Cryogenic shaft grabbing system

Abstract

The invention discloses a cryogenic shaft grabbing system which comprises a portal frame and a grabbing mechanism, the grabbing mechanism comprises a transverse driving device, a longitudinal driving device, a clamping jaw device and an air blowing device, and the transverse driving device is fixed to a cross beam of the portal frame; the longitudinal driving device is perpendicular to the transverse driving device and is movably connected to one side of the transverse driving device, the clamping jaw device is fixedly connected with a movable block which reciprocates in the vertical direction on the longitudinal driving device, and the blowing devices are fixed to the bottom end of the longitudinal driving device and distributed on the two sides of the clamping jaw device. The cryogenic shaft grabbing system is advanced in design, compact in structure, convenient to use and reliable in operation, good toughness and impact resistance can be kept in an ultralow-temperature environment, water mist on a shaft part can be blown away, the situation that clamping is inconvenient due to the fact that the water mist is frozen on the surface of the shaft part is prevented, a clamping jaw air cylinder can be prevented from being damaged by freezing, and the service life of the clamping jaw air cylinder is prolonged. And shaft parts can be effectively prevented from falling off.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of grabbing devices, and particularly relates to a deep cooling shaft grabbing system. BACKGROUND

[0002] In recent years, with the rapid development of aerospace, high-end national defense technology and civil high-tech products, super-precision machine tools have become indispensable equipment. The spindle is an important component of the super-precision machine tool, and the instability of the spindle will directly affect the overall performance of the machine tool. In order to improve the performance of shaft parts, especially the wear resistance, dimensional stability and fatigue life, it is usually necessary to carry out cryogenic treatment on the shaft parts, that is, to treat the metal materials at ultra-low temperature (usually below -100 DEG C, commonly using liquid nitrogen to reach -196 DEG C). The cryogenic treatment improves the performance by changing the microstructure of the metal, such as converting residual austenite into martensite and precipitating ultra-fine carbides. These changes can make the shaft more wear-resistant, more deformation-resistant and longer in service life, which is particularly important for precision machinery or heavy-duty equipment.

[0003] During the cryogenic treatment process, stainless steel clamps are usually used to put shaft parts into liquid nitrogen tanks or clamp them from the liquid nitrogen tanks. When the stainless steel clamps repeatedly enter and immerse in liquid nitrogen, the surface temperature of the clamps drops sharply, while the internal temperature drops slowly, resulting in a huge instantaneous temperature gradient. When the clamps are separated from the liquid nitrogen, the surface temperature rises rapidly (may be in contact with air or workpieces), and the internal temperature rises slowly, again resulting in a temperature gradient. This repeated and rapid thermal expansion and contraction cycle produces alternating thermal stress in the material, which eventually causes micro-cracks at the stress concentration sites. With the increase of the number of cycles, the micro-cracks will expand, eventually leading to cracking or breaking of the clamps. Therefore, there is an urgent need to design a deep cooling shaft grabbing system to solve the above problems. SUMMARY

[0004] The purpose of the present application is to provide a deep cooling shaft grabbing system to solve the problems in the background art.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a deep cooling shaft grabbing system, comprising: a portal frame; a grabbing mechanism, the grabbing mechanism comprising a transverse driving device, a longitudinal driving device, a clamp device and a gas blowing device, the transverse driving device being fixed on the cross beam of the portal frame, the longitudinal driving device being arranged perpendicular to the transverse driving device and movably connected to one side of the transverse driving device, the clamp device being fixedly connected with a movable block reciprocating in the vertical direction on the longitudinal driving device, and the gas blowing device being fixed to the bottom end of the longitudinal driving device and distributed on both sides of the clamp device; The transverse driving device and the longitudinal driving device each comprise a mounting frame, a driving motor, a screw rod and a sliding table, the mounting frame of the longitudinal driving device is fixed on the sliding table of the transverse driving device, and the movable block is fixed on the sliding table of the longitudinal driving device; The clamping jaw device comprises a clamping jaw cylinder, a clamping arm and a tow hook, the bottom of the clamping jaw cylinder is fixed with a glass fiber reinforced plastic plate, the clamping arm is vertically fixed to the bottom of the glass fiber reinforced plastic plate, the inner side of the clamping arm is fixed with a reinforcing rib, the tow hook is fixed to one side of the bottom end of the clamping arm, and the clamping jaw cylinder is fixedly connected with the movable block through a connecting rod. The blowing device comprises a connecting plate, a mounting seat and an air pipe, the connecting plate is fixed on the mounting frame of the longitudinal driving device, the mounting seat is fixed on the bottom end of the connecting plate, the air pipe is nested and fixed on the mounting seat, and a plurality of air outlets are arranged on the air pipe.

[0006] Further, the feeding mechanism comprises a feeding frame, two groups of supporting frames are fixed to the top of the feeding frame, one end of each group of the supporting frames is provided with a conveying motor, the conveying motor can provide power support for a conveying belt arranged on the supporting frame, both ends of each group of the supporting frames are provided with a conveying belt intersection turning device, a plurality of feeding discs are arranged on the top of the supporting frame, two clamping seats are fixed to the top of each feeding disc, a plurality of strip-shaped through grooves are arranged on the clamping seat, and corresponding arc-shaped grooves are arranged on both sides of the strip-shaped through grooves.

[0007] Further, the deep cooling mechanism comprises a liquid nitrogen tank arranged directly below the gantry beam.

[0008] Further, the feeding mechanism comprises a feeding frame, two groups of supporting frames are fixed to the top of the feeding frame, one end of each group of the supporting frames is provided with a conveying motor, the conveying motor can provide power support for a conveying belt arranged on the supporting frame, both ends of each group of the supporting frames are provided with a conveying belt intersection turning device, a plurality of feeding discs are arranged on the top of the supporting frame, two clamping seats are fixed to the top of each feeding disc, a plurality of strip-shaped through grooves are arranged on the clamping seat, and corresponding arc-shaped grooves are arranged on both sides of the strip-shaped through grooves.

[0009] Further, the length of the clamping arm is not less than the height of the liquid nitrogen tank and not greater than the length of the mounting frame on the longitudinal driving device, and the clamping arm and the tow hook are respectively made of SUS304 and peek materials.

[0010] Further, the bottom of the liquid nitrogen tank is provided with a supporting base, the bottom of the supporting base is provided with a servo motor, the inner bottom of the liquid nitrogen tank is rotationally connected with a rotating disc, a plurality of clamping seats are fixedly arranged on the rotating disc, the output shaft of the servo motor extends into the liquid nitrogen tank and is connected with the center of the rotating disc through a key, a material port is arranged on the top of the liquid nitrogen tank, an electric cover plate matched with the material port is arranged on one side of the material port, and liquid nitrogen is filled in the liquid nitrogen tank.

[0011] Further, the upper and lower ends of the towing hook are fixed with corresponding clamping blocks, the outer side of the clamping block is arc surface, the distance between the two clamping blocks in vertical direction is less than the length of the shaft.

[0012] Further, one end of the air pipe is sealingly connected with an external high-pressure gas source.

[0013] Technical effects and advantages of the present application: the deep cold shaft grabbing system has advanced design, compact structure, convenient use and reliable operation, the clamping arm and the towing hook made of SUS304 and peek material can maintain good toughness and impact resistance in the ultra-low temperature environment, thereby avoiding becoming brittle or breaking after frequently entering the liquid nitrogen tank, the blowing device is arranged to blow away the water mist on the shaft part, prevent the water mist from icing on the surface of the shaft part and cause inconvenience of clamping, the clamping arm is lengthened, the clamping jaw cylinder is located outside the liquid nitrogen tank when the clamping arm clamps the shaft part into the liquid nitrogen tank, which can prevent the clamping jaw cylinder from being frozen, the towing hook is arranged at the bottom end of the clamping arm, which can effectively prevent the shaft part from falling. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present application; Figure 2 It is a structural schematic diagram of the grabbing mechanism of the present application; Figure 3 It is a structural schematic diagram of the loading mechanism of the present application; Figure 4 It is a vertical sectional view of the liquid nitrogen tank of the present application; Figure 5 It is a detailed view of part A of the present application; Figure 6 It is a structural schematic diagram of the unloading mechanism of the present application.

[0015] In the figure: 100, gantry; 200, grabbing mechanism; 201, transverse driving device; 202, longitudinal driving device; 203, clamping jaw device; 2031, clamping jaw cylinder; 20311, glass fiber reinforced plastic plate; 2032, clamping arm; 20321, reinforcing rib; 2033, tow hook; 2034, connecting rod; 2035, clamping block; 204, air blowing device; 2041, connecting piece; 2042, mounting seat; 2043, air pipe; 2044, air outlet; 300, feeding mechanism; 301, feeding frame; 302, support frame; 303, conveying motor; 304, conveying belt; 305, conveying belt intersection turning device; 306, feeding disc; 307, clamping seat; 3071, strip-shaped through slot; 3072, arc-shaped slot; 400, cryogenic mechanism; 401, liquid nitrogen tank; 4011, support base; 4012, servo motor; 4013, turntable; 4014, material port; 4015, electric cover plate; 4016, liquid nitrogen; 500, discharging mechanism; 501, mechanical hand; 502, discharging frame; 5021, product detection table; 5022, detection instrument; 5023, unqualified product tray. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0017] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0018] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connection" and the like should be understood broadly, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0019] The application provides a kind of cryogenic shaft grabbing system as shown in Figures 1-6 The application provides a kind of cryogenic shaft grabbing system as shown in The gantry 100 is fixed on the ground by bolts, and the crossbeam ends and the bottom ends of the vertical columns are fixed with reinforcing rods, which helps to improve the structural stability of the gantry 100. The grabbing mechanism 200 comprises a transverse driving device 201, a longitudinal driving device 202, a jaw device 203 and a blowing device 204. The transverse driving device 201 is fixed on the crossbeam of the gantry 100, the longitudinal driving device 202 is arranged perpendicularly to the transverse driving device 201 and movably connected to one side of the transverse driving device 201, the jaw device 203 is fixedly connected with a movable block reciprocating in the vertical direction of the longitudinal driving device 202, and the blowing device 204 is fixed to the bottom end of the longitudinal driving device 202 and distributed on both sides of the jaw device 203. The transverse driving device 201 and the longitudinal driving device 202 can drive the jaw device 203 to move in the horizontal and vertical directions. The transverse driving device 201 and the longitudinal driving device 202 each comprise a mounting frame, a driving motor, a lead screw and a sliding table. The mounting frame of the longitudinal driving device 202 is fixed on the sliding table of the transverse driving device 201, and the movable block is fixed on the sliding table of the longitudinal driving device 202. The driving motor rotates and drives the lead screw to rotate. The ball rolls between the lead screw and the sliding table to realize the conversion of rotary motion and linear motion. The working principle is a prior art, which will not be described here. Therefore, the longitudinal driving device 202 moves linearly and reciprocally in the horizontal direction along with the sliding table on the transverse driving device 201, and the jaw device 203 moves linearly and reciprocally in the vertical direction along with the sliding table on the longitudinal driving device 202. The clamping jaw device 203 comprises a clamping jaw cylinder 2031, a clamping arm 2032 and a tow hook 2033. The clamping jaw bottom of the clamping jaw cylinder 2031 is fixed with a glass fiber reinforced plastic plate 20311. The clamping arm 2032 is vertically fixed at the bottom of the glass fiber reinforced plastic plate 20311. The inner side of the clamping arm 2032 is fixed with a reinforcing rib 20321. The tow hook 2033 is fixed at the bottom end of one side of the clamping arm 2032. The clamping jaw cylinder 2031 is fixedly connected with a movable block through a connecting rod 2034. When the clamping jaw cylinder 2031 is started, the two clamping arms 2032 can be driven by the clamping jaw to approach or move away. When the two clamping arms 2032 approach, the shaft part can be clamped. At the same time, the tow hook 2033 is at the bottom of the shaft part, which can lift the shaft part and prevent the shaft part from falling. The glass fiber reinforced plastic plate 20311 is a plate made of glass fiber reinforced plastic. Glass fiber reinforced plastic is a very common composite material. It has good heat insulation performance. After the clamping arm 2032 enters the liquid nitrogen tank 401, the cold air can be transmitted to the clamping jaw cylinder 2031 through the clamping arm 2032, so as to ensure that the clamping jaw cylinder 2031 will not be frozen. Because the length of the clamping arm 2032 is relatively long, the reinforcing rib 20321 is fixed on the inner side of the clamping arm 2032, which can enhance the structural strength of the clamping arm 2032 without affecting the clamping arm 2032 entering the liquid nitrogen tank 401 through the material opening 4014. The blowing device 204 comprises a connecting sheet 2041, a mounting seat 2042 and a gas pipe 2043. The connecting sheet 2041 is fixed on the mounting frame of the longitudinal driving device 202. The mounting seat 2042 is fixed at the bottom end of the connecting sheet 2041. The gas pipe 2043 is nested and fixed in the mounting seat 2042. A plurality of gas outlets 2044 are arranged on the gas pipe 2043.

[0020] Exemplarily, referring to Figure 3 As shown in the figure, it also comprises a feeding mechanism 300. The feeding mechanism 300 comprises a feeding rack 301. Two groups of supporting frames 302 are fixed on the top of the feeding rack 301. Each supporting frame 302 is provided with a conveying motor 303 at one end. The conveying motor 303 can provide power support for the conveying belt 304 arranged on the supporting frame 302. The two ends of each supporting frame 302 are provided with a conveying belt intersection turning device 305. A plurality of feeding discs 306 are arranged on the top of the supporting frame 302. Two clamping seats 307 are fixed on the top of each feeding disc 306. A plurality of strip-shaped through grooves 3071 are arranged on the clamping seat 307. Corresponding arc-shaped grooves 3072 are arranged on the two sides of the strip-shaped through groove 3071.

[0021] In the technical scheme, the shaft part is nested in the clamping seat 307, the conveying belt 304 drives the feeding disc 306 to move together, when the feeding disc 306 moves to the position directly below the clamping jaw device 203, the clamping jaw device 203 grabs the shaft part and places it in the liquid nitrogen tank 401, at this time, the empty feeding disc 306 moves to the second group of support frames 302 through the conveying belt intersection turning device 305, then the new shaft part is nested in the empty clamping seat 307 again, finally the feeding disc 306 filled with the shaft parts is moved to the first group of support frames 302 through the conveying belt intersection turning device 305, so as to realize automatic and continuous feeding.

[0022] Exemplarily, referring to Figure 1 As shown, the deep cooling mechanism 400 is further included, and the deep cooling mechanism 400 includes the liquid nitrogen tank 401 arranged directly below the beam of the gantry 100.

[0023] In the technical scheme, the shaft part is nested in the clamping seat 307, the conveying belt 304 drives the feeding disc 306 to move together, when the feeding disc 306 moves to the position directly below the clamping jaw device 203, the clamping jaw device 203 grabs the shaft part and places it in the liquid nitrogen tank 401, at this time, the empty feeding disc 306 moves to the second group of support frames 302 through the conveying belt intersection turning device 305, then the new shaft part is nested in the empty clamping seat 307 again, finally the feeding disc 306 filled with the shaft parts is moved to the first group of support frames 302 through the conveying belt intersection turning device 305, so as to realize automatic and continuous feeding.

[0024] Exemplarily, referring to Figure 1 and Figure 6 As shown, the deep cooling mechanism 400 is further included, and the deep cooling mechanism 400 includes the liquid nitrogen tank 401 arranged directly below the beam of the gantry 100.

[0025] In the technical scheme, the shaft part is nested in the clamping seat 307, the conveying belt 304 drives the feeding disc 306 to move together, when the feeding disc 306 moves to the position directly below the clamping jaw device 203, the clamping jaw device 203 grabs the shaft part and places it in the liquid nitrogen tank 401, at this time, the empty feeding disc 306 moves to the second group of support frames 302 through the conveying belt intersection turning device 305, then the new shaft part is nested in the empty clamping seat 307 again, finally the feeding disc 306 filled with the shaft parts is moved to the first group of support frames 302 through the conveying belt intersection turning device 305, so as to realize automatic and continuous feeding.

[0026] Exemplarily, referring to Figure 1 As shown, the length of the clamping arm 2032 is not less than the height of the liquid nitrogen tank 401 and is not greater than the length of the mounting frame on the longitudinal driving device 202, and the clamping arm 2032 and the drag hook 2033 are respectively made of SUS304 and peek materials.

[0027] The technical scheme can ensure that the clamping arm 2032 clamps the shaft part to enter the liquid nitrogen tank 401, the clamping jaw cylinder 2031 at the top of the clamping arm 2032 can be located outside the liquid nitrogen tank 401, and the clamping jaw cylinder 2031 can be effectively prevented from being frozen, the bottom of the air blowing device 204 is higher than the top of the liquid nitrogen tank 401, when the clamping arm 2032 moves up to the top end of the mounting frame on the longitudinal driving device 202, the clamping arm 2032 can be ensured not to interfere with the liquid nitrogen tank 401 when moving in the horizontal direction, SUS304 refers to the grade in Japanese Industrial Standard (JIS), which corresponds to the most commonly used austenitic stainless steel AISI 304 / UNS S30400 in the world, and has excellent low-temperature toughness, SUS304 can still maintain good mechanical properties and toughness at cryogenic temperature, and peek material refers to polyether ether ketone (Polyether Ether Ketone), which is a high-performance thermoplastic special engineering plastic, and the peek material has very excellent low-temperature resistance, and can work normally at liquid nitrogen temperature (-196℃) or even lower temperature, and can maintain excellent mechanical properties and toughness without brittle fracture.

[0028] Exemplarily, referring to Figure 4 As shown, the bottom of the liquid nitrogen tank 401 is provided with a supporting base 4011, the bottom of the supporting base 4011 is provided with a servo motor 4012, the inner bottom of the liquid nitrogen tank 401 is rotationally connected with a rotating disc 4013, a plurality of clamping seats 307 are fixedly arranged on the rotating disc 4013, the output shaft of the servo motor 4012 extends into the liquid nitrogen tank 401 and is connected with the center of the rotating disc 4013 in a keying manner, the top of the liquid nitrogen tank 401 is provided with a material port 4014, one side of the material port 4014 is provided with an electric cover plate 4015 matched with the material port 4014, and the inside of the liquid nitrogen tank 401 is filled with liquid nitrogen 4016.

[0029] In the technical scheme, the clamping jaw device 203 puts the grabbed shaft part into the liquid nitrogen tank 401 through the material port 4014 and nests in the clamping seat 307 on the rotating disc 4013, and then the clamping jaw device 203 moves up to leave the liquid nitrogen tank 401 and grabs the shaft part again, at this time, the servo motor 4012 is started and drives the rotating disc 4013 to rotate by a specific angle, so that the next clamping seat 307 on the rotating disc 4013 is correspondingly arranged with the material port 4014, and the above operation is repeated, so that a plurality of shaft parts can be placed in turn at the bottom of the liquid nitrogen tank 401, which is convenient for taking the shaft parts after cryogenic treatment and can avoid damage of the shaft parts due to collision.

[0030] Exemplarily, referring to Figure 5 As shown, the upper and lower ends of the towing hook 2033 are fixedly provided with corresponding clamping blocks 2035, the outer side of the clamping block 2035 is an arc surface, and the distance between the two clamping blocks 2035 in the vertical direction is less than the length of the shaft.

[0031] In the technical solution, the clamping blocks 2035 can abut against the shaft parts to prevent the shaft parts from shaking or deviating during clamping. In addition, the clamping blocks 2035 at the upper and lower ends of the tow hook 2033 can abut against the upper and lower ends of the shaft parts respectively, further improving the stability during clamping of the shaft parts.

[0032] Exemplarily, one end of the air pipe 2043 is in sealing connection with an external high-pressure gas source (not shown in the figure).

[0033] In the technical solution, after the high-pressure gas source enters the air pipe 2043, the water mist on the shaft parts is blown away through the air outlet hole 2044 on the air pipe 2043, preventing the shaft parts from being frozen by water mist on the surface after entering the liquid nitrogen tank 401.

[0034] Working principle: when the deep cryogenic shaft grabbing system is used, the shaft parts to be processed are first conveyed to the front of the longitudinal driving device 202 by the feeding mechanism 300, the longitudinal driving device 202 drives the clamping jaw device 203 to move downward and grab the shaft parts, and then drives the clamping jaw device 203 with the shaft parts to move upward, at this time, the air blowing device 204 is started to blow away the water mist on the shaft parts, and then the longitudinal driving device 202 is driven by the transverse driving device 201 to move horizontally until the shaft parts correspond to the material port 4014, the longitudinal driving device 202 drives the clamping jaw device 203 to move downward again and nests the shaft parts on the turntable 4013 at the bottom of the liquid nitrogen tank 401, then the clamping jaw device 203 is moved out of the liquid nitrogen tank 401, after deep cryogenic treatment, the shaft parts are taken out by the clamping jaw device 203 and placed on the product detection table 5021, after detection by the detection instrument 5022, the shaft parts that meet the detection requirements are grabbed by the mechanical hand 501 to the next process, and the shaft parts that do not meet the detection requirements are grabbed by the mechanical hand 501 to the unqualified product tray 5023. The deep cryogenic shaft grabbing system has advanced design, compact structure, convenient use and reliable operation. The clamping arm 2032 and the tow hook 2033 made of SUS304 and peek materials can maintain good toughness and impact resistance in the ultra-low temperature environment, thereby avoiding brittleness or fracture after frequent entry into the liquid nitrogen tank 401. By setting the air blowing device 204, the water mist on the shaft parts can be blown away to prevent the water mist from freezing on the surface of the shaft parts and causing inconvenience in clamping. By lengthening the clamping arm 2032, the clamping jaw cylinder 2031 can be located outside the liquid nitrogen tank 401 when the clamping arm 2032 clamps the shaft parts into the liquid nitrogen tank 401, which can prevent the clamping jaw cylinder 2031 from being frozen. By setting the tow hook 2033 at the bottom end of the clamping arm 2032, the shaft parts can be effectively prevented from falling off.

[0035] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that the technical solutions described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalent features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cryogenic shaft grab system, characterized by, Comprise: Gantry (100); Grabbing mechanism (200), the grabbing mechanism (200) includes transverse drive device (201), longitudinal drive device (202), clamping jaw device (203) and blowing device (204), the transverse drive device (202) is fixed on the crossbeam of gantry (100), the longitudinal drive device (202) is arranged perpendicular to transverse drive device (201) and is movably connected to one side of transverse drive device (201), the clamping jaw device (203) is fixedly connected with the movable block of longitudinal drive device (202) reciprocating in vertical direction, the blowing device (204) is fixed to the bottom end of longitudinal drive device (202) and is distributed on both sides of clamping jaw device (203); The transverse drive device (201) and longitudinal drive device (202) both include mounting bracket, drive motor, lead screw and sliding table, the mounting bracket of longitudinal drive device (202) is fixed on the sliding table of transverse drive device (201), and the movable block is fixed on the sliding table of longitudinal drive device (202); The clamping jaw device (203) includes clamping jaw cylinder (2031), clamping arm (2032) and tow hook (2033), the clamping jaw bottom of clamping jaw cylinder (2031) is fixed with glass steel plate (20311), the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (2032) is fixedly connected with the movable block, the clamping arm (203 ​ 2. The cryogenic shaft grab system of claim 1, wherein: ​ 3. The cryogenic shaft grab system of claim 2, wherein: Also include deep cold mechanism (400), the deep cold mechanism (400) include the liquid nitrogen tank (401) that sets up in gantry (100) crossbeam directly below.

4. The cryogenic shaft grab system of claim 3, wherein: Also include blanking mechanism (500), the blanking mechanism (500) include the mechanical arm (501) and blanking frame (502) that set up in one side of liquid nitrogen tank (401), the top of blanking frame (502) is fixed with product detection table (5021), both sides of product detection table (5021) are fixed with detection instrument (5022), the directly below of product detection table (5021) is equipped with unqualified product tray (5023).

5. The cryogenic shaft grab system of claim 3, wherein: The length of the clamping arm (2032) is not less than the height of the liquid nitrogen tank (401), and is not greater than the length of the mounting bracket on the longitudinal driving device (202), the clamping arm (2032) and the drag hook (2033) are made of SUS304 and peek material respectively.

6. The cryogenic shaft grab system of claim 3, wherein: The bottom of the liquid nitrogen tank (401) is provided with a support base (4011), the bottom of the support base (4011) is provided with a servo motor (4012), the inner bottom of the liquid nitrogen tank (401) is rotatably connected with a turntable (4013), a plurality of clamping bases (307) are fixedly arranged on the turntable (4013), the output shaft of the servo motor (4012) extends into the liquid nitrogen tank (401) and is connected with the center of the turntable (4013), the top of the liquid nitrogen tank (401) is provided with a material port (4014), one side of the material port (4014) is provided with a matched electric cover plate (4015), the inside of the liquid nitrogen tank (401) is filled with liquid nitrogen (4016).

7. The cryogenic shaft grab system of claim 1, wherein: The upper and lower ends of the drag hook (2033) are fixed with corresponding clamping blocks (2035), the outer side of the clamping block (2035) is an arc surface, the distance between the two clamping blocks (2035) in the vertical direction is less than the length of the shaft.

8. The cryogenic shaft grab system of claim 1, wherein: One end of the air pipe (2043) is sealingly connected with an external high-pressure gas source. One end of the air pipe (2043) is sealingly connected with an external high-pressure gas source.

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