Automatic pin cutting and bending mechanism and automatic corner cutting, bending and material receiving equipment

Abstract

The invention discloses an automatic pin cutting and bending mechanism and automatic corner cutting, bending and material receiving equipment. The automatic pin cutting and bending mechanism comprises a mechanism platform, a cam driving module, an automatic clamping module, an automatic conveying clamping jaw module, a pin cutting module, a bending module, a driving cam assembly, a swing arm assembly, a first movable clamping block, a second movable clamping block, a first clamping jaw and a second clamping jaw. The automatic corner cutting, bending and material receiving equipment comprises a rack, an automatic corner cutting and bending mechanism, a conveying mechanism, a material box translation mechanism, a material box clamping mechanism, a manipulator material carrying mechanism, a feeding box translation module and a discharging box translation module. The automatic pin cutting and bending mechanism and the automatic corner cutting, bending and material receiving equipment have the advantages of being high in automation degree and production efficiency, and can reduce labor and equipment cost and improve production benefits in practical application.

Description

Technical Field

[0001] The invention relates to automated processing equipment, in particular to an automatic leg cutting and bending mechanism and automatic angle cutting, bending and collecting equipment. Background Art

[0002] In the production process of capacitors, lithium batteries and other products, due to process requirements, it involves cutting and bending the product pins. In existing equipment, the equipment generally does not have automatic corner cutting and bending functions, and it is necessary to purchase automatic corner cutting and bending equipment separately, which not only consumes too much capital cost, but also has many processes. Capacitors, lithium batteries and other products need to be manually placed in the material box, which consumes a lot of manpower costs and is inefficient, seriously affecting the further promotion and application of the industry.

[0003] Therefore, the purpose of the present invention is to provide a new technical solution to solve the existing technical defects. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides an automatic leg cutting and bending mechanism and an automatic angle cutting and bending material collecting device, which solve the technical defects of the prior art such as high equipment cost, complicated process, high labor cost and low efficiency.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] An automatic foot cutting and bending mechanism comprises a mechanism platform, on which a cam driving module, an automatic clamping module, an automatic conveying clamping claw module, a foot cutting module and a bending module are arranged, the cam driving module comprises a plurality of driving cam assemblies and a swing arm assembly, the automatic clamping module comprises a first moving clamp block and a second moving clamp block, the first moving clamp block and the second moving clamp block are connected to the driving cam assembly through a swing arm assembly and driven by the driving cam assembly to move toward or away from each other, the foot cutting module and the bending module are both arranged on the automatic clamping module and The automatic conveying jaw module is linked to the first movable clamping block and the second movable clamping block on the automatic clamping module, and includes a movable conveying seat and a first clamping jaw and a second clamping jaw arranged on the automatic conveying seat. The movable conveying seat is connected to the driving cam assembly through a swing arm assembly, and the driving cam assembly drives the movable conveying seat and the first clamping jaw and the second clamping jaw arranged on the movable conveying seat to move back and forth. The first clamping jaw and the second clamping jaw are connected to the driving cam assembly through a swing arm assembly, and the driving cam assembly drives the first clamping jaw and the second clamping jaw to move.

[0007] As a further improvement of the above technical solution, the driving cam assembly includes a cam shaft arranged at the bottom of the mechanism platform and a first cam, a second cam, a third cam, and a fourth cam installed on the cam shaft, the swing arm assembly includes a first swing arm assembly, a second swing arm assembly, a third swing arm assembly and a fourth swing arm assembly, the two ends of the first swing arm assembly are respectively connected to the first cam and the first movable clamping block, the two ends of the second swing arm assembly are respectively connected to the second cam and the second movable clamping block, the two ends of the third swing arm assembly are respectively connected to the third cam and the first clamping jaw and / or the second clamping jaw; the two ends of the fourth swing arm assembly are respectively connected to the fourth cam and the movable conveying seat, the first cam can drive the first movable clamping block to reciprocate through the first swing arm assembly, the second cam can drive the second movable clamping block to reciprocate through the second swing arm assembly; the third cam can drive the first clamping jaw and the second clamping jaw to reciprocate through the third swing arm assembly; the fourth cam can drive the movable conveying seat to reciprocate through the fourth swing arm assembly.

[0008] As a further improvement of the above technical solution, the first cam, the second cam, the third cam and the fourth cam are respectively provided with a first cam groove, a second cam groove, a third cam groove and a fourth cam groove; the first end of the first movable swing arm is movably connected in the first cam groove through a rolling bearing, and the second end of the first movable swing arm is movably connected to the first movable clamping block through a rolling bearing; the first end of the second movable swing arm is movably connected in the second cam groove through a rolling bearing, and the second end of the second movable swing arm is movably connected to the second movable clamping block through a rolling bearing; the first end of the third movable swing arm is movably connected in the third cam groove through a rolling bearing, and the second end of the third movable swing arm is transmission-connected to the first clamping jaw and / or the second clamping jaw through a rolling wheel; the first end of the fourth movable swing arm is movably connected in the fourth cam groove through a rolling bearing, and the second end of the fourth movable swing arm is movably connected to the movable conveying seat through a rolling bearing.

[0009] As a further improvement of the above technical solution, it also includes a flip module, which includes a flip mounting seat and a flip clamping cylinder arranged on the flip mounting seat, the output end of the flip clamping cylinder is provided with a flip claw, a linkage swing arm is provided between the flip mounting seat and the movable conveying seat, and both ends of the linkage swing arm are transmission-connected with the flip mounting seat and the movable conveying seat, and the movable conveying seat can drive the flip mounting seat to flip through the linkage swing arm during the movement.

[0010] As a further improvement of the above technical solution, the automatic clamping module includes a clamping module guide rail arranged on the mechanism platform and a first slide and a second slide arranged on the clamping module guide rail, the first slide is provided with a first clamping block seat, the second slide is provided with a second clamping block seat, the first movable clamping block and the second movable clamping block are respectively provided on the first clamping block seat and the second clamping block seat.

[0011] As a further improvement of the above technical solution, the foot cutting module includes a first foot cutting seat arranged on a first slide and a second foot cutting seat arranged on the second slide, the first foot cutting seat and / or the second foot cutting seat are provided with a cutting knife, the first foot cutting seat and / or the second foot cutting seat are provided with a waste baffle, and a compression spring for driving its movement is provided on one side of the waste baffle.

[0012] As a further improvement of the above technical solution, the bending module includes a first bending seat arranged on the first slide and a second bending seat arranged on the second slide, and a plurality of bending blocks are arranged on the first bending seat and / or the second bending seat.

[0013] As a further improvement of the above technical solution, the automatic conveying clamping module includes a fixed mounting seat fixed on the mechanism platform, the fixed mounting seat is provided with a movable guide rail, the movable conveying seat is installed on the movable guide rail, the movable mounting seat is provided with a first sliding block, a second sliding block and a linkage gear shaft, the first sliding block is provided with a first tooth surface, the second sliding block is provided with a second tooth surface, the linkage gear shaft is provided with a linkage gear, the first tooth surface and the second tooth surface are respectively meshed with two sides of the linkage gear, the first clamping jaw and the second clamping jaw are respectively provided on the first sliding block and the second sliding block extend to the first end of the movable conveying seat, the second end of the first sliding block extends from the other side of the movable conveying seat and is contacted and connected with the swing arm assembly through a contact block, and a clamping spring is also provided inside the movable conveying seat, and the clamping spring is used to drive the first sliding block and the second sliding block to move toward each other so that the first clamping jaw and the second clamping jaw maintain a clamping state.

[0014] The present invention also provides:

[0015] An automatic corner cutting, bending and material collecting equipment comprises a frame, on which the automatic corner cutting and bending mechanism and conveying mechanism, a material box translation mechanism, a material box clamping mechanism and a manipulator material moving mechanism are arranged, the material box translation mechanism comprises a feed box translation module and a discharge box translation module, the conveying mechanism is used to convey the workpiece that has completed the corner cutting and bending processes in the automatic corner cutting and bending mechanism forward, the manipulator material moving mechanism is used to transport the workpiece on the conveying mechanism to an empty material box on the feed box translation module in the material box translation mechanism, the material box clamping mechanism is used to convey the material box full of workpieces in the feed box translation module to the discharge box translation module, the feed box translation module is used to convey the empty material box inward to a preset position, and the discharge box translation module is used to send the full material box outward.

[0016] As a further improvement of the above technical solution, the conveying mechanism includes a clamping assembly, a conveying track assembly and a pushing assembly. The clamping assembly is used to clamp the workpiece that has completed the cutting and bending processes in the automatic cutting and bending mechanism and send the workpiece to the conveying track assembly. The pushing assembly is used to push the workpiece placed in the conveying guide rail assembly to a preset position.

[0017] As a further improvement of the above technical solution, the material clamping assembly includes a material clamping assembly guide rail, a material clamping motor screw device and a material clamping slide, the output end of the material clamping motor screw device is connected to the material clamping slide to drive the material clamping slide to slide on the material clamping assembly guide rail, the material clamping slide is provided with a material clamping cylinder, and the output end of the material clamping cylinder is provided with a material clamping claw;

[0018] As a further improvement of the above technical solution, the conveying track assembly includes a conveying track roller, a conveying track wound around the conveying track roller, and a track drive motor for driving the conveying track roller to rotate, and the conveying track is evenly distributed with bearing seats for carrying workpieces, and the output shaft of the track drive motor is connected to the conveying track roller and is used to drive the conveying track roller to rotate;

[0019] As a further improvement of the above technical solution, the pusher assembly includes a pusher cylinder and a pusher plate arranged at the output end of the pusher cylinder.

[0020] As a further improvement of the above technical solution, the feed box translation module includes a feed bottom plate and a feed guide rail arranged on the feed bottom plate, a feed motor screw module, a feed frame, a feed limit frame, a feed bearing seat arranged on the feed guide rail, and a feed push plate arranged on the side of the feed bearing seat, and the active end of the feed motor screw module is connected to the feed bearing seat and is used to drive the feed bearing seat and the feed push plate to move on the feed guide rail;

[0021] As a further improvement of the above technical solution, the discharge box translation module includes a discharge base plate and a discharge guide rail arranged on the discharge base plate, a discharge motor screw module, a discharge limit frame and a discharge bearing seat arranged on the discharge guide rail. The active end of the discharge motor screw module is connected to the discharge bearing seat and is used to drive the discharge bearing seat to move on the discharge guide rail.

[0022] As a further improvement of the above technical solution, it also includes a material box lifting mechanism used in conjunction with the material box translation mechanism, the material box lifting mechanism has two groups, and the two groups of material box lifting mechanisms are used in conjunction with the feed box translation module and the discharge box translation module respectively;

[0023] As a further improvement of the above technical solution, the material box lifting mechanism includes a lifting mechanism mounting seat, a lifting guide rail, a lifting motor screw device and a lifting slide arranged on the lifting guide rail, and a lifting support plate is arranged on the lifting slide. The active end of the lifting motor screw device is connected to the lifting slide and can drive the lifting slide and the lifting support plate to move up and down on the lifting guide rail.

[0024] As a further improvement of the above technical solution, the material box clamping mechanism includes a clamping mechanism mounting plate, a material box transverse guide rail arranged on the clamping mechanism mounting plate, a material box transverse driving device, a material box transverse mounting frame arranged on the material box transverse guide rail, a material box lifting cylinder arranged on the material box transverse mounting frame, a material box lifting frame arranged at the output end of the material box lifting cylinder, a material box clamping cylinder arranged on the material box lifting frame and a material box clamping claw arranged at the output end of the material box clamping cylinder, and the active end of the material box transverse driving device is connected to the material box transverse mounting frame and can drive the material box transverse mounting frame to move on the material box transverse guide rail.

[0025] As a further improvement of the above technical solution, the manipulator material handling mechanism includes a manipulator transverse movement module, a manipulator lifting module arranged at the output end of the manipulator transverse movement module, and multiple suction nozzles arranged at the output end of the manipulator lifting module, and the spacing between the multiple suction nozzles is adjustable.

[0026] The beneficial effects of the present invention are as follows: the present invention provides an automatic foot cutting and bending mechanism and automatic corner cutting, bending and material receiving equipment, the automatic foot cutting and bending mechanism is provided with a cam driving module, an automatic clamping module, an automatic conveying jaw module, a foot cutting module and a bending module, and the automatic foot cutting and automatic bending functions are realized by the cam driving module, the automatic clamping module, the automatic conveying jaw module, the foot cutting module and the bending module, and the products that have completed automatic foot cutting and bending can be automatically placed in the material box in the automatic corner cutting, bending and material receiving equipment, and the whole process is automated, which can greatly simplify the working procedures, reduce labor costs, and improve production efficiency, and at the same time, it can also reduce equipment costs.

[0027] In summary, this type of automatic leg cutting and bending mechanism and automatic corner cutting and bending material receiving equipment solves the technical defects of the prior art, such as high equipment cost, complicated process, high labor cost and low efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0029] Figure 1 It is a schematic diagram of the assembly of an automatic leg cutting and bending mechanism in the present invention;

[0030] Figure 2 This is a structural disassembly diagram of an automatic leg cutting and bending mechanism in the present invention;

[0031] Figure 3 It is a schematic diagram of the assembly of the cam drive module of the present invention;

[0032] Figure 4 is another assembly schematic diagram of the cam drive module of the present invention;

[0033] Figure 5 It is a schematic diagram of the assembly of the automatic clamping module of the present invention;

[0034] Figure 6 is another assembly schematic diagram of the automatic clamping module of the present invention;

[0035] Figure 7 It is a schematic diagram of the assembly of the automatic conveying clamping claw module of the present invention;

[0036] Figure 8 It is a schematic diagram of the internal assembly of the automatic conveying clamping claw module of the present invention;

[0037] Fig. 9 It is a schematic diagram of the assembly of an automatic corner cutting, bending and collecting device in the present invention;

[0038] Fig.10 It is a schematic diagram of the assembly of the conveying mechanism in the present invention;

[0039] Fig.11 It is a schematic diagram of the assembly of the material box translation mechanism and the material box lifting mechanism in the present invention;

[0040] Fig.12 It is a schematic diagram of the assembly of the feed box translation module in the present invention;

[0041] Fig.13 It is a schematic diagram of the assembly of the discharging box translation module of the present invention;

[0042] Fig.14 It is a schematic diagram of the assembly of the material box lifting mechanism in the present invention;

[0043] Fig.15It is a schematic diagram of the assembly of the material box clamping mechanism in the present invention;

[0044] Fig.16 It is another assembly schematic diagram of the material box clamping mechanism in the present invention;

[0045] Fig.17 It is an assembly diagram of the manipulator material handling mechanism in the present invention.

[0046] Reference numerals:

[0047] 1. Mechanism platform, 100. Frame, 11. Foot cutting module, 111. First foot cutting seat, 112. Second foot cutting seat, 113. Waste baffle, 114. Compression spring, 12. Bending module, 121. First bending seat, 122. Second bending seat, 123. Bending block, 13. Flipping module, 131. Flipping mounting seat, 132. Flipping clamping cylinder, 133. Flipping jaws, 2. Cam drive module, 21. Cam shaft, 221. First cam, 222. Second cam, 223. Third cam, 224. Fourth cam, 231. First swing arm assembly, 232. Second swing arm assembly, 233. Third swing arm assembly, 234. Fourth swing arm assembly, 235, linkage swing arm, 3, automatic clamping module, 301, first mobile clamping block, 302, second mobile clamping block, 31, first slide seat, 32, second slide seat, 33, first clamping block seat, 34, second clamping block seat, 35, clamping module guide rail, 4, automatic conveying jaw module, 401, first clamping jaw, 402, second clamping jaw, 41, mobile conveying seat, 42, fixed mounting seat, 43, mobile guide rail, 44, first sliding block, 441, first tooth surface, 45, second sliding block, 451, first tooth surface, 46, linkage gear shaft, 461, linkage gear, 47, contact block, 48, clamping spring, 5, conveying mechanism, 51, Clamping assembly, 511, clamping assembly guide rail, 512, clamping motor screw device, 513, clamping slide, 514, clamping cylinder, 515, clamping claw, 52, conveying track assembly, 521, conveying track, 522, track drive motor, 523, bearing seat, 53, pushing assembly, 531, pushing cylinder, 532, pushing plate, 6, material box translation mechanism, 600, material box, 61, feed box translation module, 611, feed bottom plate, 612, feed guide rail, 613, feed motor screw module, 614, feed rack, 615, feed limit rack, 616 feed bearing seat, 617, feed push plate, 62, discharge box translation module, 6 21. Discharging bottom plate, 622. Discharging guide rail, 623. Discharging motor screw module, 625. Discharging bearing seat, 7. Material box clamping mechanism, 71. Clamping mechanism mounting plate, 72. Material box transverse guide rail, 73. Material box transverse driving device, 74. Material box transverse mounting frame, 75. Material box lifting cylinder, 76. Material box lifting frame, 77. Material box clamping cylinder, 78. Material box clamping claw, 8. Manipulator material moving mechanism, 81. Manipulator transverse module, 82. Manipulator lifting module, 83. Suction nozzle, 9. Material box lifting mechanism, 91. Lifting mechanism mounting seat, 92. Lifting guide rail, 93. Lifting motor screw device, 94. Lifting slide, 95. Lifting support plate. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the present invention. In addition, all the connection / connection relationships involved in the patent do not simply refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the invention can be combined interchangeably without conflicting with each other, refer to Figure 1-17 .

[0049] Specific reference Figure 1-8The present invention provides: an automatic foot cutting and bending mechanism, including a mechanism platform 1, on which a cam driving module 2, an automatic clamping module 3, an automatic conveying clamping claw module 4, a foot cutting module 11 and a bending module 12 are arranged, the cam driving module 2 includes a plurality of driving cam assemblies and a swing arm assembly, the automatic clamping module 3 includes a first moving clamp block 301 and a second moving clamp block 302, the first moving clamp block 301 and the second moving clamp block 302 are connected to the driving cam assembly through a swing arm assembly and driven by the driving cam assembly to move toward or away from each other, the foot cutting module 11 and the bending module 12 are both arranged on the automatic clamping module 3 and are connected to the automatic The first movable clamping block 301 and the second movable clamping block 302 on the clamping module 3 are linked together, and the automatic conveying clamping jaw module 4 includes a movable conveying seat 41 and a first clamping jaw 401 and a second clamping jaw 402 arranged on the automatic conveying seat 41. The movable conveying seat 41 is connected to the driving cam assembly through a swing arm assembly, and the driving cam assembly drives the movable conveying seat 41 and the first clamping jaw 401 and the second clamping jaw 402 arranged on the movable conveying seat 41 to move back and forth. The first clamping jaw 401 and the second clamping jaw 402 are connected to the driving cam assembly through a swing arm assembly, and the driving cam assembly drives the first clamping jaw 401 and the second clamping jaw 402 to move. In specific applications, workpieces of products such as capacitors and lithium batteries are clamped on the automatic clamping module 3 by the first movable clamp block 301 and the second movable clamp block 302, and the workpiece is conveyed forward in a step-by-step manner through the automatic conveying jaw module 4. During the moving process of the workpiece step-by-step conveying, the first movable clamp block 301 and the second movable clamp block 302 release the clamping of the workpiece, and the first clamp jaw 401 and the second clamp jaw 402 clamp the workpiece. After the workpiece is clamped and fixed by the first clamp jaw 401 and the second clamp jaw 402, the first clamp jaw 401, the second clamp jaw 402 and the workpiece are driven to move in steps by the mobile conveying seat 41. When the workpiece moves to the cutting module 11 and the bending module 12, the cutting module 11 and the bending module 12 respectively perform cutting and bending processing on the pins of the workpiece, and the whole process is automated, which can improve efficiency, reduce labor costs, and improve production benefits.

[0050] Reference Figure 3 , Figure 4In some embodiments, the driving cam assembly includes a cam shaft 21 disposed at the bottom of the mechanism platform 1 and a first cam 221, a second cam 222, a third cam 223, and a fourth cam 224 installed on the cam shaft 21, and the swing arm assembly includes a first swing arm assembly 231, a second swing arm assembly 232, a third swing arm assembly 233, and a fourth swing arm assembly 234. The two ends of the first swing arm assembly 231 are respectively connected to the first cam 221 and the first moving clamp 301, the two ends of the second swing arm assembly 232 are respectively connected to the second cam 222 and the second moving clamp 302, and the two ends of the third swing arm assembly 233 are respectively connected to the third cam 22 3 and the first clamping jaw 401 and / or the second clamping jaw 402 are transmission-connected; the two ends of the fourth swing arm assembly 234 are transmission-connected with the fourth cam 224 and the mobile conveying seat 41 respectively, the first cam 221 can drive the first mobile clamping block 401 to move back and forth through the first swing arm assembly 231, and the second cam 222 can drive the second mobile clamping block 402 to move back and forth through the second swing arm assembly 232; the third cam 223 can drive the first clamping jaw 401 and the second clamping jaw 402 to move back and forth through the third swing arm assembly 233; the fourth cam 224 can drive the mobile conveying seat 41 to move back and forth through the fourth swing arm assembly 234. The driving cam assembly also includes a cam driving motor, which is transmission-connected with the cam shaft 21 and is used to drive the cam shaft 21 to rotate. When the cam shaft 21 rotates, the cam shaft 21 drives the first cam 221, the second cam 222, the third cam 223 and the fourth cam 224 to rotate, and the first cam 221, the second cam 222, the third cam 223 and the fourth cam 224 rotate in coordination with the first swing arm assembly 231, the second swing arm assembly 232, the third swing arm assembly 233 and the fourth swing arm assembly 234 to control the action rhythm of the automatic clamping module 3 and the automatic conveying jaw module 4, so that the action rhythm of each component can be coordinated to realize the automatic control of the workpiece.

[0051] Specifically, the first cam 221, the second cam 222, the third cam 223 and the fourth cam 224 are respectively provided with a first cam groove, a second cam groove, a third cam groove and a fourth cam groove; the first end of the first movable swing arm 231 is movably connected in the first cam groove through a rolling bearing, and the second end of the first movable swing arm 231 is movably connected to the first movable clamping block 301 through a rolling bearing; the first end of the second movable swing arm 232 is movably connected in the second cam groove through a rolling bearing, and the second end of the second movable swing arm 232 is movably connected to the second movable clamping block 302 through a rolling bearing; the first end of the third movable swing arm 233 is movably connected in the third cam groove through a rolling bearing, and the second end of the third movable swing arm 233 is transmission-connected to the first clamping jaw 401 and / or the second clamping jaw 402 through a rolling wheel; the first end of the fourth movable swing arm 234 is movably connected in the fourth cam groove through a rolling bearing, and the second end of the fourth movable swing arm 234 is movably connected to the movable conveying seat 41 through a rolling bearing. In actual implementation, the action rhythm of each action component can be controlled by setting the specific contours of the first cam groove, the second cam groove, the third cam groove and the fourth cam groove. The implementer can set the groove shape of the cam groove according to the actual needs.

[0052] Reference Figure 3 , Figure 4 In some embodiments, the automatic foot cutting and bending mechanism further includes a flip module 13, through which the workpiece that has completed the foot cutting and bending process is flipped 90°, so that the workpiece can proceed to the next action process. Specifically, the flip module 13 includes a flip mounting seat 131 and a flip clamping cylinder 132 disposed on the flip mounting seat 131, and a flip clamping claw 133 is disposed at the output end of the flip clamping cylinder 132. A linkage swing arm 235 is disposed between the flip mounting seat 131 and the mobile conveying seat 41, and both ends of the linkage swing arm 235 are transmission-connected with the flip mounting seat 131 and the mobile conveying seat 41. During the movement of the mobile conveying seat 41, the flip mounting seat 131 can be driven to flip through the linkage swing arm 235.

[0053] Reference Figure 5 , Figure 6In some embodiments, the automatic clamping module 3 includes a clamping module guide rail 35 disposed on the mechanism platform 1 and a first slide 31 and a second slide 32 disposed on the clamping module guide rail 35. The first slide 31 is provided with a first clamping block seat 33, and the second slide 32 is provided with a second clamping block seat 34. The first movable clamping block 301 and the second movable clamping block 302 are respectively disposed on the first clamping block seat 33 and the second clamping block seat 34. The automatic clamping module 3 also includes two guide steel plates 30, and there is a gap between the two guide steel plates 30. When the workpiece is sent to the automatic clamping module 3, the pins of the workpiece pass through the gap between the two guide steel plates 30, and the body of the workpiece slides on the surface of the guide steel plates 30. During the stepping movement of the workpiece, after each movement of a certain distance, the pins of the workpiece are clamped by the first movable clamping block 301 and the second movable clamping block 302 in the automatic clamping module 3 to prevent the position of the workpiece from being offset. Specifically, the first slide 31 and the second slide 32 are driven to move on the clamping module guide rail 35 by driving the cam assembly and the swing arm assembly, thereby driving the first movable clamp block 301 and the second movable clamp block 302 to move to achieve the clamping action of the workpiece pin.

[0054] Reference Figure 5 , Figure 6 In some embodiments, the foot cutting module 11 includes a first foot cutting seat 111 arranged on the first slide 31 and a second foot cutting seat 112 arranged on the second slide 32, the first foot cutting seat 111 and / or the second foot cutting seat 112 are provided with a cutter, the first foot cutting seat 111 and / or the second foot cutting seat 112 are provided with a waste baffle 113, and one side of the waste baffle 113 is provided with a compression spring 114 for driving its movement. In this embodiment, the waste baffle 113 and the compression spring 114 are arranged on the first foot cutting seat 111, and the compression spring 114 is used to drive the waste baffle 113 to press in the direction of the second foot cutting seat 112. When the foot cutting module 11 is cutting, when the first foot cutting seat 111 and the second foot cutting seat 112 are close to each other and the foot cutting action is performed by the cutter, the compression spring 114 drives the waste baffle 113 to move in the direction of the second foot cutting seat 112 and blocks the space above the cutter to prevent the cut pin waste from flying out from above the foot cutting module 11. At the same time, a waste recovery channel 14 and a waste recovery bucket 15 used in conjunction with the foot cutting module 11 are arranged at the bottom of the foot cutting module 13, and the pin waste is collected into the waste recovery bucket 15 through the waste recovery channel 14.

[0055] In some embodiments, the bending module 12 includes a first bending seat 121 disposed on the first slide 31 and a second bending seat 122 disposed on the second slide 32, and a plurality of bending blocks 123 are disposed on the first bending seat 121 and / or the second bending seat 122. When the first slide 31 and the second slide 32 are approaching each other, the bending work of the pin is completed by the bending blocks 123. Specifically, the specific bending shape of the pin can be achieved by controlling the specific shape of the bending blocks 123.

[0056] Reference Figure 7 , Figure 8 In some embodiments, the automatic conveying clamp module 4 includes a fixed mounting seat 42 fixed on the mechanism platform 1, a movable guide rail 43 is arranged on the fixed mounting seat 42, the movable conveying seat 41 is installed on the movable guide rail 43, a first sliding block 44 and a second sliding block 45 and a linkage gear shaft 46 are arranged inside the movable mounting seat 41, a first tooth surface 441 is arranged on the first sliding block 44, a second tooth surface 451 is arranged on the second sliding block 45, a linkage gear 461 is arranged on the linkage gear shaft 46, and the first tooth surface 441 and the second tooth surface 451 are respectively The first clamping jaw 401 and the second clamping jaw 402 are respectively meshed with the two sides of the linkage gear 461, and the first sliding block 44 and the second sliding block 45 are respectively arranged on the first end extending to the movable conveying seat 41, and the second end of the first sliding block 44 extends from the other side of the movable conveying seat 41 and is in contact with the swing arm assembly through the contact block 47. A clamping spring 48 is also arranged inside the movable conveying seat 41, and the clamping spring 48 is used to drive the first sliding block 401 and the second sliding block 402 to move toward each other so that the first clamping jaw 401 and the second clamping jaw 402 maintain a clamping state. When the automatic conveying jaw module 4 is working, it controls the opening or closing of the first jaw 401 and the second jaw 402 by driving the cam assembly and the swing arm assembly. When the jaws are closed, the first jaw 401 and the second jaw 402 clamp the workpiece, and drive the cam assembly and the swing arm assembly to drive the movable conveying seat 41 to convey the workpiece forward. After the workpiece is conveyed forward to the position, the jaws open and the movable conveying seat 41 resets backward, and this reciprocating process is repeated to complete the stepping conveying action of the workpiece.

[0057] Reference Figure 9-17Based on the above-mentioned automatic cutting and bending mechanism, the present invention also provides: an automatic cutting and bending material receiving device, comprising a frame 100, on which the automatic cutting and bending mechanism and the conveying mechanism 5, the material box translation mechanism 6, the material box clamping mechanism 7, and the manipulator material handling mechanism 8 are arranged, the material box translation mechanism 6 comprises a feed box translation module 61 and a discharge box translation module 62, the conveying mechanism 5 is used to transfer the workpiece that has completed the cutting and bending process in the automatic cutting and bending mechanism For forward conveying, the robot material handling mechanism 8 is used to transport the workpiece on the conveying mechanism 5 to the empty material box 600 on the feed box translation module 61 in the material box translation mechanism 6, and the material box clamping mechanism 7 is used to convey the material box 600 full of workpieces in the feed box translation module 61 to the discharge box translation module 62. The feed box translation module 61 is used to convey the empty material box 600 inward to a preset position, and the discharge box translation module 62 is used to send the full material box outward.

[0058] Reference Fig.10 In some embodiments, the conveying mechanism 5 includes a clamping assembly 51, a conveying track assembly 52 and a pushing assembly 53. The clamping assembly 51 is used to clamp the workpiece that has completed the cutting and bending process in the automatic cutting and bending mechanism and send the workpiece to the conveying track assembly 52. ​​The pushing assembly 53 is used to push the workpiece placed in the conveying guide rail assembly 52 to a preset position. Specifically, the clamping assembly 51 is used to clamp the workpiece that has completed the flipping action in the flip module 13 and transport it to the conveying track assembly 52. ​​The conveying track assembly 52 has two groups, and the two groups of conveying track assemblies 52 are used to place qualified workpieces and NG workpieces respectively. The pushing assembly 53 is arranged on the side of a group of conveying track assemblies 52 where qualified workpieces are placed, and is used to flatten and position the workpieces placed in the group of conveying track workpieces 52, so as to facilitate the manipulator material handling mechanism 8 to suck and transport the materials.

[0059] In this embodiment, the clamping assembly 51 includes a clamping assembly guide rail 511, a clamping motor screw device 512 and a clamping slide 513. The output end of the clamping motor screw device 512 is connected to the clamping slide 513 to drive the clamping slide 513 to slide on the clamping assembly guide rail 511. The clamping slide 513 is provided with a clamping cylinder 514, and the output end of the clamping cylinder 514 is provided with a clamping claw 515; the conveying track assembly 52 includes a conveying track roller, a conveying track 521 wound around the conveying track roller and a track driving motor 522 for driving the conveying track roller to rotate. The conveying track 521 is evenly distributed with supporting seats 523 for carrying workpieces. The output shaft of the track driving motor 522 is transmission-connected to the conveying track roller and is used to drive the conveying track roller to rotate; the pushing assembly 53 includes a pushing cylinder 531 and a pushing plate 532 arranged at the output end of the pushing cylinder 531.

[0060] Reference Fig.11 , Fig.12 In some embodiments, the feed box translation module 61 includes a feed base plate 611 and a feed guide rail 612, a feed motor screw module 613, a feed rack 614, a feed limit rack 615, a feed support seat 616 and a feed push plate 617 on the side of the feed support seat 616, the active end of the feed motor screw module 613 is connected to the feed support seat 616 and is used to drive the feed support seat 616 and the feed push plate 617 to move on the feed guide rail 612; in specific application, the empty material box 600 is placed on the feed rack 614, and further, the feed motor screw module 613 is used to drive the feed support seat 616 and the feed push plate 617 to move on the feed guide rail 612, and the empty material box is sent into the feed limit rack 615 by the feed push plate 617 to wait for the next process.

[0061] Reference Fig.11 , Fig.13 In some embodiments, the discharging box translation module 62 includes a discharging bottom plate 621 and a discharging guide rail 622 arranged on the discharging bottom plate 621, a discharging motor screw module 623, a discharging limit frame 624 and a discharging bearing seat 625 arranged on the discharging guide rail 622. The active end of the discharging motor screw module 623 is connected to the discharging bearing seat 625 and is used to drive the discharging bearing seat 625 to move on the discharging guide rail 623. In specific applications, when full material boxes 600 are stacked on the discharging limit clamp 624, the full material boxes are carried on the discharging bearing seat 625. At this time, the discharging motor screw module 623 drives the discharging bearing seat 625 to be sent outward on the discharging guide rail 622.

[0062] Reference Fig.11 , Fig.14 In some embodiments, the automatic corner cutting and bending material receiving equipment also includes a material box lifting mechanism 9 used in conjunction with the material box translation mechanism 6, and the material box lifting mechanism 9 has two groups, and the two groups of material box lifting mechanisms 9 are used in conjunction with the feed box translation module 61 and the discharge box translation module 62 respectively; specifically, the material box lifting mechanism 9 includes a lifting mechanism mounting seat 91, a lifting guide rail 92, a lifting motor screw device 93 and a lifting slide 94 arranged on the lifting guide rail 92, and a lifting support plate 95 is arranged on the lifting slide 94, and the active end of the lifting motor screw device 93 is connected to the lifting slide 94 and can drive the lifting slide 94 and the lifting support plate 95 to move up and down on the lifting guide rail 92.

[0063] In application, before the empty material box is conveyed to the feed limit frame 615, a group of material box lifting mechanisms 9 corresponding to the feed box translation module 61 controls its lifting support plate 95 to descend to the lowest position. When the empty material box is sent to the feed limit clamp 615 and the feed bearing seat 616 and the feed push plate 617 move outward, the empty material box is carried on the lifting support plate 95. At this time, the height of the material box 600 can be controlled by controlling the lifting and lowering of the lifting support plate 95, so that the top material box 600 is located at the preset material receiving height. When the top material box is full of materials, the full material box is sent to the material discharging box translation module 62 by the material box clamping mechanism 7. At the same time, a group of material box lifting mechanisms 9 corresponding to the feed box translation module 61 controls its lifting support plate 95 to rise to the height of one material box thickness, so that the top material box 600 is always at the preset material receiving height.

[0064] On the other hand, before the full material box is fed into the discharge box translation module 62, the discharge motor screw module 623 controls the discharge support seat 625 to move to the bottom of the discharge limit frame 624. When the full material box is fed into the discharge box translation module 62, the full material box is fed into the discharge limit frame 624 by the material box clamping mechanism 7 and supported on the lifting support plate 95 of a group of material box lifting mechanisms 9 corresponding to the discharge box translation module 62. After each full material box is fed into the discharge limit frame 624, the corresponding lifting support plate 95 descends by the thickness of a material box to maintain the most suitable discharge position. When the discharge limit frame 624 is full of materials, the corresponding lifting support plate 95 drops to a position below the discharge support seat 625, and the full material box is carried on the discharge support seat 625. At this time, the discharge motor screw module 623 drives the discharge support seat 625 to move on the discharge guide rail 622 to complete the discharge of the full material box.

[0065] Reference Fig.15 , Fig.16In some embodiments, the material box clamping mechanism 7 includes a clamping mechanism mounting plate 71, a material box transverse guide rail 72 arranged on the clamping mechanism mounting plate 71, a material box transverse driving device 73, a material box transverse mounting frame 74 arranged on the material box transverse guide rail 72, a material box lifting cylinder 75 arranged on the material box transverse mounting frame 74, a material box lifting frame 76 arranged at the output end of the material box lifting cylinder 75, a material box clamping cylinder 77 arranged on the material box lifting frame 76 and a material box clamping claw 78 arranged at the output end of the material box clamping cylinder 77, and the active end of the material box transverse driving device 73 is connected to the material box transverse mounting frame 74 and can drive the material box transverse mounting frame 74 to move on the material box transverse guide rail 72.

[0066] Reference Fig.17 The robot material handling mechanism 8 includes a robot transverse movement module 81, a robot lifting module 82 arranged at the output end of the robot transverse movement module 81, and a plurality of suction nozzles 83 arranged at the output end of the robot lifting module 82. The spacing between the plurality of suction nozzles 83 is adjustable, and the suction nozzles 83 are negative pressure suction nozzles.

[0067] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. An automatic leg cutting and bending mechanism, characterized in that: The invention comprises a mechanism platform (1), on which a cam driving module (2), an automatic clamping module (3), an automatic conveying clamping claw module (4), a foot cutting module (11) and a bending module (12) are arranged, the cam driving module (2) comprises a plurality of driving cam assemblies and a swing arm assembly, the automatic clamping module (3) comprises a first movable clamping block (301) and a second movable clamping block (302), the first movable clamping block (301) and the second movable clamping block (302) are connected to the driving cam assembly through a swing arm assembly and are driven by the driving cam assembly to move toward or away from each other, the foot cutting module (11) and the bending module (12) are both arranged on the automatic clamping module (3) and connected to the first movable clamping block (301) on the automatic clamping module (3). The movable clamp block (301) and the second movable clamp block (302) are linked together, and the automatic conveying clamping jaw module (4) comprises a movable conveying seat (41) and a first clamping jaw (401) and a second clamping jaw (402) arranged on the automatic conveying seat (41); the movable conveying seat (41) is connected to the driving cam assembly through a swing arm assembly, and the driving cam assembly drives the movable conveying seat (41) and the first clamping jaw (401) and the second clamping jaw (402) arranged on the movable conveying seat (41) to move back and forth; the first clamping jaw (401) and the second clamping jaw (402) are connected to the driving cam assembly through a swing arm assembly, and the driving cam assembly drives the first clamping jaw (401) and the second clamping jaw (402) to move.

2. The automatic leg cutting and bending mechanism according to claim 1, characterized in that: The driving cam assembly comprises a cam shaft (21) arranged at the bottom of the mechanism platform (1) and a first cam (221), a second cam (222), a third cam (223) and a fourth cam (224) mounted on the cam shaft (21); the swing arm assembly comprises a first swing arm assembly (231), a second swing arm assembly (232), a third swing arm assembly (233) and a fourth swing arm assembly (234); the two ends of the first swing arm assembly (231) are respectively connected to the first cam (221) and the first moving clamp (301); the two ends of the second swing arm assembly (232) are respectively connected to the second cam (222) and the second moving clamp (302); the two ends of the third swing arm assembly (233) are respectively connected to the third cam (223) and the first moving clamp (304); The clamping jaw (401) and / or the second clamping jaw (402) are connected in transmission; the two ends of the fourth swing arm assembly (234) are respectively connected in transmission with the fourth cam (224) and the movable conveying seat (41); the first cam (221) can drive the first movable clamping block (401) to move back and forth through the first swing arm assembly (231); the second cam (222) can drive the second movable clamping block (402) to move back and forth through the second swing arm assembly (232); the third cam (223) can drive the first clamping jaw (401) and the second clamping jaw (402) to move back and forth through the third swing arm assembly (233); the fourth cam (224) can drive the movable conveying seat (41) to move back and forth through the fourth swing arm assembly (234).

3. The automatic leg cutting and bending mechanism according to claim 2, characterized in that: The first cam (221), the second cam (222), the third cam (223) and the fourth cam (224) are respectively provided with a first cam groove, a second cam groove, a third cam groove and a fourth cam groove; the first end of the first movable swing arm (231) is movably connected to the first cam groove via a rolling bearing, and the second end of the first movable swing arm (231) is movably connected to the first movable clamping block (301) via a rolling bearing; the first end of the second movable swing arm (232) is movably connected to the second cam groove via a rolling bearing, and the second movable swing arm (2 The second end of the third movable swing arm (233) is movably connected to the third cam groove through a rolling bearing, and the second end of the third movable swing arm (233) is transmission-connected to the first clamping jaw (401) and / or the second clamping jaw (402) through a rolling wheel; the first end of the fourth movable swing arm (234) is movably connected to the fourth cam groove through a rolling bearing, and the second end of the fourth movable swing arm (234) is movably connected to the movable conveying seat (41) through a rolling bearing.

4. An automatic leg cutting and bending mechanism according to any one of claims 1 to 3, characterized in that: The invention also comprises a flip module (13), wherein the flip module (13) comprises a flip mounting seat (131) and a flip clamping cylinder (132) arranged on the flip mounting seat (131); a flip clamping claw (133) is arranged at the output end of the flip clamping cylinder (132); a linkage swing arm (235) is arranged between the flip mounting seat (131) and the movable conveying seat (41); two ends of the linkage swing arm (235) are transmission-connected with the flip mounting seat (131) and the movable conveying seat (41); and the movable conveying seat (41) can drive the flip mounting seat (131) to flip through the linkage swing arm (235) during the movement process.

5. The automatic leg cutting and bending mechanism according to claim 1, characterized in that: The automatic clamping module (3) comprises a clamping module guide rail (35) arranged on the mechanism platform (1) and a first slide (31) and a second slide (32) arranged on the clamping module guide rail (35); a first clamping block seat (33) is arranged on the first slide (31), and a second clamping block seat (34) is arranged on the second slide (32); the first movable clamping block (301) and the second movable clamping block (302) are respectively arranged on the first clamping block seat (33) and the second clamping block seat (34).

6. The automatic leg cutting and bending mechanism according to claim 5, characterized in that: The foot cutting module (11) comprises a first foot cutting seat (111) arranged on a first slide seat (31) and a second foot cutting seat (112) arranged on the second slide seat (32); a cutting knife is arranged on the first foot cutting seat (111) and / or the second foot cutting seat (112); a waste baffle (113) is arranged on the first foot cutting seat (111) and / or the second foot cutting seat (112); a compression spring (114) for driving the waste baffle (113) to move is arranged on one side of the waste baffle (113).

7. The automatic leg cutting and bending mechanism according to claim 5, characterized in that: The bending module (12) comprises a first bending seat (121) arranged on the first slide (31) and a second bending seat (122) arranged on the second slide (32); a plurality of bending blocks (123) are arranged on the first bending seat (121) and / or the second bending seat (122).

8. The automatic leg cutting and bending mechanism according to claim 1, characterized in that: The automatic conveying clamping claw module (4) comprises a fixed mounting seat (42) fixed on the mechanism platform (1), a movable guide rail (43) is arranged on the fixed mounting seat (42), the movable conveying seat (41) is mounted on the movable guide rail (43), a first sliding block (44) and a second sliding block (45) and a linkage gear shaft (46) are arranged inside the movable mounting seat (41), a first tooth surface (441) is arranged on the first sliding block (44), a second tooth surface (451) is arranged on the second sliding block (45), a linkage gear (461) is arranged on the linkage gear shaft (46), and the first tooth surface (441) and the second tooth surface (451) are respectively The first clamping jaw (401) and the second clamping jaw (402) are respectively arranged on the first end of the first sliding block (44) and the second sliding block (45) extending to the movable conveying seat (41), and the second end of the first sliding block (44) extends from the other side of the movable conveying seat (41) and is contacted and connected with the swing arm assembly through a contact block (47). A clamping spring (48) is also arranged inside the movable conveying seat (41), and the clamping spring (48) is used to drive the first sliding block (401) and the second sliding block (402) to move toward each other so that the first clamping jaw (401) and the second clamping jaw (402) maintain a clamping state.

9. An automatic corner cutting, bending and collecting equipment, characterized by: The invention comprises a frame (100), on which the automatic cutting and bending mechanism and the conveying mechanism (5) according to any one of claims 1 to 8, a material box translation mechanism (6), a material box clamping mechanism (7), and a manipulator material handling mechanism (8) are arranged, wherein the material box translation mechanism (6) comprises a feed box translation module (61) and a discharge box translation module (62), the conveying mechanism (5) is used to convey the workpiece that has completed the cutting and bending process in the automatic cutting and bending mechanism forward, and the manipulator material handling mechanism (8) 8) is used to transport the workpiece on the conveying mechanism (5) to the empty material box (600) on the feed box translation module (61) in the material box translation mechanism (6); the material box clamping mechanism (7) is used to transport the material box (600) filled with workpieces in the feed box translation module (61) to the discharge box translation module (62); the feed box translation module (61) is used to transport the empty material box (600) inward to a preset position; and the discharge box translation module (62) is used to send the full material box outward.

10. The automatic corner cutting, bending and collecting equipment according to claim 9, characterized in that: The conveying mechanism (5) comprises a clamping assembly (51), a conveying track assembly (52) and a pushing assembly (53); the clamping assembly (51) is used to clamp the workpiece that has completed the cutting and bending process in the automatic cutting and bending mechanism and to send the workpiece to the conveying track assembly (52); the pushing assembly (53) is used to push the workpiece placed in the conveying guide assembly (52) to a preset position.

11. The automatic corner cutting, bending and collecting equipment according to claim 10, characterized in that: The material clamping assembly (51) comprises a material clamping assembly guide rail (511), a material clamping motor screw device (512) and a material clamping slide seat (513); the output end of the material clamping motor screw device (512) is connected to the material clamping slide seat (513) and can drive the material clamping slide seat (513) to slide on the material clamping assembly guide rail (511); the material clamping slide seat (513) is provided with a material clamping cylinder (514); and the output end of the material clamping cylinder (514) is provided with a material clamping claw (515); The conveying track assembly (52) comprises a conveying track roller, a conveying track (521) wound around the conveying track roller, and a track driving motor (522) for driving the conveying track roller to rotate; bearing seats (523) for bearing workpieces are evenly distributed on the conveying track (521); an output shaft of the track driving motor (522) is drivingly connected to the conveying track roller and is used to drive the conveying track roller to rotate; The pushing assembly (53) comprises a pushing cylinder (531) and a pushing plate (532) arranged at the output end of the pushing cylinder (531).

12. The automatic corner cutting, bending and collecting equipment according to claim 9, characterized in that: The feed box translation module (61) comprises a feed bottom plate (611) and a feed guide rail (612) arranged on the feed bottom plate (611), a feed motor screw module (613), a feed frame (614), a feed limit frame (615), a feed bearing seat (616) arranged on the feed guide rail (612), and a feed push plate (617) arranged on the side of the feed bearing seat (616); the active end of the feed motor screw module (613) is connected to the feed bearing seat (616) and is used to drive the feed bearing seat (616) and the feed push plate (617) to move on the feed guide rail (612); The discharging box translation module (62) includes a discharging base plate (621) and a discharging guide rail (622) arranged on the discharging base plate (621), a discharging motor screw module (623), a discharging limit frame (624) and a discharging support seat (625) arranged on the discharging guide rail (622), and the active end of the discharging motor screw module (623) is connected to the discharging support seat (625) and is used to drive the discharging support seat (625) to move on the discharging guide rail (623).

13. The automatic corner cutting, bending and collecting equipment according to claim 9, characterized in that: It also includes a material box lifting mechanism (9) used in conjunction with the material box translation mechanism (6), wherein the material box lifting mechanism (9) has two groups, and the two groups of material box lifting mechanisms (9) are used in conjunction with the feed box translation module (61) and the discharge box translation module (62) respectively; The material box lifting mechanism (9) comprises a lifting mechanism mounting seat (91), a lifting guide rail (92), a lifting motor screw device (93) and a lifting slide (94) arranged on the lifting guide rail (92); a lifting support plate (95) is arranged on the lifting slide (94); an active end of the lifting motor screw device (93) is connected to the lifting slide (94) and can drive the lifting slide (94) and the lifting support plate (95) to move up and down on the lifting guide rail (92).

14. The automatic corner cutting, bending and collecting equipment according to claim 9, characterized in that: The material box clamping mechanism (7) comprises a clamping mechanism mounting plate (71), a material box transverse guide rail (72) arranged on the clamping mechanism mounting plate (71), a material box transverse driving device (73), a material box transverse mounting frame (74) arranged on the material box transverse guide rail (72), a material box lifting cylinder (75) arranged on the material box transverse mounting frame (74), a material box lifting frame (76) arranged at the output end of the material box lifting cylinder (75), a material box clamping cylinder (77) arranged on the material box lifting frame (76), and a material box clamping claw (78) arranged at the output end of the material box clamping cylinder (77), and the active end of the material box transverse driving device (73) is connected to the material box transverse mounting frame (74) and can drive the material box transverse mounting frame (74) to move on the material box transverse guide rail (72).

15. The automatic corner cutting, bending and collecting equipment according to claim 9, characterized in that: The manipulator material handling mechanism (8) comprises a manipulator transverse movement module (81), a manipulator lifting module (82) arranged at the output end of the manipulator transverse movement module (81), and a plurality of suction nozzles (83) arranged at the output end of the manipulator lifting module (82), wherein the spacing between the plurality of suction nozzles (83) is adjustable.

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