Intermediary stack assembly and screen printing conveyor line

CN224691197UActive Publication Date: 2026-08-28DONGGUAN PHOTOSYNTHESIS INTELLIGENT EQUIPMENT CO LTD
View PDF 0 Cites 0 Cited by

Patent Information

Application Number
CN202522131044.4
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2025-09-30
Publication Date
2026-08-28
Estimated Expiration
2035-09-30

AI Technical Summary

Technical Problem

目前的自动化丝网印刷线在成本上和效率上仍有提升改进的空间

Benefits of technology

[0029] This application provides a transfer stacking assembly for use in a screen printing conveyor line. The printing assembly performs multiple printing passes on shoe uppers from various transfer tooling plates on the screen printing conveyor line. The transfer stacking assembly increases the total number of transfer tooling plates on the screen printing conveyor line, thereby increasing the number of shoe uppers printed on the line. Therefore, during production, the shoe uppers on the transfer tooling plates have more drying time between printing passes, reducing the drying waiting time for the printing assembly and improving overall production efficiency. Furthermore, adding the transfer stacking assembly does not significantly extend the screen printing conveyor line, resulting in a more compact structure and lower cost.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN224691197U_ABST
    Figure CN224691197U_ABST
Patent Text Reader

Abstract

The utility model provides a kind of transfer stacking assembly and silk screen printing conveying line, it is related to silk screen printing equipment technical field, including rack, multiple transfer tooling plate, jacking mechanism, limiting mechanism.Jacking mechanism is assembled on rack;Jacking mechanism includes jacking frame, second drive source;Jacking frame is located below the stacking space of transfer tooling plate;Limiting mechanism is assembled on rack;Limiting mechanism includes limiting frame, first drive source;When first drive source drives limiting frame to apply support to transfer tooling plate in stacking space, second drive source drives jacking frame to be recycled downwards, so that new transfer tooling plate can be inserted between jacking frame and the transfer tooling plate above;When first drive source drives limiting frame to remove support, second drive source drives jacking frame to jacking transfer tooling plate in stacking space upwards.The present application has optimized the cost and efficiency of automatic silk screen printing line.
Need to check novelty before this filing date? Find Prior Art

Description

Technical Field

[0001] This application relates to the field of screen printing equipment technology, and in particular to a transfer stacking assembly and a screen printing conveyor line. Background Technology

[0002] Screen printing can be used in the production of shoe uppers. Screen printing is a mature, stable, and cost-effective decorative process in the footwear manufacturing industry. It is especially suitable for the production of large-volume athletic and casual shoes that require rich colors, eye-catching designs, and high durability. The printing process for shoe upper patterns generally involves many printing passes. Each print must be allowed to dry completely before the next print can be applied. In particular, the first and second layers of the water-based 3D printing process, especially the thick 3D printing paste (water-based polyurethane), must be completely dry. Otherwise, the printed material will still contain moisture and will not dry thoroughly. This will cause a cross-linking reaction between the curing agent and the water-based polyurethane components in the paste, severely affecting tensile strength, bending properties, and other physical properties, failing to meet the quality requirements of brand clients.

[0003] The screen printing process for shoe uppers can be achieved using automated screen printing lines, which perform multiple printing passes on the shoe upper. However, current automated screen printing lines still have room for improvement in terms of cost and efficiency. Utility Model Content

[0004] The technical problem to be solved by this application is to provide a transfer stacking assembly and a screen printing conveyor line to address the above-mentioned shortcomings of the prior art.

[0005] A transit stacking assembly, the transit stacking assembly comprising:

[0006] frame;

[0007] Multiple transfer tooling trays, the transfer tooling trays being used to hold shoe uppers to be printed;

[0008] A lifting mechanism is mounted on the frame; the lifting mechanism includes a lifting frame and a second drive source; the lifting frame is located below the stacking space of the transfer tooling plates; the second drive source is used to drive the lifting frame to move, so that the lifting frame lifts the transfer tooling plates stacked in the stacking space upwards or retracts them downwards;

[0009] A limiting mechanism is mounted on the frame; the limiting mechanism includes a limiting frame and a first drive source; the first drive source is used to drive the limiting frame to move, so as to apply support to the transfer tooling plate in the stacking space to maintain the height position or remove the support to allow height adjustment;

[0010] When the first drive source drives the limiting frame to apply support to the transfer tooling plate in the stacking space, the second drive source drives the lifting frame to retract downwards, so that a new transfer tooling plate can be inserted between the lifting frame and the transfer tooling plate above.

[0011] When the first drive source drives the limiting frame to remove the support, the second drive source drives the lifting frame to lift the transfer tooling plate in the stacking space upward.

[0012] Optionally, when multiple transfer tooling plates are stacked together, a gap is formed between adjacent transfer tooling plates;

[0013] The limiting frame is provided with multiple limiting parts in sequence along the height direction; the first driving source can drive the limiting frame to move so that each limiting part moves to the bottom of each transfer tooling plate stacked in the stacking space to provide support for the transfer tooling plates in the stacking space.

[0014] Optionally, a plurality of limiting mechanisms are provided around the stacking space, and the plurality of limiting mechanisms are capable of operating synchronously.

[0015] Optionally, the rack is a frame structure to form the stacking space within it.

[0016] Optionally, the transfer tooling plate includes: a base plate, and a glass plate disposed on the base plate; the glass plate is used to place the shoe upper to be printed;

[0017] The glass plate has multiple mounting holes, and the substrate has multiple support members; the support members are positioned one-to-one with the mounting holes; the support members pass through the corresponding mounting holes and are connected to the substrate, and are partially located above the glass plate.

[0018] When multiple transfer tooling plates are stacked together, the support of the lower transfer tooling plate abuts against the base plate of the upper transfer tooling plate to form a gap between the upper and lower adjacent transfer tooling plates.

[0019] Optionally, the support member is a threaded connector, which is assembled onto the substrate by threaded engagement.

[0020] On the other hand, this application also provides a screen printing conveyor line, the screen printing line comprising:

[0021] The aforementioned intermediate stacking components;

[0022] A first conveying device is used to input a transfer tooling plate into the transfer stacking assembly;

[0023] The second conveying device is used to output the transfer tooling plate from the transfer stacking assembly.

[0024] Optionally, a transfer mechanism is provided between the second conveying device and the transfer stacking assembly; the transfer mechanism includes:

[0025] A gripper, used to grasp transfer tooling plates;

[0026] A drive device is used to drive the gripper to move such that the gripper is moved above the stacking space to grab the top transfer tooling plate, or to move above the second conveyor to release it onto the second conveyor.

[0027] Optionally, the gripper includes multiple suction cups, which can collectively adhere to the transfer tooling plate.

[0028] Optionally, the driving device includes a lateral movement device and a longitudinal movement device; the lateral movement device is used to drive the gripper to move laterally; the longitudinal movement device is used to drive the gripper to move longitudinally.

[0029] This application provides a transfer stacking assembly for use in a screen printing conveyor line. The printing assembly performs multiple printing passes on shoe uppers from various transfer tooling plates on the screen printing conveyor line. The transfer stacking assembly increases the total number of transfer tooling plates on the screen printing conveyor line, thereby increasing the number of shoe uppers printed on the line. Therefore, during production, the shoe uppers on the transfer tooling plates have more drying time between printing passes, reducing the drying waiting time for the printing assembly and improving overall production efficiency. Furthermore, adding the transfer stacking assembly does not significantly extend the screen printing conveyor line, resulting in a more compact structure and lower cost. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the transfer stacking component in the embodiments of this application.

[0031] Figure 2 This is a schematic diagram of the transfer tooling plate in the embodiments of this application.

[0032] Figure 3 This is a schematic diagram of the rack structure in an embodiment of this application.

[0033] Figure 4 This is one of the schematic diagrams showing the working state of the transfer stacking component in the embodiments of this application.

[0034] Figure 5 This is the second schematic diagram of the working state of the transfer stacking component in the embodiments of this application.

[0035] Figure 6 This is the third schematic diagram of the working state of the transfer stacking component in the embodiments of this application.

[0036] Figure 7This is a schematic diagram of the limiting mechanism in the embodiments of this application.

[0037] Figure 8 This is a schematic diagram of the lifting mechanism in the embodiments of this application.

[0038] Figure 9 This is a schematic diagram of the transfer mechanism in the embodiments of this application.

[0039] Figure 10 This is a schematic diagram of the structure of the transfer stacking component and the transfer mechanism in the embodiments of this application.

[0040] Figure 11 This is a schematic diagram of the structure of the screen printing conveyor line in the embodiments of this application.

[0041] Reference numerals: transfer stacking assembly 100, frame 10, stacking space 11, transfer tooling plate 20, base plate 21, glass plate 22, assembly hole 221, support member 23, lifting mechanism 30, lifting frame 31, second drive source 32, limiting mechanism 40, limiting frame 41, limiting part 411, first drive source 42, transfer mechanism 50, suction cup 51, lateral movement device 52, longitudinal movement device 53, first conveying device 60, second conveying device 70. Detailed Implementation

[0042] The following are specific embodiments of this application, described in conjunction with the accompanying drawings, to further illustrate the technical solutions of this application. However, this application is not limited to these embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope of protection of this application. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0043] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0044] The printing process for shoe uppers typically involves multiple printing passes, each requiring the previous print surface to dry completely before the next. This is especially crucial in the first and second layers of water-based 3D printing, where the thickened slurry (water-based polyurethane) must be thoroughly dried to the touch. Otherwise, the printed material will still contain moisture and won't dry completely, causing cross-linking reactions between the curing agent and the water-based polyurethane components. This severely impacts tensile strength and bending properties, failing to meet the quality requirements of brand clients. To address this, this application provides a transfer stacking assembly. This assembly increases the total number of transfer fixtures on the screen printing conveyor line, thereby increasing the number of shoe uppers that can be printed on the line. During production, the shoe uppers on the transfer fixtures have more time to dry between printing passes, reducing the drying time of the printing components and improving overall production efficiency. Furthermore, adding the transfer stacking assembly does not significantly extend the screen printing conveyor line, resulting in a more compact structure and lower cost.

[0045] refer to Figures 1-8 This application provides a transfer stacking assembly 100, which includes a frame 10, a plurality of transfer tooling plates 20, a lifting mechanism 30, and a limiting mechanism 40. The lifting mechanism 30 and the limiting mechanism 40 are mounted on the frame 10.

[0046] The transfer tooling plate 20 is used to place the shoe upper to be printed; when multiple transfer tooling plates 20 are stacked together, a gap is formed between adjacent transfer tooling plates 20.

[0047] The lifting mechanism 30 is mounted on the frame 10; the lifting mechanism 30 includes a lifting frame 31 and a second drive source 32; the lifting frame 31 is located below the stacking space 11 of the transfer tooling plate 20; the second drive source 32 is used to drive the lifting frame 31 to move, so that the lifting frame 31 lifts the transfer tooling plate 20 stacked in the stacking space 11 upward or retracts it downward.

[0048] The limiting mechanism 40 is mounted on the frame 10; the limiting mechanism 40 includes a limiting frame 41 and a first drive source 42; the first drive source 42 is used to drive the limiting frame 41 to move, so as to apply support to the transfer tooling plate 20 in the stacking space 11 to maintain the height position or remove the support to allow height adjustment.

[0049] When the first drive source 42 drives the limiting frame 41 to apply support to the transfer tooling plate 20 in the stacking space 11, the second drive source 32 drives the lifting frame 31 to retract downwards, allowing a new transfer tooling plate 20 to be inserted between the lifting frame 31 and the upper transfer tooling plate 20. When the first drive source 42 drives the limiting frame 41 to remove support, the second drive source 32 drives the lifting frame 31 to lift the transfer tooling plate 20 in the stacking space 11 upwards.

[0050] The intermediate stacking assembly 100 is used in a screen printing conveyor line, where the printing assembly performs multiple printing passes on the shoe uppers of each intermediate tooling plate 20 on the screen printing conveyor line 100. Figure 11 In the structure shown, the first conveying device 60 is used to input the transfer tooling plate 20 into the transfer stacking assembly 100, and the second conveying device 70 is used to output the transfer tooling plate 20 from the transfer stacking assembly 100.

[0051] When the relay stacking component 100 is in operation, firstly, refer to Figure 6 The first drive source 42 drives the limiting frame 41 to provide support to the transfer tooling plate 20 in the stacking space 11 to maintain its height position. In this state, the second drive source 32 drives the lifting frame 31 to retract downwards, allowing a new transfer tooling plate 20 to be inserted between the lifting frame 31 and the upper transfer tooling plate 20. At this time, the first conveying device 60 inputs the new external transfer tooling plate 20 between the lifting frame 31 and the upper transfer tooling plate 20. The new transfer tooling plate 20 enters the stacking space 11, becoming the bottom layer of the stacked transfer tooling plates in the stacking space 11. Next, refer to... Figure 5 The first drive source 42 drives the limiting frame 41 to remove its support, and the second drive source 32 drives the lifting frame 31 to lift the transfer tooling plates 20 stacked in the stacking space 11 upwards. The uppermost transfer tooling plate 20 in the stacking space 11 can be transferred to the second conveying device 70 via a transfer mechanism. Thus, when the transfer stacking assembly 100 is applied to a screen printing conveyor line, it can accommodate a portion of the transfer tooling plates, thereby increasing the total number of transfer tooling plates on the screen printing conveyor line and thus increasing the number of shoe uppers on the screen printing conveyor line.

[0052] In one embodiment of this application, reference is made to Figure 7 The limiting frame 41 has multiple limiting parts 411 arranged sequentially along its height direction; the first driving source 42 can drive the limiting frame 41 to move so that each limiting part 411 moves one-to-one to the bottom of each transfer tooling plate 20 stacked in the stacking space 11 to provide support for the transfer tooling plates 20 in the stacking space 11. Furthermore, multiple limiting mechanisms 40 are arranged around the stacking space 11, and the multiple limiting mechanisms 40 can operate synchronously.

[0053] When support needs to be applied to the transfer tooling plate 20 in the stacking space 11, each limiting mechanism 40 can operate simultaneously, and the limiting part 411 of each limiting frame 41 moves to the bottom of each stacked transfer tooling plate 20 in the stacking space 11 to apply support to the transfer tooling plate 20 in the stacking space 11. When support needs to be removed, each limiting mechanism 40 can operate simultaneously, and the limiting part 411 of each limiting frame 41 can move out of the transfer tooling plate 20 at the same time.

[0054] Stacking space 11 is used to accommodate stacked transfer tooling plates 20, and its arrangement needs to be determined based on the actual situation. (Reference) Figure 3 In one embodiment of this application, the rack 10 is a frame structure to form a stacking space 11 inside it.

[0055] In one embodiment of this application, the transfer tooling plate 20 includes a substrate 21 and a glass plate 22 disposed on the substrate 21. The glass plate 22 is used to place the shoe upper to be printed. The glass plate 22 is provided with a plurality of mounting holes 221, and the substrate 21 is provided with a plurality of support members 23. The support members 23 correspond one-to-one with the mounting holes 221. The support members 23 pass through the corresponding mounting holes 221 and are connected to the substrate 21, and are partially located above the glass plate 22. When multiple transfer tooling plates 20 are stacked together, the support members 23 of the lower transfer tooling plate 20 abut against the substrate 21 of the upper transfer tooling plate 20 to form a gap between the upper and lower adjacent transfer tooling plates 20. In this structure, the bottom of the transfer tooling plate 20 is the substrate 21, and the support members 23 are disposed on the substrate 21. When stacked, the substrate 21 and the support members 23 constitute a support structure. The support members 23 of the lower layer of transfer tooling plate 20 abut against the substrate 21 of the upper layer of transfer tooling plate 20, and the glass plate 22 is not subjected to force. Furthermore, the support member 23 is a threaded connector, which is assembled on the base plate 21 by thread engagement.

[0056] This application also provides a screen printing conveyor line, see reference. Figure 11 The screen printing line includes a transfer stacking assembly 100, a first conveying device 60, and a second conveying device 70. The first conveying device 60 is used to input the transfer tooling plate 20 into the transfer stacking assembly 100, and the second conveying device 70 is used to output the transfer tooling plate 20 from the transfer stacking assembly 100.

[0057] The intermediate stacking assembly 100 is used in a screen printing conveyor line, where the printing assembly performs multiple printing passes on the shoe uppers of each intermediate tooling plate 20 on the screen printing conveyor line 100. Figure 11In the structure shown, the first conveying device 60 is used to input the transfer tooling plate 20 into the transfer stacking assembly 100, and the second conveying device 70 is used to output the transfer tooling plate 20 from the transfer stacking assembly 100. The transfer stacking assembly 100 includes a frame 10, multiple transfer tooling plates 20, a lifting mechanism 30, and a limiting mechanism 40. The lifting mechanism 30 and the limiting mechanism 40 are mounted on the frame 10. The transfer tooling plate 20 is used to place the shoe upper to be printed; when multiple transfer tooling plates 20 are stacked together, a gap is formed between adjacent transfer tooling plates 20. The lifting mechanism 30 is mounted on the frame 10; the lifting mechanism 30 includes a lifting frame 31 and a second drive source 32; the lifting frame 31 is located below the stacking space 11 of the transfer tooling plates 20; the second drive source 32 is used to drive the lifting frame 31 to move, so that the lifting frame 31 lifts the stacked transfer tooling plates 20 in the stacking space 11 upwards or retracts them downwards. A limiting mechanism 40 is mounted on the frame 10. The limiting mechanism 40 includes a limiting frame 41 and a first drive source 42. The first drive source 42 drives the limiting frame 41 to apply support to the transfer tooling plate 20 in the stacking space 11 to maintain its height position or remove the support to allow for height adjustment. When the first drive source 42 drives the limiting frame 41 to apply support to the transfer tooling plate 20 in the stacking space 11, the second drive source 32 drives the lifting frame 31 to retract downwards, allowing a new transfer tooling plate 20 to be inserted between the lifting frame 31 and the upper transfer tooling plate 20. When the first drive source 42 drives the limiting frame 41 to remove the support, the second drive source 32 drives the lifting frame 31 to lift the transfer tooling plate 20 in the stacking space 11 upwards.

[0058] In one embodiment of this application, reference is made to Figure 9 and Figure 10 A transfer mechanism 50 is provided between the second conveying device and the transfer stacking assembly 100. The transfer mechanism 50 includes a gripper and a drive device. The gripper is used to grip the transfer tooling plate 20. The drive device is used to drive the gripper to move, so that the gripper moves above the stacking space to grip the top transfer tooling plate 20, or moves above the second conveying device to release it onto the second conveying device. Further, the gripper includes multiple suction cups 51, which can collectively adhere to the transfer tooling plate 20. The drive device includes a lateral movement device 52 and a longitudinal movement device 53. The lateral movement device 52 is used to drive the gripper to move laterally; the longitudinal movement device 53 is used to drive the gripper to move longitudinally. In a specific embodiment, the lateral movement device 52 is a linear module, the longitudinal movement device 53 is a cylinder, the longitudinal movement device 53 is mounted on the linear module, and the gripper is mounted on the cylinder.

[0059] In this application, the first drive source and the second drive source can be configured in various forms, such as electric devices, pneumatic devices, etc., specifically cylinders.

[0060] In summary, this application provides a transfer stacking assembly for use in a screen printing conveyor line. The printing assembly performs multiple printing passes on shoe uppers on various transfer tooling plates along the screen printing conveyor line. The transfer stacking assembly increases the total number of transfer tooling plates on the screen printing conveyor line, thereby increasing the number of shoe uppers printed on the line. Therefore, during production, the shoe uppers on the transfer tooling plates have more drying time between printing passes, reducing the drying waiting time for the printing assembly and improving overall production efficiency. Furthermore, adding the transfer stacking assembly does not significantly extend the screen printing conveyor line; therefore, the structure is more compact and the cost is lower.

[0061] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0063] The specific embodiments described herein are merely illustrative examples of the technical solutions of this application. Those skilled in the art to which this application pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, but without departing from the scope defined by the claims of this application.

Claims

1. A transfer stacking assembly, characterized in that, The transit stacking assembly includes: frame; Multiple transfer tooling trays, the transfer tooling trays being used to hold shoe uppers to be printed; A lifting mechanism is mounted on the frame; the lifting mechanism includes a lifting frame and a second drive source; the lifting frame is located below the stacking space of the transfer tooling plates; the second drive source is used to drive the lifting frame to move, so that the lifting frame lifts the transfer tooling plates stacked in the stacking space upwards or retracts them downwards; A limiting mechanism is mounted on the frame; the limiting mechanism includes a limiting frame and a first drive source; the first drive source is used to drive the limiting frame to move, so as to apply support to the transfer tooling plate in the stacking space to maintain the height position or remove the support to allow height adjustment; When the first drive source drives the limiting frame to apply support to the transfer tooling plate in the stacking space, the second drive source drives the lifting frame to retract downwards, so that a new transfer tooling plate can be inserted between the lifting frame and the transfer tooling plate above. When the first drive source drives the limiting frame to remove the support, the second drive source drives the lifting frame to lift the transfer tooling plate in the stacking space upward.

2. The transit stacking assembly according to claim 1, characterized in that, When multiple transfer tooling plates are stacked together, gaps are formed between adjacent transfer tooling plates; The limiting frame is provided with multiple limiting parts in sequence along the height direction; the first driving source can drive the limiting frame to move so that each limiting part moves to the bottom of each transfer tooling plate stacked in the stacking space to provide support for the transfer tooling plates in the stacking space.

3. The transit stacking assembly according to claim 2, characterized in that, Multiple limiting mechanisms are arranged around the stacking space, and the multiple limiting mechanisms can operate synchronously.

4. The transit stacking assembly according to claim 1, characterized in that, The rack is a frame structure to form the stacking space inside it.

5. The transit stacking assembly according to claim 1, characterized in that, The transfer tooling plate includes: a base plate, and a glass plate disposed on the base plate; the glass plate is used to place the shoe upper to be printed; The glass plate has multiple mounting holes, and the substrate has multiple support members; the support members are positioned one-to-one with the mounting holes; the support members pass through the corresponding mounting holes and are connected to the substrate, and are partially located above the glass plate. When multiple transfer tooling plates are stacked together, the support of the lower transfer tooling plate abuts against the base plate of the upper transfer tooling plate to form a gap between the upper and lower adjacent transfer tooling plates.

6. The transit stacking assembly according to claim 5, characterized in that, The support is a threaded connector, which is assembled onto the base plate through a threaded fit.

7. A screen printing conveyor line, characterized in that, The screen printing conveyor line includes: The transit stacking assembly as described in any one of claims 1-6; A first conveying device is used to input a transfer tooling plate into the transfer stacking assembly; The second conveying device is used to output the transfer tooling plate from the transfer stacking assembly.

8. The screen printing conveyor line according to claim 7, characterized in that, A transfer mechanism is provided between the second conveying device and the transfer stacking assembly; the transfer mechanism includes: A gripper, used to grasp transfer tooling plates; A drive device is used to drive the gripper to move such that the gripper is moved above the stacking space to grab the top transfer tooling plate, or to move above the second conveyor to release it onto the second conveyor.

9. The screen printing conveyor line according to claim 8, characterized in that, The gripper includes multiple suction cups, which can work together to hold the transfer tooling plate.

10. The screen printing conveyor line according to claim 8, characterized in that, The driving device includes a lateral movement device and a longitudinal movement device; the lateral movement device is used to drive the gripper to move laterally; the longitudinal movement device is used to drive the gripper to move longitudinally.