A lunchbox lid tearing device

Abstract

This utility model belongs to the technical field of food vending machines and provides a lunchbox lid-tearing device, including: a fixing component for fixing the body of the lunchbox; a clamping component for clamping the lid of the lunchbox; and a multi-axis drive mechanism connected to the clamping component for driving the clamping component to move individually or in combination in space along the X, Y, and Z directions. The clamping component is configured to move along a predetermined motion trajectory after clamping the lid, driven by the multi-axis drive mechanism, including displacement components in the X, Y, and Z directions, thereby tearing the lid off the lunchbox body. This utility model achieves fully automated operation of lunchbox lid tearing through the coordinated cooperation of the fixing component, clamping component, and multi-axis drive mechanism. The fixing component ensures the stability of the lunchbox during the lid-tearing process, avoiding lid-tearing failure due to lunchbox displacement, ensuring complete lid removal, and preventing damage to the lunchbox or leakage of contents due to improper force.

Description

Technical Field

[0001] This utility model belongs to the field of food vending machine technology, specifically relating to a lunch box lid tearing device. Background Technology

[0002] In the field of automated food vending machines, pre-prepared meals are typically sealed in containers with paper lids to ensure hygiene and quality. After a customer completes their purchase, the vending machine needs to automatically open the lid to allow for direct dispensing or crucial subsequent steps, such as heating the meal. If the lid is not removed, it will directly affect the heating effect and efficiency.

[0003] Currently, achieving reliable automatic lid opening is a challenge in the industry. Existing vending machines that integrate lid opening functions often have simple mechanisms, such as a simple vertical lift. Because of tolerances in the placement of food containers within the delivery aisle, and because the sealing tightness and size of the paper lids vary between different containers, this single action easily leads to opening failures. This can result in unstable lid gripping, tearing, the entire container being lifted and shifted, or even spillage of contents. This not only fails to meet the requirements of subsequent heating processes but also causes equipment instability and a poor user experience.

[0004] Therefore, there is an urgent need in the field for a lunchbox lid-tearing device to solve the above-mentioned technical problems. Utility Model Content

[0005] In view of this, the present invention provides a lunch box lid tearing device to solve the problems of unstable lid clamping, tearing, or the entire lunch box being lifted and moved, or even causing the contents to spill when the automatic lid is opened in the existing vending machine.

[0006] To solve the above-mentioned technical problems, this utility model provides a lunchbox lid-tearing device, comprising: Fixing components are used to secure the body of the lunchbox; A clamping assembly for clamping the lid of the lunchbox; A multi-axis drive mechanism is connected to the clamping assembly and is used to drive the clamping assembly to move individually or in combination in space along the X, Y, and Z directions. The clamping assembly is configured to move along a predetermined motion trajectory after clamping the lid, driven by the multi-axis drive mechanism, the motion trajectory including displacement components in the X, Y, and Z directions, thereby tearing the lid off the box body.

[0007] As a further improvement of this utility model, the fixing component includes: A fixing plate is provided with a first sliding hole and a second sliding hole; The first limiting plate and the second limiting plate are arranged in parallel. A timing belt, wherein a first slider and a second slider are provided on the timing belt, a first limiting plate is connected to the first slider through a first sliding hole, and a second limiting plate is connected to the second slider through a second sliding hole; A first driving member is disposed below the fixed plate. The first driving member drives the synchronous belt transmission to move the first slider and the second slider to separate or move closer to each other so that the first limiting plate and the second limiting plate separate or move closer to each other.

[0008] As a further improvement of this utility model, the fixing component further includes: A first sliding plate, wherein a first pressure plate is connected to the side of the first sliding plate facing the fixed plate; The second sliding plate has a second pressure plate connected to the side of the second sliding plate facing the fixed plate, and the first pressure plate and the second pressure plate are arranged in parallel. A first double-screw lead screw, the first double-screw lead screw is provided with a third slider and a fourth slider, the first slide plate is connected to the third slider, and the second slide plate is connected to the fourth slider; The second driving member drives the first double-rotor screw to rotate, causing the third slider and the fourth slider to slide so that the first pressure plate and the second pressure plate separate from each other or move closer to each other.

[0009] As a further improvement of this utility model, the first pressure plate is provided with a mounting hole, and a floating clamping assembly is installed in the mounting hole. The floating clamping assembly includes: A pull rod is disposed inside the mounting hole. A baffle is provided at the end of the pull rod away from the second pressure plate, and a clamping block is connected to the end of the pull rod near the second pressure plate. A clamping column is provided in the mounting hole and sleeved on the outside of the pull rod. The lower edge of the mounting hole is also provided with a step for supporting the clamping column. A first elastic element is sleeved on the side of the pull rod near the clamping block, with its two ends abutting against the first pressure plate and the clamping block, respectively.

[0010] As a further improvement of this utility model, the clamping assembly includes: The base includes a horizontal plate and a vertical plate connected to each other, the horizontal plate being connected to the multi-axis drive mechanism; The third slide rail is arranged along the Z direction; The fourth slide rail is arranged along the Y direction, and the third slide rail and the fourth slide rail are respectively arranged on opposite sides of the vertical plate; The first clamping member is slidably connected to the third slide rail and has a first clamping part; The second clamping member is slidably connected to the third slide rail and has a second clamping portion located above the first clamping portion; A clamping drive mechanism is slidably connected to the fourth slide rail and is used to drive the first clamping member and the second clamping member to move so that the first clamping part moves closer to the second clamping part, so as to clamp the box cover between the first clamping part and the second clamping part.

[0011] As a further improvement of this utility model, the clamping drive mechanism includes: A power plate, which is fixedly connected to the fourth slide rail, and has abutment portions at both ends; A connecting block is connected to the power plate, and a first connecting rod and a second connecting rod are rotatably connected to the end of the connecting block; A seventh slider and an eighth slider are slidably connected on the third slide rail. The seventh slider is fixedly connected to the first clamping member and hinged to the first connecting rod. The eighth slider is fixedly connected to the second clamping member and hinged to the second connecting rod.

[0012] As a further improvement of this utility model, the multi-axis drive mechanism includes a first multi-axis drive unit, which is used to move the clamping assembly along the Y-axis. The first multi-axis drive unit includes: A first transmission screw, wherein the first transmission screw is connected to a first transmission block; A movable seat, which is connected to the first transmission block and the clamping assembly; The fifth driving component drives the first transmission screw to rotate, so that the first transmission block drives the clamping assembly to move along the Y-axis.

[0013] As a further improvement of this utility model, a front limiting plate and a rear limiting plate are respectively provided at both ends of the first transmission screw; The abutting portions at both ends of the power plate include a first abutting portion facing the front limiting plate and a second abutting portion facing the rear limiting plate; The clamping drive mechanism further includes a second elastic element, which connects the connecting block and the base. When the food box is fixed and the second abutment part is disengaged from the rear limiting plate, the second elastic element pulls the connecting block to move, causing the seventh slider and the eighth slider to move away so that the first clamping part and the second clamping part approach and clamp together.

[0014] As a further improvement of this utility model, the multi-axis drive mechanism further includes a second multi-axis drive unit, which is used to move the clamping assembly along the Z-axis; The second multi-axis drive unit includes: The second transmission screw is mounted on the movable seat and is connected to the second transmission block. A movable plate, which is connected to the second transmission block and the base; The sixth driving component drives the second transmission screw to rotate, so that the second transmission block drives the clamping assembly on the moving plate to move along the Z-axis.

[0015] As a further improvement of this utility model, the multi-axis drive mechanism further includes a third multi-axis drive unit, which is used to move the clamping assembly along the X-axis; The third multi-axis drive unit includes: A support frame is mounted on the movable plate; A third transmission screw is connected to the support frame, and a third transmission block is connected to the third transmission screw, which is connected to the base. The seventh driving component drives the third transmission screw to rotate, so that the third transmission block drives the clamping assembly to move along the Z-axis.

[0016] Compared with existing technologies, the lunchbox lid-tearing device provided by this utility model achieves fully automated operation of lunchbox lid tearing through the coordinated cooperation of a fixing component, a clamping component, and a multi-axis drive mechanism. The fixing component ensures the stability of the lunchbox during the lid-tearing process, avoiding lid-tearing failure due to lunchbox displacement; the clamping component reliably holds the lid, while the multi-axis linkage of the multi-axis drive mechanism achieves the preset lid-tearing trajectory, ensuring complete lid removal and preventing damage to the lunchbox or leakage of contents due to improper force. This multi-action combined working method is particularly suitable for automated equipment such as food vending machines, providing convenience for subsequent food heating processing and significantly improving the automation level and operational reliability of the equipment. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model, not all embodiments. For those skilled in the art, other drawings obtained from these drawings without creative effort are all within the scope of protection of this application.

[0018] Figure 1 This is a perspective view of a lunchbox lid-tearing device provided in an embodiment of the present utility model.

[0019] Figure 2 This is an exploded view of a lunchbox lid-tearing device provided in an embodiment of this utility model.

[0020] Figure 3 This is another perspective view of a lunchbox lid-tearing device provided in an embodiment of the present utility model.

[0021] Figure 4 This is a perspective view of the fixing component provided in an embodiment of the present utility model.

[0022] Figure 5 This is another perspective view of the fixing component provided in an embodiment of the present utility model.

[0023] Figure 6 This is a partial perspective view of the fixing component provided in an embodiment of the present utility model.

[0024] Figure 7 This is a partial cross-sectional view of the fixing component provided in an embodiment of this utility model.

[0025] Figure 8 This is a partial exploded view of the fixing component provided in an embodiment of this utility model.

[0026] Figure 9 This is a perspective view of the clamping assembly provided in an embodiment of the present invention.

[0027] Figure 10 This is an exploded view of the clamping assembly provided in this embodiment of the utility model.

[0028] Figure 11 This is another exploded view of the clamping assembly provided in this embodiment of the utility model.

[0029] Figure 12 This is a perspective view of the multi-axis drive mechanism provided in an embodiment of this utility model.

[0030] Explanation of reference numerals in the attached figures: 00 is the lunchbox, 01 is the lid, and 02 is the body. 10 is a fixed component, 11 is a fixed plate, 111 is a first sliding hole, 112 is a second sliding hole, 121 is a first limiting plate, 122 is a second limiting plate, 13 is a timing belt, 131 is a first slider, 132 is a second slider, 14 is a first driving component, 151 is a first sliding plate, 1511 is a first pressure plate, 1512 is a mounting hole, 1513 is a step, 152 is a second sliding plate, 1521 is a second pressure plate, 16 is a first double-rotating lead screw, 161 is a third 162 is the fourth slider, 17 is the second driving component, 18 is the floating clamping assembly, 181 is the pull rod, 1811 is the baffle, 1812 is the clamping block, 182 is the clamping column, 183 is the first elastic component, 19 is the connecting plate, 191 is the first connecting plate, 192 is the second connecting plate, 193 is the first slide rail, 1931 is the fifth slider, 1932 is the third driving component, 194 is the second slide rail, 1941 is the sixth slider, and 1942 is the fourth driving component. 20 is a clamping assembly, 21 is a base, 211 is a horizontal plate, 212 is a vertical plate, 22 is a third slide rail, 221 is a seventh slider, 222 is an eighth slider, 23 is a fourth slide rail, 24 is a first clamping member, 241 is a first clamping part, 25 is a second clamping member, 251 is a second clamping part, 252 is a clamping drive mechanism, 2521 is a power plate, 25211 is an abutment part, 25211a is a first abutment part, 25211b is a second abutment part, 2522 is a connecting block, 25221 is a first connecting rod, 25222 is a second connecting rod, and 253 is an elastic element; 30 is a multi-axis drive mechanism, 31 is a first multi-axis drive unit, 311 is a first transmission screw, 3111 is a first transmission block, 312 is a movable seat, 313 is a fifth drive component, 34 is a front limit plate, 35 is a rear limit plate, 32 is a second multi-axis drive unit, 321 is a second transmission screw, 3211 is a second transmission block, 322 is a movable plate, 323 is a sixth drive component, 33 is a third multi-axis drive unit, 331 is a support frame, 332 is a third transmission screw, 3321 is a third transmission block, and 333 is a seventh drive component. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the scope of the present utility model.

[0032] To make the description of this disclosure more detailed and complete, illustrative descriptions of the embodiments and specific examples of this utility model are provided below; however, this is not the only form of implementing or using the specific embodiments of this utility model. The embodiments cover the features of multiple specific embodiments and the methods, steps, and their order for constructing and operating these specific embodiments. However, other specific embodiments can also be used to achieve the same or equivalent functions and step sequences. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0033] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this utility model described herein can be implemented in sequences other than those illustrated or described herein.

[0034] In the description of the embodiments of this utility model, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The word "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more. Other quantifiers should be understood similarly. The preferred embodiments described herein are only used to illustrate and explain this utility model and are not intended to limit this utility model. Furthermore, the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0035] Please refer to Figures 1-12 This utility model provides a lunch box lid tearing device to solve the problems of unstable lid clamping, tearing, or the entire lunch box being lifted and moved, or even causing the contents to spill when the automatic lid opening of the existing vending machine is not possible.

[0036] Specifically, please refer to Figure 1 This is a perspective view of a lunchbox lid-tearing device provided in an embodiment of the present invention. Figure 2This is an exploded view of a lunchbox lid-tearing device according to an embodiment of the present invention. The lunchbox lid-tearing device includes a fixing component 10, a clamping component 20, and a multi-axis drive mechanism 30. In this invention, the lunchbox includes a box body 02 and a lid 01 fixedly connected to the box body, wherein the connection between the box body 02 and the lid 01 is preferably adhesive. The fixing component 10 is used to securely fix the box body 02 during the lid-tearing process; the clamping component 20 is used to reliably clamp the lid 01 of the lunchbox 00. The multi-axis drive mechanism 30 is connected to the clamping component 20 and is used to drive the clamping component 20 to make precise displacement in three-dimensional space.

[0037] In this embodiment, a spatial rectangular coordinate system is established, such as Figure 1 The X and Y axes are mutually perpendicular horizontal directions, and the Z axis is a vertical direction. The multi-axis drive mechanism 30 can drive the clamping assembly 20 to move individually or in combination along the X, Y, and Z axes in space. In other words, it can drive the clamping assembly 20 to move individually along the X, Y, or Z axis, and it can also achieve multi-axis linkage compound motion, such as simultaneous compound movement along the X and Y axes, compound movement along the X and Z axes, compound movement along the Z and Y axes, or compound movement along the X, Y, and Z axes.

[0038] The clamping assembly 20 is configured to move along a predetermined motion trajectory after clamping the lid 01, driven by the multi-axis drive mechanism 30. This motion trajectory includes displacement components in the X, Y, and Z directions, thereby tearing the lid 01 off the body 02. The specific workflow is as follows: After the fixing assembly 10 securely fixes the body 02 of the lunchbox 00, the multi-axis drive mechanism 30 first drives the clamping assembly 20 to move a small distance along the Y-axis towards the lunchbox, bringing the clamping assembly 20 close to and clamping the lid 01 of the lunchbox 00. After the clamping assembly 20 reliably clamps the lid 01, the multi-axis drive mechanism 30 drives the clamping assembly 20 to execute a predetermined composite tearing trajectory, which includes displacement components in the X, Y, and Z directions, thereby simulating a human hand tearing action and completely peeling the lid 01 off the body 02. The formation of the displacement components in the X, Y, and Z directions includes simultaneous or alternating mixed movements in the X, Y, and Z directions. In other words, during the lid-tearing process, the multi-axis drive mechanism can simultaneously drive the clamping assembly to move in two or three of the X, Y, and Z directions, causing the clamping part of the clamping assembly to form a curved motion trajectory. Alternatively, during the lid-tearing process, the multi-axis drive mechanism can drive the clamping assembly to move first along the Z direction, then along the X direction, and then along the Y direction, thereby causing the lid to be vertically lifted, laterally translated, and then longitudinally pulled and finally torn open. Of course, the direction sequence of the alternating mixed movements is not limited to this.

[0039] In the above technical solution, the fully automated operation of tearing off the lid of the lunch box 00 is achieved through the coordinated cooperation of the fixing component 10, the clamping component 20, and the multi-axis drive mechanism 30. On the one hand, the fixing component 10 ensures the stability of the lunch box 00 during the lid tearing process, avoiding tearing failure caused by displacement of the lunch box 00; on the other hand, the clamping component 20 can reliably hold the lid 01, while the multi-axis linkage of the multi-axis drive mechanism 30 can achieve the optimal predetermined lid tearing trajectory, ensuring the complete peeling of the lid 01 and avoiding damage to the lunch box 00 or leakage of contents due to improper force. This multi-action combined working method is particularly suitable for automated equipment such as food vending machines, providing convenience for subsequent food heating processing and significantly improving the automation level and operational reliability of the equipment.

[0040] For further improvements to this utility model, please refer to Figure 2 , Figure 3 and Figure 5 The fixing component 10 employs a symmetrical synchronous clamping mechanism. This mechanism includes a horizontally positioned fixing plate 11, on which a first sliding hole 111 and a second sliding hole 112 are parallel to each other along a straight line. A first limiting plate 121 and a second limiting plate 122 perpendicularly pass through the aforementioned sliding holes and are parallel to each other, together forming a reference surface for clamping the lunch box 00.

[0041] To achieve synchronous, opposite-facing or opposite-facing movement of the two limiting plates, a synchronous belt 13 transmission system is installed below the fixed plate 11. A first slider 131 and a second slider 132 are fixedly mounted on the synchronous belt 13, and they are respectively connected to the bottom ends of the first limiting plate 121 and the second limiting plate 122, which pass through the first sliding hole 111 and the second sliding hole 112. A first driving member 14 drives the synchronous belt 13 to rotate in both directions. In a specific embodiment, the first driving member 14 is a servo motor or a stepper motor.

[0042] When the first driving component 14 is activated, it drives the first slider 131 and the second slider 132 to move closer to or further away from each other simultaneously and at the same speed via the synchronous belt 13. This movement is precisely converted into the linear opening and closing of the first limiting plate 121 and the second limiting plate 122 through the guide of the sliding hole. When it is necessary to fix the body 02 of the lunch box 00, the two limiting plates move closer to each other and clamp and position the body 02 from both sides; when it is necessary to release the body 02, the two limiting plates separate and release the constraint on the body 02.

[0043] In the above technical solution, the combination of the synchronous belt 13 and the slider ensures that the first limiting plate 121 and the second limiting plate 122 always move symmetrically with the center line of the fixed plate 11 as the reference. This design not only ensures that the lunch box 00 is fixed in the center position every time, improving the positioning accuracy, but also requires only one driving component to achieve fast and stable clamping and releasing actions. The structure is compact, the control is simple, and the working efficiency and reliability of the entire device are effectively improved.

[0044] In a preferred embodiment, the first slider 131 is composed of a timing belt clamp and a slider base. The timing belt clamp is used to securely fix the timing belt 13, transmitting the linear motion of the timing belt 13 to the entire slider. The slider base forms a sliding pair with an additionally provided slide rail, which is mounted on a connecting plate 19 vertically connected below the fixed plate 11. Similarly, the second slider 132 has the same structure. The slider adopts a separate design of the timing belt clamp and the slider base, and cooperates with an independent slide rail, which greatly enhances the slider's torsional resistance and load-bearing stability during movement, effectively preventing jamming or tilting of the limiting plate due to uneven force.

[0045] For further improvements to this utility model, please refer to Figures 4-6 The fixing assembly 10 also includes a mechanism for pressing the lid 01 of the lunchbox 00 vertically. This mechanism mainly includes a first sliding plate 151 and a second sliding plate 152, which are arranged in parallel. A first pressure plate 1511 is connected to the side of the first sliding plate 151 facing the fixing plate 11, and a second pressure plate 1521 is connected to the side of the second sliding plate 152 facing the fixing plate 11, so that the first pressure plate 1511 and the second pressure plate 1521 are also in a parallel opposing state.

[0046] The component driving the clamping mechanism is a first double-helix lead screw 16. A third slider 161 and a fourth slider 162 are respectively fitted onto the left-hand and right-hand threaded sections of the lead screw. A first sliding plate 151 is fixedly connected to the third slider 161, and a second sliding plate 152 is fixedly connected to the fourth slider 162. A second driving member 17 is connected to one end of the first double-helix lead screw 16 for driving its forward and reverse rotation.

[0047] When the second drive unit 17 is activated, driving the first double-threaded lead screw 16 to rotate, the third and fourth sliders will move simultaneously along the lead screw axis, but in opposite directions, due to the double-threaded nature of the lead screw. This motion is transmitted to the first slide plate 151 and the second slide plate 152, which in turn causes the first pressure plate 1511 and the second pressure plate 1521 to either move closer together to clamp the lid 01 of the lunchbox 00, or move further apart to release the lid 01 of the lunchbox 00.

[0048] In the above technical solution, the first double-rotating lead screw 16 and the two sliders work together to achieve synchronous and symmetrical movement of the first pressure plate 1511 and the second pressure plate 1521. This design ensures that the forces applied to both sides of the lunchbox 00 are always equal in magnitude and opposite in direction, enabling it to adapt to lunchboxes of different heights and stably press them into the center position, effectively preventing the lunchbox 00 from tilting or shifting during the subsequent lid-tearing process. This pressing mechanism works in conjunction with the aforementioned limiting plate clamping mechanism to form a fixing system that completely constrains the lunchbox 00 from both the horizontal and vertical dimensions, greatly improving the stability and positioning accuracy of the lunchbox 00 during the lid-tearing process, thereby ensuring the reliable execution of the lid-tearing action.

[0049] As a further improvement to this utility model, in order to enable the fixing component 10 to have position adjustment capability for precise docking of lunch boxes 00 from different workstations or different heights, the fixing component 10 is further provided with a multi-dimensional adjustment platform. The core of this platform is an L-shaped connecting plate 19, which is composed of a first connecting plate 191 and a second connecting plate 192 connected vertically. The aforementioned first sliding plate 151, second sliding plate 152, first double-rotating lead screw 16 and second driving member 17 are mounted on the second connecting plate 192.

[0050] The connecting plate 19 is connected to the equipment base frame via a two-stage slide rail system. The Y-axis adjustment mechanism includes a first slide rail 193 arranged along the Y direction. A fifth slider 1931 and a third drive member 1932 are mounted on the first slide rail 193. The first connecting plate 191 of the connecting plate 19 is fixedly connected to the fifth slider 1931. When the third drive member 1932 operates, it drives the fifth slider 1931, along with the entire connecting plate 19 and all its fixed components, to move precisely along the first slide rail 193 in the Y direction. The Z-axis adjustment mechanism includes a second slide rail 194 arranged along the Z direction. A sixth slider 1941 and a fourth drive member 1942 are mounted on the second slide rail 194. The first slide rail 193 is entirely connected to the sixth slider 1941 via its base 21. When the fourth drive member 1942 operates, it drives the sixth slider 1941, along with the first slide rail 193 and its entire Y-axis adjustment mechanism and fixed components 10, to move up and down along the second slide rail 194 in the Z direction.

[0051] In the above technical solution, by introducing an adjustment platform with Y and Z-axis movement freedom, the originally fixed clamping unit is upgraded to a mobile gripper that can be flexibly adjusted in both horizontal depth and vertical height. Its beneficial effects are: enhanced equipment adaptability: it can actively compensate for the positional error of the food container 00 in the vending machine's aisle. Regardless of whether the food container 00 is positioned slightly forward, slightly backward, slightly higher, or slightly lower, the fixing component 10 can actively move to the optimal position for clamping, reducing the positioning accuracy requirements of the upstream feeding mechanism. Optimized workflow: before the lid is torn off, the fixing component 10 can be pre-lifted or extended to a predetermined position to await the food container 00. After the food container 00 is in place, the fixing action is quickly performed, shortening the cycle time and improving efficiency. Improved system integration: this design modularly integrates the three functions of clamping, Y-axis movement, and Z-axis movement, resulting in a compact structure that facilitates layout and installation within the food vending machine.

[0052] For further improvements to this utility model, please refer to Figures 6-8 To further improve the clamping effect of the fixing component 10 on the lunch box 00, avoid indentations or damage to the lunch box 00 that may be caused by rigid contact, and accommodate slight unevenness that may exist on the box body 02, a floating clamping component 18 is provided on the first pressure plate 1511. This floating clamping component 18 is integrated into the mounting hole 1512 of the first pressure plate 1511. The floating clamping component 18 includes a pull rod 181, a clamping post 182, and a first elastic element 183. The pull rod 181, as the main force transmission and guiding component, passes through the mounting hole 1512. The upper end of the pull rod 181, i.e., the end away from the second pressure plate 1521, extends radially outward to form a baffle 1811. The size of the baffle 1811 is larger than the diameter of the mounting hole 1512, thereby preventing the pull rod 181 from completely dislodging from the mounting hole 1512. The lower end of the pull rod 181, near the second pressure plate 1521, is connected to a clamping block 1812 for direct contact with the body 02 of the lunchbox 00. The clamping post 182, acting as a load-bearing sleeve, is disposed within the mounting hole 1512 and sleeved on the outside of the pull rod 181. The lower end of the clamping post 182 is supported by a step 1513 machined into the inner wall of the mounting hole 1512, fixing its position. The first elastic element 183 is preferably a coil spring, which is sleeved on the pull rod 181 and located between the clamping block 1812 and the body of the first pressure plate 1511. Specifically, both ends of the first elastic element 183 abut against the bottom surface of the first pressure plate 1511 and the top surface of the clamping block 1812, respectively.

[0053] When the second driving member 17 drives the first pressure plate 1511 and the second pressure plate 1521 to approach each other to press against the box body 02, the clamping block 1812 first contacts the side wall of the box body 02. As the pressure plates continue to advance, the clamping block 1812, resisted by the box body 02, pushes the pull rod 181 to overcome the elastic force of the first elastic member 183 and move upward relative to the clamping post 182 and the first pressure plate 1511. At this time, the first elastic member 183 is compressed and continuously applies a downward, flexible clamping force to the clamping block 1812. This structure makes the clamping block 1812 a floating pressure head. It can adapt to the slight tilt or unevenness of the side wall of the lunch box 00, ensuring uniform clamping force and avoiding local deformation or crushing of the lunch box 00 due to rigid contact, which is especially suitable for paper lunch boxes; the first elastic element 183 provides good cushioning, absorbing the impact during the clamping process and effectively protecting the lunch box 00 and the food inside; the clamping column 182 is fixed by the step 1513, providing a stable support reference for the entire floating assembly. The baffle 1811 at the upper end of the pull rod 181 constitutes a stroke limit, preventing the assembly from loosening when not in operation; during the clamping process, the continuous elastic pressure maintains a very high static friction between the clamping block 1812 and the lunch box 00, which works in conjunction with the lateral limiting plate to achieve a comprehensive fixation of the lunch box body 02 that combines flexibility and rigidity, greatly improving the stability of the lunch box 00 during the lid-opening process.

[0054] As a further improvement to this utility model, please refer to Figures 9-11 The clamping assembly 20 employs an upper and lower opposing gripper structure to reliably clamp the lunchbox lid 01. The structural base of this assembly is a T-shaped base 21, composed of a horizontal plate 211 and a vertical plate 212 connected perpendicularly to each other. The horizontal plate 211 is used to achieve a stable connection with the multi-axis drive mechanism 30 to receive the driving force from the multi-axis drive mechanism 30; the vertical plate 212 serves as the main mounting surface for the clamping actuator.

[0055] Guide mechanisms are provided on both sides of the vertical plate 212. A third slide rail 22 is installed on one side along the Z direction, i.e., the vertical direction, to guide the vertical movement of the clamping member; a fourth slide rail 23 is installed on the other side along the Y direction, i.e., the horizontal direction, to guide the horizontal movement of the drive mechanism.

[0056] The clamping actuator includes a first clamping member 24 and a second clamping member 25, both of which are slidably connected to a third slide rail 22 via sliders, thus constraining them to move only in the Z direction. The first clamping member 24 is located below, with a first clamping portion at its end, resembling a lower jaw; the second clamping member 25 is located above, with a second clamping portion at its end, resembling an upper jaw. The first and second clamping portions are vertically aligned, together forming a clamping station.

[0057] The power comes from the clamping drive mechanism 252, which is slidably connected to the fourth slide rail 23 via a slider, allowing it to move along the Y direction. This drive mechanism is linked with the first clamping member 24 and the second clamping member 25, and its core function is to drive them to move towards each other along the third slide rail 22, thereby bringing the first clamping part and the second clamping part closer together, and finally firmly clamping the lid 01 of the lunch box 00 between them.

[0058] In the above technical solution, the drive mechanism and the actuator are cleverly arranged on the two sides of the vertical plate 212 of the base 21, achieving a compact structure and effectively utilizing space. Its beneficial effects are as follows: the upper and lower clamping parts move vertically along the Z-axis, allowing them to fit smoothly against the upper and lower surfaces of the lid 01, providing uniform clamping force and effectively preventing the lid 01 from slipping or wrinkling during tearing; the drive mechanism's own Y-axis floating installation allows it to adaptively fine-tune its position when driving the clamping parts to move in the Z-axis, avoiding jamming and over-constraint problems caused by non-collinear motion trajectories, ensuring smooth and reliable operation; the L-shaped base 21 structure and the double slide rail layout provide a solid support foundation for the entire clamping action, ensuring that even under high tearing resistance, the clamping assembly 20 remains stable, without shaking or deformation.

[0059] As a further improvement of this utility model, the clamping drive mechanism 252 adopts a linkage transmission scheme to accurately convert the unidirectional motion of the driving force into the synchronous opposing motion of the upper and lower clamping members.

[0060] The clamping drive mechanism 252 includes: a power plate 2521: the power plate 2521 is fixedly connected to the fourth slide rail 23 and can be driven as a whole along the Y direction. Both ends of the power plate 2521 are provided with protruding abutment portions for transmitting driving force and serving as movement limits; a connecting block 2522: the connecting block 2522 is fixedly connected to the power plate 2521 and can move together with the power plate 2521. The ends of the connecting block 2522 are rotatably connected to the first connecting rod 25221 and the second connecting rod 25222 via rotating shafts. A connecting rod slider assembly: a seventh slider 221 and an eighth slider 222 are slidably connected on the third slide rail 22. The seventh slider 221 is fixedly connected to the first clamping member 24 below, and is hinged to the end of the first connecting rod 25221 away from the connecting block 2522. Similarly, the eighth slider 222 is fixedly connected to the second clamping member 25 above, and is hinged to the end of the second connecting rod 25222 away from the connecting block 2522.

[0061] When an external driving force propels the entire clamping drive mechanism 252 to move along the fourth slide rail 23 towards the direction of the food container 00, the power plate 2521 drives the first connecting rod 25221 and the second connecting rod 25222 to move forward synchronously via the connecting block 2522. During the movement, the two connecting rods rotate around their hinge point with the slider, thereby generating a component force that pushes the seventh slider 221 and the eighth slider 222 closer to each other along the third slide rail 22. The single horizontal movement of the drive mechanism in the Y direction is converted into a synchronous and symmetrical vertical clamping movement in the Z direction by the linkage mechanism of the first clamping member 24 and the second clamping member 25. This ensures that the upper and lower clamping parts can contact the lid 01 simultaneously, and the clamping force is balanced. The linkage mechanism has a force-amplifying effect when approaching the dead point position, which can generate a large clamping force with a small driving force. At the same time, this structure can form a good force lock after clamping, effectively preventing the lid 01 from loosening due to external impact during the lid-opening process, and the clamping state is stable and reliable. The hinged connection allows for minute angular changes between the connecting rod and the slider, enabling the mechanism to adapt to slight displacement differences between the upper and lower clamping components during clamping, ensuring smooth movement and avoiding the jamming problem that is prone to occur with rigid connections. The entire drive mechanism is integrated on one side of the vertical plate 212 of the base 21, and is arranged in layers with the clamping execution mechanism, which greatly saves space and makes the entire clamping assembly 20 compact and rigid.

[0062] As a further improvement to this utility model, please refer to Figure 12 The first multi-axis drive unit 31 in the multi-axis drive mechanism 30 provides precise and stable linear feed motion along the Y-axis for the entire cap-tearing actuator. This component forms the basis for the movement of the clamping assembly 20 in the Y-axis direction.

[0063] The first multi-axis drive unit 31 specifically includes a precision first transmission screw 311, which is supported on the equipment base frame by a bearing housing, and its axis is parallel to the Y-axis direction. A first transmission block 3111 is installed on the first transmission screw 311 via a threaded drive engagement. A movable seat 312 is fixedly connected to the first transmission block 3111, while the clamping assembly 20 is indirectly connected to the movable seat 312 via a movable plate 322. A fifth drive member 313 is drively connected to one end of the first transmission screw 311 to provide rotational power.

[0064] When the fifth drive unit 313 receives a control signal and starts, it drives the first transmission screw 311 to rotate precisely in the forward or reverse direction. The first transmission block 3111 converts the rotational motion of the screw into precise linear motion along the screw axis. This motion is transmitted to the entire clamping assembly 20 through the moving seat 312, thereby driving the clamping assembly 20 to move forward toward the lunch box 00 or backward away from the lunch box 00 along the Y-axis.

[0065] In the above technical solution, the use of a lead screw drive as the Y-axis drive has the following advantages: the lead screw drive has extremely high repeatability, ensuring that the clamping component 20 can accurately move to the predetermined position and align with the lunchbox lid 01 each time, which is a prerequisite for reliable clamping. The lead screw drive mechanism itself has good rigidity, which can withstand the reverse force generated during the lid-tearing process, effectively suppressing vibration and shaking, and ensuring the smoothness of the entire lid-tearing process. Ordinary sliding lead screws have a certain self-locking capability, which can reliably lock the clamping component 20 in the current position even in the power-off state, enhancing the safety of the equipment. If a ball screw is used, it can be used with a motor with a brake to achieve position locking. With the help of a servo or stepper motor, the movement speed, acceleration, and precise position of the clamping component 20 on the Y-axis can be easily controlled by the program, making it easy to integrate and coordinate with the entire automation system.

[0066] As a further improvement of this utility model, to ensure precise coordination between the clamping action and the overall feed motion, and to prevent accidental clamping in non-working positions, a linkage and triggering mechanism is provided between the first multi-axis drive unit 31 and the clamping drive mechanism 252. A front limiting plate 34 and a rear limiting plate 35 are fixedly installed at both ends of the first transmission screw 311 along its axial direction, defining the safe travel range of the first multi-axis drive unit 31. Correspondingly, the abutment portions at both ends of the power plate 2521 of the clamping drive mechanism 252 are specifically defined as: a first abutment portion 25211a facing forward in the direction of travel, closer to the lunchbox 00, and a second abutment portion 25211b facing backward in the direction of travel, away from the lunchbox 00. The second abutment portion serves as the triggering element of the clamping drive mechanism 252. A second elastic element 253, preferably a tension spring, has one end connected to the connecting block 2522 and the other end connected to the vertical plate 212 of the base 21 or other fixed points. In its natural state, this second elastic element 253 tends to contract, and has the tendency to pull the connecting block 2522 toward the base 21, which can be understood as retracting in the Y direction.

[0067] When the lid-opening task is required, the fifth drive member 313 drives the first transmission screw 311 to rotate, causing the moving seat 312 and the entire clamping assembly 20 to move along the Y-axis towards the lunchbox 00, so that the second abutment part 25211b behind the power plate 2521 maintains a pressing contact with the rear limiting plate 35. Due to the obstruction of the rear limiting plate 35, the power plate 2521 and the connecting block 2522 overcome the tension of the second elastic member 253 and are maintained in a ready position. At this time, through the linkage mechanism, the first clamping part and the second clamping part are in an open state and will not prematurely contact the lunchbox 00.

[0068] When the clamping assembly 20 moves to the target position, i.e., when the lid 01 has entered between the first clamping part and the second clamping part, the second abutment part 25211b moves with the power plate 2521 and eventually disengages from the rear limiting plate 35. Once disengaged, the constraint of the rear limiting plate 35 on the power plate 2521 is immediately released. At this time, the second elastic element 253, which has been pre-tightened, quickly releases its elastic potential energy, pulling the connecting block 2522 towards the base 21. This movement is immediately converted into the opposite movement of the seventh slider 221 and the eighth slider 222 through the aforementioned linkage mechanism, thereby driving the first clamping part and the second clamping part to close quickly and reliably, clamping the lid 01.

[0069] After the lid-tearing action is completed, the fifth drive component 313 reverses, driving the clamping assembly 20 to retract along the Y-axis. During the retraction process, the first abutment part in front of the power plate 2521 contacts the front limit plate 34. The front limit plate 34 pushes the entire power plate 2521 and connecting block 2522 to overcome the pulling force of the second elastic element 253, thereby causing the linkage mechanism to reverse, forcing the first clamping part and the second clamping part to open, releasing the torn lid 01, and resetting it to the initial open and ready state.

[0070] In the above technical solution, the clever cooperation between the limiting plate, the abutment part and the second elastic element 253 strictly ensures that the clamping action logic is executed only after the movement is in place, avoiding interference and misoperation; the clamping action is automatically completed by the mechanical structure, which is fast and reliable, without the need for complex sensors and electronic control programs; the return limit is used to realize automatic opening of the cover, which further improves the automation level and efficiency of the entire work cycle.

[0071] As a further improvement of this utility model, in order to give the clamping assembly 20 precise positioning capability in the vertical Z-axis, so as to adapt to lunch boxes 00 of different heights or to execute a tear-off trajectory containing a vertical component, the multi-axis drive mechanism 30 integrates a second multi-axis drive unit 32 on the basis of the first multi-axis drive unit 31.

[0072] The second multi-axis drive unit 32 serves as the Z-axis motion module of the entire cap-tear actuator. Its base is directly mounted on the movable seat 312 of the first multi-axis drive unit 31, thus inheriting the Y-axis degree of freedom. Its core transmission component is a vertically arranged second transmission screw 321, which is stably supported on the movable seat 312 via a bearing housing. A second transmission block 3211, i.e., a screw nut, forms a threaded transmission engagement with the second transmission screw 321. A movable plate 322 is fixedly connected to the second transmission block 3211, and the base 21 of the clamping assembly 20 is ultimately mounted on this movable plate 322. A sixth drive component 323, such as a servo motor, is connected to one end of the second transmission screw 321 to provide power.

[0073] When the sixth driving member 323 is working, it drives the second transmission screw 321 to rotate. The second transmission block 3211 converts the rotational motion into linear motion along the screw axis, i.e., in the Z direction. This motion is directly transmitted to the clamping assembly 20 through the moving plate 322, thereby driving the entire clamping assembly 20 to perform precise lifting or lowering actions.

[0074] In the above technical solution, by mounting the second multi-axis drive unit 32 on top of the first multi-axis drive unit 31, a motion platform with Y and Z axis linkage capability is formed. Its advantages are as follows: the clamping assembly 20 has the ability to move arbitrarily in the vertical plane when approaching the lunchbox 00 and performing the lid-tearing action, providing a basis for planning the optimal lid-tearing path, such as lifting first and then moving horizontally, and more effectively overcoming the initial sealing adhesion of the lid 01; it can flexibly compensate for the height error of the lunchbox 00 or adapt to different specifications of lunchbox 00 products, enhancing the equipment's versatility and fault tolerance; the screw drive method ensures the rigidity and precision of the Z-axis motion, while the design of integrating the drive unit on the moving base 312 makes the entire motion module structure compact, avoiding the need for a lengthy external transmission mechanism, maintaining the system's high rigidity and stability; through coordinated control with the first multi-axis drive unit 31, complex planar motion trajectories can be realized, accurately simulating the action of tearing the lid by hand, ensuring that the lid 01 is completely and smoothly peeled off, greatly improving the success rate and reliability of lid tearing.

[0075] As a further improvement of this utility model, in order to ultimately achieve fully controllable movement of the clamping assembly 20 in three-dimensional space, the multi-axis drive mechanism 30 further integrates a third multi-axis drive unit 33 for driving the clamping assembly 20 to move along the X-axis, based on the second multi-axis drive unit 32.

[0076] The third multi-axis drive unit 33 constitutes the top layer of the entire kinematic chain. It includes a support frame 331, which is securely mounted on the moving plate 322 of the second multi-axis drive unit 32, thus inheriting the Y-axis and Z-axis degrees of freedom. A third transmission screw 332, arranged along the X-axis, is mounted on the support frame 331. A third transmission block 3321 forms a transmission engagement with the third transmission screw 332. The base 21 of the clamping assembly 20 is directly connected to this third transmission block 3321. A seventh drive member 333 is connected to one end of the third transmission screw 332 to provide driving force.

[0077] When the seventh driving component 333 is working, it drives the third transmission screw 332 to rotate, and the third transmission block 3321 converts the rotational motion into precise linear motion along the X-axis. This motion directly pushes the clamping assembly 20 base 21 connected to it, thereby realizing the displacement of the entire clamping assembly 20 along the X-axis.

[0078] In the above technical solution, by integrating the third multi-axis drive unit 33, a complete three-dimensional motion platform with independent drive capabilities in the X, Y, and Z axes is finally constructed. Its beneficial effects are as follows: the three-axis linkage enables the clamping assembly 20 to execute a predetermined complex motion trajectory containing displacement components in the X, Y, and Z directions within three-dimensional space. This is crucial for simulating the fine movements of a human hand tearing off a lid. For example, a composite path combining lateral translation, longitudinal pulling, and vertical lifting can be planned to overcome the sealing adhesive force between the lid 01 and the body 02 in the most effective and reliable way, ensuring complete peeling. High-precision lead screw drives are used in all three directions, ensuring the absolute positioning accuracy of the clamping assembly 20 in space. It can accurately compensate for any positional deviations that may occur in the vending machine's aisle, ensuring that the clamping assembly 20 can always accurately position itself at the predetermined clamping point of the lid 01. The motion system adopts a layered modular design, resulting in a compact structure and clear hierarchy. Each level of the moving base 312 or moving plate 322 provides a stable installation foundation for the next level, ensuring that the entire system has sufficient rigidity and stability when moving at high speed and bearing the reaction force of tearing the lid; the complete three degrees of freedom enable the device to adapt to lunch boxes 00 of various sizes, shapes and sealing methods, and only the motion trajectory and parameters need to be adjusted by the program, which greatly improves the versatility of the equipment and its market application potential.

[0079] When this food container lid-tearing device is used in a vending machine, the vending machine also has a push rod inside, such as... Figure 3 As shown, the push rod is used to push the food container 00 to the fixing component 10 before performing the lid tearing, so that the fixing component 10 can firmly fix the container body 02.

[0080] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] The above embodiments only illustrate preferred implementations of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the appended claims.

Claims

1. A lunchbox lid-tearing device, characterized in that, include: Fixing components are used to secure the body of the lunchbox; A clamping assembly for clamping the lid of the lunchbox; A multi-axis drive mechanism is connected to the clamping assembly and is used to drive the clamping assembly to move individually or in combination in space along the X, Y, and Z directions. The clamping assembly is configured to move along a predetermined motion trajectory after clamping the lid, driven by the multi-axis drive mechanism, the motion trajectory including displacement components in the X, Y, and Z directions, thereby tearing the lid off the box body.

2. The lunchbox lid-tearing device as described in claim 1, characterized in that, The fixing component includes: A fixing plate is provided with a first sliding hole and a second sliding hole; The first limiting plate and the second limiting plate are arranged in parallel. A timing belt, wherein a first slider and a second slider are provided on the timing belt, a first limiting plate is connected to the first slider through a first sliding hole, and a second limiting plate is connected to the second slider through a second sliding hole; A first driving member is disposed below the fixed plate. The first driving member drives the synchronous belt transmission to move the first slider and the second slider to separate or move closer to each other so that the first limiting plate and the second limiting plate separate or move closer to each other.

3. The lunchbox lid-tearing device as described in claim 2, characterized in that, The fixing component also includes: A first sliding plate, wherein a first pressure plate is connected to the side of the first sliding plate facing the fixed plate; The second sliding plate has a second pressure plate connected to the side of the second sliding plate facing the fixed plate, and the first pressure plate and the second pressure plate are arranged in parallel. A first double-screw lead screw, the first double-screw lead screw is provided with a third slider and a fourth slider, the first slide plate is connected to the third slider, and the second slide plate is connected to the fourth slider; The second driving member drives the first double-rotor screw to rotate, causing the third slider and the fourth slider to slide so that the first pressure plate and the second pressure plate separate from each other or move closer to each other.

4. The lunchbox lid-tearing device as described in claim 3, characterized in that, The first pressure plate is provided with mounting holes, and a floating clamping assembly is installed in the mounting holes. The floating clamping assembly includes: A pull rod is disposed inside the mounting hole. A baffle is provided at the end of the pull rod away from the second pressure plate, and a clamping block is connected to the end of the pull rod near the second pressure plate. A clamping column is provided in the mounting hole and sleeved on the outside of the pull rod. The lower edge of the mounting hole is also provided with a step for supporting the clamping column. A first elastic element is sleeved on the side of the pull rod near the clamping block, with its two ends abutting against the first pressure plate and the clamping block, respectively.

5. The lunchbox lid-tearing device as described in claim 1, characterized in that, The clamping assembly includes: The base includes a horizontal plate and a vertical plate connected to each other, the horizontal plate being connected to the multi-axis drive mechanism; The third slide rail is arranged along the Z direction; The fourth slide rail is arranged along the Y direction, and the third slide rail and the fourth slide rail are respectively arranged on opposite sides of the vertical plate; The first clamping member is slidably connected to the third slide rail and has a first clamping part; The second clamping member is slidably connected to the third slide rail and has a second clamping portion located above the first clamping portion; A clamping drive mechanism is slidably connected to the fourth slide rail and is used to drive the first clamping member and the second clamping member to move so that the first clamping part moves closer to the second clamping part, so as to clamp the box cover between the first clamping part and the second clamping part.

6. The lunchbox lid-tearing device as described in claim 5, characterized in that, The clamping drive mechanism includes: A power plate, which is fixedly connected to the fourth slide rail, and has abutment portions at both ends; A connecting block is connected to the power plate, and a first connecting rod and a second connecting rod are rotatably connected to the end of the connecting block; A seventh slider and an eighth slider are slidably connected on the third slide rail. The seventh slider is fixedly connected to the first clamping member and hinged to the first connecting rod. The eighth slider is fixedly connected to the second clamping member and hinged to the second connecting rod.

7. The lunchbox lid-tearing device as described in claim 6, characterized in that, The multi-axis drive mechanism includes a first multi-axis drive unit, which is used to drive the clamping assembly to move along the Y-axis. The first multi-axis drive unit includes: A first transmission screw, wherein the first transmission screw is connected to a first transmission block; A movable seat, which is connected to the first transmission block and the clamping assembly; The fifth driving component drives the first transmission screw to rotate, so that the first transmission block drives the clamping assembly to move along the Y-axis.

8. The lunchbox lid-tearing device as described in claim 7, characterized in that, The first transmission screw is provided with a front limiting plate and a rear limiting plate at both ends; The abutting portions at both ends of the power plate include a first abutting portion facing the front limiting plate and a second abutting portion facing the rear limiting plate; The clamping drive mechanism further includes a second elastic element, which connects the connecting block and the base. When the food box is fixed and the second abutment part is disengaged from the rear limiting plate, the second elastic element pulls the connecting block to move, causing the seventh slider and the eighth slider to move away so that the first clamping part and the second clamping part approach and clamp.

9. The lunchbox lid-tearing device as described in claim 7, characterized in that, The multi-axis drive mechanism further includes a second multi-axis drive unit, which is used to drive the clamping assembly to move along the Z-axis. The second multi-axis drive unit includes: The second transmission screw is mounted on the movable seat and is connected to the second transmission block. A movable plate, which is connected to the second transmission block and the base; The sixth driving component drives the second transmission screw to rotate, so that the second transmission block drives the clamping assembly on the moving plate to move along the Z-axis.

10. The lunchbox lid-tearing device as described in claim 9, characterized in that, The multi-axis drive mechanism further includes a third multi-axis drive unit, which is used to drive the clamping assembly to move along the X-axis. The third multi-axis drive unit includes: A support frame is mounted on the movable plate; A third transmission screw is connected to the support frame, and a third transmission block is connected to the third transmission screw, which is connected to the base. The seventh driving component drives the third transmission screw to rotate, so that the third transmission block drives the clamping assembly to move along the Z-axis.

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