CN213444505U - A tongs system for intelligent freezer - Google Patents

Abstract

The utility model provides a tongs system for intelligence freezer, it includes: the gripper mechanism and the XYZ mechanism drive the gripper mechanism to perform three-dimensional motion in space; the XYZ mechanism comprises: the X-axis driving unit, the Y-axis driving unit and the Z-axis driving unit; the X-axis driving unit, the Y-axis driving unit and the Z-axis driving unit respectively drive the gripper mechanism to move in the space along the X-axis direction, the Y-axis direction and the Z-axis direction. The utility model discloses an in intelligence freezer can be applied to tongs system, tongs mechanism of this tongs system can carry out the free motion by XYZ mechanism drive in the space, can be used to realize depositing the turnover of putting in storage and the warehouse-out in-process of the magazine of eating the material, conveniently realizes putting in storage and warehouse-out of eating the material.

Description

A tongs system for intelligent freezer

Technical Field

The utility model relates to an intelligent storage technical field especially relates to a tongs system for intelligence freezer.

Background

At food processing factory, in order to satisfy the demand of production or culinary art processing, provide more edible material usually, because the kind of edible material is various and quantity is great, if adopt artifical management and control, the mode of manpower turnover material loading and unloading, all there is certain inconvenience and efficiency lower to the supply and the management of edible material. Therefore, it is necessary to provide a further solution to the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a tongs system for intelligence freezer to overcome the not enough that exists among the prior art.

In order to solve the technical problem, the technical scheme of the utility model is that:

a gripper system for an intelligent cooler, comprising: the gripper mechanism and the XYZ mechanism drive the gripper mechanism to perform three-dimensional motion in space;

the XYZ mechanism comprises: the X-axis driving unit, the Y-axis driving unit and the Z-axis driving unit;

the X-axis driving unit, the Y-axis driving unit and the Z-axis driving unit respectively drive the gripper mechanism to move in the space along the X-axis direction, the Y-axis direction and the Z-axis direction.

As the utility model discloses an improvement that is used for tongs system of intelligence freezer, X axle drive unit includes: a first X-axis motor, an X-axis spline shaft and an X-axis transmission shaft,

the X-axis spline shaft is vertically arranged, one end of the X-axis spline shaft is in transmission connection with the first X-axis motor and is driven by the first X-axis motor to pivot, the X-axis transmission shaft is horizontally arranged, and one end of the X-axis transmission shaft is matched with the spline on the X-axis spline shaft and synchronously pivots along with the movement of the X-axis spline shaft.

As the utility model discloses an improvement that is used for tongs system of intelligence freezer, X axle integral key shaft, X axle transmission shaft transmission complex hookup location accept in first casing to make the two keep relatively fixed.

As the utility model discloses an improvement that is used for tongs system of intelligence freezer, Y axle drive unit includes: the first Y-axis motor, the Y-axis spline shaft and the Y-axis lead screw shaft are arranged on the base;

the Y-axis spline shaft is vertically arranged, one end of the Y-axis spline shaft is in transmission connection with the first Y-axis motor and is driven by the first Y-axis motor to pivot, the Y-axis screw shaft is horizontally arranged, and one end of the Y-axis screw shaft is matched with the Y-axis spline shaft and synchronously pivots along with the movement of the Y-axis spline shaft.

As the utility model discloses an improvement that is used for tongs system of intelligence freezer, Y axle integral key shaft, Y axle lead screw shaft transmission complex hookup location accept in the second casing to make the two keep relatively fixed.

As the utility model discloses an improvement that is used for tongs system of intelligence freezer, Z axle drive unit includes: the first Z-axis motor, the first Z-axis screw shaft, the second Z-axis screw shaft and the first synchronous structure;

the first Z-axis screw shaft and the second Z-axis screw shaft are vertically arranged, one end of the first Z-axis screw shaft is in transmission connection with the first Z-axis motor and is driven by the first Z-axis motor to pivot, and the first Z-axis screw shaft and the second Z-axis screw shaft are linked through the first synchronous structure.

As the utility model discloses an improvement that is used for tongs system of intelligence freezer, first synchronization structure includes: the first belt wheel is sleeved on the first Z-axis screw rod shaft and the second Z-axis screw rod shaft respectively, and the first synchronous belt is linked with the two first belt wheels.

As the utility model discloses an improvement that is used for tongs system of intelligence freezer, tongs mechanism includes: the gripper comprises a screw rod sleeve, an X-axis transmission mechanism, a gripper body and a shell;

the shell has the through-hole that is suitable for the screw rod cover embedding installation that link up the setting, X axle drive mechanism installs in the shell, and it includes: the pressing wheel is positioned on one side of the first transmission shaft sleeve and presses the transmission belt onto the second belt wheel, the transmission belt is connected with the sliding block through the connecting rod, and the sliding block slides back and forth along a sliding rail arranged in the X-axis direction along with the transmission belt.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses an in intelligence freezer can be applied to tongs system, tongs mechanism of this tongs system can carry out the free motion by XYZ mechanism drive in the space, can be used to realize depositing the turnover of putting in storage and the warehouse-out in-process of the magazine of eating the material, conveniently realizes putting in storage and warehouse-out of eating the material.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective exploded view of an intelligent freezer according to an embodiment of the present invention;

FIG. 2 is an enlarged perspective view of the robot of FIG. 1;

FIG. 3 is an enlarged perspective view of the gripper system of FIG. 1;

FIG. 4 is an enlarged perspective view of a portion of the gripper system of FIG. 3;

FIG. 5 is an enlarged view of a portion of FIG. 4;

FIG. 6 is an enlarged perspective view of the drive system of FIG. 1;

FIG. 7 is an enlarged perspective view of the Z-axis drive assembly and the pivot drive assembly of FIG. 6;

FIG. 8 is an exploded perspective view of the Z-axis drive assembly and the pivot drive assembly of FIG. 7;

FIG. 9 is an enlarged perspective view of the stocker system of FIG. 1;

fig. 10 is an enlarged perspective view of the magazine mechanism of fig. 9;

fig. 11 is an enlarged perspective view of a portion of the structure of fig. 10.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1, an embodiment of the present invention provides an intelligent freezer, which includes: a manipulator 2, a gripper system 3, a drive system 4, a magazine system 5 and a housing 6.

[ case 6 ]

The housing 6 forms an internal storage space of the intelligent refrigerator, and the storage space can maintain a low-temperature environment by being provided with refrigeration equipment. The housing 6 also has a material opening 61, and the material opening 61 is opened or closed by a door 62. The door 62 is controlled by a telescopic air rod 63 provided above the material port 61.

[ manipulator 2 ]

As shown in fig. 2, the robot 2 is located outside the housing 6, and is configured to carry the magazine 1 into the gripper system 3 when the magazine 1 is stored, and to receive the magazine 1 delivered from the gripper system 3 when the magazine 1 is removed.

Specifically, the robot 2 includes: a robot arm 21 and a robot gripper 22 driven by the robot arm 21. The robot arm 21 includes a first arm 211, a second arm 212, and a third arm 213, wherein the first arm 211 is connected to the third arm 213 through the second arm 212. The first arm 211 and the third arm 213 are driven by respective motors to pivot in the horizontal plane, and the second arm 212 is driven by a screw rod to lift. A mechanical jaw 22 is connected to the end of the three arms 213, the mechanical jaw 22 having a pair of prongs adapted to carry the magazine 1 in a rotation.

[ Gripper System 3 ]

As shown in fig. 3 to 5, the gripper system 3 is installed in the housing 6, and is used for carrying the magazine 1 into the storage system 5 when the magazine 1 is stored, and receiving the magazine 1 sent out from the storage system 5 when the magazine 1 is taken out.

In particular, the gripper system 3 comprises: a gripper mechanism 31, an XYZ mechanism 32 that drives the gripper mechanism 31 to perform three-dimensional motion in space, and a frame 33. Wherein, XYZ mechanism 32 includes: an X-axis driving unit 321, a Y-axis driving unit 322, a Z-axis driving unit 323, a first case 324, and a second case 325.

The X-axis driving unit 321 is used for implementing the translational motion of the gripper mechanism 31 in the X-axis direction in space, and includes: a first X-axis motor 3211, an X-axis spline shaft 3212, and an X-axis transmission shaft 3213.

The first X-axis motor 3211 is mounted at a top position of the frame 33 through an X-axis motor mount. The X-axis spline shaft 3212 is vertically disposed, and one end thereof is in transmission connection with a first X-axis motor 3211 and is driven by the first X-axis motor 3211 to pivot. The X-axis transmission shaft 3213 is horizontally disposed, and one end thereof is engaged with a spline of the X-axis spline shaft 3212 and pivots synchronously with the movement of the X-axis spline shaft 3212. The connection position of the above-mentioned X-axis spline shaft 3212 and X-axis transmission shaft 3213 is accommodated in the first housing 324, so that the two are kept relatively fixed.

The Y-axis driving unit 322 is used for implementing the translational motion of the gripper mechanism 31 in the Y-axis direction in the space, and includes: a first Y-axis motor 3221, a Y-axis spline shaft 3222 and a Y-axis screw shaft 3223.

The first Y-axis motor 3221 is mounted to the top position of the frame 33 through a Y-axis motor mount. The Y-axis spline shaft 3222 is vertically disposed, and one end thereof is drivingly connected to the first Y-axis motor 3221 and is driven by the first Y-axis motor 3221 to pivot. The Y-axis screw shaft 3223 is horizontally disposed, and one end thereof is engaged with the Y-axis spline shaft 3222, and pivots synchronously with the movement of the Y-axis spline shaft 3222. The connection position where the Y-axis spline shaft 3222 and the Y-axis screw shaft 3223 are in driving engagement with each other is accommodated in the second housing 325, so that the two are kept relatively fixed.

The Z-axis driving unit 323 is used to implement the lifting movement of the gripper mechanism 31 in the Z-axis direction in space, and includes: a first Z-axis motor 3231, a first Z-axis screw shaft 3232, a second Z-axis screw shaft 3233, and a first synchronization structure 3234.

The first Z-axis motor 3231 is installed at a top position of the frame 33 through a Y-axis motor mount. The first Z-axis screw shaft 3232 and the second Z-axis screw shaft 3233 are vertically arranged, and one end of the first Z-axis screw shaft 3232 is in transmission connection with a first Z-axis motor 3231 and is driven by the first Z-axis motor 3231 to pivot. The first Z-axis screw shaft 3232 and the second Z-axis screw shaft 3233 are coupled to each other by a first synchronizing structure 3234. Wherein the first synchronization structure 3234 comprises: a first belt pulley 32341 sleeved on the first Z-axis screw rod shaft 3232 and the second Z-axis screw rod 3233 respectively, and a first synchronous belt 32342 linked with the two first belt pulleys 32341. In this manner, the first Z-axis motor 3231 operates to effect synchronized pivoting of the first Z-axis screw shaft 3232 and the second Z-axis screw shaft 3233.

The gripper mechanism 31 is used for moving to a required position to grip the magazine 1 under the driving of the XYZ mechanism 32. The gripper mechanism 31 includes: a screw rod sleeve 311, an X-axis transmission mechanism 312, a hand grip body 313 and a shell 314.

The outer shell 314 has a through hole which is arranged through and suitable for the insertion and installation of the screw rod sleeve 311, and the Y-axis screw rod shaft 3223 is inserted into the screw rod sleeve 311 and can drive the gripper mechanism 31 to translate in the Y-axis direction.

The X-axis transmission mechanism 312 is mounted in a housing 314, which is driven by an X-axis transmission shaft 3213. The X-axis transmission mechanism 312 includes: the device comprises a connecting rod 3121, a sliding block 3122, a pressing wheel 3123, a first transmission shaft sleeve 3124, a second belt wheel 3125 sleeved on the first transmission shaft sleeve 3124, a third belt wheel 3126 distributed on two sides of the first transmission shaft sleeve 3124, and a transmission belt 3127 wound around the second belt wheel 3125 and the third belt wheel 3126.

A pressure wheel 3123 is located on one side of the first drive shaft 3124 to press the drive belt 3127 against the second pulley 3125. The driving belt 3127 is disposed along the X-axis direction, and the X-axis transmission shaft 3213 penetrates the first transmission shaft 3124 and can drive the first transmission shaft 3124 to perform synchronous pivoting. The driving belt 3127 is further connected to a slider 3122 through a link 3121, and the slider 3122 reciprocates along a slide rail 3127 provided in an X-axis direction with the driving belt 3127. In one embodiment, the sliders 3122 are respectively connected to both ends of the link 3121.

The hand grip body 313 is connected to the link 3121, and the hand grip body 313 has a hook extending upward. When the gripper mechanism 31 is driven by the XYZ mechanism 32 to be close to the magazine 1, the magazine 1 can be carried around by the hook on the gripper body 313.

[ Driving System 4 ]

As shown in fig. 6 to 8, the driving system 4 is used for driving the material storage system 5 to work and is disposed on the top surface outside the housing 6. This arrangement is made in consideration of the low temperature of the storage space formed inside the casing 6, and the drive system 4 is designed to be externally installed in order to avoid the low temperature from affecting the operation of the drive system 4.

The drive system 4 includes: the top frame 41, the top plate 42, the base plate 43, the XYZR mechanism 44 and the output mechanisms 45, wherein the XYZR mechanism 44 can respectively drive the output mechanisms 45 located below the base plate 43 to work.

The XYZR mechanism 44 includes: a splined drive sleeve 441, an X-axis drive assembly 442, a Y-axis drive assembly 443, a Z-axis drive assembly 444, and a pivot drive assembly 445. The Z-axis driving assembly 444 is fixed on the base plate 43, the spline driving sleeve 441 is connected to an output end of the Z-axis driving assembly 444, and the X-axis driving assembly 442 and the Y-axis driving assembly 443 are used for driving the Z-axis driving assembly 444 and the pivot driving assembly 445 to integrally perform two-dimensional motion.

The X-axis drive assembly 442 includes: a second X-axis motor 4421, an X-axis drive belt 4422, an X-axis drive pulley 4423, a first vertical plate 4424, a cross beam 4425, and a guide lever 4426.

The first vertical plates 4424 are oppositely arranged, the first vertical plates 4424 are respectively installed on the pair of beams 33 of the top frame 41, and the oppositely arranged first vertical plates 4424 are connected through two cross beams 4425. The number of the guide rods 4426 is two, and the two guide rods 4426 are parallel to each other and connected between the opposite first vertical plates 4424. The X-axis drive assembly 442 can move the Z-axis drive assembly 444 and the pivot drive assembly 445 integrally along the two guide rods 4426.

The second X-axis motor 4421 is arranged on the first vertical plate 4424 at one side, one X-axis driving belt wheel 4423 is sleeved on the output end of the second X-axis motor 4421, the other X-axis driving belt wheel 4423 is pivotally connected on the first vertical plate 4424 at the other side, and the two X-axis driving belt wheels 4423 are linked by an X-axis driving belt 4422 arranged along the X-axis direction. The X-axis drive belt 4422 is further connected to the bottom of the substrate 43 through a first connection block.

The Y-axis drive assembly 443 includes: a second Y-axis motor 4431, a Y-axis drive belt 4432, a Y-axis drive pulley 4433, and a second vertical plate 4434.

The second vertical plates 4434 are disposed opposite to each other, and the second vertical plates 4434 are respectively mounted on the other pair of beams 33 of the top frame 41. The second Y-axis motor 4431 is mounted on the second vertical plate 4434 on one side, one Y-axis driving pulley 4433 is sleeved on the output end of the second Y-axis motor 4431, the other Y-axis driving pulley 4433 is pivotally connected to the second vertical plate 4434 on the other side, and the two Y-axis driving pulleys 4433 are interlocked by a Y-axis driving belt 4432 arranged along the Y-axis direction. The Y-axis drive belt 4432 is further connected to the cross beam 4425 through a second connecting block.

The Z-axis drive assembly 444 includes: a second Z-axis motor 4441, a second synchronization structure 4442, a lead screw nut 4443, and a third Z-axis spline lead screw shaft 4444.

The second Z-axis motor 4441 is mounted on the substrate 43. The second synchronization structure 4442 includes: a fourth belt pulley 44421 respectively sleeved on the output end of the second Z-axis motor 4441 and the third Z-axis spline screw shaft 4444, and a second synchronous belt 44422 linked with the two fourth belt pulleys 44421. The lead screw nut 4443 is disposed between the fourth pulley 44421 and the third Z-axis spline lead screw shaft 4444, the lead screw nut 4443 is driven by the fourth pulley 44421 to pivot, and the third Z-axis spline lead screw shaft 4444 is driven by the lead screw nut 4443 to perform lifting movement along the Z-axis direction. The spline driving sleeve 441 is installed at the lower end of the third Z-axis spline screw shaft 4444 and performs a lifting motion along with it.

The pivot driving assembly 445 is used for driving the third Z-axis spline screw shaft 4444 to pivot so as to adjust the angle of the spline driving sleeve 441 at the lower end of the third Z-axis spline screw shaft 4444.

The pivot drive assembly 445 includes: a pivot motor 4451 and a third synchronization structure 4452. Wherein the pivot motor 4451 is mounted on the top plate 42. The third synchronization structure 4452 includes: a fifth belt pulley 44521 sleeved on the output end of the pivot motor 4451 and the third Z-axis spline screw shaft 4444 respectively, and a third synchronous belt 44522 linking the two fifth belt pulleys 44521.

Either output mechanism 45 comprises a male head provided at its upper end with two or three or four protrusions 451 arranged circumferentially. Spline driving sleeve 441 is hollow, and the circumferential side wall thereof is provided with grooves 4411 which are matched with protrusions 451 in number and position. Thus, under the driving of the XYZR mechanism 44, the spline driving sleeve 441 can move to the upper side of the corresponding male head and drive the corresponding male head to pivot.

In another alternative embodiment, the splined driving sleeve 441 magnetically attracts the lower male portion to pivot. In this case, a permanent magnet or an electromagnet is provided in the spline driving sleeve 441 and the male portion, respectively. Thus, under the driving of the XYZR mechanism 44, the spline driving sleeve 441 can move to the upper side of the corresponding male head, and the corresponding male head is driven to pivot under the action of magnetic attraction.

[ Material storage System 5 ]

As shown in fig. 9 to 11, the storage system 5 is used for storing food materials to be refrigerated. The magazine system 5 is located in the housing 6 downstream of the gripper system 3 and comprises: a plurality of stockers 51 arranged in an array in the space. In one embodiment, the stocker system 5 has three rows of stockers 51 arranged side by side in the spatial direction, and each row has eight stockers 51 arranged from top to bottom.

Any one of the stock mechanisms 51 includes: the device comprises a transmission shaft 511, a storage rack 512, a chain wheel structure 513 arranged on the storage rack 512, and a plurality of material boxes 1 which are driven by the chain wheel structure 513 to translate at the height.

The storage rack 512 includes: the storage rack comprises a storage rack body 5121, sliding rails 5122 arranged on two sides of the bottom of the storage rack body 5121, and a plurality of plug connectors 5123 arranged on the storage rack body 5121 at intervals along the length direction. A plug is formed at the upper end of any plug member 5123, and a jack matched with the shape of the plug is formed at the lower end. Each storage mechanism 51 located in one row is stacked from top to bottom, and in the adjacent storage mechanisms 51, the plug of the plug-in unit 5123 of the lower storage mechanism 51 is plugged into the jack of the plug-in unit 5123 of the upper storage mechanism 51. The sliding rails 5122 on both sides are connected to both sides of the bottom of the storage rack body 5121 through the connecting frame 33, and the edge of the sliding rail 5122 on either side is provided with a flange which forms a slide suitable for the translational motion of the magazine 1.

The sprocket structures 513 are mounted to opposite ends of the magazine body 5121, and the sprocket structures 513 at either end include: a sprocket shaft 5131, an upper sprocket 5132, a lower sprocket 5133, a fourth synchronizing mechanism 5134, and a sprocket stabilizing plate 5135.

The upper chain wheel 5132 is sleeved on the upper end of the chain wheel shaft 5131, the lower chain wheel 5133 is sleeved on the lower end of the chain wheel shaft 5131, and the chain wheel shaft 5131 is fixed on the end of the storage frame main body 5121 through a group of connecting pins arranged up and down. One end of any connecting pin is sleeved on the chain wheel shaft 5131, and the other end of the connecting pin is locked on the end face of the storage frame main body 5121 through a screw. The upper sprockets 5132 of the sprocket structures 513 at both ends are linked by a chain, and the lower sprockets 5133 are linked by another chain. The sprocket stabilizing pieces 5135 are respectively sleeved at both ends of the sprocket shaft 5131 and abut against the upper sprocket 5132 and the lower sprocket 5133, so that the upper sprocket 5132 and the lower sprocket 5133 can keep good stability and prevent shaking during operation.

The fourth synchronizing mechanism 5134 includes: a sixth pulley 51341 respectively sleeved on the lower end of the transmission shaft 511 and the sprocket shaft 5131, and a fourth timing belt 51342 linking the two sixth pulleys 51341. The upper end of the transmission shaft 511 is connected with the male end of the corresponding output mechanism 45, so that under the driving of the XYZR mechanism 44, the spline driving sleeve 441 can move to the upper side of the corresponding male end and drive the corresponding male end and the transmission shaft 511 connected with the corresponding male end to pivot. The transmission shaft 511 further drives the chain wheel shaft 5131 of the chain wheel structure 513 at one end to pivot through the fourth synchronizing mechanism 5134, and the chain wheel structure 513 can drive the chain wheel structure 513 at the other end to move synchronously through a chain.

The material boxes 1 are used for storing food materials needing to be refrigerated, any one material storage mechanism 51 can be provided with a plurality of material boxes 1, and each material box 1 is connected to a chain linked with the two chain wheel structures 513 through a connecting frame 11. In this way, each magazine 1 can be translated at the height by transmission through the chain. The two sides of any one of the material boxes 1 are provided with clamping grooves 12 suitable for being grabbed by the hooks of the grabbing body 313, and the clamping grooves 12 on any one side extend downwards to the bottom of the material box 1 from one side of the material box 1.

The connecting frame 11 is an L-shaped structure, and the upper end of the connecting frame can be locked and connected with the chain through screws. The vertical part of the L-shaped connecting frame 11 is provided with a hook extending upwards, and the horizontal part is a supporting plate for supporting the material box 1. When the material box 1 is placed on the connecting frame 11, the clamping hook hooks the clamping groove 12 on one side of the material box 1, so that the material box keeps fixed in position in the turnover process and is synchronously turned over along with the chain.

The utility model discloses an intelligence freezer is when magazine 1 goes into the storehouse, and mechanical clamping jaw 22 carries magazine 1, moves to material mouth 61 department, and the door body 62 on the casing 6 is opened thereupon. The gripper mechanism 31 of the gripper system 3 in the housing 6 moves to the magazine 61 and receives the magazine 1 from the revolving mechanical gripper 22. At this time, the mechanical gripper 22 is moved completely, and then the refrigerator is withdrawn, and the door 62 is closed accordingly. At the same time, the magazine system 5 will be moved by the top drive system 4 to the position where the gripper system 3 is stored, where the magazine 1 is to be stored. Finally, the gripper mechanism 31 of the gripper system 3 deposits the magazine 1 in the magazine system 5 at the corresponding location.

The utility model discloses an intelligence freezer is when 1 delivery from godown of magazine, through the actuating system 4 at top for magazine 1 that storage system 5 will need to deliver from godown moves the face of taking out of tongs system 3. The gripper mechanisms 31 of the gripper system 3 move to the corresponding positions of the delivery magazine 1 at the same time. After the drive system 4 is stopped, the gripper mechanism 31 of the gripper system 3 grips the magazine 1. Then, the material box 1 is conveyed to the position where the mechanical clamping jaw 22 takes the material box 1, the door body 62 is opened along with the material box 1, the mechanical clamping jaw 22 enters the interior of the refrigeration house, the material box 1 on the gripper mechanism 31 is taken, and after the mechanical clamping jaw 22 exits, the door body 62 is closed to finish the delivery of the material box 1.

To sum up, the utility model discloses an intelligence freezer can realize eating the categorised storage of material through adopting the storage mechanism who arranges with the array form in the space, is favorable to eating the management and control of material. Meanwhile, the material boxes and the material materials can be stored in a warehouse through the gripping system and the driving system, the corresponding material boxes are gripped according to actual requirements to be discharged from the warehouse, distribution and supply of the required material materials are realized, and the actual production requirements are fully met. Furthermore, the utility model discloses an intelligence freezer carries out the dustcoat with actuating system, can avoid low temperature to influence actuating system's normal work, is favorable to guaranteeing the normal operating of intelligence freezer.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (8)

1. A hand grip system for an intelligent freezer, the hand grip system comprising: the gripper mechanism and the XYZ mechanism drive the gripper mechanism to perform three-dimensional motion in space;

the XYZ mechanism comprises: the X-axis driving unit, the Y-axis driving unit and the Z-axis driving unit;

the X-axis driving unit, the Y-axis driving unit and the Z-axis driving unit respectively drive the gripper mechanism to move in the space along the X-axis direction, the Y-axis direction and the Z-axis direction.

2. The gripper system for an intelligent freezer according to claim 1, wherein the X-axis drive unit comprises: a first X-axis motor, an X-axis spline shaft and an X-axis transmission shaft,

the X-axis spline shaft is vertically arranged, one end of the X-axis spline shaft is in transmission connection with the first X-axis motor and is driven by the first X-axis motor to pivot, the X-axis transmission shaft is horizontally arranged, and one end of the X-axis transmission shaft is matched with the spline on the X-axis spline shaft and synchronously pivots along with the movement of the X-axis spline shaft.

3. The gripper system for the intelligent refrigeration storage according to claim 2, wherein a connection position where the X-axis spline shaft and the X-axis transmission shaft are in transmission fit with each other is accommodated in the first shell, so that the X-axis spline shaft and the X-axis transmission shaft are kept relatively fixed.

4. The gripper system for an intelligent cooler according to claim 1, wherein the Y-axis driving unit comprises: the first Y-axis motor, the Y-axis spline shaft and the Y-axis lead screw shaft are arranged on the base;

the Y-axis spline shaft is vertically arranged, one end of the Y-axis spline shaft is in transmission connection with the first Y-axis motor and is driven by the first Y-axis motor to pivot, the Y-axis screw shaft is horizontally arranged, and one end of the Y-axis screw shaft is matched with the Y-axis spline shaft and synchronously pivots along with the movement of the Y-axis spline shaft.

5. The gripper system for the intelligent refrigeration storage according to claim 4, wherein the connection position where the Y-axis spline shaft and the Y-axis screw shaft are in transmission fit is accommodated in the second shell, so that the Y-axis spline shaft and the Y-axis screw shaft are kept relatively fixed.

6. The gripper system for an intelligent freezer according to claim 1, wherein the Z-axis drive unit comprises: the first Z-axis motor, the first Z-axis screw shaft, the second Z-axis screw shaft and the first synchronous structure;

the first Z-axis screw shaft and the second Z-axis screw shaft are vertically arranged, one end of the first Z-axis screw shaft is in transmission connection with the first Z-axis motor and is driven by the first Z-axis motor to pivot, and the first Z-axis screw shaft and the second Z-axis screw shaft are linked through the first synchronous structure.

7. The hand grip system for an intelligent freezer of claim 6, wherein the first synchronization structure comprises: the first belt wheel is sleeved on the first Z-axis screw rod shaft and the second Z-axis screw rod shaft respectively, and the first synchronous belt is linked with the two first belt wheels.

8. The hand grip system for an intelligent freezer of claim 1, wherein the hand grip mechanism comprises: the gripper comprises a screw rod sleeve, an X-axis transmission mechanism, a gripper body and a shell;

the shell has the through-hole that is suitable for the screw rod cover embedding installation that link up the setting, X axle drive mechanism installs in the shell, and it includes: the pressing wheel is positioned on one side of the first transmission shaft sleeve and presses the transmission belt onto the second belt wheel, the transmission belt is connected with the sliding block through the connecting rod, and the sliding block slides back and forth along a sliding rail arranged in the X-axis direction along with the transmission belt.

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