A vibrating electric gripper

Abstract

The present invention discloses a vibrating electric clamp, characterized in that it includes a clamping portion and a vibrating portion mounted on the top surface of the clamping portion, with a clamping assembly provided at one end of the clamping portion; the vibrating portion includes a vibrating housing and a driving mechanism mounted between the vibrating housing and the clamping portion; a guide member is provided on the top of the clamping portion; the vibrating housing is movably connected to the guide member on the top of the clamping portion, and the movement direction of the vibrating housing is set toward the clamping assembly; the driving mechanism is mounted on the vibrating housing and drives the clamping portion to reciprocate relative to the vibrating housing. The present invention reduces product processing costs, reduces space occupation, and simplifies product processing stations.

Description

Technical Field

[0001] The present invention relates to an electric clamp, in particular to a vibration type electric clamp. Background Art

[0002] In modern automated industrial production, electric grippers have gradually been applied to various production links. Electric grippers are often installed on the end of a robotic arm or a module to perform clamping operations. Vibration is frequently used in automated production, and in some workstations, the workpiece needs to be clamped and vibrated. In existing technologies, vibration processing is performed at a separate workstation, and generally, vibration processing is performed first before entering the next workstation for clamping operations. This form of production takes up more space and is a separate workstation. If it is necessary to streamline costs and improve space utilization, the robotic arm or module cannot perform higher-frequency vibration actions, thereby failing to achieve the purpose of compressing workstations. This situation limits the streamlining of the automatic production process. Therefore, how to solve the above-mentioned technical problems is a direction that those skilled in the art need to work hard on. Summary of the Invention

[0003] The purpose of the present invention is to provide a vibrating electric clamp. By using this structure, it can not only have the function of clamping, but also vibration, and can also achieve vibration during the clamping process, which can reduce the space occupied by the equipment, shorten the process and reduce production costs.

[0004] To achieve the above object, the technical solution adopted by the present invention is: a vibrating electric clamp, comprising a clamping portion and a vibrating portion mounted on the top surface of the clamping portion, wherein a clamping assembly is provided at one end of the clamping portion;

[0005] The vibration part includes a vibration shell and a driving mechanism installed between the vibration shell and the clamping part. A guide member is provided at the top of the clamping part. The vibration shell is movably connected to the guide member at the top of the clamping part, and the moving direction of the vibration shell is set toward the direction of the clamping assembly. The driving mechanism is installed on the vibration shell, and the driving mechanism drives the clamping part to reciprocate relative to the vibration shell.

[0006] In the above technical solution, one end of the vibration shell is arranged toward the clamping assembly, and the other end of the vibration shell is provided with a mounting seat, the bottom of the mounting seat is arranged outside the end of the clamping part, and the driving mechanism drives the clamping part to reciprocate close to or away from the mounting seat.

[0007] In the above technical solution, the driving mechanism includes a motor, a worm, a worm wheel and a connecting plate. The motor and the worm are installed on the vibration housing, and the motor drives the worm to rotate.

[0008] One end of the connecting plate is rotatably connected to the top of the clamping portion, and the bottom of the worm gear is rotatably connected to the other end of the connecting plate. A connecting shaft away from the axis of the worm gear is provided at the outer edge of the bottom of the worm gear, and the worm gear is rotatably connected to the end of the connecting plate via the connecting shaft.

[0009] The top of the worm wheel is rotatably connected to the vibration shell, and the worm wheel is engaged with the worm; when the worm drives the worm wheel to move, the clamping part is driven to move back and forth along the vibration shell via the connecting plate.

[0010] In the above technical solution, the top of the worm wheel is rotatably connected to the vibration shell via a bearing; the motor is installed on the vibration shell via a motor seat, one end of the worm is connected to the vibration shell via a bearing seat, and the other end is rotatably connected to the motor seat, and the end of the worm is rotatably connected to the bearing seat via a first bearing.

[0011] In the above technical solution, the driving mechanism includes a cylinder, which is installed on the vibration shell. The output shaft of the cylinder is connected to the top of the clamping part. When the cylinder output shaft extends and retracts, it drives the clamping part to move back and forth relative to the vibration shell.

[0012] In the above technical solution, the driving mechanism includes an electromagnet, which is divided into two groups, namely a first electromagnet and a second electromagnet, and the first electromagnet and the second electromagnet are installed at intervals on the vibration shell; an armature is also provided, and the armature is installed on the clamping part, and the armature is arranged between the first electromagnet and the second electromagnet. When the first electromagnet and the second electromagnet are powered on and off in sequence, they can respectively generate adsorption force on the armature, and the clamping part can be driven by the armature to move back and forth relative to the vibration part.

[0013] In the above technical solution, the clamping portion includes a housing, a clamping assembly mounted on the end of the housing, and a clamping drive assembly disposed within the housing, and the vibrating shell is movably connected to a guide member at the top of the housing;

[0014] The clamping assembly includes two sets of parallel sliders, two sets of slide grooves are provided at the end of the housing, each set of sliders is slidably provided in one set of slide grooves, and racks are provided on the side walls of each set of sliders, and the racks of the two sets of sliders are arranged opposite to each other;

[0015] The clamping drive assembly is provided with a gear, which is arranged between the two groups of racks, and the two sides of the gear are respectively engaged with the racks of the two groups of sliders. The clamping drive assembly drives the gear to rotate and at the same time drives the two groups of sliders to move simultaneously, and the movement directions of the two groups of sliders are opposite.

[0016] In the above technical solution, a mounting hole is provided on the outer end surface of each group of the sliders, and a clamping member is detachably mounted on the outer end of the slider, and the clamping member is connected to the mounting hole via a bolt.

[0017] In the above technical solution, the clamping drive assembly includes a bracket installed in the outer shell, a clamping motor, a reduction mechanism and a gear. The gear is rotatably installed on the bracket, and the gear is engaged with the two sets of racks. The clamping motor and the reduction mechanism are installed on the bracket. The clamping motor is connected to the gear via the reduction mechanism and can drive the gear to rotate.

[0018] In the above technical solution, a sensor for detecting the position of the vibration shell is further provided on the top of the clamping portion, and the sensor is electrically connected to the driving mechanism.

[0019] In the above technical solution, a protective cover is further provided outside the clamping part and the vibrating part, and the protective cover can be freely extended and retracted between the vibrating part and the clamping part.

[0020] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0021] 1. In the present invention, a vibrating part is installed on the clamping part, and a driving mechanism is used to drive the clamping part to move back and forth relative to the vibration housing to achieve vibration. In this way, the vibration function can be achieved during the clamping process, which can effectively reduce the number of processing stations for the product, reduce space occupation, improve product processing efficiency, and reduce production costs;

[0022] 2. The driving mechanism of the present invention can adopt a worm gear mechanism, a cylinder method, or an electromagnet method, and the implementation methods are diversified. Different driving methods can be selected according to different application scenarios. It has a wide range of applications and good driving performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the structure of the first embodiment of the present invention (with the clamping member not installed);

[0024] Figure 2 yes Figure 1 Schematic diagram of the cross-sectional structure at AA in the middle;

[0025] Figure 3 yes Figure 1 Schematic diagram of the cross-sectional structure at the middle BB;

[0026] Figure 4 yes Figure 1 Schematic diagram of the three-dimensional structure;

[0027] Figure 5 yes Figure 1Schematic diagram of the structure with the vibration housing and mounting base disassembled;

[0028] Figure 6 yes Figure 1 Bottom view of the middle clamping part in the disassembled state;

[0029] Figure 7 yes Figure 1 Schematic diagram of the structure with the protective cover installed;

[0030] Figure 8 yes Figure 1 Schematic diagram of the structure with the clamping parts installed in the middle;

[0031] Figure 9 This is a schematic diagram of the structure of the second embodiment of the present invention (when the clamping member is not installed);

[0032] Figure 10 It is a structural diagram of the third embodiment of the present invention (when the clamping member is not installed).

[0033] Among them: 1. Clamping part; 2. Vibrating part; 3. Clamping assembly; 4. Vibrating shell; 5. Guide member; 6. Connecting slide; 7. Buffer assembly; 8. Mounting seat; 9. Motor; 10. Worm; 11. Worm gear; 12. Connecting plate; 13. Connecting shaft; 14. Bearing; 15. Motor seat; 16. Bearing seat; 17. First bearing; 18. Sensor; 19. Housing; 20. Slider; 201. Clamping member; 21. Slide; 22. Rack; 23. Gear; 24. Mounting hole; 25. Mounting block; 26. Bracket; 27. Clamping motor; 28. Speed ​​reduction mechanism; 29. ​​Protective cover; 30. Hole position; 31. Cylinder; 32. First electromagnet; 33. Second electromagnet; 34. First armature; 35. Second armature. DETAILED DESCRIPTION

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0035] Example 1: See Figures 1 to 8 As shown, a vibration type electric clamp comprises a clamping portion 1 and a vibration portion 2 mounted on the top surface of the clamping portion, and a clamping assembly 3 is provided at one end of the clamping portion;

[0036] The vibrating portion includes a vibrating housing 4 and a driving mechanism mounted between the vibrating housing and the clamping portion. A guide member 5 is provided at the top of the clamping portion. The vibrating housing is movably connected to the guide member at the top of the clamping portion, and the movement direction of the vibrating housing is set toward the clamping assembly. The driving mechanism is mounted on the vibrating housing and drives the clamping portion to reciprocate relative to the vibrating housing, causing the clamping assembly to move closer to or further away from the end of the vibrating housing. For example, if the clamping mechanism is located below the clamping portion, the driving mechanism drives the clamping portion to reciprocate back and forth relative to the vibrating housing.

[0037] In this embodiment, in actual use, the external device is connected to the vibration shell, thereby driving the electric clamp to move, and the clamping assembly is used to clamp the product to be clamped. When the clamped product needs to be vibrated, the driving mechanism drives the clamping part to move back and forth relative to the vibration shell. The high-speed reciprocating movement can be directly fed back to the clamped product through the clamping part, thereby achieving vibration of the product. In this way, compared with the previous vibration as a separate station, the production station of the product can be reduced, thereby reducing production costs. At the same time, it can also reduce space occupation, reduce production costs, and improve processing efficiency. Among them, through the setting of the guide member, the vibration shell and the guide member are slidably connected, and the guide member is used to limit the relative movement between the clamping part and the vibration box body. In the present invention, the guide member is preferably connected to a guide rail or a guide rod, and the vibration shell is slidably connected to the clamping part through the connecting guide rail or guide rod. In this embodiment, the guide limit assembly adopts two sets of connecting guide rails, and a connecting slide groove 6 and a connecting guide rail are provided on the vibration shell. A buffer assembly 7 can also be provided at both ends of the connecting guide rail. In this way, when the clamping part moves relative to the vibration shell, the buffer assembly is used for buffering, thereby reducing rigid impact, reducing noise, reducing damage caused by rigid impact, and reducing maintenance rate.

[0038] See also Figure 1 、 4 As shown, one end of the vibration shell is arranged toward the clamping assembly, and the other end of the vibration shell is provided with a mounting seat 8. The bottom of the mounting seat is arranged outside the end of the clamping part, and the driving mechanism drives the clamping part to reciprocate close to or away from the mounting seat.

[0039] In this embodiment, through the setting of the mounting base, the external device is connected through the mounting base and the vibration shell, thereby driving the clamping part to move to clamp the product. At the same time, the clamping assembly will be set on the opposite side of the mounting base without affecting the normal clamping of the product.

[0040] See also Figure 5 、 6As shown, the driving mechanism includes a motor 9, a worm 10, a worm wheel 11 and a connecting plate 12. The motor and the worm are mounted on the vibration housing, and the motor drives the worm to rotate;

[0041] One end of the connecting plate is rotatably connected to the top of the clamping portion, and the bottom of the worm wheel is rotatably connected to the other end of the connecting plate via a connecting shaft. A connecting shaft 13 is provided at the outer edge of the bottom of the worm wheel, away from the axis of the worm wheel. The worm wheel is rotatably connected to the end of the connecting plate via the connecting shaft.

[0042] The top of the worm wheel is rotatably connected to the vibration shell, and the worm wheel is engaged with the worm; when the worm drives the worm wheel to move, the clamping part is driven to move back and forth along the vibration shell via the connecting plate.

[0043] The top of the worm wheel is rotationally connected to the vibration shell via a bearing 14; the motor is installed on the vibration shell via a motor seat 15, one end of the worm is connected to the vibration shell via a bearing seat 16, and the other end is rotationally connected to the motor seat, and the end of the worm is rotationally connected to the bearing seat via a first bearing 17.

[0044] In this embodiment, the vibration working principle is as follows:

[0045] The motor drives the worm to rotate through the output shaft. Due to the meshing of the worm wheel and the worm, the worm wheel is also driven to rotate. The top of the worm wheel is connected to the vibration shell through the bearing, and the bottom of the worm wheel is connected to the end of the connecting plate through the connecting shaft. The other end of the connecting plate is connected to the clamping part. Since the connecting shaft and the worm wheel are eccentric, the connecting shaft will rotate around the center of the worm wheel. The length of the connecting plate is fixed, that is, the connecting shaft drives the end of the connecting plate to rotate around the center of the worm wheel. Therefore, the connecting plate will push the clamping part to move back and forth relative to the vibration shell, thereby achieving vibration. Taking the clamping assembly facing forward as an example, after the clamping assembly clamps the product, the drive mechanism drives the clamping part to move back and forth, and the clamping assembly drives the product to move back and forth, thereby achieving product vibration. The higher the frequency of the reciprocating movement of the clamping part, the more obvious the vibration.

[0046] See also Figure 5 、 6 As shown, a sensor 18 for detecting the position of the vibration shell relative to the clamping portion is further provided on the top of the clamping portion, and the sensor is electrically connected to the driving mechanism.

[0047] In this embodiment, the sensor can detect the position of the vibrating shell, that is, the relative position between the vibrating shell and the clamping part. After each vibration, the sensor signal is used to determine the zero point of rotation of the motor, and then the motor angle is controlled to maintain the stop position of the clamping part, thereby ensuring that the clamping part can stay in a specified position. The sensor can be a photoelectric sensor, a magnetic sensor, or a grating. In this embodiment, a photoelectric sensor is used.

[0048] See also Figures 1 to 8 As shown, the clamping portion includes a housing 19, a clamping assembly 3 installed at the end of the housing, and a clamping drive assembly arranged in the housing, and the vibrating shell is movably connected to the guide member at the top of the housing;

[0049] The clamping assembly includes two groups of parallel sliders 20, and two groups of slide grooves 21 are provided at the end of the shell. Each group of sliders is slidably set in one group of slide grooves, and a rack 22 is provided on the side wall of each group of sliders. The racks of the two groups of sliders are arranged opposite to each other.

[0050] The clamping drive assembly is provided with a gear 23, which is arranged between the two groups of racks, and the two sides of the gear are respectively engaged with the racks of the two groups of sliders. The clamping drive assembly drives the gear to rotate and at the same time drives the two groups of sliders to move simultaneously, and the movement directions of the two groups of sliders are opposite.

[0051] The outer end surface of each group of the sliders is provided with a mounting hole 24, and the outer end of the slider is detachably mounted with a clamping member 201, which is connected to the mounting hole by bolts. Wherein, according to the actual product to be clamped, the clamping member of the corresponding shape can be installed.

[0052] In this embodiment, the clamping drive assembly drives the gear to rotate forward and reverse, utilizing the meshing of the gear and the rack. Furthermore, two sets of sliders and the rack are disposed on either side of the gear. Thus, when the gear rotates, the meshing of the gear and the rack drives the two sets of sliders to move simultaneously in opposite directions, thereby enabling the clamping members on the two sets of sliders to clamp or release the product. Furthermore, the clamping assembly is mounted on the end of the housing via a mounting block 25. A chute is disposed at the end of the mounting block, and the slider slides within the chute of the mounting block. The mounting block increases the bearing strength of the slider and the clamping member, ensuring that after the clamping member clamps the product, it prevents local deformation of the housing due to stress. The mounting block can transmit force to a larger area of ​​the housing, preventing deformation, increasing strength, and extending service life.

[0053] See also Figure 2As shown, the clamping drive assembly includes a bracket 26 installed in the housing, a clamping motor 27, a reduction mechanism 28 and a gear 23. The gear is rotatably installed on the bracket, and the gear is engaged with the two sets of racks. The clamping motor and the reduction mechanism are installed on the bracket. The clamping motor is connected to the gear via the reduction mechanism and can drive the gear to rotate.

[0054] In this embodiment, the reduction mechanism is a reducer, and the clamping motor drives the gear to rotate forward and reverse through the reduction mechanism, thereby driving the two groups of clamping parts on the two groups of sliders to move closer to or away from each other, thereby clamping or releasing the product.

[0055] Furthermore, a protective cover is provided on the outside of the clamping part and the vibrating part, and the protective cover can be freely extended and retracted between the vibrating part and the clamping part. A protective cover 29 is provided on the entire outside of the electric clamping jaw for waterproofing and oil-proofing, wherein the protective cover is a retractable structure, so that when the clamping part moves back and forth relative to the vibrating part, the protective cover can be extended and retracted. At the same time, two holes 30 are provided on the protective cover, each hole facing a group of mounting holes on the slider, so that the clamping part is connected through the hole and the mounting hole on the slider, giving way to the installation, disassembly and use of the clamping assembly. Among them, the protective cover is generally made of flexible materials such as silicone or rubber, which is convenient for covering it on the outside of the electric clamping jaw and has a certain local elastic deformation ability.

[0056] Example 2: See Figure 9 As shown, a vibrating electric clamp has a structure that is basically similar to that of the first embodiment, except that the driving mechanism is different from that of the first embodiment. In this embodiment, the driving mechanism does not adopt a motor or a worm gear structure. In this embodiment, the driving mechanism includes a cylinder 31, which is mounted on the vibrating shell. The output shaft of the cylinder is connected to the top of the clamping part. When the cylinder output shaft extends and retracts, it drives the clamping part to move back and forth relative to the vibrating shell.

[0057] In this embodiment, a pneumatic cylinder is used as the driving mechanism to drive the reciprocating movement of the clamping portion. Compared with the first embodiment, this method requires an air source to power the cylinder, and cannot use electrical energy, so a separate air source interface is required. Furthermore, the pneumatic cylinder is relatively less stable. However, compared with the first embodiment, it is more cost-effective and more convenient and quick to maintain.

[0058] Example 3: See Figure 10As shown, a vibrating electric gripper has a structure substantially similar to that of Examples 1 and 2, except that the drive mechanism differs from that of Examples 1 and 2. In this embodiment, the drive mechanism includes two sets of electromagnets, namely a first electromagnet 32 ​​and a second electromagnet 33, which are spaced apart and mounted on the vibrating housing. An armature is also provided, which is mounted on the clamping portion and disposed between the first and second electromagnets. When the first and second electromagnets are sequentially powered on and off, they can each generate an adsorption force on the armature, thereby driving the clamping portion to reciprocate relative to the vibrating portion. In this embodiment, two armatures are provided, namely a first armature 34 and a second armature 35, with the first armature positioned opposite the first electromagnet and the second armature opposite the second electromagnet. Of course, only one armature may be provided, but two armatures provide better results.

[0059] In this embodiment, the first electromagnet is located at the rear end of the second electromagnet. When the first electromagnet is energized, it attracts the first armature to move backward. When the first electromagnet is de-energized, the second electromagnet is energized, attracting the second armature to move forward. In this way, the first and second electromagnets are alternately energized and de-energized, respectively attracting the corresponding armature to the corresponding electromagnet. This, in turn, drives the clamping portion forward and backward through the armature, generating vibration. Furthermore, the higher the frequency of on-off switching, the higher the vibration frequency of the clamping portion.

[0060] In the description of the present invention, it should be understood that the terms "front," "back," "top," "bottom," "inside," "outside," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0061] In the present invention, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For example, the two can form a mechanical abutment or abutment connection through abutment, contact, etc. The two can also be directly hung or hung through an intermediate medium, etc., or it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A vibrating electric gripper, characterized in that: It includes a clamping part and a vibrating part installed on the top surface of the clamping part, and one end of the clamping part is provided with a clamping assembly; The vibrating portion includes a vibrating shell and a driving mechanism installed between the vibrating shell and the clamping portion. A guide member is provided on the top of the clamping portion. The vibrating shell is movably connected to the guide member on the top of the clamping portion, and the moving direction of the vibrating shell is set toward the clamping assembly. The driving mechanism is installed on the vibrating shell, and the driving mechanism drives the clamping portion to reciprocate relative to the vibrating shell. One end of the vibration shell is arranged toward the clamping assembly, and the other end of the vibration shell is provided with a mounting seat, the bottom of the mounting seat is arranged outside the end of the clamping portion, and the driving mechanism drives the clamping portion to reciprocate toward or away from the mounting seat; The clamping portion includes a housing, a clamping assembly mounted on an end portion of the housing, and a clamping drive assembly disposed within the housing, wherein the vibrating housing is movably connected to a guide member at the top of the housing; The clamping assembly includes two sets of parallel sliders, two sets of slide grooves are provided at the end of the housing, each set of sliders is slidably provided in one set of slide grooves, and racks are provided on the side walls of each set of sliders, and the racks of the two sets of sliders are arranged opposite to each other; The clamping drive assembly is provided with a gear, which is arranged between the two groups of racks, and the two sides of the gear are respectively engaged with the racks of the two groups of sliders. The clamping drive assembly drives the gear to rotate and simultaneously drives the two groups of sliders to move simultaneously, and the movement directions of the two groups of sliders are opposite; The clamping drive assembly includes a bracket installed in the housing, a clamping motor, a reduction mechanism and a gear. The gear is rotatably installed on the bracket, and the gear is engaged with the two sets of racks. The clamping motor and the reduction mechanism are installed on the bracket. The clamping motor is connected to the gear via the reduction mechanism and can drive the gear to rotate.

2. The vibration type electric gripper according to claim 1, characterized in that: The driving mechanism includes a motor, a worm, a worm wheel and a connecting plate. The motor and the worm are installed on the vibration housing, and the motor drives the worm to rotate. One end of the connecting plate is rotatably connected to the top of the clamping portion, and the bottom of the worm gear is rotatably connected to the other end of the connecting plate. A connecting shaft away from the axis of the worm gear is provided at the outer edge of the bottom of the worm gear, and the worm gear is rotatably connected to the end of the connecting plate via the connecting shaft. The top of the worm wheel is rotatably connected to the vibration shell, and the worm wheel is engaged with the worm; when the worm drives the worm wheel to move, the clamping part is driven to move back and forth along the vibration shell via the connecting plate.

3. The vibration type electric gripper according to claim 2, characterized in that: The top of the worm wheel is rotatably connected to the vibration shell via a bearing; the motor is installed on the vibration shell via a motor seat, one end of the worm is connected to the vibration shell via a bearing seat, and the other end is rotatably connected to the motor seat, and the end of the worm is rotatably connected to the bearing seat via a first bearing.

4. The vibration type electric gripper according to claim 1, characterized in that: The driving mechanism includes a cylinder, which is installed on the vibration shell. The output shaft of the cylinder is connected to the top of the clamping part. When the cylinder output shaft extends and retracts, it drives the clamping part to move back and forth relative to the vibration shell.

5. The vibration type electric gripper according to claim 1, characterized in that: The driving mechanism includes an electromagnet, which is divided into two groups, namely a first electromagnet and a second electromagnet. The first electromagnet and the second electromagnet are installed at intervals on the vibration shell; an armature is also provided, which is installed on the clamping part and arranged between the first electromagnet and the second electromagnet. When the first electromagnet and the second electromagnet are turned on and off in sequence, they can respectively generate adsorption force on the armature, and the clamping part can be driven by the armature to move back and forth relative to the vibration part.

6. The vibration type electric gripper according to claim 1, characterized in that: A mounting hole is provided on the outer end surface of each group of the sliders. A clamping piece is detachably mounted on the outer end of the sliders. The clamping piece is connected to the mounting hole via a bolt.

7. The vibration type electric gripper according to claim 1, characterized in that: A sensor for detecting the position of the vibration shell is also provided on the top of the clamping portion, and the sensor is electrically connected to the driving mechanism.

8. The vibration type electric gripper according to claim 1, characterized in that: A protective cover is further provided outside the clamping part and the vibrating part, and the protective cover can be freely extended and retracted between the vibrating part and the clamping part.

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