the support crossbar 10, enabling the mechanical claw mechanism 9 to follow the displacement and adapt to the structure of material boxes of different widths. Meanwhile, when the suction cup support plate 16 adsorbs and transfers materials, the clamping structure of the clamping plate 25 assists in clamping the side of the materials, reducing the load on the suction cup support plate 16 and further improving the practicality and functionality of the device structure.

[0044] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A material box unstacking and stacking system device, comprising a mounting support plate (1), a mechanical arm mechanism (2) and an image acquisition device, the top of the mounting support plate (1) is provided with a connecting seat (14) bolted with the output end of the mechanical arm mechanism (2), and the image acquisition device comprises a camera unit and a support frame, and the camera unit is electrically connected with an external control system, characterized in that: two groups of hydraulic cylinders (13) are symmetrically arranged in the middle of the top of the mounting support plate (1), the output end of the hydraulic cylinder (13) is provided with a transition rod (8), both ends of the transition rod (8) are hinged with a hinge rod (3), both ends of the top of the mounting support plate (1) are provided with a connecting cross rod (12), the inner side of the connecting cross rod (12) is hinged with the other end of the hinge rod (3) respectively, both ends of the top of the mounting support plate (1) are provided with displacement through holes (7), the bottom of the connecting cross rod (12) is provided with an electric telescopic cylinder (11) extending through the displacement through hole (7) to the bottom of the mounting support plate (1), and the bottoms of the two groups of electric telescopic cylinders (11) located at the same end of the bottom of the mounting support plate (1) are commonly provided with a support cross rod (10), and the inner side of the two groups of support cross rods (10) are provided with clamping plates (25); the outer side of the support cross rod (10) is symmetrically provided with two groups of displacement driving mechanisms, the bottom of the displacement driving mechanism is provided with a mechanical claw mechanism (9), and the displacement driving mechanism is used to drive the mechanical claw mechanism (9) to displace on the surface of the support cross rod (10); both ends of the middle of the bottom of the mounting support plate (1) are symmetrically provided with mounting shaft seats, and a two-way threaded rod (20) is arranged between the two groups of mounting shaft seats, the outer side of the two-way threaded rod (20) is symmetrically provided with an internal thread sleeve block (18), the bottom of the internal thread sleeve block (18) is hinged with a support hinge rod (21), the bottoms of the four groups of support hinge rods (21) are commonly connected with a suction disc unit (15), the bottom of the suction disc unit (15) is uniformly provided with a suction disc support plate (16) in communication with the inside of the suction disc unit (15), one end of the two groups of two-way threaded rods (20) is commonly provided with a height adjusting mechanism, and the height adjusting mechanism is used to adjust the position height of the suction disc unit (15).

2. A bin de-stacking and stacking system apparatus according to claim 1, wherein: The driving mechanism comprises a rack (5) arranged in the inside of the top of the support cross rod (10), the outer side of the support cross rod (10) is symmetrically provided with two groups of L-shaped connecting blocks (6), the top of the L-shaped connecting block (6) is provided with a driving motor A (4), the output end of the driving motor A (4) is provided with a gear (24) meshing with the rack (5), the bottom of the L-shaped connecting block (6) is connected with the top of the mechanical claw mechanism (9), the bottom of the support cross rod (10) is provided with a displacement groove (26), and the top of the L-shaped connecting block (6) is provided with a rotating ball (27) matched with the displacement groove (26).

3. A bin de-stacking and stacking system apparatus according to claim 1, wherein: The output end of the mechanical claw mechanism (9) is provided with two groups of mutually symmetrical clamping jaw connecting arms (901), the inner side of the two groups of clamping jaw connecting arms (901) is provided with a fixed clamping plate (903), the inner side of the fixed clamping plate (903) is uniformly provided with an inner through hole (902), the inner side of the inner through hole (902) is provided with a displacement slide rod (906) extending to the outside of the fixed clamping plate (903), the same end of the two groups of displacement slide rods (906) in the same horizontal position is commonly provided with a movable clamping plate (904), the back surface of the movable clamping plate (904) is provided with a spring (905) sleeved on the outside of the displacement slide rod (906), the other end of the spring (905) is embedded in the inner side of the inner through hole (902), and the transverse section of the inner side of the inner through hole (902) is a T-shaped structure.

4. The bin de-stacking and stacking system apparatus of claim 1, wherein: The height adjusting mechanism includes a driving motor B (17) arranged at the bottom of the mounting support plate (1) and connected with a group of bidirectional threaded rods (20) in an axial manner, and one end of the two groups of bidirectional threaded rods (20) is commonly provided with a belt transmission mechanism (22), and the output end of the driving motor B (17) is connected with the belt transmission mechanism (22).

5. A bin de-stacking and stacking system apparatus according to claim 1, wherein: The top of the suction cup unit (15) is provided with an air suction transition disc (23) in the middle, one side of the top of the suction cup unit (15) is provided with a pneumatic terminal (19) connected with the air suction transition disc (23) in a pipeline manner, the input end of the pneumatic terminal (19) is connected with an external vacuum pump in communication, and the bottom of the air suction transition disc (23) is connected with the inside of the suction cup unit (15) in communication.

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