CN217915368U - Reversible variable-pitch mechanical arm and processing equipment - Google Patents

Abstract

The utility model discloses a reversible variable-pitch manipulator and processing equipment, which comprises a variable-pitch module capable of lifting, wherein the variable-pitch module is provided with a variable-pitch driving platform and a plurality of sliding platforms which are arranged perpendicular to the lifting direction, and the plurality of sliding platforms are all connected with the variable-pitch driving platform in a sliding way; each turnover mechanism is arranged on each corresponding sliding table and is provided with a telescopic moving part and a sucker head for sucking a glass workpiece, and a telescopic driving end of the telescopic moving part is hinged with the end part of the sucker head; the flexible drive end of the flexible moving part of drive makes straight reciprocating motion, makes the sucking disc head use the length direction of displacement drive platform as the center and makes reciprocating rotation motion, solves the problem that current manipulator can't carry out the upset action to glass work piece to effectively improve the flexibility of equipment in the processing production, be favorable to the automated production of equipment.

Description

Reversible variable-pitch mechanical arm and processing equipment

Technical Field

The utility model relates to a manipulator field especially relates to a pitch-changing manipulator and processing equipment can overturn.

Background

In a glass manufacturing process, a glass workpiece is usually required to be grabbed and placed in a tool clamp designated by equipment, and the glass workpiece is required to be grabbed and conveyed into a designated material box in a processing process or after the glass workpiece is processed.

In the existing glass processing equipment, a manipulator is usually adopted to realize the actions of grabbing and conveying glass, for example, a variable-pitch carrying manipulator of an authorized bulletin number CN109625960A published in 4, 16 and 2019, the existing variable-pitch carrying manipulator comprises a movable bearing structure component, the movable bearing structure component comprises a single-shaft mechanical arm and a mechanical arm mounting plate, a stroke groove is formed in the mechanical arm mounting plate, and a base of the single-shaft mechanical arm is slidably mounted in the stroke groove; the variable-pitch platform structure assembly is fixedly arranged on the single-shaft mechanical arm through an installation flat plate, and a first guide rail sliding block assembly is horizontally arranged on the installation flat plate; an executing variable-pitch structural assembly, which comprises a plurality of sliding block connecting plates, wherein the sliding block connecting plates are slidably arranged on the first guide rail sliding block assembly; the control stroke structural assembly comprises a guide rail groove plate, two lifting mounting plates are vertically arranged on a first side face of the guide rail groove plate, a second guide rail sliding block assembly is respectively arranged on the two lifting mounting plates, and the guide rail groove plate is slidably mounted on the variable-pitch platform structural assembly through the second guide rail sliding block assembly.

Because glass work piece is in glass processing production process, it is indispensable to overturn to glass work piece, and foretell current manipulator only can realize the action that the displacement snatched, transported and placed, can not realize the action of upset, and this flexibility that will restrict equipment greatly at the glass work piece that carries out automatic processing production.

SUMMERY OF THE UTILITY MODEL

In order to overcome above-mentioned prior art an at least defect, the utility model provides a but overturning displacement manipulator and processing equipment solves the problem that current manipulator can't overturn the action to glass work piece to effective improve equipment flexibility in the processing production is favorable to the automated production of equipment.

The utility model discloses a solve the technical scheme that its problem adopted and be:

a reversible pitch robot comprising:

the variable-pitch module can move up and down, and is provided with a variable-pitch driving table and a plurality of sliding tables which are arranged in a direction perpendicular to the lifting direction, and the sliding tables are connected with the variable-pitch driving table in a sliding manner;

each turnover mechanism is arranged on each corresponding sliding table and is provided with a telescopic moving part and a sucker head for sucking a glass workpiece, and a telescopic driving end of the telescopic moving part is hinged with the end part of the sucker head;

and the telescopic driving end of the telescopic moving part is driven to do linear reciprocating motion, so that the sucker head does reciprocating rotary motion by taking the length direction of the variable-pitch driving platform as a center.

According to the device, the sucker head and the telescopic moving part are used in a matched mode, the purpose of turning over the glass workpiece is effectively achieved, the processing equipment is flexible in processing and producing the glass workpiece, and automatic production of the equipment is facilitated. Simultaneously, combine the displacement module to realize that a plurality of glass work pieces are synchronous to be got, transport and the purpose of processing, improved glass work piece's machining efficiency greatly, it is long when effectively having shortened glass work piece's processing.

Furthermore, the turnover mechanism further comprises a supporting guide member, the telescopic moving member is telescopic along the length direction of the supporting guide member, and the hinged end of the sucker head is rotatably connected with the supporting guide member.

Further, the support guide part further comprises a joint adapter and a rotary connecting piece, the joint adapter is fixedly installed on the sliding table, the telescopic moving piece is rotatably connected with the joint adapter, and the hinged end of the sucker head is connected with the joint adapter through the rotary connecting piece.

Further, the sucking disc head comprises a sucking disc mounting seat and a plurality of sucking disc pieces, a plurality of sucking disc pieces are assembled on at least one working part of the sucking disc mounting seat, and the hinged end is arranged on the sucking disc mounting seat.

Further, the two working parts are vertically arranged.

Furthermore, the displacement driving platform comprises a slide rail, a plurality of slide blocks connected to the slide rail in a sliding manner, and a rotating shaft connected to the slide platform and driving the slide platform to move, wherein each slide block is fixedly connected with each corresponding slide platform.

Further, the variable-pitch driving table further comprises a protection box body, and the rotating shaft and the sliding rail are assembled inside the protection box body.

Further, the variable pitch drive platform also comprises a dust cover arranged between two adjacent sliding platforms.

Further, this can overturn displacement manipulator still includes elevating system, elevating system includes lift driving piece, fixing base and lift guide, lift driving piece fixed connection the fixing base, the drive end transmission of lift driving piece is connected the lift guide, just lift guide sliding fit is in on the fixing base, lift guide fixed connection the displacement module.

The utility model also discloses a processing equipment, include:

the glass processing machine comprises a machine base, a plurality of processing clamping tables and a plurality of material boxes for storing glass workpieces, wherein the machine base is provided with the plurality of processing clamping tables and the plurality of material boxes;

the pitch-variable module and the plurality of turnover mechanisms of the turnover pitch-variable manipulator are positioned above the plurality of processing clamping tables and the plurality of material boxes;

and the movable shaft device can enable the sucker head to be perpendicular to the variable pitch module to move, and is assembled and fixed on the base. To sum up, the utility model provides a pair of pitch-changing manipulator and processing equipment can overturn has following technological effect:

1) Through the cooperation use of flexible moving part and sucking disc head, the sucking disc head can accomplish the action of getting of different angles when snatching glass work piece, solves the problem that current manipulator can't carry out the action of overturning to glass work piece to effectively improve the flexibility of equipment in the processing production, be favorable to the automated production of equipment.

2) Through the cooperation use of displacement module and sucking disc head, realize the synchronous electrodeless effect of adjusting of a plurality of sliding platforms to realize the effect of a plurality of sliding platform high accuracy location simultaneously, and then effectively realize accurate clamping or place the purpose of glass work piece.

Drawings

Fig. 1 is a schematic view of the overall structure of the reversible variable-pitch manipulator of the present invention;

fig. 2 is a first state structure diagram of the turnover mechanism of the present invention;

fig. 3 is a second state structure diagram of the turnover mechanism of the present invention;

fig. 4 is a schematic structural view of the lifting mechanism of the present invention;

fig. 5 is a schematic structural view of the pitch varying module of the present invention;

fig. 6 is a schematic view of a second structure of the turnover mechanism of the present invention;

fig. 7 is a schematic view of the whole structure of the processing apparatus of the present invention.

Icon: 1-a variable pitch module, 11-a variable pitch driving platform, 111-a sliding rail, 112-a sliding block, 113-a rotating shaft, 114-an anti-slip box body, 115-a dustproof cover, 12-a sliding platform, 2-a turnover mechanism, 21-a telescopic movable part, 22-a sucker head, 221-a sucker mounting seat, 222-a sucker member, 223-a sucker mounting rod, 224-a working part, 23-a joint adapter seat, 24-a rotary connecting piece, 3-a lifting mechanism, 31-a lifting driving piece, 32-a fixed seat, 33-a lifting guide piece, 4-a glass workpiece, 5-a machine base, 51-a processing clamping platform, 52-a material box and 6-a moving shaft device.

Detailed Description

For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Fig. 1 is a schematic view of the overall structure of the reversible pitch-variable manipulator, and fig. 5 is a schematic view of the structure of the pitch-variable module 1 in the reversible pitch-variable manipulator. Specifically please show with reference to fig. 1 and 5, the utility model discloses a manipulator capable of overturning and changing pitch, including:

the variable pitch module 1 can move up and down, the variable pitch module 1 is provided with a variable pitch driving platform 11 and a plurality of sliding platforms 12 which are arranged perpendicular to the lifting direction, and the plurality of sliding platforms 12 are all connected to the variable pitch driving platform 11 in a sliding manner;

each turnover mechanism 2 is arranged on each corresponding sliding table 12, each turnover mechanism 2 is provided with a telescopic movable piece 21 and a sucker head 22 for sucking a workpiece, and a telescopic driving end of the telescopic movable piece 21 is hinged with the end part of the sucker head 22;

in this embodiment, the telescopic moving member 21 includes an air cylinder, and may be a hydraulic cylinder or an electric cylinder, and the telescopic driving end of the telescopic moving member 21 is a piston rod of the air cylinder or a piston rod of the hydraulic cylinder or a piston rod of the electric cylinder, and drives the telescopic driving end of the telescopic moving member 21 to perform a linear reciprocating motion, so that the suction cup head 22 performs a reciprocating rotation motion with the length direction of the variable pitch driving table 11 as a center.

As shown in fig. 1, taking an example that the pitch module 1 has four sliding tables 12, wherein the four sliding tables 12 are all slidably connected to the pitch driving table 11, and each sliding table 12 is provided with a turning mechanism 2, the gripping and conveying principle of the reversible pitch manipulator is as follows:

s1, correcting the sucker head 22: the four sucker heads 22 are all aligned to the position right below the variable-pitch module 1, and the distance between two adjacent sliding tables 12 is synchronously adjusted through the variable-pitch module 1, so that each sucker head 22 can be aligned to the corresponding glass workpiece 4 right below.

S2, grabbing and conveying: the variable-pitch module 1 descends to an appointed height, so that the sucker heads 22 can suck the glass workpieces 4 in a state after the vacuum control valve is started, the variable-pitch module 1 ascends to the appointed height, the distance between two adjacent sliding tables 12 is synchronously adjusted again under the action of the variable-pitch module 1, the distance between the glass workpieces 4 on the two adjacent sucker heads 22 is also adjusted, and when the four glass workpieces 4 are in a processing area, each glass workpiece 4 can be located right above the corresponding processing clamp.

S3, clamping and processing: the pitch module 1 is lowered again to the specified height and each suction head 22 closes the vacuum control valve synchronously so that each glass piece 4 is detached from the suction head 22 and placed and clamped onto the machining jig. Before the four glass workpieces 4 enter the processing procedure, the variable-pitch module 1 is lifted to the designated height again.

S4, grabbing and discharging: after four glass work pieces 4 accomplish the manufacturing procedure, displacement module 1 descends to appointed height once more, make sucking disc head 22 can utilize the state to hold glass work piece 4 after starting the vacuum control valve, rise to appointed height through displacement module 1 once more, and under the effect of displacement module 1, the interval distance of two adjacent sliding platforms 12 of synchronous adjustment once more, make four glass work pieces 4 when the encapsulation region of unloading, every glass work piece 4 homoenergetic is located directly over the magazine that corresponds, four sucking disc heads 22 use the length direction of displacement drive platform 11 to rotate 90 as the center simultaneously, descend to appointed height through displacement module 1 at last, make four glass work pieces 4 can put into the magazine in step.

It can be known from the above that, through the cooperation of the sucker head 22 and the telescopic moving part 21, the purpose of turning over the glass workpiece 4 is effectively achieved, so that the flexibility of the processing equipment in processing and producing the glass workpiece 4 is facilitated, and the automatic production of the equipment is facilitated. Simultaneously, combine variable pitch module 1 to realize that a plurality of glass work pieces 4 are got in step, transport and the purpose of processing, improved the machining efficiency of glass work piece 4 greatly, it is long when effectively having shortened the processing of glass work piece 4.

It should be noted that the telescopic driving end of the telescopic moving member 21 is telescopically moved, that is, the suction cup head 22 is driven to rotate around the hinge end located at the middle position of the suction cup head 22 by providing a force, and the center line of the hinge end is parallel to the length direction of the variable pitch driving table 11, so as to achieve the purpose that the suction cup head 22 performs reciprocating rotation motion with the length direction of the variable pitch driving table 11 as the center.

The turnover mechanism 2 further comprises a support guide member, the telescopic movable member 21 is telescopic along the length direction of the support guide member, and the hinged end of the suction head 22 is rotatably connected with the support guide member. The telescopic movable element 21 is pivotally connected to the support guide or to the sliding table 12.

Specifically, as shown in a first state structure diagram of the turning mechanism 2 in the reversible pitch-changing manipulator shown in fig. 2, and shown in a second state structure diagram of the turning mechanism 2 in the reversible pitch-changing manipulator shown in fig. 3, the support guide further includes a joint adapter 23 and a rotating connector 24, the joint adapter 23 is fixedly installed on the sliding table 12, the telescopic movable element 21 is rotatably connected with the joint adapter 23, and the hinged end of the suction cup head 22 is connected with the joint adapter 23 through the rotating connector 24. The pivot connection 24 is preferably a pivot pin, and may be a connecting shaft or a connecting screw in addition to the pivot pin.

Specifically, the joint connecting seat is fixedly mounted on the sliding table 12 through at least one screw so as to be convenient for mounting, dismounting and overhauling. The pedestal of flexible moving part 21 passes through the rotation pin and articulates on joint adapter 23, thereby realize that flexible moving part 21 assembles can also use the rotation pin to rotate the activity as the center of rotation in the joint adapter 23, of course, it should be noted, can also realize assembling flexible moving part 21 can also rotate the purpose of activity in the joint adapter 23 through connecting axle or connecting screw, consequently, when flexible drive end when flexible moving part 21 carries out concertina movement, sucking disc head 22 rotates around the hinged end, can realize sucking disc head 22 and use the length direction of displacement drive platform 11 to make reciprocating rotary motion's purpose as the center.

In order to achieve the above-mentioned purpose of sucking the glass workpiece 4 by the sucker head 22, as shown in fig. 2, the sucker head 22 includes a sucker mounting seat 221 and a plurality of sucker members 222, a working portion 224 of the sucker mounting seat 221 is equipped with the plurality of sucker members 222, and the sucker mounting seat 221 is provided with a hinged end. Preferably, the plurality of suction cup members 222 are evenly distributed, so as to ensure that the suction cup heads 22 are more evenly stressed when absorbing the glass workpiece 4. Specifically, each of the suction cup pieces 222 is fixedly mounted on the suction cup mounting seat 221 by a suction cup mounting rod 223.

It should be noted that, not limited to one working portion 224, two working portions 224 may be provided, or three working portions 224 may be provided, preferably, as shown in fig. 6, which is a second structural schematic diagram of the turnover mechanism in the reversible variable-pitch manipulator, two working portions 224 are vertically arranged, for example, two working portions 224 are formed into an L shape or a T shape, so that after one working portion 224 sucks the glass workpiece 4, the suction cup mounting seat 221 is turned over, so that the other working portion 224 can suck the other glass workpiece 4, thereby greatly improving the working efficiency.

Further, as shown in fig. 5, the pitch-variable driving stage 11 includes a sliding rail 111, a plurality of sliding blocks 112 slidably connected to the sliding rail 111, and a rotating shaft 113 connected to the sliding stage 12 and driving the sliding stage 12 to move, wherein each sliding block 112 is fixedly connected to each corresponding sliding stage 12. Preferably, the rotating shaft 113 is a cam shaft, that is, a spiral guide groove is formed in the shaft side of the cam shaft, and a cam bearing follower is arranged in the spiral guide groove, so that when the rotating shaft 113 rotates, the rotating torque of the rotating shaft 113 is transmitted to the sliding table 12 through the cam bearing follower, so that the sliding table 12 can reciprocate along the direction of the sliding rail 111, and reference can be made to a stepless variable pitch module of an authorization notice number CN211034213U published in 2020, 07, 17, so that the effect of synchronous stepless adjustment of the plurality of sliding tables 12 is realized, and the effect of high-precision positioning of the plurality of sliding tables 12 is also realized.

It should be noted that the variable pitch module 1 can be adjusted within 80 mm to 150 mm, and different programs are effectively set according to the shape and size of the glass workpiece to adjust the distance adaptively, so that each glass workpiece 4 is effectively and accurately grabbed, clamped and transported.

Further, as shown in fig. 5, the pitch-variable driving stage 11 further includes a protective box, and the rotating shaft 113 and the sliding rail 111 are both assembled inside the protective box. Specifically, the protection box body is formed by processing a protection sheet metal subjected to plastic spraying treatment. Further, the pitch drive table 11 further includes a dust cover 115 provided between the adjacent two slide tables 12. Through protection box and protection casing cooperation, effectively isolated the inside of the inflow displacement drive platform 11 of corrosive liquids such as cutting fluid to spare parts such as the inside pivot 113 of protection displacement drive platform 11, slider 112 and slide rail 111 do not receive cutting fluid pollution and corruption.

Further, in order to realize the above-mentioned action of "lifting movement of the pitch module 1", as shown in fig. 1, the reversible pitch manipulator further includes a lifting mechanism 3, and the pitch module 1 is slidably mounted on the lifting mechanism 3.

As shown in fig. 4, the schematic structural diagram of the lifting mechanism 3 in the reversible variable-pitch manipulator is that the lifting mechanism 3 includes a lifting driving member 31, a fixing seat 32 and a lifting guide member 33, the lifting driving member 31 is fixedly connected to the fixing seat 32, a driving end of the lifting driving member 31 is connected to the lifting guide member 33 in a transmission manner, the lifting guide member 33 is slidably fitted on the fixing seat 32, and the lifting guide member 33 is fixedly connected to the variable-pitch module 1.

Specifically, the optional lead screw motor of lift driving piece 31, then the drive end of lift driving piece 31 is the lead screw of lead screw motor, lift driving piece 31 is fixed on fixing base 32 through a plurality of bolted connection, lift guiding piece 33 includes the lifting guide, elevator slide 112 and lift seat, the lifting guide passes through bolt fixed mounting on the lift seat, elevator slide 112 passes through bolt fixed mounting on fixing base 32, elevator guide and elevator slide 112 sliding fit, and the drive end threaded connection of elevator seat and lift driving piece 31, the tip of elevator slide 112 passes through the protection box of bolt fixed connection displacement module 1, then when lift driving piece 31 starts, the drive end rotates and will order about the direction elevating movement of elevator seat along the elevator guide, thereby drive displacement module 1 and carry out elevating movement or lift adjustment.

As shown in fig. 7, the present inventor further discloses a processing apparatus based on a reversible variable pitch robot, comprising:

the glass workpiece machining device comprises a machine base 5, wherein the machine base 5 is provided with a plurality of machining clamping tables 51 and a plurality of material boxes 52 for storing glass workpieces 4, and preferably, the machining clamping tables 51 are positioned on one sides of the material boxes 52;

the reversible variable-pitch manipulator, the variable-pitch module 1 of the reversible variable-pitch manipulator and the plurality of turnover mechanisms 2 are all positioned above the plurality of processing clamping tables 51 and the plurality of material boxes 52;

the movable shaft device 6 can enable the sucker head 22 to move vertically to the variable pitch module 1, and the movable shaft device 6 is assembled and fixed on the machine base 5. Specifically, a plurality of processing presss from both sides platform 51 and sets up along the length direction align to grid of displacement module 1, equally, a plurality of magazines 52 set up along the length direction align to grid of displacement module 1, then under the effect of removal axle device 6, make every glass work piece 4 can be at processing reciprocal transportation between pressing from both sides platform 51 and magazine 52, furthermore, adopt the prior art in this field, displacement module 1 sliding assembly is on removal axle device 6, removal axle device 6 sets up with displacement module 1 is perpendicular.

The technical means disclosed by the scheme of the present invention is not limited to the technical means disclosed by the above embodiments, but also includes the technical scheme formed by the arbitrary combination of the above technical features. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also considered as the protection scope of the present invention.

Claims (10)

1. The utility model provides a pitch-changing manipulator can overturn which characterized in that includes:

the variable-pitch module (1) can move up and down, a variable-pitch driving table (11) and a plurality of sliding tables (12) which are perpendicular to the lifting direction are arranged on the variable-pitch module (1), and the sliding tables (12) are all connected to the variable-pitch driving table (11) in a sliding mode;

the glass workpiece turning device comprises a plurality of independently controlled turning mechanisms (2), wherein each turning mechanism (2) is arranged on each corresponding sliding table (12), each turning mechanism (2) is provided with a telescopic moving part (21) and a sucker head (22) for sucking a glass workpiece (4), and a telescopic driving end of each telescopic moving part (21) is hinged with the end part of the sucker head (22);

the telescopic driving end of the telescopic moving piece (21) is driven to do linear reciprocating motion, so that the sucker head (22) does reciprocating rotary motion by taking the length direction of the variable-pitch driving table (11) as the center.

2. The reversible pitch robot of claim 1, wherein: the turnover mechanism (2) further comprises a supporting guide piece, the telescopic moving piece (21) stretches along the length direction of the supporting guide piece, and the hinged end of the sucker head (22) is rotatably connected with the supporting guide piece.

3. The reversible variable pitch manipulator of claim 2, wherein: the supporting and guiding piece comprises a joint adapter (23) and a rotating connecting piece (24), the joint adapter (23) is fixedly installed on the sliding table (12), the telescopic moving piece (21) is rotatably connected with the joint adapter (23), and the hinged end of the sucker head (22) is connected with the joint adapter (23) through the rotating connecting piece (24).

4. The reversible variable pitch manipulator of claim 2, wherein: sucking disc head (22) include sucking disc mount pad (221) and a plurality of sucking disc spare (222), all be equipped with a plurality ofly on at least work portion (224) of sucking disc mount pad (221) sucking disc spare (222), be provided with on sucking disc mount pad (221) the hinged end.

5. The reversible variable pitch manipulator of claim 4, wherein: the two working parts (224) are vertically arranged.

6. The reversible variable pitch manipulator of claim 1, wherein: the variable-pitch driving platform (11) comprises a sliding rail (111), a plurality of sliding blocks (112) connected to the sliding rail (111) in a sliding mode, and a rotating shaft (113) connected to the sliding platform (12) and driving the sliding platform (12) to move, wherein each sliding block (112) is fixedly connected with each corresponding sliding platform (12).

7. The reversible variable pitch manipulator of claim 6, wherein: the variable-pitch driving platform (11) further comprises a protection box body, and the rotating shaft (113) and the sliding rail (111) are assembled inside the protection box body.

8. The reversible variable pitch manipulator of claim 6, wherein: the variable-pitch driving table (11) further comprises a dust cover (115) arranged between two adjacent sliding tables (12).

9. The reversible variable pitch manipulator of claim 1, wherein: still include elevating system (3), elevating system (3) are including lift driving piece (31), fixing base (32) and lift guide (33), lift driving piece (31) fixed connection fixing base (32), the drive end transmission of lift driving piece (31) is connected lift guide (33), just lift guide (33) sliding fit is in on fixing base (32), lift guide (33) fixed connection displacement module (1).

10. A processing apparatus, characterized by: the method comprises the following steps:

the glass processing machine comprises a machine base (5), wherein the machine base (5) is provided with a plurality of processing clamping tables (51) and a plurality of material boxes (52) for storing glass workpieces (4);

the reversible pitch robot of any one of claims 1 to 9, wherein the pitch module (1) and the plurality of flipping mechanisms (2) of said reversible pitch robot are located above a plurality of said processing chucks (51) and a plurality of said magazines (52);

the movable shaft device (6) can enable the sucker head (22) to be perpendicular to the variable pitch module (1) to move, and the movable shaft device (6) is assembled and fixed on the base (5).

Images