Carton former

Abstract

To provide a carton former capable of sucking and holding a paper storage box sheet well to execute a carton forming process even when the suction surface of the paper storage box sheet yet to be assembled is not flat.SOLUTION: A carton former 10 for assembling a paper storage box 8 from a paper storage box sheet 7 yet to be assembled comprises: a robot arm 15; a suction head 20 that is fitted to the tip of the robot arm 15 and that sucks and holds the paper storage box sheet 7, the suction head 20 including a fixed suction pad 25 fixed in position so as not to move in a suction direction and a suction pad 30 with a buffer capable of moving in the suction direction; and a vacuum pump line 37 that is connected to the fixed suction pad 25 and the suction pad 30 with the buffer and that supplies negative pressure. The vacuum pump line 37 includes a switch valve 38 for selectively supplying the negative pressure to the fixed suction pad 25 and the suction pad 30 with the buffer.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a box making machine for assembling paper storage boxes. [Background technology]

[0002] Conventionally, box making machines have been disclosed that perform box making processes while suction-holding pre-assembled cardboard box sheets (paper storage box sheets) with a suction head attached to the tip of a robot arm, and are disclosed, for example, in Patent Documents 1 and 2 below. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-1304 [Patent Document 2] Patent Publication No. 2021-10971 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the box-making machines disclosed in Patent Documents 1 and 2 above, the suction surfaces of the multiple suction pads mounted on the suction head are fixed so that they are positioned on the same plane. Therefore, if the surface to be suctioned of the cardboard box sheet is not flat, all of the suction pads cannot come into contact with the surface to be suctioned at the same time to suction the cardboard box sheet, which may result in unstable suction holding of the cardboard box sheet.

[0005] For example, when pre-assembled cardboard box sheets to be used in a box-making machine are supplied from a stacked location, it is rare for the numerous cardboard box sheets to be stacked in an accurate alignment, and the topmost cardboard box sheet to be picked up is often not entirely flat, so conventional suction heads were sometimes unable to achieve good suction and holding.

[0006] The present invention has been made in consideration of such problems, and aims to provide a box making machine that can perform the box making process by suction-holding well even if the suction surface of the paper storage box sheet before assembly is not flat. [Means for solving the problem]

[0007] In order to solve the above problems, the box making machine of the present invention is a box making machine that assembles paper storage boxes from pre-assembled paper storage box sheets, and is characterized by comprising: a robot arm; a suction head attached to the tip of the robot arm that suctions and holds the paper storage box sheets, the suction head having a fixed suction pad that is fixed in position so as not to move in the suction direction, and a buffer-equipped suction pad that is movable in the suction direction; and a vacuum pump line connected to the fixed suction pad and the buffer-equipped suction pad that supplies negative pressure. [Effects of the Invention]

[0008] According to the box making machine of the present invention, by being equipped with a fixed suction pad that is fixed in position so as not to move in the suction direction and a suction pad with a buffer that can move in the suction direction, it is possible to achieve good suction holding even if the suction surface of the paper storage box sheet before assembly is not flat. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing the configuration of a box former according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing the configuration of a suction head according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing the configuration of the temporary placement unit according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram for explaining the function of the temporary placement unit according to the embodiment of the present invention. [Figure 5] FIG. 5 is a diagram for explaining a process of sucking and holding a cardboard box sheet in a cardboard box sheet supply unit according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram for explaining a process of raising the side of a cardboard box sheet in the temporary placement unit according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram for explaining a process of raising the side of a cardboard box sheet in the temporary placement unit according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a box former 10 according to this embodiment will be described with reference to the drawings. This embodiment is characterized in that even if the surface of the cardboard box sheet 7 to be sucked is slightly tilted or has unevenness, the sheet can be satisfactorily sucked by the suction head 20 and the box-making process can be carried out.

[0011] The box making machine 10 includes an articulated robot arm 15, a suction head 20 that suctions and holds the cardboard box sheet 7, a vacuum pump line 37, a temporary placement section 40, a flap folding plate 50, and a sealing section 55 (see FIG. 1).

[0012] The articulated robot arm 15 is a six-axis vertical articulated robot with a suction head 20 fixedly attached to its tip. The articulated robot arm 15 picks up the cardboard box sheets 7 stacked on a pallet 6 in the cardboard box sheet supply section 5 one by one with the suction head 20, and carries them to the box-making process.

[0013] The suction head 20 includes a housing 21, a fixed suction pad 25, a buffer-equipped suction pad 30, and a bending member 35 (see FIG. 2). FIG. 2(a) is a plan view of the suction head 20, FIG. 2(b) is a front view of the suction head 20, and FIG. 2(c) is a bottom view of the suction head 20.

[0014] The fixed suction pad 25 and the buffer-equipped suction pad 30 are connected to a vacuum pump line 37, and can adsorb and hold the cardboard box sheet 7 (cardboard box 8) by creating a negative pressure inside and sucking while in contact with the surface of the cardboard box sheet 7 (cardboard box 8).

[0015] Five fixed suction pads 25 are installed, including four first fixed suction pads 25a for adsorbing the larger first side surface of the cardboard box sheet 7 (cardboard box 8) and one second fixed suction pad 25b for adsorbing the smaller second side surface of the cardboard box sheet 7 (cardboard box 8). The first fixed suction pad 25a is fixed to the housing 21, and the second fixed suction pad 25b is fixed to a bending member 35 that is installed to be rotatable at a right angle to the housing 21.

[0016] The bending member 35 is installed at the end of the housing 21 and is configured to be freely bent at right angles between a parallel state in which the suction surface of the second fixed suction pad 25b is parallel to the suction surface of the first fixed suction pad 25a and a vertical state in which the suction surface of the first fixed suction pad 25a is perpendicular to the suction surface of the first fixed suction pad 25a (see Figures 6 and 7, etc.).

[0017] The suction surfaces of the four first fixed suction pads 25a are configured to be positioned on the same plane, and when the first fixed suction pads 25a adsorb an item (object to be adsorbed) such as a cardboard box sheet 7 (cardboard box 8), the pad bodies 26 of the four first fixed suction pads 25a simultaneously come into contact with the suction surfaces to adsorb the item.

[0018] When the folding members 35 are in a horizontal position, the suction surface of the second fixed suction pad 25b is located on the same plane as the suction surface of the first fixed suction pad 25a, but when the folding members 35 are in a vertical position, the suction surface of the second fixed suction pad 25b is located on a plane perpendicular to the suction surface of the first fixed suction pad 25a. In this state, the second fixed suction pad 25b can suction the second side of the cardboard box sheet 7, which is raised so as to be perpendicular to the first side of the cardboard box sheet 7 suctioned by the first fixed suction pad 25a.

[0019] Three buffer-equipped suction pads 30 are installed, each comprising a pad body 31 that comes into contact with the object to be suctioned, and a slide shaft 32 that is installed slidably relative to the housing 21 in a direction perpendicular to the suction surface and that is slidable integrally with the pad body 31. The slide shaft 32 is journaled to the housing 21 via a rubber bushing (not shown).

[0020] Therefore, the pad body 31 of the buffer-equipped suction pad 30 is freely slidable along the axis of the slide shaft 32, and moves in either direction, either towards the tip or the base, depending on its own weight and the weight of the object to be suctioned, or is pushed back towards the base when it comes into contact with the object to be suctioned, such as a cardboard box sheet 7 (cardboard box 8).

[0021] When the suction head 20 suctions the cardboard box sheet 7 in the cardboard box sheet supply section 5, the suction head 20 is positioned with its suction surface horizontal and facing downward, so that the pad body 31 of the buffer-equipped suction pad 30 moves to the tip (lower end) under its own weight.

[0022] In this embodiment, when the pad body 31 of the buffered suction pad 30 is positioned at the tip, the pad body 31 is configured to protrude further toward the tip than the fixed position of the pad body 26 of the fixed suction pad 25 (see Figure 2(b)).

[0023] Therefore, when the suction head 20 approaches an object to be sucked, such as a cardboard box sheet 7, while descending from above, the three buffer-equipped suction pads 30 come into contact with the object first (see FIG. 5). If the suction head 20 is further moved downward after contact, the pad body 31 retreats while the suction head 20 further descends, allowing the fixed suction pad 25 as well as the buffer-equipped suction pad 30 to come into contact with the object. After the fixed suction pad 25 comes into contact, the suction head 20 cannot descend any further.

[0024] With the suction head 20 configured in this manner, when the cardboard box sheet 7 (cardboard box 8) is suction-held by the fixed suction pad 25, its position relative to the suction head 20 remains fixed, but when it is suction-held only by the buffer-equipped suction pad 30, it can slide along the slide axis 32 relative to the suction head 20, and its relative position is variable.

[0025] The four first fixed suction pads 25a, one second fixed suction pad 25b, and the buffer-equipped suction pad 30 are each grouped and connected to a switching valve 38 on a vacuum pump line 37, with the first fixed suction pads 25a connected via a first line 37a, the second fixed suction pad 25b connected via a second line 37b, and the buffer-equipped suction pad 30 connected via a third line 37c.

[0026] The first fixed suction pad 25a, the second fixed suction pad 25b and the buffered suction pad 30 can have negative pressure supply to the suction pads 25a, 25b, 30 switched on and off independently for each group by switching the switching valve .

[0027] In this embodiment, the fixed suction pad 25 and the buffer-attached suction pad 30 are configured to be capable of selectively performing suction, and the fixed suction pad 25 and the buffer-attached suction pad 30 do not perform suction operations at the same time.

[0028] When the fixed suction pads 25 are used for suction, the object can be moved while being stably held, without moving relative to the suction head 20. On the other hand, if the surface of the object is not flat, for example, if the entire cardboard box sheet 7 is slightly inclined, or if some parts are inclined and not uniform in height, even if suction is attempted using fixed suction pads 25 positioned on the same plane, all of the fixed suction pads 25 may not be able to contact the surface of the object at the same time. In such cases, only some of the fixed suction pads 25 can perform suction, and stable suction and holding cannot be achieved.

[0029] In contrast, when suction is performed using buffer-equipped suction pads 30, even if only some of the buffer-equipped suction pads 30 are in contact initially, by further moving the suction head 20 closer to the object to be suctioned, the buffer-equipped suction pads 30 that are in contact earlier will retreat, and all of the buffer-equipped suction pads 30 can be brought into contact with the surface of the object to be suctioned.

[0030] That is, even if the object to be attracted has an uneven surface, all of the buffer-attached suction pads 30 can be brought into contact with the surface to perform stable suction.

[0031] The suction head 20 further includes a distance measurement sensor 22 and a slide sensor 23 fixedly installed on the housing 21 (see FIG. 2(b) etc.). The distance measurement sensor 22 is a laser displacement sensor that measures the distance between the suction surface of the suction head 20 and the object to be suctioned.

[0032] In this embodiment, when the articulated robot arm 15 picks up an object to be picked up, it is controlled to move the suction head 20 at high speed to approach the object to a predetermined distance based on the output of the distance sensor 22, and then move at a slower speed thereafter.

[0033] The slide sensor 23 is installed next to a specific one of the buffer-equipped suction pads 30, and can detect that the buffer-equipped suction pad 30 has retreated a specific distance from the tip position by detecting the rear end of the slide shaft 32 when the pad body 31 of the buffer-equipped suction pad 30 retreats from the tip.

[0034] The temporary placement section 40 includes a temporary placement panel 41 and a V-shaped sheet support member 42 (see FIG. 3). The temporary placement panel 41 is a square plate with an area larger than the cardboard box sheet 7 before assembly, and is installed at a predetermined angle (10° in this embodiment) from the vertically standing state.

[0035] Here, the square-shaped temporary placement panel 41 is installed so that the corner is located at the lowest position and the two adjacent lower sides that intersect perpendicularly at this corner are inclined at 45° to the horizontal when viewed from the front.

[0036] The V-shaped sheet support members 42 are elongated, strip-like support plates that are installed on the two lower sides of the temporary placement panel 41, perpendicular to the panel surface, and protrude perpendicularly from the panel surface.

[0037] When the cardboard box sheet 7 is placed on the panel surface of the temporary placement panel 41 in the temporary placement section 40, the cardboard box sheet 7 falls downward along the panel surface due to its own weight. By falling in this manner, the cardboard box sheet 7 is held in the temporary placement section 40 at a temporary placement position where a predetermined corner becomes the lowest end and the two sides sandwiching this corner are in contact with the left and right sides of the V-shaped sheet support member 42 in parallel.

[0038] With the temporary placing unit 40 having this structure, if the unassembled cardboard box sheet 7 that has been sucked up by the suction head 20 is released at a position slightly above the temporary placing position on the temporary placing panel 41 with a predetermined corner at its lowest end, the cardboard box sheet 7 will fall by its own weight, and the cardboard box sheet 7 can be accurately positioned at the temporary placing position. The cardboard box sheet 7 drawn with a solid line in Figure 4 shows an example of a released position, and the cardboard box sheet 7 drawn with a two-dot chain line in the same figure shows the temporary placing position.

[0039] The position and posture of the cardboard box sheet 7 held by suction by the suction head 20 when it is released do not need to be precise, and a more or less appropriate position and posture will suffice. After being released, the cardboard box sheet 7 falls by its own weight while coming into contact with the V-shaped sheet support member 42, and is therefore accurately positioned at the temporary placement position.

[0040] The cardboard box sheet 7 is accurately positioned in the temporary placement position, and the suction head 20 is then accurately positioned at the desired suction position using the articulated robot arm 15.The cardboard box sheet 7 is then actually suctioned by the suction head, so that the desired actual suction location on the cardboard box sheet 7 can be accurately suctioned every time, and the box making process described below can be carried out smoothly.

[0041] The flap folding plate 50 is a component used to fold the flaps of the cardboard box 8 inward. By moving the cardboard box sheet 7, which is held by suction by the suction head 20, with the articulated robot arm 15, the bottom flaps are brought into contact with the flap folding plate 50, and the cardboard box 8 can be assembled by folding the flaps inward.

[0042] The sealing portion 55 is a member for forming the cardboard box 8 by folding the bottom flap inward using the flap folding plate 50 and attaching tape to the bottom of the cardboard box 8.

[0043] The configuration of the box former 10 has been described above. Next, the suction operation of the suction head 20 for suctioning the cardboard box sheet 7 (cardboard box 8) will be described.

[0044] In this embodiment, the box making machine 10 suction-holds the cardboard box sheets 7 stacked on the pallet 6 of the cardboard box sheet supply section 5 using the buffered suction pad 30 of the suction head 20 and transfers them onto the temporary placement panel 41 of the temporary placement section 40, and then suction-holds the cardboard box sheets 7 at the temporary placement position using the fixed suction pad 25 of the suction head 20 and performs the box making process while moving them.

[0045] Therefore, we will first explain the process flow for suction-holding the cardboard box sheet 7 by the buffer-equipped suction pad 30 of the suction head 20. Figure 5 is a diagram for explaining the process flow when the cardboard box sheet supply unit 5 suction-holds the cardboard box sheet 7, and is a horizontal view from the side of the cardboard box sheet supply unit 5.

[0046] As shown in the figure, when suction holding is performed in the cardboard box sheet supply section 5, the suction head 20 is lowered with the suction surface facing downwards from directly above the cardboard box sheets 7 stacked in a horizontal position, and slides toward the tip under its own weight, bringing the pad body 31 of the buffer-equipped suction pad 30, which is located closer to the tip than the fixed suction pad 25, into contact with the surface of the cardboard box sheet 7.

[0047] At this time, the surface of the top cardboard box sheet 7 is often not completely flat, and even if some of the pad bodies 31 come into contact with the cardboard box sheet 7 first, the pad bodies 31 that came into contact first will retreat (rise) along the slide axis, allowing only the pad bodies 31 that have not yet come into contact to be further lowered while the pad bodies 31 that have already come into contact remain in contact.

[0048] In this embodiment, the suction head 20 is configured to descend based on the output of the slide sensor 23 until the buffer-equipped suction pads 30 are retracted a predetermined distance from the tip position, and at this position where they are retracted a predetermined distance, the pad bodies 31 of all of the buffer-equipped suction pads 30 can be reliably brought into contact with the cardboard box sheet 7.

[0049] After the suction head 20 is lowered, negative pressure is supplied to the buffer-equipped suction pad 30 from the vacuum pump line 37c, whereby the cardboard box sheet 7 is sucked and held by the suction head 20. At this time, negative pressure is not supplied to the fixed suction pad 25.

[0050] In this manner, in this embodiment, by employing the buffer-attached suction pads 30, it is possible to achieve good suction and holding by all the buffer-attached suction pads 30 even for objects that are not flat.

[0051] Thereafter, the cardboard box sheet 7 held by suction by the buffer-equipped suction pad 30 is transported to the temporary placement section 40, released from the suction state on the panel surface of the temporary placement panel 41, and positioned at the temporary placement position.

[0052] Next, we will explain the process flow for fully suctioning and holding the cardboard box sheet 7 by the fixed suction pad 25 of the suction head 20. Figures 6 and 7 are diagrams for explaining the process flow for suctioning and holding the cardboard box sheet 7 temporarily placed on the temporary placement section 40. Note that Figures 6 and 7 are views of the temporary placement panel 41 as seen from the side, with the panel surface horizontal.

[0053] The suction head 20 releases the cardboard box sheet 7, which has been suction-held by the buffer-equipped suction pad 30, onto the temporary placement panel 41, and then immediately suction-holds the cardboard box sheet 7, which has moved (dropped) to the temporary placement position, by the fixed suction pad 25.

[0054] When a single cardboard box sheet 7 is placed on the temporary placement panel 41, its surface is almost flat, and by pressing the fixed suction pad 25 against the surface of the cardboard box sheet 7, the suction surfaces of multiple pad bodies 26 positioned on the same plane can be brought into contact with the surface of the cardboard box sheet 7 simultaneously.

[0055] Here, when the cardboard box sheet 7 is released, the pad body 31 of the buffer-equipped suction pad 30 protrudes further toward the tip than the pad body 26 of the fixed suction pad 25. Furthermore, when the cardboard box sheet 7 is released and adsorbed in the temporary placement section 40, the suction head 20 is in a position where the adsorption surface is parallel to the panel surface of the temporary placement panel 41, which is inclined 10° from the vertical state, and therefore the buffer-equipped suction pad 30 tries to move toward the tip due to its own weight, etc.

[0056] Therefore, as shown in Figure 6(a), just before adsorbing the cardboard box sheet 7 at the temporary placement position on the temporary placement panel 41, the pad body 31 of the buffer-equipped adsorption pad 30 remains in the same protruding state toward the tip as when released.

[0057] When the suction head 20 is brought closer to the cardboard box sheet 7 from the state shown in Figure 6(a), the pad body 31 of the buffer-equipped suction pad 30 first comes into contact with the surface of the cardboard box sheet 7, but as it is brought closer still, the pad body 31 retreats toward the base, allowing the suction head 20 to be brought even closer.

[0058] The suction head 20 descends a predetermined distance, and when the pad body 26 of the fixed suction pad 25 comes into contact with the cardboard box sheet 7, the descent of the suction head 20 stops. At this time, the pad bodies 26, 31 of both the fixed suction pad 25 and the buffer-equipped suction pad 30 are in contact with the surface of the cardboard box sheet 7 (see FIG. 6(b)).

[0059] In this state, negative pressure is supplied only to the first fixed suction pad 25a from the vacuum pump line 37a, and the first side surface is suctioned only by the first fixed suction pad 25a. At this time, the second fixed suction pad 25b and the buffer-equipped suction pad 30 are not performing suction operations, so when the suction head 20 is moved in a direction away from the temporary placement panel 41, only the first side surface is pulled up by the first fixed suction pad 25a and raised, and the second side surface of the cardboard box sheet 7 can be raised (see FIG. 6(c)).

[0060] At this time, the back side of the cardboard box sheet 7 is adsorbed and fixed by a temporary placement fixing suction pad (not shown) installed in the temporary placement section 40, and the cardboard box sheet 7 is fixed so that it does not move from its temporary placement position.

[0061] As shown in Figure 7, by bending the folding member 35 vertically while raising the second side of the cardboard box sheet 7, the second fixed suction pad 25b comes into contact with the second side in the raised vertical state, and the suction action of the second fixed suction pad 25b begins, so that the second side can be further adsorbed and held by the second fixed suction pad 25b.

[0062] As a result, the sheet-like cardboard box sheet 7 can be raised and firmly supported by the fixed suction pads 25 while maintaining the box-shaped assembled state. After that, the articulated robot arm 15 is operated, and the cardboard box sheet 7 held by the suction head 20 is moved sequentially downstream to the flap folding plate 50 and the sealing unit 55, thereby completing the box formation.

[0063] In this embodiment, when the cardboard box sheet 7 (cardboard box 8) is moved to the flap folding plate 50 and the sealing section 55, the cardboard box sheet 7 is adsorbed and held by the fixed suction pad 25, and the cardboard box sheet 7 is fixed without moving relative to the housing 21 of the suction head 20, allowing the box-making process to be carried out stably.

[0064] This embodiment has been described in detail above. According to this embodiment, even if the surface of the object to be adsorbed, such as a cardboard box sheet 7, is inclined or has an uneven height and is not flat, the object can be adsorbed and held well by the buffer-equipped adsorption pad 30.

[0065] Furthermore, according to this embodiment, after the cardboard box sheet 7 is temporarily placed in the temporary placement section 40, the fixed suction pad 25 accurately suctions and moves the cardboard box sheet 7 to the actual suction position, while the box-making process is carried out using the flap folding plate 50 and the sealing section 55, so that the cardboard box 8 can be assembled stably and accurately.

[0066] The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the present invention. For example, the shape, size, material, etc. of the components constituting the box making machine 10 can be changed as appropriate.

[0067] In addition, in the above embodiment, the boxes to be made were cardboard boxes, but the box making machine according to this embodiment can be applied to all paper storage boxes assembled from paper storage box sheets made of paper materials other than cardboard, such as thick paper.

[0068] Furthermore, in the above embodiment, a multi-joint robot arm is used as the robot arm, but this is not limited to this. Other robot arms, such as parallel links or SCARA robots, can be used as long as they are capable of performing the box-making process while moving paper storage box sheets that are adsorbed and held by an adsorption head attached to the tip. [Explanation of symbols]

[0069] 10 Box making machine 15 Articulated Robot Arm 20 suction head 21. Cabinet 22 Distance measurement sensor 23 Slide sensor 25 Fixed suction pad 25a First fixed suction pad 25b Second fixed suction pad 26 Pad body 30 Buffered Suction Pads 31 Pad body 32 Slide shaft 35 Bending member 37 Vacuum Pump Line 38 Switching valve 40 Temporary storage area 41 Temporary Panel 42 V-shaped seat support member 50 Flap folding board 55 Seal part 5. Cardboard box sheet supply section 6 palettes 7. Cardboard box sheets 8 cardboard boxes

Claims

1. In a box making machine that assembles paper storage boxes from pre-assembled paper storage box sheets, A robotic arm, a suction head attached to the tip of the robot arm for suction-holding the paper storage box sheet, a fixed suction pad whose position is fixed so as not to move in the suction direction; a suction pad with a buffer that is movable in the suction direction; a suction head having a vacuum pump line for supplying negative pressure, the vacuum pump line being connected to the fixed suction pad and the buffer-attached suction pad; A box making machine comprising:

2. 2. The box-making machine according to claim 1, wherein the vacuum pump line includes a switching valve for selectively supplying negative pressure to the fixed suction pad and the buffer-equipped suction pad.

3. 2. The box former according to claim 1, wherein the buffer-equipped suction pad is configured to be movable in both directions along a slide shaft by its own weight.

4. When the buffered suction pad moves to the tip, 4. The box making machine according to claim 3, wherein when the buffer-equipped suction pad moves to the tip, the pad body of the buffer-equipped suction pad protrudes further toward the tip than the pad body of the fixed suction pad.

5. 3. The box making machine according to claim 2, wherein when the box making process is carried out while the paper storage box sheet sucked by the suction head is moved by the robot arm, the suction head actually sucks and holds the paper storage box sheet using the fixed suction pad.

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