Mechanical arm clamp

Abstract

The invention belongs to the technical field of clamps, and discloses a mechanical arm clamp which comprises a base. The mechanical arm mechanism is fixedly mounted on the upper surface of the base; the clamp mechanism is fixedly installed at the end of the workbench mechanical arm mechanism, the clamp mechanism further comprises a fixing plate, a clamping head, a first vacuum suction head and a second vacuum suction head, a plurality of first installation grooves and second installation grooves are formed in the clamping head, first springs are fixedly installed in the second installation grooves, and second springs are fixedly installed in the second installation grooves. According to the mechanical arm clamp, the whole clamp is installed on the multi-joint mechanical arm, meanwhile, the mechanical arms are driven through different motors, the clamping range of the whole clamp is widened, the clamping precision of the whole clamp is improved, the clamp adopts a flexible clamping mode and a rigid clamping mode, workpieces in various shapes can be reliably clamped, and the clamping efficiency is improved. And vacuum adsorption is added on the basis of flexible clamping, so that the clamp has different types of clamping modes, and workpieces made of different materials can be clamped.

Description

Technical Field

[0001] The invention belongs to the technical field of clamps, and in particular relates to a mechanical arm clamp. Background Art

[0002] A fixture is a device used to fix the object to be processed in the mechanical manufacturing process so that it occupies the correct position for construction or inspection. In a broad sense, any device used to quickly, conveniently and safely install the workpiece in any process of the process can be called a fixture. A fixture usually consists of a positioning element (to determine the correct position of the workpiece in the fixture), a clamping device, a tool guide element (to determine the relative position of the tool and the workpiece or to guide the direction of the tool), a dividing device (to enable the workpiece to complete the processing of several stations in one installation, and there are two types of rotary dividing devices and linear moving dividing devices), connecting elements, and a clamp body (fixture base).

[0003] For example, a robotic arm clamp with announcement number CN113059585B has a small movable range of the robotic arm, resulting in a low applicable surface of the clamp. At the same time, the clamp in this device is fixed by claws. If the surface of the workpiece to be clamped is uneven, the stability of the clamping claws is poor, and it is impossible to clamp softer workpieces. In order to solve the above problems, a robotic arm clamp is proposed. Summary of the invention

[0004] The purpose of the present invention is to improve the applicability of a robot arm clamp and to enable the clamp to have a variety of different clamping modes.

[0005] The technical solution adopted by the present invention is as follows: A mechanical arm clamp, comprising: Base; A mechanical arm mechanism, wherein the mechanical arm mechanism is fixedly mounted on the upper surface of the base; A clamp mechanism, the clamp mechanism is fixedly installed at the end of the workbench mechanical arm mechanism, the clamp mechanism also includes a fixing plate, a clamping head, a first vacuum suction head and a second vacuum suction head, a plurality of first mounting grooves and a second mounting groove are opened inside the clamping head, a connecting block is fixedly installed inside the first mounting groove, a contact rod is slidably connected inside the connecting block, and a first spring is fixedly installed inside the second mounting groove; A third mounting groove with an opening at one end is provided at the upper end of the first vacuum suction head, a second spring is fixedly installed inside the third mounting groove, a first baffle is fixedly installed on one side of the second spring, a first connecting hole is provided on one side of the first baffle, a first push rod is fixedly installed on the lower end of the outer wall of the first vacuum suction head, a fourth mounting groove with an opening at the lower end of the second vacuum suction head is provided, a third spring is fixedly installed inside the fourth mounting groove, a second baffle is fixedly installed on one side of the third spring, a second connecting hole is provided on one side of the second baffle, and a second push rod is fixedly installed on the lower end of the outer wall of the second vacuum suction head.

[0006] In a preferred embodiment, the base also includes a main shell, a turbine is rotatably connected inside the main shell, a side fixing frame is fixedly mounted on one side of the main shell, a first motor is fixedly mounted on one side of the side fixing frame, a worm is fixedly mounted on the end of the output shaft of the first motor, one side of the worm is located inside the main shell and meshed with the turbine, a connecting column is fixedly mounted at the center of the upper surface of the turbine, and a rotating plate is fixedly mounted on the end of the connecting column.

[0007] In a preferred embodiment, a flange is integrally provided on the bottom of the base.

[0008] In a preferred embodiment, the robotic arm mechanism also includes a connecting frame, which is fixedly connected to the upper surface of the rotating plate, the upper end of the connecting frame is rotatably connected to a first arm, the end of the first arm is rotatably connected to a second arm, and the end of the second arm is rotatably connected to a third arm.

[0009] In a preferred embodiment, the first reduction motor and the second reduction motor are fixedly installed on the left and right sides of the connecting frame respectively, the output shaft of the first reduction motor is fixedly connected to the lower end of the first arm, the output shaft end of the second reduction motor is rotatably connected to the first transmission rod through an eccentric disk, the end of the first transmission rod is rotatably connected to the lower end of the second arm, a third reduction motor is fixedly installed on one side of the second arm, a transmission plate is fixedly installed on the output shaft end of the third reduction motor, the outer wall of the transmission plate is rotatably connected to the second transmission rod, the end of the second transmission rod is rotatably connected to the outer wall of the third arm, and a second motor is fixedly installed on one side of the third arm.

[0010] In a preferred embodiment, the clamp mechanism further includes a fixing plate, and the fixing plate is fixedly connected to the end of the output shaft of the second motor.

[0011] In a preferred embodiment, a slide groove is provided on the front side of the fixed plate, and two electric sliders are slidably connected inside the slide groove. A rotating base is fixedly installed on the front side of the two electric sliders, and a clamping head is fixedly installed on the outer wall of the two rotating bases.

[0012] In a preferred embodiment, a plurality of first mounting grooves and second mounting grooves are provided inside the clamping head, and the plurality of first mounting grooves are interconnected. An air hole is provided on the outer wall of the clamping head, and the air hole is connected to the first mounting groove. An air pump is fixedly installed on the upper surface of the second arm rod, and the air pump is connected to the air hole through a hose. One side of the first spring is in contact with the outer wall of the contact rod. A locking groove is provided inside the connecting block, and a side groove is provided in the middle of the locking groove, and an expansion airbag is fixedly installed inside the side groove. Air inlet holes are provided at both upper and lower ends of the connecting block, and the air inlet holes are connected to the locking groove.

[0013] In a preferred embodiment, the first vacuum head and the second vacuum head are fixedly installed on the top of the two clamping heads, respectively, the third mounting groove and the second push rod are located on the same horizontal line, the fourth mounting groove and the first push rod are located on the same horizontal line, and the first vacuum head and the second vacuum head are fixedly installed on the top with microporous ceramic suction plates.

[0014] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows: the present invention proposes a robot arm clamp, in order to improve the applicability of the robot arm clamp and enable the clamp to have a variety of different clamping methods.

[0015] 1. The overall fixture is installed on a multi-joint robotic arm, and each robotic arm is driven by a different motor, thereby improving the clamping range and clamping accuracy of the overall fixture.

[0016] 2. The fixture adopts two methods: flexible clamping and rigid clamping, which can reliably clamp workpieces of various shapes.

[0017] 3. Add vacuum adsorption on the basis of flexible clamping, so that the fixture has different types of clamping methods and can clamp workpieces of different materials.

[0018] 4. The entire set of clamping equipment only needs a single air pump to drive it, and vacuum adsorption and flexible clamping do not conflict with each other, which reduces the overall volume and production cost of the clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the internal structure of the base in the present invention; Figure 3 It is a structural schematic diagram of the mechanical arm mechanism in the present invention; Figure 4 It is a structural schematic diagram of the clamp mechanism in the present invention; Figure 5 is a cross-sectional view of the clamping head in the present invention; Figure 6 An exploded view of the clamping head in the present invention; Figure 7 is a cross-sectional view of the connecting block in the present invention; Figure 8 It is a cross-sectional view of the first vacuum suction head and the second vacuum suction head in the present invention.

[0020] Markings in the figure: 1-base; 11-main housing; 12-turbine; 13-side fixing frame; 14-first motor; 15-worm; 16-connecting column; 17-flange; 18-rotating plate; Mechanical arm mechanism; 21-connecting frame; 22-first arm; 23-second arm; 24; third arm; 25-first reduction motor; 26-second reduction motor; 27-first transmission rod; 28-third reduction motor; 29-transmission sheet; 211-second transmission rod; 212-second motor; Clamping mechanism; 31-fixed plate; 32-slide groove; 33-electric slider; 34-rotating base; 35-clamping head; 351-first mounting groove; 352-second mounting groove; 353-connecting block; 354-contact rod; 355-first spring; 36-air pump; 37-air hole; 3531-locking groove; 3532-side groove; 3533-expansion airbag; 3534-air inlet hole; 38-first vacuum suction head; 381-third mounting groove; 382-second spring; 383-first gear lever; 384-first connecting hole; 385-first push rod; 39-second vacuum suction head; 391-fourth mounting groove; 392-third spring; 393-second gear lever; 394-second connecting hole; 395-second push rod; 40-microporous ceramic suction plate. Implementation

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The following will be combined Figure 1-Figure 8 A robotic arm clamp according to an embodiment of the present invention is described in detail. Example

[0023] Base 1; The clamp mechanism 3 is fixedly installed at the end of the workbench mechanical arm mechanism 2. The clamp mechanism 3 also includes a fixing plate 31, a clamping head 35, a first vacuum suction head 38 and a second vacuum suction head 39. The clamping head 35 is provided with a plurality of first mounting grooves 351 and a second mounting groove 325. A connecting block 353 is fixedly installed in the first mounting groove 351. A contact rod 354 is slidably connected in the connecting block 353. A first spring 355 is fixedly installed in the second mounting groove 325. A third mounting groove 381 with an open end is provided at the upper end of the first vacuum suction head 38, and a second spring 382 is fixedly installed inside the third mounting groove 381, a first baffle 383 is fixedly installed on one side of the second spring 382, ​​and a first connecting hole 384 is provided on one side of the first baffle 383, a first push rod 385 is fixedly installed on the lower end of the outer wall of the first vacuum suction head 38, and a fourth mounting groove 391 with an open end is provided at the lower end of the second vacuum suction head 39, a third spring 392 is fixedly installed inside the fourth mounting groove 391, a second baffle 393 is fixedly installed on one side of the third spring 392, a second connecting hole 394 is provided on one side of the second baffle 393, and a second push rod 395 is fixedly installed on the lower end of the outer wall of the second vacuum suction head 39.

[0024] In this embodiment, the base 1 drives the robot arm mechanism 2 to rotate, thereby increasing the clamping range of the robot arm. At the same time, the robot arm itself has an adjustment function to further increase its clamping range. When clamping a workpiece with an uneven appearance, since the contact rod 354 is slidably connected to the inside of the connecting block 353, the contact rod 354 can move when the two clamping heads 35 clamp the workpiece. At the same time, since one side of the contact rod 354 is blocked by the first spring 355, the contact rod 354 is always close to the outer wall of the workpiece, so that the fixture has a flexible clamping function. When the workpiece is brittle or soft, the two clamping heads 35 are combined, and the first push rod 385 is inserted into the fourth mounting groove 391, thereby pushing the second gear rod 393 to move inward, exposing the second connecting hole 394. Similarly, the first connecting hole 384 is also exposed, so that the first vacuum suction head 38 and the second vacuum suction head 39 are respectively connected to the inside of the two clamping heads 35, thereby vacuum adsorption of the workpiece. At the same time, vacuum adsorption and flexible clamping are controlled by the same set of driving equipment, which greatly reduces the overall cost and volume of the fixture.

[0025] In a preferred embodiment, the base 1 also includes a main shell 11, in which a turbine 12 is rotatably connected, a side fixing frame 13 is fixedly mounted on one side of the main shell 11, a first motor 14 is fixedly mounted on one side of the side fixing frame 13, a worm 15 is fixedly mounted on the end of the output shaft of the first motor 14, one side of the worm 15 is located inside the main shell 11 and meshed with the turbine 12, a connecting column 16 is fixedly mounted at the center of the upper surface of the turbine 12, and a rotating plate 18 is fixedly mounted on the end of the connecting column 16.

[0026] In this embodiment, the worm 15 is driven to rotate by the first motor 14 , and the turbine 12 is meshed with the worm 15 , thereby driving the turbine 12 to rotate, and the turbine 12 drives the rotating plate 18 to rotate, so that the base 1 has a rotating function.

[0027] In a preferred embodiment, a flange 17 is integrally provided on the bottom of the base 1 .

[0028] In this embodiment, the flange 17 is provided to facilitate installation of the base 1 .

[0029] In a preferred embodiment, the robotic arm mechanism 2 also includes a connecting frame 21, which is fixedly connected to the upper surface of the rotating plate 18, and the upper end of the connecting frame 21 is rotatably connected to a first arm 22, the end of the first arm 22 is rotatably connected to a second arm 23, and the end of the second arm 23 is rotatably connected to a third arm 24.

[0030] In this embodiment, by providing the first arm 22, the second arm 23 and the third arm 23, the mechanical arm can have a multi-stage adjustment function, thereby improving its clamping range and accuracy.

[0031] In a preferred embodiment, the first reduction motor 25 and the second reduction motor 26 are fixedly installed on the left and right sides of the connecting frame 21, respectively. The output shaft of the first reduction motor 25 is fixedly connected to the lower end of the first arm 22, and the end of the output shaft of the second reduction motor 26 is rotationally connected to the first transmission rod 27 through an eccentric disk, and the end of the first transmission rod 27 is rotationally connected to the lower end of the second arm 23. A third reduction motor 28 is fixedly installed on one side of the second arm 23, and a transmission plate 29 is fixedly installed on the end of the output shaft of the third reduction motor 28. The outer wall of the transmission plate 29 is rotationally connected to the second transmission rod 211, and the end of the second transmission rod 211 is rotationally connected to the outer wall of the third arm 24. A second motor 212 is fixedly installed on one side of the third arm 24.

[0032] In this embodiment, the first arm 22 is driven to rotate by the first reduction motor 25, and the lower end of the first transmission rod 27 is driven to perform eccentric movement by the second reduction motor 26. During the movement of the first transmission rod 27, its upper end pulls the lower part of the second arm 23, thereby adjusting the angle of the second arm 23. Similarly, the angle of the third arm 24 is adjusted by the third reduction motor 28. Each arm is driven by a different motor to improve the overall control accuracy of the robotic arm.

[0033] In a preferred embodiment, the clamp mechanism 3 further includes a fixing plate 31 , and the fixing plate 31 is fixedly connected to the end of the output shaft of the second motor 212 .

[0034] In this embodiment, the second motor 212 drives the clamp mechanism 3 to rotate, so that the clamp has a rotation function.

[0035] In a preferred embodiment, a slide groove 32 is opened on the front side of the fixed plate 31, and two electric sliders 33 are slidably connected inside the slide groove 32. A rotating base 34 is fixedly installed on the front side of the two electric sliders 33, and a clamping head 35 is fixedly installed on the outer wall of the two rotating bases 34.

[0036] In this embodiment, two electric sliders 33 drive two rotating bases 34 to move, and the rotating base 34 drives the clamping head 35 to move, so as to clamp the workpiece. At the same time, the rotating base 34 can make the clamping head 35 rotate freely.

[0037] In a preferred embodiment, a plurality of first mounting grooves 351 and a second mounting groove 325 are provided inside the clamping head 35, and the plurality of first mounting grooves 351 are communicated with each other. An air hole 37 is provided on the outer wall of the clamping head 35, and the air hole 37 is communicated with the first mounting groove 351. An air pump 36 is fixedly installed on the upper surface of the second arm 23, and the air pump 36 is connected to the air hole 37 through a hose. A connecting block 353 is fixedly installed inside the first mounting groove 351, and a contact rod 354 is slidably connected inside the connecting block 353. A first spring 355 is fixedly installed inside the second mounting groove 325, and one side of the first spring 355 is in contact with the outer wall of the contact rod 354. A locking groove 3531 is provided inside the connecting block 353, and a side groove 3532 is provided in the middle of the locking groove 3531. An expansion air bag 3533 is fixedly installed inside the side groove 3532. Air inlet holes 3534 are provided at both upper and lower ends of the connecting block 353, and the air inlet hole 3534 is communicated with the locking groove 3531.

[0038] In this embodiment, when the clamping head 35 stops moving, the inside of the clamping head 35 is inflated by the air pump 36, and the gas enters the inside of the connecting block 353 through the air inlet hole 3534. At this time, the expansion airbag 3533 in the side groove 3532 is squeezed by the gas and expands rapidly, thereby squeezing the contact rod 354, so that the position of the contact rod 354 remains fixed, thereby improving the stability of the clamp. If a workpiece with a flat surface is to be clamped, the inside of the clamping head 35 can be inflated before clamping, so that the clamp can clamp workpieces with different structures.

[0039] In a preferred embodiment, the first vacuum suction head 38 and the second vacuum suction head 39 are respectively fixedly installed on the upper surfaces of the two clamping heads 35, the third mounting groove 381 and the second push rod 395 are located on the same horizontal line, the fourth mounting groove 391 and the first push rod 385 are located on the same horizontal line, and the first vacuum suction head 38 and the second vacuum suction head 39 are fixedly installed with a microporous ceramic suction plate 40 on the top.

[0040] In this embodiment, the microporous ceramic plate 40 is provided to keep the vacuum suction head horizontal, thereby increasing the contact surface between the workpiece and the vacuum suction head and improving the adsorption effect.

[0041] Working principle: The base 1 drives the robot arm mechanism 2 to rotate, thereby increasing the clamping range of the robot arm. At the same time, the robot arm itself has an adjustment function to further increase its clamping range. When clamping a workpiece with an uneven appearance, since the contact rod 354 is slidably connected to the inside of the connecting block 353, the contact rod 354 can move when the two clamping heads 35 clamp the workpiece. At the same time, since one side of the contact rod 354 is blocked by the first spring 355, the contact rod 354 is always close to the outer wall of the workpiece, so that the fixture has a flexible clamping function. When the workpiece is brittle or soft, the two clamping heads 35 are combined, and the first push rod 385 is inserted into the fourth mounting groove 391, thereby pushing the second gear rod 393 to move inward, exposing the second connecting hole 394. Similarly, the first connecting hole 384 is also exposed, so that the first vacuum suction head 38 and the second vacuum suction head 39 are respectively connected to the inside of the two clamping heads 35, thereby vacuum adsorption of the workpiece. At the same time, vacuum adsorption and flexible clamping are controlled by the same set of driving equipment, which greatly reduces the overall cost and volume of the fixture.

[0042] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mechanical arm fixture, characterized in that: include: Base (1); A mechanical arm mechanism (2), wherein the mechanical arm mechanism (2) is fixedly mounted on the upper surface of the base (1); A clamping mechanism (3), the clamping mechanism (3) being fixedly mounted on an end of a workbench mechanical arm mechanism (2), the clamping mechanism (3) further comprising a fixing plate (31), a clamping head (35), a first vacuum suction head (38) and a second vacuum suction head (39), the clamping head (35) being provided with a plurality of first mounting grooves (351) and a second mounting groove (325), a connecting block (353) being fixedly mounted inside the first mounting groove (351), a contact rod (354) being slidably connected inside the connecting block (353), and a first spring (355) being fixedly mounted inside the second mounting groove (325); A third mounting groove (381) with an open end is provided at the upper end of the first vacuum suction head (38), a second spring (382) is fixedly installed inside the third mounting groove (381), a first blocking rod (383) is fixedly installed on one side of the second spring (382), a first connecting hole (384) is provided on one side of the first blocking rod (383), a first push rod (385) is fixedly installed on the lower end of the outer wall of the first vacuum suction head (38), a fourth mounting groove (391) with an open end is provided at the lower end of the second vacuum suction head (39), a third spring (392) is fixedly installed inside the fourth mounting groove (391), a second blocking rod (393) is fixedly installed on one side of the third spring (392), a second connecting hole (394) is provided on one side of the second blocking rod (393), and a second push rod (395) is fixedly installed on the lower end of the outer wall of the second vacuum suction head (39).

2. A convenient, fast and high-precision solid mold as claimed in claim 1, characterized in that: The base (1) further comprises a main housing (11), a turbine (12) being rotatably connected inside the main housing (11), a side fixing frame (13) being fixedly mounted on one side of the main housing (11), a first motor (14) being fixedly mounted on one side of the side fixing frame (13), a worm (15) being fixedly mounted on the end of the output shaft of the first motor (14), one side of the worm (15) being located inside the main housing (11) and meshing with the turbine (12), a connecting column (16) being fixedly mounted on the center of the upper surface of the turbine (12), and a rotating plate (18) being fixedly mounted on the end of the connecting column (16).

3. A mechanical arm fixture as claimed in claim 2, characterized in that: The bottom of the base (1) is integrally provided with a flange (17).

4. A mechanical arm fixture as claimed in claim 1, characterized in that: The mechanical arm mechanism (2) further comprises a connecting frame (21), the connecting frame (21) being fixedly connected to the upper surface of the rotating plate (18), the upper end of the connecting frame (21) being rotatably connected to a first arm (22), the end of the first arm (22) being rotatably connected to a second arm (23), and the end of the second arm (23) being rotatably connected to a third arm (24).

5. A mechanical arm fixture as claimed in claim 4, characterized in that: A first reduction motor (25) and a second reduction motor (26) are fixedly mounted on the left and right sides of the connecting frame (21), respectively; the output shaft of the first reduction motor (25) is fixedly connected to the lower end of the first arm (22); the end of the output shaft of the second reduction motor (26) is rotationally connected to a first transmission rod (27) via an eccentric disk; the end of the first transmission rod (27) is rotationally connected to the lower end of the second arm (23); a third reduction motor (28) is fixedly mounted on one side of the second arm (23); a transmission sheet (29) is fixedly mounted on the end of the output shaft of the third reduction motor (28); the outer wall of the transmission sheet (29) is rotationally connected to a second transmission rod (211); the end of the second transmission rod (211) is rotationally connected to the outer wall of the third arm (24); and a second motor (212) is fixedly mounted on one side of the third arm (24).

6. A mechanical arm fixture as claimed in claim 5, characterized in that: The clamp mechanism (3) further comprises a fixing plate (31), wherein the fixing plate (31) is fixedly connected to the end of the output shaft of the second motor (212).

7. A mechanical arm fixture as claimed in claim 6, characterized in that: A slide groove (32) is provided on the front side of the fixed plate (31), and two electric sliders (33) are slidably connected inside the slide groove (32). A rotating base (34) is fixedly mounted on the front side of the two electric sliders (33), and a clamping head (35) is fixedly mounted on the outer wall of the two rotating bases (34).

8. A mechanical arm fixture as claimed in claim 4, characterized in that: A plurality of first mounting grooves (351) and second mounting grooves (325) are provided inside the clamping head (35), and the plurality of first mounting grooves (351) are communicated with each other. An air hole (37) is provided on the outer wall of the clamping head (35), and the air hole (37) is communicated with the first mounting groove (351). An air pump (36) is fixedly installed on the upper surface of the second arm (23), and the air pump (36) is connected to the air hole (37) through a hose. One side of the first spring (355) contacts the outer wall of the contact rod (354). A locking groove (3531) is provided inside the connecting block (353), and a side groove (3532) is provided in the middle of the locking groove (3531). An expansion air bag (3533) is fixedly installed inside the side groove (3532). Air inlet holes (3534) are provided at both upper and lower ends of the connecting block (353), and the air inlet holes (3534) are communicated with the locking groove (3531).

9. A mechanical arm fixture as claimed in claim 1, characterized in that: The first vacuum suction head (38) and the second vacuum suction head (39) are respectively fixedly mounted on the upper surfaces of the two clamping heads (35); the third mounting groove (381) and the second push rod (395) are located on the same horizontal line; the fourth mounting groove (391) and the first push rod (385) are located on the same horizontal line; and microporous ceramic suction plates (40) are fixedly mounted on the tops of the first vacuum suction head (38) and the second vacuum suction head (39).

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