A loader for foamed plastic packaging material

Abstract

The application discloses a loading machine for foamed plastic packaging materials, which comprises a workpiece conveying line, a tray conveying line, a stacking robot and a loading mechanism. The workpiece conveying line comprises a first support and a conveying component arranged on the first support, and the conveying component is used for conveying a workpiece bag to a stacking and feeding station. The workpiece bag comprises a packaging bag and a plurality of buffer materials arranged in the packaging bag. A bag breaking piece is arranged on the first support, and the bag breaking piece opens the packaging bag of the workpiece bag when the workpiece bag is conveyed to the stacking and feeding station. The bag breaking piece in the application can automatically open the packaging bag of the workpiece bag to release air, and then, after being automatically stacked by the stacking robot, a worker only needs to control a fork assembly to move in three axes to load the tray full of workpiece bags on a truck, so that the degree of automation is high, and labor cost can be saved.

Description

Technical Field

[0001] This invention relates to the field of loading technology for foamed plastic packaging materials, and more particularly to a loading machine for foamed plastic packaging materials. Background Technology

[0002] In existing technologies, foamed plastic packaging materials are loaded onto trucks and shipped manually, which is very costly. Furthermore, foamed plastic packaging materials are generally in block or sheet form. When stored in warehouses, many foamed plastics are typically stacked together to form a pile, and then this pile is placed together in a single transparent plastic bag. Each bag of foamed plastic is a long, thin block. Because some plastic bags contain a lot of air, during loading, it is often necessary to first squeeze out the excess air from these plastic bags before loading the bag of foamed plastic into the truck bed to ensure that the bags of foamed plastic are tightly packed inside the truck bed. Summary of the Invention

[0003] Therefore, the purpose of this invention is to provide a loading machine for foamed plastic packaging materials.

[0004] The technical solution adopted by this invention to solve its technical problem is as follows:

[0005] A loading machine for foamed plastic packaging materials includes:

[0006] The workpiece conveying line includes a first support and a conveying component disposed on the first support. The conveying component is used to convey workpiece packages to a palletizing and loading station. The workpiece package includes a packaging bag and several cushioning materials contained in the packaging bag. The first support is provided with a bag-breaking device. When the workpiece package is conveyed to the palletizing and loading station, the bag-breaking device opens the packaging bag of the workpiece package.

[0007] The pallet conveyor line includes a first pallet conveyor section capable of conveying pallets to a palletizing station, and a second pallet conveyor section capable of conveying pallets from the palletizing station to a loading station.

[0008] Palletizing robots are used to pick up workpiece packages from the palletizing station and place them on the palletizing station's palletizing tray.

[0009] The loading mechanism includes a forklift assembly capable of lifting pallets at the loading station and a traveling mechanism capable of driving the forklift assembly to move along three axes.

[0010] As a further optimization of the above solution, the workpiece conveyor line is used to convey the workpiece package forward. The front end of the first support has a bag-breaking support, and the bag-breaking component is a bag-piercing tube installed on the bag-piercing support. The rear end of the bag-piercing tube has a pointed tip that can pierce the packaging bag of the workpiece package.

[0011] As a further optimization of the above scheme, the height difference between the top of the piercing bag tube and the top of the conveying component is H1, the total height of the buffer material inside the workpiece bag is H2, H1 is greater than H2, and the difference between H1 and H2 is 0.5-5mm.

[0012] As a further optimization of the above solution, the rear end of the piercing bag tube is connected to an air pipe, the end of the air pipe is connected to a vacuum device, an air valve is installed on the air pipe, and a sensor capable of sensing whether there is a workpiece package at the palletizing and loading station is installed on the first bracket.

[0013] As a further optimization of the above solution, a baffle is provided at the front end of the first bracket, and a slide that can move up and down is provided on the baffle. The bag-breaking bracket is fixed on the slide. A vertical screw is rotatably installed on the baffle. A nut that meshes with the screw is provided on the slide. A handwheel is provided at the lower end of the screw. A locking mechanism that can lock the screw is also provided on the baffle.

[0014] As a further optimization of the above solution, the locking mechanism includes two elastic clamping blocks, the rear ends of which are fixed to a baffle. The screw has a smooth rod section, and the middle of each of the two elastic clamping blocks is provided with a clamping groove that cooperates with the smooth rod section. The smooth rod section of the screw is clamped between the two clamping grooves. An adjusting screw that can adjust the distance between the two elastic clamping blocks is provided between the upper ends of the two elastic clamping blocks. One end of the adjusting screw is fixed with a handle.

[0015] As a further optimization of the above solution, the second pallet conveying section includes a roller conveyor line and a lifting and rotating mechanism. A clearance space is provided in the middle of the roller conveyor line. The lifting and rotating mechanism includes a support frame located in the clearance space, a third bracket located below the support frame, a lifting seat that can be moved up and down on the third bracket, a lifting driver that can drive the lifting seat to move up and down, a rotating frame set on the lifting seat, and a steering driver that can drive the rotating frame to rotate around a vertical axis. The support frame is fixed on the rotating frame.

[0016] As a further optimization of the above solution, the support frame is in the shape of a grid.

[0017] As a further optimization of the above solution, the traveling mechanism includes two trusses arranged on the left and right, a crossbar movably installed between the two trusses, an X-axis driver capable of driving the crossbar to move back and forth on the truss, a Y-axis slide movably installed on the crossbar, a Y-axis driver capable of driving the Y-axis slide to move left and right relative to the crossbar, a Z-axis lifting rod movably installed on the Y-axis slide, and a Z-axis driver capable of driving the Z-axis lifting rod to move up and down relative to the Y-axis slide. The forklift assembly is fixed to the lower part of the Z-axis lifting rod, and a truck passage is left between the two trusses.

[0018] As a further optimization of the above solution, the palletizing robot includes a robotic arm and a gripper. The gripper includes a base plate, a fixed clamping plate fixed to the right side of the base plate, a movable clamping plate disposed at the left end of the base plate, and a gripping driver that can drive the movable clamping plate to move left and right.

[0019] The beneficial effects of this invention are as follows: First, the bag-breaking device in this invention can automatically open the packaging bag of the workpiece package to release air. After automatic palletizing by a palletizing robot, only one worker needs to control the three-axis movement of the forklift assembly to load the pallet full of workpiece packages onto the truck. This is highly efficient, highly automated, and helps save labor costs. Second, compared with ordinary forklifts, the loading mechanism in this invention has more flexible left-right movement and a larger travel in the front-back direction. For trucks without a roof, it can easily load the pallet full of workpiece packages into any position on the truck bed. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the workpiece package structure;

[0021] Figure 2 This is a perspective view of the present invention;

[0022] Figure 3 This is a perspective view of the working state of the present invention;

[0023] Figure 4 yes Figure 3 Enlarged view of section A;

[0024] Figure 5 This is a 3D view of the workpiece conveyor line;

[0025] Figure 6 yes Figure 5 Enlarged view of section B;

[0026] Figure 7 This is a cross-sectional view of the locking mechanism of the screw;

[0027] Figure 8 This is a 3D view of the second conveyor section of the pallet;

[0028] Figure 9 This is an exploded view of the second pallet conveyor section;

[0029] Figure 10 This is the front view of the lifting and rotating mechanism;

[0030] Figure 11 This is a 3D view of a palletizing robot. Detailed Implementation

[0031] The technical solution of the present invention will now be clearly and completely described in conjunction with the accompanying drawings.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in this invention are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly. Furthermore, descriptions involving "preferred," "second-best," etc., in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "preferred" or "second-best" may explicitly or implicitly include at least one of those features.

[0033] Reference Figures 1 to 11 This invention proposes a loading machine for foamed plastic packaging materials, including a workpiece conveyor line 1, a pallet conveyor line, a palletizing robot 4, and a loading mechanism.

[0034] The workpiece conveyor line 1 includes a first support 11 and a conveying component 12 mounted on the first support 11. The conveying component 12 is used to convey workpiece packages 2 to the palletizing and loading station. The workpiece package 2 includes a packaging bag 21 and several cushioning materials 22 inside the packaging bag 21. The packaging bag 21 is generally made of transparent plastic. The first support 11 is equipped with a bag-breaking device. When the workpiece package 2 is conveyed to the palletizing and loading station, the bag-breaking device opens the packaging bag 21 of the workpiece package 2. The workpiece conveyor line 1 can be a roller conveyor line, a belt conveyor line, a chain conveyor line, etc. Taking a roller conveyor line as an example, the first support 11 is the frame of the roller conveyor line, and the conveying component 12 is the roller.

[0035] The pallet conveyor line includes a first pallet conveyor section 31 capable of conveying pallets 30 to the palletizing station, and a section capable of conveying pallets 30 from the palletizing station to the loading station. A palletizing robot 4 is used to pick up workpiece packages 2 from the palletizing station and place them on the pallet 30 at the palletizing station. The loading mechanism includes a forklift assembly 5 capable of lifting pallets 30 at the loading station, and a traveling mechanism capable of driving the forklift assembly 5 to move along three axes.

[0036] Preferably, the workpiece conveyor line 1 is used to convey the workpiece package 2 forward. The front end of the first support 11 has a bag-breaking support 13, and the bag-breaking component is a piercing tube 14 installed on the bag-breaking support 13. The rear end of the piercing tube 14 has a pointed tip capable of piercing the packaging bag 21 of the workpiece package 2. The rear end of the piercing tube 14 is connected to an air pipe 15, and the end of the air pipe 15 is connected to a vacuum device. An air valve 16 is installed on the air pipe 15, and a sensor 17 capable of sensing whether the workpiece package 2 exists at the palletizing and loading station is installed on the first support 11. The air valve 16 is an electrically controlled valve or a solenoid valve, and the vacuum device is a vacuum chamber, which is connected to an air pump capable of evacuating the vacuum. The sensor 17 can be a photoelectric sensor, a proximity switch, a limit switch, etc.

[0037] Reference Figure 2 and Figure 3 The traveling mechanism includes two trusses 71 arranged on the left and right, a crossbar 72 movably mounted between the two trusses 71, an X-axis driver 73 capable of driving the crossbar 72 to move back and forth on the truss 71, a Y-axis slide 74 movably mounted on the crossbar 72, a Y-axis driver 75 capable of driving the Y-axis slide 74 to move left and right relative to the crossbar 72, a Z-axis lifting rod 76 movably mounted on the Y-axis slide 74, and a Z-axis driver 77 capable of driving the Z-axis lifting rod 76 to move up and down relative to the Y-axis slide 74. The forklift assembly 5 is fixed to the lower part of the Z-axis lifting rod 76, and a truck passage 701 is left between the two trusses 71.

[0038] The pallet 30 mentioned above is a forklift pallet 30. The forklift assembly 5 mentioned above adopts a structure similar to the fork of a forklift, including a vertical frame and two fork teeth fixed on the frame. The X-axis driver 73, Y-axis driver 75, and Z-axis driver 77 mentioned above are all motors. A drive shaft 79 is rotatably mounted on the crossbar 72. An X-axis rack is arranged along the front-rear direction on the truss 71. Gears that mesh with the X-axis rack are respectively provided at both ends of the drive shaft 79. The output end of the X-axis driver 73 is connected to the drive shaft 79 through a transmission mechanism to drive its rotation. This transmission mechanism can be a bevel gear transmission mechanism, a worm gear mechanism, etc. The output end of the Y-axis driver 75 is connected to the Y-axis slide 74 through a gear and rack mechanism. The output end of the Z-axis driver 77 is connected to the Z-axis lifting rod 76 through a gear and rack mechanism.

[0039] Reference Figure 11The palletizing robot 4 employs existing technologies, such as the palletizing robot 4 disclosed in patent publication number CN104493812A, or the palletizing robot 4 disclosed in patent publication number CN119098942A, or the palletizing robot 4 disclosed in patent publication number CN118125148B, etc. Specifically, the palletizing robot 4 includes a robotic arm 41 and a gripper 42. The gripper 42 includes a base plate 421, a fixed clamping plate 422 fixed to the right side of the base plate 421, a movable clamping plate 423 disposed at the left end of the base plate 421, and a gripping actuator 424 capable of driving the movable clamping plate 423 to move left and right. The gripping actuator 424 can be an electric cylinder, a pneumatic cylinder, or other similar device.

[0040] Reference Figure 2 and Figure 3 The working principle of the loading machine is as follows: First, the workpiece conveyor line 1 transports workpiece packages 2 one by one to the palletizing station. At the same time, the first pallet conveyor section 31 transports the pallet 30 to the palletizing station. When the workpiece package 2 arrives at the palletizing station, the tip of the piercing tube 14 pierces the plastic packaging bag 21 of the workpiece package 2. The sensor 17 detects that the workpiece package 2 has arrived at the palletizing station and transmits this signal to the central control system. Then, the central control system outputs an execution command to open the air valve 16. At this time, the vacuum device can extract the excess air from the packaging bag 21, so that the packaging bag 21 is tightly attached to the surface of the cushioning material 22, which is convenient for subsequent palletizing. Next, the palletizing robot 4 grabs the workpiece package 2 from the palletizing station. After clamping the workpiece package 2, the palletizing robot 4 moves the workpiece package 2 backward by 100-200mm, so that the piercing tube 14 is pulled out of the packaging bag 21 of the workpiece package 2. Then, the workpiece package 2 is transported to the pallet 30 of the palletizing station for palletizing. When the workpiece packages 2 on pallet 30 are full, the second pallet conveying section 32 transports pallet 30 to the loading station. Finally, the forklift assembly 5 picks up the pallet 30 full of workpiece packages 2 and transports pallet 30 to the truck 8 parked in truck aisle 701.

[0041] The three-axis movement of the forklift assembly 5 is controlled by workers, so that each forklift can place the pallet 30 steadily in the corresponding position. After most of the truck 8 is filled, the remaining gaps can be filled manually.

[0042] Compared with the existing technology that manually loads each workpiece package 2 onto the truck 8, this invention has the following advantages. First, the bag-breaking device in this invention can automatically open the packaging bag 21 of the workpiece package 2 to release air. After automatic stacking by the palletizing robot 4, only one worker needs to control the three-axis movement of the forklift assembly 5 to load the pallet 30 full of workpiece packages 2 onto the truck 8. This is highly efficient, highly automated, and helps save labor costs. Second, compared with ordinary forklifts, the loading mechanism in this invention has more flexible left-right movement and a larger travel in the front-back direction. For trucks 8 without a top panel, it can easily load the pallet 30 full of workpiece packages 2 onto any position in the truck bed.

[0043] When there is only one layer of cushioning material 22 in the workpiece package 2, its total height is the height of the cushioning material 22 itself. When there are two or more layers of cushioning material 22 in the workpiece package 2, its total height is the overall height of the cushioning material 22 stacked together. (Refer to...) Figure 6 In a preferred embodiment of the present invention, the height difference between the top of the piercing bag tube 14 and the top of the conveying component 12 is H1, and the total height of the buffer material 22 inside the workpiece bag 2 is H2. H1 is greater than H2, and the difference between H1 and H2 is 0.5-5mm, such as 1mm or 2mm.

[0044] When the workpiece package 2 is transported to the palletizing and loading station, the air between the packaging bag 21 and the cushioning material 22 is basically squeezed to the upper part of the packaging bag 21. The height of the piercing tube 14 is set to be slightly higher than the total height of the cushioning material 22. This can both extract the air after piercing the packaging bag 21 and prevent the piercing tube 14 from piercing the cushioning material 22 inside the packaging bag 21.

[0045] Furthermore, a baffle 19 is provided at the front end of the first bracket 11, and a slide 101 that can move up and down is provided on the baffle 19. The bag-breaking bracket 13 is fixed on the slide 101. A vertical screw 102 is rotatably installed on the baffle 19. A nut 103 that meshes with the screw 102 is provided on the slide 101. A handwheel 104 is provided at the lower end of the screw 102. A locking mechanism that can lock the screw 102 is also provided on the baffle 19. Preferably, the locking mechanism includes two elastic clamping blocks 105, the rear ends of which are fixed to the baffle 19. The screw 102 has a smooth rod section 1021. Each of the two elastic clamping blocks 105 has a clamping groove in the middle that mates with the smooth rod section 1021. The smooth rod section 1021 of the screw 102 is clamped between the two clamping grooves. An adjusting screw 106 is provided between the upper ends of the two elastic clamping blocks 105 to adjust the distance between them. One end of the adjusting screw 106 is fixed to a handle 107. Tightening the adjusting screw 106 with the handle 107 locks the smooth rod section 1021 of the screw 102 in place. Loosening the adjusting screw 106 with the handle 107 unlocks the smooth rod section 1021 of the screw 102. After the screw 102 is unlocked, the handwheel 104 can be rotated to adjust the height of the barbed wire tube 14. This design allows the height of the piercing tube 14 to be adjustable, enabling the piercing tube 14 to be adjusted to a suitable height according to different workpiece packages 2.

[0046] Reference Figure 8 and Figure 9 The second pallet conveying section 32 includes a roller conveyor line 5 and a lifting and rotating mechanism 6. A clearance space 51 is provided in the middle of the roller conveyor line 5. The lifting and rotating mechanism 6 includes a support frame 61 located in the clearance space 51, a third support 62 located below the support frame 61, a lifting seat 63 movably mounted on the third support 62, a lifting driver 64 capable of driving the lifting seat 63 to move up and down, a rotating frame 65 mounted on the lifting seat 63, and a steering driver 66 capable of driving the rotating frame 65 to rotate around a vertical axis. The support frame 61 is fixed to the rotating frame 65. Preferably, the support frame 61 is in a grid shape.

[0047] The pallet 30 is generally rectangular. After the pallet 30 is filled with workpiece packages 2, its overall length and width are different, such as 1200mm in length and 1000mm in width. Different trucks 8 have different widths of their cargo compartments, such as 1.9 meters, 2.0 meters, 2.3 meters, 2.4 meters, etc. In order to make the best use of the space in the cargo compartment, a specific placement method is required. Taking a cargo compartment width of 2.3 meters and stacked workpieces with a length and width of 1200mm and 1000mm respectively as an example, the first column of workpiece stacks needs to be placed horizontally in the cargo compartment, and the second column of workpiece stacks needs to be placed vertically in the cargo compartment. In this way, the width space of the cargo compartment can be utilized to the maximum extent. In this invention, the second pallet conveying section 32 is configured as a combination of a roller conveyor and a lifting and rotating mechanism 6. As needed, the workpiece stack at the loading station can be lifted first and then turned, so that the workpiece stack at the loading station can be arranged more practically, with its long side facing forward or its wide side facing forward. When the workpiece stack with its long side facing forward is forked onto the truck 8 by the forklift assembly 5, it is arranged laterally; when the workpiece stack with its wide side facing forward is forked onto the truck 8 by the forklift assembly 5, it is arranged longitudinally.

[0048] The first conveying section 31 of the pallet can be a roller conveyor, a chain conveyor, or a hybrid conveyor combining chains and rollers. The lifting drive 64 is preferably an electric cylinder or a hydraulic cylinder, and the steering drive 66 is a motor whose output is connected to the rotating frame 65 via a gear set 67 to drive its rotation. To guide the lifting seat 63, the third support 62 is provided with 3-4 guide sleeves 68, and the lifting seat 63 is fixed with 3-4 guide posts 69 corresponding to the guide sleeves 68. Bearings are provided between the rotating frame 65 and the lifting seat 63 to ensure smooth rotation of the rotating frame 65.

[0049] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct or indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A loading machine for foamed plastic packaging materials, characterized in that, include: The workpiece conveying line (1) includes a first support (11) and a conveying component (12) disposed on the first support (11). The conveying component (12) is used to convey the workpiece package (2) to the palletizing and loading station. The workpiece package (2) includes a packaging bag (21) and several cushioning materials (22) contained in the packaging bag (21). The first support (11) is provided with a bag-breaking device. When the workpiece package (2) is conveyed to the palletizing and loading station, the bag-breaking device opens the packaging bag (21) of the workpiece package (2). The pallet conveyor line includes a first pallet conveyor section (31) capable of conveying pallets (30) to a palletizing station, and a second pallet conveyor section (32) capable of conveying pallets (30) from the palletizing station to a loading station. The palletizing robot (4) is used to grab the workpiece package (2) at the palletizing station and place the workpiece package (2) on the palletizing station palletizing tray (30); The loading mechanism includes a forklift assembly (5) capable of lifting a pallet (30) at the loading station, and a traveling mechanism capable of driving the forklift assembly (5) to move along three axes. The workpiece conveyor line (1) is used to convey the workpiece package (2) forward. The front end of the first support (11) has a bag-breaking support (13). The bag-breaking component is a bag-piercing tube (14) installed on the bag-piercing support (13). The rear end of the bag-piercing tube (14) has a pointed tip that can pierce the packaging bag (21) of the workpiece package (2). The height difference between the top of the piercing tube (14) and the top of the conveying component (12) is H1, and the total height of the buffer material (22) inside the workpiece bag (2) is H2. H1 is greater than H2, and the difference between H1 and H2 is 0.5-5mm. The rear end of the piercing tube (14) is connected to an air pipe (15), the end of the air pipe (15) is connected to a vacuum device, an air valve (16) is provided on the air pipe (15), and a sensor (17) is provided on the first bracket (11) to sense whether there is a workpiece package (2) at the palletizing and loading station. The first bracket (11) has a baffle (19) at its front end, and a slide (101) that can move up and down is provided on the baffle (19). The bag-breaking bracket (13) is fixed on the slide (101).

2. The loading machine for foamed plastic packaging materials according to claim 1, characterized in that, A vertical screw (102) is rotatably mounted on the baffle (19), a nut (103) is provided on the slide (101) to mesh with the screw (102), a handwheel (104) is provided at the lower end of the screw (102), and a locking mechanism is also provided on the baffle (19) to lock the screw (102).

3. The loading machine for foamed plastic packaging materials according to claim 2, characterized in that, The locking mechanism includes two elastic clamping blocks (105), the rear ends of which are fixed to the baffle (19). The screw (102) has a smooth rod section (1021). The middle of each of the two elastic clamping blocks (105) is provided with a clamping groove that cooperates with the smooth rod section (1021). The smooth rod section (1021) of the screw (102) is clamped between the two clamping grooves. An adjusting screw (106) that can adjust the distance between the two elastic clamping blocks (105) is provided between the upper ends of the two elastic clamping blocks (105). One end of the adjusting screw (106) is fixed with a handle (107).

4. The loading machine for foamed plastic packaging materials according to claim 1, characterized in that, The second conveying section (32) of the pallet includes a roller conveyor (5) and a lifting and rotating mechanism (6). A clearance space (51) is provided in the middle of the roller conveyor (5). The lifting and rotating mechanism (6) includes a support frame (61) located in the clearance space (51), a third bracket (62) located below the support frame (61), a lifting seat (63) that can be moved up and down on the third bracket (62), a lifting driver (64) that can drive the lifting seat (63) to move up and down, a rotating frame (65) provided on the lifting seat (63), and a steering driver (66) that can drive the rotating frame (65) to rotate around a vertical axis. The support frame (61) is fixed on the rotating frame (65).

5. The loading machine for foamed plastic packaging materials according to claim 4, characterized in that, The support frame (61) is in the shape of a grid.

6. The loading machine for foamed plastic packaging materials according to claim 1, characterized in that, The traveling mechanism includes two trusses (71) arranged on the left and right, a crossbar (72) movably mounted between the two trusses (71), an X-axis driver (73) capable of driving the crossbar (72) to move back and forth on the truss (71), a Y-axis slide (74) movably mounted on the crossbar (72), a Y-axis driver (75) capable of driving the Y-axis slide (74) to move left and right relative to the crossbar (72), a Z-axis lifting rod (76) movably mounted on the Y-axis slide (74), and a Z-axis driver (77) capable of driving the Z-axis lifting rod (76) to move up and down relative to the Y-axis slide (74). The forklift assembly (5) is fixed to the lower part of the Z-axis lifting rod (76), and a truck passage (701) is left between the two trusses (71).

7. The loading machine for foamed plastic packaging materials according to claim 1, characterized in that, The palletizing robot (4) includes a robotic arm (41) and a gripper (42). The gripper (42) includes a base plate (421), a fixed clamping plate (422) fixed to the right side of the base plate (421), a movable clamping plate (423) disposed at the left end of the base plate (421), and a gripping driver (424) capable of driving the movable clamping plate (423) to move left and right.

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