Automatic feeding and discharging plate hot pressing production line

Abstract

The utility model belongs to the technical field of plate production and processing equipment, and concretely relates to a plate hot-pressing production line with automatic feeding and discharging, wherein the feeding mechanism comprises a feeding suction disc, a feeding vertical moving assembly, a feeding horizontal moving assembly and a portal frame, the feeding suction disc has multiple groups, is arranged and installed uniformly according to the shape of the plate at the lower part of the support frame, and a shaking cylinder is installed on the support frame. The lifting type conveying table comprises a scissors frame, a feeding friction chain plate, an adjusting screw rod and a base, and is used for feeding the plate into different pressing cavities of the hot press. The discharging mechanism comprises a support, a discharging horizontal moving assembly, a discharging vertical moving assembly, a clamping jaw and a discharging longitudinal moving assembly, the clamping jaw clamps the plate from each layer of the multi-layer cooling plate frame, feeds the plate to the discharging conveyor belt and then releases the plate. The plate turnover conveyor receives the plate from the discharging conveyor belt, drives the plate to move, sucks the plate by the plate turnover suction disc and rotates the plate. The utility model can automatically feed and discharge the plate for hot-pressing operation, can be suitable for the plate that is bent and adhered, reduces the manual strength and avoids the danger of operation.

Description

Technical Field

[0001] This utility model belongs to the technical field of sheet metal production and processing equipment, specifically relating to an automatic loading and unloading sheet metal hot pressing production line. Background Technology

[0002] Engineered wood flooring requires a hot-pressing process, which involves pressing pre-glued and stacked multi-layered wood boards (face board, core board, and backing board) under specific temperature, pressure, and time conditions to cure the adhesive and form a unified board. Its core function is to use heat to promote adhesive curing, pressure to ensure tight bonding between layers, and to control thickness and dimensional accuracy.

[0003] Currently, a common problem in the processing of three-layer engineered wood flooring is bending and deformation. Factors influencing this include: wood species and veneer raw materials, moisture content, overlap and gaps within the three-layer board blanks, and the environment in which it is used. Besides controlling raw materials and moisture content, the hot-pressing stage of the board blank also significantly determines the subsequent processing quality of the flooring. During the hot-pressing process, the number of surface veneers and the press pressure must be adjusted according to the performance and type of the selected adhesive, the size of the panel, and other parameters.

[0004] Existing pressing processes are mostly carried out in multi-layer presses. Multi-layer presses press the boards together using hot or cold pressing. A multi-layer press includes multiple pressing chambers. Each pressing chamber presses one or more boards. Each pressing chamber requires a board to be loaded. Due to issues with flooring bending and adhesion, existing three-layer engineered wood flooring hot presses manually load the multi-layer engineered wood flooring into the press. After pressing, the boards are pushed onto a stand using push rods. The height of each layer on the stand is the same as the height of each layer on the press. After the boards dry on the stand, they are manually removed, inspected, and stacked. This loading and unloading method in hot presses has low automation, wastes manpower, and has low efficiency. It also results in high labor intensity for workers. Furthermore, there are safety hazards during manual loading and unloading. Utility Model Content

[0005] The problem this invention aims to solve is that existing hot pressing processes for boards suffer from low efficiency and high labor intensity due to issues such as bent boards, insufficient gripping force, and boards sticking together, requiring manual handling for loading, unloading, and flipping. The purpose of this invention is to propose an automated loading and unloading production line for hot pressing boards. This line automates the loading and unloading of boards during the hot pressing process, is suitable for bent and stuck boards, reduces manual labor, and avoids operational hazards.

[0006] The present invention adopts the following technical solution: an automatic loading and unloading sheet metal hot pressing production line, comprising:

[0007] The feeding mechanism includes feeding suction cups, a feeding vertical movement assembly, a feeding horizontal movement assembly, and a gantry frame. The gantry frame is installed at the material rack and the hot press. The feeding horizontal movement assembly is mounted on the gantry frame, which drives the vertical substrate to move horizontally. The feeding vertical movement assembly is mounted on the substrate, and it drives the support frame to move vertically via a cylinder. Multiple sets of feeding suction cups are evenly arranged and installed on the lower part of the support frame according to the shape of the material. A vibration cylinder is mounted on the support frame.

[0008] The lifting conveyor table includes a scissor lift, a feeding friction chain, an adjusting screw, and a base. The adjusting screw and scissor lift are mounted on the base. The adjusting screw is driven by a servo motor, which pushes the connecting rod hinged at the bottom of the scissor lift to move, thus raising and lowering the scissor lift. The feeding friction chain is mounted on the scissor lift and is driven by a motor and chain to rotate. The lifting conveyor table feeds the sheet metal into different pressing chambers of the hot press.

[0009] The multi-layer cooling rack has multiple storage layers corresponding to the pressing chamber of the hot press. The boards are pushed into the multi-layer cooling rack.

[0010] The unloading mechanism includes a support frame, an unloading horizontal movement assembly, an unloading vertical movement assembly, grippers, and an unloading longitudinal movement assembly. The support frame is installed on the side of the multi-layer cooling board rack and above the unloading conveyor belt. The unloading longitudinal movement assembly moves the supporting horizontal plate closer to and further away from the multi-layer cooling board rack. The unloading horizontal movement assembly moves the grippers horizontally. The unloading vertical movement assembly moves the grippers up and down. The grippers pick up boards from each layer of the multi-layer cooling board rack, deliver them to the unloading conveyor belt, and then release them.

[0011] The flip conveyor receives boards from the feeding conveyor belt, moves the boards, and the flip suction cups hold the boards in place and rotate them for easy inspection and subsequent stacking.

[0012] According to another embodiment of the utility model or any of the foregoing embodiments, in the board hot pressing production line, a universal joint or ball joint is installed between the feeding suction cup and the support frame, and a spring is embedded in the ball joint to ensure that the feeding suction cup is tightly attached to the surface of the board. The feeding suction cup is made of high elastic silicone.

[0013] According to another embodiment of the utility model or any of the foregoing embodiments, in the sheet metal hot pressing production line, the feeding transverse movement assembly includes a rack, a guide rail, and a drive motor. The support frame where the feeding suction cup is located is installed on a vertical base plate. The base plate cooperates with the guide rail on the gantry frame through a slider. A drive motor is installed on the base plate, and a gear that cooperates with the rack is installed at the output end of the drive motor. The drive motor drives the base plate to move horizontally.

[0014] According to another embodiment of the utility model or any of the foregoing embodiments, in the sheet metal hot pressing production line, the feeding suction cup and the flipping suction cup are connected to air pipes, and the negative pressure of the feeding suction cup and the flipping suction cup is controlled by a solenoid valve.

[0015] According to another embodiment of the utility model or any of the foregoing embodiments, the sheet metal hot pressing production line includes a flip-plate conveyor, a flip-plate drive motor, a rotating arm, a flip-plate suction cup, and a flip-plate friction chain plate. The flip-plate friction chain plate is installed on the machine body. The friction chain plate is rotated under the control of the drive motor and the chain, thereby moving the sheet metal. The flip-plate drive motor is located on the side of the friction chain plate and drives the transmission shaft to rotate. At least two rotating arms are installed on the rotating shaft. A support frame is installed at the other end of the cantilever arm. Flip-plate suction cups are evenly arranged on the support frame.

[0016] According to another embodiment of the utility model or any of the foregoing embodiments, in the sheet metal hot pressing production line, the feeding longitudinal movement assembly includes a longitudinal movement screw driven by a drive motor, a support cross plate cooperates with a guide rail on the bracket through a slider, the support cross plate is connected to a drive motor and a transverse movement screw, the nut seat cooperating with the transverse movement screw drives the seat plate to move horizontally, the seat plate is equipped with a drive motor, a vertical movement screw and a guide rail, the gripper includes a fixed gripper and a movable gripper, the vertical movement screw drives the gripper to move up and down, and the movable gripper is driven to move closer to and away from the fixed gripper.

[0017] The beneficial effects of this utility model are:

[0018] 1. The automatic loading and unloading hot pressing production line for sheet metal disclosed in this utility model is fully automated in loading and unloading and flipping for inspection. Through the cooperation of multi-dimensional motion mechanisms of vertical, horizontal and longitudinal movement, it is suitable for hot pressing machines for multi-layer sheet metal, achieving precise positioning of sheet metal without manual intervention, reducing waiting time, increasing the effective working time of the hot pressing machine, and avoiding manual contact with the high-temperature hot pressing machine, thus reducing operational risks.

[0019] 2. The feeding mechanism of this utility model adopts a suction cup with a universal joint or ball joint to adapt to the uneven surface of the board; a vibration cylinder is set to solve the problem of board adhesion. Combining the conveyor and the flipping machine improves the working efficiency of the hot press unloading, while reducing the workload of workers flipping boards and checking the pressing of the boards. Attached Figure Description

[0020] Figure 1 This is a side view of the automatic loading and unloading sheet metal hot pressing production line of the present invention.

[0021] Figure 2 This is a top view of the automatic loading and unloading sheet metal hot pressing production line of this utility model;

[0022] Figure 3 This is a three-dimensional schematic diagram of the automatic loading and unloading sheet metal hot pressing production line of this utility model;

[0023] Figure 4 This is a front enlarged view of the feeding mechanism, lifting conveyor, and material rack described in this utility model;

[0024] Figure 5 This is a three-dimensional enlarged schematic diagram of the feeding mechanism, lifting conveyor platform, and material rack described in this utility model;

[0025] Figure 6 for Figure 5 An enlarged schematic diagram of part A;

[0026] Figure 7 This is a three-dimensional enlarged schematic diagram of the lifting conveyor platform described in this utility model;

[0027] Figure 8 This is a side enlarged schematic diagram of the feeding mechanism described in this utility model;

[0028] Figure 9 This is a three-dimensional enlarged schematic diagram of the feeding mechanism described in this utility model;

[0029] Figure 10 This is a three-dimensional enlarged schematic diagram of the flip conveyor described in this utility model;

[0030] In the diagram, 100 is the feeding mechanism; 101 is the feeding suction cup; 102 is the feeding vertical movement assembly; 103 is the feeding horizontal movement assembly; 104 is the universal joint; and 105 is the gantry frame.

[0031] 200. Lifting conveyor table; 201. Scissor lift frame; 202. Feeding friction chain plate; 203. Adjusting screw; 204. Base;

[0032] 300. Material rack;

[0033] 400. Hot press;

[0034] 500. Multi-layer cooling rack;

[0035] 600. Feeding mechanism; 601. Support; 602. Feeding transverse movement assembly; 603. Feeding vertical movement assembly; 604. Gripper; 605. Feeding longitudinal movement assembly;

[0036] 700. Material feeding conveyor belt;

[0037] 800. Tilting conveyor; 801. Machine body; 802. Tilting drive motor; 803. Swing arm; 804. Tilting suction cup; 805. Tilting friction chain plate. Detailed Implementation

[0038] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0039] like Figure 1 , 2 As shown in Figure 4, an automatic loading and unloading hot pressing production line for sheet metal includes a loading mechanism 100 comprising a loading suction cup 101, a loading vertical movement component 102, a loading horizontal movement component 103, and a gantry frame 105. The gantry frame 105 is installed at the material rack 300 and the hot press 400. The loading horizontal movement component 103 is installed on the gantry frame 105, which drives the vertical substrate to move horizontally. The loading vertical movement component 102 is installed on the substrate, and the loading vertical movement component 102 drives the support frame to move vertically via a cylinder. There are multiple sets of loading suction cups 101, which are evenly arranged and installed on the lower part of the support frame according to the shape of the sheet metal. A vibration cylinder is installed on the support frame. In one example, a universal joint 104 or a ball joint is installed between the loading suction cup 101 and the support frame. A spring is embedded in the ball joint to ensure that the loading suction cup 101 is in close contact with the surface of the sheet metal. The material of the loading suction cup 101 is high-elasticity silicone. The loading transverse component 103 includes a rack, a guide rail, and a drive motor. The support frame where the loading suction cup 101 is located is mounted on a vertical base plate. The base plate cooperates with the guide rail on the gantry frame 105 through a slider. The drive motor is mounted on the base plate, and the output end of the drive motor is equipped with a gear that cooperates with the rack. The drive motor drives the base plate to move horizontally.

[0040] like Figure 3 , 5 As shown in Figure 7, the lifting conveyor 200 includes a scissor lift 201, a feeding friction chain plate 202, an adjusting screw 203, and a base 204. The adjusting screw 203 and the scissor lift 201 are mounted on the base 204. The adjusting screw 203 is driven by a servo motor, which pushes the connecting rod hinged at the bottom of the scissor lift 201 to move, thereby lifting and lowering the scissor lift 201. The feeding friction chain plate 202 is mounted on the scissor lift 201 and is driven by a drive motor and a chain to rotate. The lifting conveyor 200 feeds the sheet metal into different pressing chambers of the hot press 400.

[0041] like Figure 2 , 3 As shown, the multi-layer cooling rack 500 has multiple storage layers corresponding to the pressing chamber of the hot press 400. The boards are pushed into the multi-layer cooling rack 500.

[0042] like Figure 3 , 8As shown in Figure 9, the unloading mechanism 600 includes a support 601, an unloading horizontal movement component 602, an unloading vertical movement component 603, a gripper 604, and an unloading longitudinal movement component 605. The support 601 is installed on the side of the multi-layer cooling board rack 500 and above the unloading conveyor belt 700. The unloading longitudinal movement component 605 drives the support horizontal plate to move closer to and further away from the multi-layer cooling board rack 500. The unloading horizontal movement component 602 drives the gripper 604 to move horizontally. The unloading vertical movement component 603 drives the gripper 604 to rise and fall. The gripper 604 picks up the boards from each layer of the multi-layer cooling board rack 500 and sends them to the unloading conveyor belt 700 before releasing them. The feeding longitudinal movement assembly 605 includes a longitudinal movement screw driven by a drive motor. The support cross plate cooperates with the guide rail on the bracket 601 through a slider. The support cross plate is connected to the drive motor and the transverse movement screw. The nut seat that cooperates with the transverse movement screw drives the seat plate to move horizontally. The seat plate is equipped with a drive motor, a vertical movement screw, and a guide rail. The gripper 604 includes a fixed gripper and a movable gripper. The vertical movement screw drives the gripper 604 to move up and down. The movable gripper is driven to move closer to and away from the fixed gripper.

[0043] like Figure 3 , 10 As shown, the flip conveyor 800 receives sheet metal from the unloading conveyor belt 700, moves the sheet metal, and the flip suction cups 804 hold the sheet metal and rotate it for easy inspection and subsequent stacking. The flip conveyor 800 includes a body 801, a flip drive motor 802, a rotating arm 803, flip suction cups 804, and a flip friction chain plate 805. The flip friction chain plate 805 is installed on the body 801. The friction chain plate is rotated under the control of the drive motor and chain, which moves the sheet metal. The flip drive motor 802 is located on the side of the friction chain plate and drives the drive shaft to rotate. At least two rotating arms 803 are installed on the rotating shaft. A support frame is installed at the other end of the arm, and flip suction cups 804 are evenly arranged on the support frame.

[0044] The feeding suction cup 101 and the flip-plate suction cup 804 are connected to air pipes, and the negative pressure of the feeding suction cup 101 and the flip-plate suction cup 804 is controlled by a solenoid valve.

[0045] The working principle of this utility model:

[0046] Existing pressing processes are mostly carried out in multi-layer presses, which press the boards together using hot pressing. A multi-layer press consists of multiple pressing chambers, each pressing one or more boards, and each chamber requires a board to be loaded. Currently, due to the curvature of the flooring, the existing 400 hot press for three-layer engineered wood flooring uses manual loading of the multi-layer engineered wood flooring into the press. After pressing, the boards are pushed onto a stand by pushers. The height of each layer on the stand is the same as the height of each layer on the press. After the boards dry on the stand, they are manually removed, inspected, and stacked. This loading and unloading method of the 400 hot press has low automation, wastes manpower, has low efficiency, and results in high labor intensity for workers. Furthermore, there are safety hazards during manual loading and unloading.

[0047] This utility model comprehensively considers the structural characteristics of the existing hot press 400, the hot pressing process parameters, the characteristics of three-layer solid wood composite flooring, and the size of the existing site. It designs an automated technical transformation of the hot press 400 loading and unloading production line to save manpower and improve production efficiency. Before the hot press 400 starts working, the loading mechanism 100 places the wooden boards on each layer of the hot press 400's material rack 300. After the hot pressing process is completed, the unloading mechanism 600 removes the hot-pressed wooden boards from each layer of the multi-layer cooling rack 500, transports them to a designated location, flips them over, allows operators to inspect them, and automatically stacks them.

[0048] This invention employs a feeding mechanism 100 and a lifting conveyor 200 to transport wooden boards to a hot press 400 for high-temperature pressing. The use of automation technology improves the feeding efficiency of the hot press 400. During unloading, a gantry crane 105 robotic arm and a conveyor with a flipping mechanism are used, further improving the unloading efficiency of the hot press 400 and reducing the workload of workers flipping boards and checking the pressing condition. The feeding operation consists of the gantry crane 105, suction cups, and the lifting conveyor 200. To address the issue of board adhesion, a vibration cylinder is added; an anti-fatigue cylinder is selected and integrated into the suction cup bracket 601. To address curvature, universal joints 104 or ball joints are added to the existing suction cups to adapt to different curvatures. Springs are embedded in the ball joints to ensure a tight fit between the suction cups and the wooden board surface. Distributed independent suction cup groups are used to evenly distribute the load and avoid stress concentration. High-elasticity silicone is selected for the suction cups to enhance sealing and adapt to uneven surfaces. The lifting conveyor platform 200 is composed of a chain drive mechanism, support mechanism, support shaft, support bearing, wooden floor, push plate, power shaft, power transmission chain, servo motor, bearing seat, support leg, chain plate, tensioning mechanism, driven sprocket, conveyor chain, drive sprocket, scissor lift platform, screw drive mechanism, inner chain link, outer chain link, support frame, wear-resistant strip, and support block.

[0049] The specific layout of the 400 hot press with automatic feeding is as follows: a gantry frame with 105 suction cups, capable of movement in both X and Y directions, is positioned on the left side of the conveying platform. The wooden boards are conveyed from the placement plate to the automatic conveying lifting platform. This automatic conveying platform uses chain drive. A friction chain plate with a pusher plate is added above the chain drive to place and convey the wooden boards. However, the friction chain plate and chain can bend under load. Therefore, wear-resistant strips, support frames, and support blocks are added below the chain. This supports the chain drive, and because the wear-resistant strips are made of wear-resistant material, they do not affect the frequent rolling of the chain. The lifting platform is driven by a servo motor that drives the power transmission chain, which in turn drives the screw drive mechanism, thereby precisely reaching each layer of the conveyor frame to achieve automatic feeding.

[0050] The hot press 400 unloading production line consists of a gantry frame 105, a board-picking robot, and an automatic board-turning mechanism. The ordinary conveyor belt is replaced with a conveyor with a board-turning mechanism: the turning mechanism uses pneumatic suction cups and a rotary cylinder, and a buffer is added to the turning shaft to ensure smooth start and stop. The specific layout of the hot press 400 automatic unloading is as follows: the gantry frame 105 is equipped with cylinder-driven grippers 604, which can move in three directions (X, Y, and Z). These grippers transport the wooden boards from the multi-layer cooling rack 500 to the board-turning conveyor 800, and stop at a designated position. Operators then inspect the hot-pressed boards, and the board-turning suction cups 804 transport the inspected boards back to the middle position of the gantry frame 105 for stacking. Furthermore, the board-turning conveyor 800 can use the turning mechanism to flip the inspected boards to the second side for further inspection.

[0051] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that the above embodiments are only for illustrating the technical concept and characteristics of this utility model, and are intended to enable those skilled in the art to understand and implement the content of this utility model. They should not be used to limit the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the scope of protection of this utility model.

Claims

1. An automated hot pressing production line for sheet metal with automatic loading and unloading, characterized in that: include: The feeding mechanism (100) includes a feeding suction cup (101), a feeding vertical movement assembly (102), a feeding horizontal movement assembly (103), and a gantry frame (105). The gantry frame (105) is installed at the material rack (300) and the hot press (400). The feeding horizontal movement assembly (103) is installed on the gantry frame (105), which drives the vertical substrate to move horizontally. The feeding vertical movement assembly (102) is installed on the substrate, and the feeding vertical movement assembly (102) drives the support frame to move vertically through a cylinder. There are multiple sets of feeding suction cups (101), which are evenly arranged and installed on the lower part of the support frame according to the shape of the material. A vibration cylinder is installed on the support frame. The lifting conveyor platform (200) includes a scissor lift frame (201), a feeding friction chain plate (202), an adjusting screw (203), and a base (204). The adjusting screw (203) and the scissor lift frame (201) are mounted on the base (204). The adjusting screw (203) is driven by a servo motor, which pushes the connecting rod hinged at the bottom of the scissor lift frame (201) to move, thereby lifting the scissor lift frame (201). The feeding friction chain plate (202) is mounted on the scissor lift frame (201) and is driven by a drive motor and a chain to rotate. The lifting conveyor platform (200) feeds the sheet metal into different pressing chambers of the hot press (400). The multi-layer cooling rack (500) has multiple storage layers corresponding to the pressing chamber of the hot press (400). The boards are pushed into the multi-layer cooling rack (500). The unloading mechanism (600) includes a support (601), an unloading horizontal movement assembly (602), an unloading vertical movement assembly (603), grippers (604), and an unloading longitudinal movement assembly (605). The support (601) is installed on the side of the multi-layer cooling board rack (500) and above the unloading conveyor belt (700). The unloading longitudinal movement assembly (605) moves the support horizontal plate closer to and further away from the multi-layer cooling board rack (500). The unloading horizontal movement assembly (602) moves the gripper (604) horizontally. The unloading vertical movement assembly (603) moves the gripper (604) up and down. The gripper (604) picks up the boards from each layer of the multi-layer cooling board rack (500), sends them to the unloading conveyor belt (700), and then releases them. The flip conveyor (800) receives the board material from the unloading conveyor belt (700), drives the board material to move, and the flip suction cup (804) picks up the board material and rotates it to facilitate inspection and subsequent stacking.

2. The automatic loading and unloading sheet metal hot pressing production line according to claim 1, characterized in that: A universal joint (104) or ball joint is installed between the feeding suction cup (101) and the support frame. A spring is embedded in the ball joint to ensure that the feeding suction cup (101) is in close contact with the surface of the wooden board. The feeding suction cup (101) is made of high elastic silicone.

3. The automatic loading and unloading sheet metal hot pressing production line according to claim 1, characterized in that: The loading transverse component (103) includes a rack, a guide rail, and a drive motor. The support frame where the loading suction cup (101) is located is installed on a vertical base plate. The base plate cooperates with the guide rail on the gantry frame (105) through a slider. A drive motor is installed on the base plate. A gear that cooperates with the rack is installed at the output end of the drive motor. The drive motor drives the base plate to move horizontally.

4. The automatic loading and unloading sheet metal hot pressing production line according to claim 1 or 2, characterized in that: The feeding suction cup (101) and the flip-plate suction cup (804) are connected to air pipes, and the negative pressure of the feeding suction cup (101) and the flip-plate suction cup (804) is controlled by a solenoid valve.

5. An automatic loading and unloading sheet metal hot pressing production line according to claim 1 or 2, characterized in that: The flip conveyor (800) includes a body (801), a flip drive motor (802), a rotating arm (803), a flip suction cup (804), and a flip friction chain plate (805). The flip friction chain plate (805) is installed on the body (801). The friction chain plate is rotated under the control of the drive motor and the chain, which drives the plate to move. The flip drive motor (802) is located on the side of the friction chain plate and drives the transmission shaft to rotate. At least two rotating arms (803) are installed on the rotating shaft. A support frame is installed at the other end of the arm. Flip suction cups (804) are evenly arranged on the support frame.

6. The automatic loading and unloading sheet metal hot pressing production line according to claim 1, characterized in that: The feeding longitudinal movement assembly (605) includes a longitudinal movement screw driven by a drive motor. The support plate cooperates with the guide rail on the bracket (601) through a slider. The support plate is connected to the drive motor and the transverse movement screw. The nut seat that cooperates with the transverse movement screw drives the seat plate to move horizontally. The seat plate is equipped with a drive motor, a vertical movement screw, and a guide rail. The gripper (604) includes a fixed gripper and a movable gripper. The vertical movement screw drives the gripper (604) to move up and down. The movable gripper is driven to move closer to and away from the fixed gripper.

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