Integrated electric gripper manipulator with high protection grade

Abstract

The application discloses a high-protection-grade integrated electric clamping jaw manipulator, which comprises a rack, a rotary drive, a speed-reducing and torque-increasing gear train, a driving gear, a rack slide rail and a jaw head. Two guide rail cavities are arranged on the top of the rack, and one rack slide rail is arranged in each guide rail cavity. The rack further comprises a driving gear assembly installation cavity, a speed-reducing and torque-increasing gear train assembly installation cavity and a motor containing cavity, and the driving gear assembly installation cavity is communicated with the two guide rail cavities. The opposite sides of the rack slide rail are respectively provided with rack teeth, and the two sides of the driving gear are respectively engaged with the rack teeth of the two rack slide rails. One jaw head is connected to each rack slide rail. The rotary drive is used for driving the driving gear to rotate so as to drive the two rack slide rails to move towards or away from each other. Each rack slide rail is in sliding sealing with the cavity wall of the guide rail cavity, so as to block the communication between the driving gear assembly installation cavity and the external space. Compared with the prior art, the application has higher protection grade and clamping capacity.

Description

Technical Field

[0001] This invention belongs to the field of electric manipulator technology, and particularly relates to an integrated electric gripper manipulator with a high protection level. Background Technology

[0002] An electric robotic arm consists of two opposing grippers that extend and retract to grip and release objects, and is widely used in automated production lines.

[0003] In the prior art, Chinese patent CN114248289A discloses a self-service dispensing gripper, including a servo motor mounted on a gripper housing. The output end of the servo motor passes through the gripper housing and connects to a gripper gear. Two parallel sliding grooves are formed at the bottom of the gripper housing, and a slider is provided inside each groove. The slider can slide along the groove and is connected to a sliding jaw. A rack is fixedly connected to the side of each sliding jaw, and the rack meshes with both sides of the gripper gear. When medication needs to be gripped, the servo motor is activated, driving the gripper gear to rotate. The gripper gear meshes with the rack, causing the two sliding jaws to slide towards each other along the sliding grooves, thereby enabling the grippers to pick up the medication.

[0004] The shortcomings of the existing technology are: the grippers in the technology have poor clamping capacity and low protection level. Specifically, the analysis is as follows: Firstly, in the existing technology, the motor's power is directly transmitted to the rack via a gripper gear. The motor speed is relatively high, making speed control difficult, and the output torque is low, making it unable to grip heavy objects. Secondly, the gripper housing is an open structure, which cannot prevent the intrusion of cutting fluid / chips. The intrusion of external cutting fluid / chips will affect the normal operation of the motor and the smooth opening and closing of the gripper. Therefore, this gripper cannot be used as a gripper for automated machining equipment.

[0005] Therefore, it is necessary to provide a new integrated electric gripper robot with a high level of protection to solve the above-mentioned technical problems. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] Based on this, the present invention provides an integrated electric gripper robot with a high protection level to solve the technical problems of poor gripping ability and low protection level of grippers in the prior art.

[0008] (II) Technical Solution

[0009] To address the aforementioned technical problems, this invention proposes a high-protection-level integrated electric gripper manipulator, comprising: a frame, a rotary drive, a speed-reducing and torque-increasing gear system, a drive gear, a rack and pinion slide rail, and a gripper head; the top of the frame is provided with two guide rail cavities, each guide rail cavity containing one of the rack and pinion slide rails; the frame further includes a drive gear assembly mounting cavity, a speed-reducing and torque-increasing gear system assembly mounting cavity, and a motor housing cavity formed therein and connected sequentially, the drive gear assembly mounting cavity being respectively connected to the two guide rail cavities; the rotary drive is mounted in the motor housing cavity, and the speed-reducing and torque-increasing gear system is mounted in the speed-reducing and torque-increasing gear system. Inside the mounting cavity of the speed-increasing torque gear train assembly, the drive gear is mounted inside the mounting cavity of the drive gear assembly. Rack teeth are provided on opposite sides of the rack slide rails, and the two sides of the drive gear mesh with the rack teeth of the two rack slide rails respectively. A claw head is connected to each rack slide rail. The rotational drive is connected to the drive gear via the speed-reducing torque-increasing gear train, used to drive the drive gear to rotate and drive the two rack slide rails to move relative to or away from each other. Each rack slide rail slides in a sliding seal against the cavity wall of the guide rail cavity to block the communication between the drive gear assembly mounting cavity and the external space.

[0010] (III) Beneficial Effects

[0011] Compared with existing technologies, the high-protection integrated electric gripper robot of the present invention has a higher level of protection and gripping ability. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention;

[0014] Figure 2 This is an exploded view of the present invention;

[0015] Figure 3 This is a side cross-sectional view of the present invention;

[0016] Figure 4 This is a front cross-sectional view of the present invention;

[0017] Figure 5 This is a cross-sectional view of the guide rail mounting base in this invention;

[0018] Figure 6 This is a schematic diagram of the speed-reducing and torque-increasing gear train in this invention.

[0019] Figure 7 This is a three-dimensional schematic diagram of the frame in this invention;

[0020] Figure 8 This is a cross-sectional view of the frame in this invention;

[0021] Figure 9 This is an exploded view of the frame in this invention. Figure 1 ;

[0022] Figure 10 This is an exploded view of the frame in this invention. Figure 2 ;

[0023] Figure 11 This is a three-dimensional schematic diagram of the gearbox in this invention;

[0024] Figure 12 This is a three-dimensional schematic diagram of the motor housing in this invention;

[0025] Figure 13 This is a three-dimensional schematic diagram of the rack and pinion slide rail in this invention. Figure 1 ;

[0026] Figure 14 This is a three-dimensional schematic diagram of the rack and pinion slide rail in this invention. Figure 2 ;

[0027] Figure 15 This is a top view of the rack and pinion slide rail in this invention.

[0028] Figure 16 This is a three-dimensional schematic diagram of the slide rail body in this invention. Figure 1 ;

[0029] Figure 17 This is a three-dimensional schematic diagram of the slide rail body in this invention. Figure 2 ;

[0030] Figure 18 This is a left-side view of the slide rail body in this invention;

[0031] Figure 19 This is a three-dimensional schematic diagram of the rubber sealing frame in this invention (the upper connecting column, left connecting column, and right connecting column are not shown).

[0032] Figure 20 This is a schematic diagram of the rack and pinion slide rail installed in the guide rail cavity in this invention.

[0033] Figure 21 This is a three-dimensional schematic diagram of the claw head in this invention.

[0034] Explanation of reference numerals in the attached figures:

[0035] 100. Rack and pinion slide rail; 200. Frame; 300. Speed ​​reduction and torque increase gear system; 400. Rotary drive; 500. Drive gear; 600. Claw head;

[0036] 1. Slide rail body; 2. Rubber sealing frame; 3. Guide rail mounting base; 4. Gearbox; 5. Limiting and positioning pin; 6. Gearbox top sealing ring; 7. Motor box; 8. Gearbox bottom sealing ring; 9. Bottom cover; 10. Cover sealing ring; 11. Ring pin sealing ring; 12. Lower positioning pin of the chassis; 13. Upper positioning pin of the chassis;

[0037] 31. Guide rail base plate; 32. Middle guide wall; 33. First guide rail cavity; 34. Second guide rail cavity; 35. Positioning ring; 36. Drive gear assembly mounting cavity; 37. Left guide wall; 38. Right guide wall;

[0038] 11. Upper rail; 12. Lower rail; 13. Sliding fit contact surface;

[0039] 21. Sealing ring; 22. Sealing plate;

[0040] 41. Speed-reducing and torque-increasing wheel system assembly mounting cavity; 42. Wheel box top seal receiving groove; 43. Wheel box second screw connection hole; 44. Wheel box pin hole; 45. Pin sealing groove; 46. Wheel box first screw connection hole;

[0041] 71. Motor housing cavity; 72. Motor power end protrusion hole; 73. Motor mounting hole; 74. Gear shaft; 75. Second threaded connection hole; 76. Mounting opening;

[0042] 91. Bottom positioning pin groove;

[0043] 111. Threaded hole; 112. Locating pin hole; 113. Seal mounting groove; 114. Front top; 115. Rear top; 116. Upper adhesive receiving hole;

[0044] 121. Front step surface; 122. Rear step surface; 123. Front lower surface; 124. Rear lower surface; 125. Front tooth bottom clearance chip collection groove; 126. Left waist-shaped limiting groove; 127. Right waist-shaped limiting groove; 128. Middle waist-shaped clearance groove; 129. Lower left adhesive receiving hole; 130. Lower right adhesive receiving hole;

[0045] 311. Rail pin hole; 312. First screw connection hole of plate;

[0046] 411. Positioning hole;

[0047] 741. Wheel axle hole;

[0048] 1291. Longitudinal glue hole; 1292. Transverse glue hole;

[0049] 1211. Front tooth tip clearance groove;

[0050] 1221. Rear step clearance groove;

[0051] 1231. Front left sliding surface; 1232. Front right sliding surface; 1233. Gear machining groove; 1234. Rack tooth;

[0052] 1241. Rear left sliding surface; 1242. Rear right sliding surface; 1243. Rear side clearance groove;

[0053] 401. Motor power end;

[0054] 601. Lower connecting claw plate; 602. Upper connecting claw plate; 603. Notch;

[0055] 6011, Lower connection hole of claw plate;

[0056] 6021, Reinforcing protrusion; 6022, Connecting hole on claw plate;

[0057] 301. First gear; 302. Second gear; 303. Third gear; 304. Fourth gear; 305. Fifth gear; 306. Sixth gear; 307. Seventh gear; 308. Eighth gear. Detailed Implementation

[0058] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0059] The following is in conjunction with the appendix Figure 1-21 The high-protection-level integrated electric gripper robot of the present invention will be further described.

[0060] Please refer to this carefully. Figure 1-5This invention discloses a high-protection-level integrated electric gripper robot, comprising: a frame 200, a rotary drive 400, a speed-reducing and torque-increasing gear system 300, a drive gear 500, a rack and pinion slide rail 100, and a gripper head 600; the top of the frame 200 is provided with two guide rail cavities, each guide rail cavity containing a rack and pinion slide rail 100; the frame 200 also includes a drive gear assembly mounting cavity 36, a speed-reducing and torque-increasing gear system assembly mounting cavity 41, and a motor housing cavity 71 formed therein and connected in sequence, the drive gear assembly mounting cavity 36 being connected to the two guide rail cavities respectively; the rotary drive 400 is mounted in the motor housing cavity 71, and the speed-reducing and torque-increasing gear system 300 is mounted in the speed-reducing and torque-increasing gear system 500. Inside the torque gear assembly mounting cavity 41, the drive gear 500 is installed inside the drive gear assembly mounting cavity 36; rack teeth 1234 are respectively provided on opposite sides of the rack slide rail 100, and the two sides of the drive gear 500 mesh with the rack teeth 1234 of the two rack slide rails 100 respectively; a claw head 600 is connected to each rack slide rail 100; the rotary drive 400 is connected to the drive gear 500 via the speed reduction and torque amplification gear train 300, and is used to drive the drive gear 500 to rotate so as to drive the two rack slide rails 100 to move relative to or away from each other; each rack slide rail 100 slides and seals against the cavity wall of the guide rail cavity to block the communication between the drive gear assembly mounting cavity 36 and the external space.

[0061] In this embodiment, the drive gear assembly mounting cavity 36, the speed reduction and torque increase gear train assembly mounting cavity 41, and the motor housing cavity 71 are all formed inside the frame 200. Since each rack slide rail 100 slides and seals against the cavity wall of the guide rail cavity, the communication between the drive gear assembly mounting cavity 36 and the external space can be blocked. Therefore, a fully sealed structure can be formed to prevent the intrusion of external cutting fluid / chips into the inner cavity of the frame 200, thereby obtaining a high level of protection. This allows the high-protection integrated electric gripper robot of the present invention to be used in environments with water and dust.

[0062] In this invention, all components of the electric gripper, except for the frame, are centrally mounted inside the frame or on the side wall of the frame, forming an integrated electric gripper structure.

[0063] The jaw head 600 is used to mount the grippers (not shown in the figure). In specific implementation, the corresponding grippers can be designed according to the shape of the workpiece to be clamped, and then the two grippers are respectively mounted on the two jaw heads 600. The opening and closing of the jaw heads 600 drives the grippers to open and close. Each guide rail cavity is provided with a rack and pinion slide rail 100, and each guide rail cavity and the rack and pinion slide rail 100 inside it form a sliding connection structure to ensure the linear accuracy of each rack and pinion slide rail 100. The speed reduction and torque increase gear system 300 is a reduction gear structure composed of multiple gears. By reducing the rotational speed of the gears, the torque of the drive gear 500 is increased. In use, the drive gear 500 simultaneously drives the rack and pinion slide rails 100 located on both sides of it to move relative to or away from each other. In this invention, a speed reduction and torque increase gear system 300 is provided between the rotary drive 400 and the drive gear 500. The speed reduction and torque increase gear system 300 is used for deceleration, which on the one hand helps to control the opening and closing speed of the jaw heads 600. On the other hand, since power = torque × angular velocity, under the premise of a fixed power for the rotary drive 400, the rotational speed and torque are inversely proportional. That is, the higher the rotational speed, the lower the torque; the lower the rotational speed, the stronger the torque. After the speed reduction and torque increase of the gear train 300, the drive gear 500 can finally obtain a larger output torque, which greatly improves the gripping ability of the high-protection integrated electric gripper robot of this invention, enabling it to grip heavier objects. Moreover, the speed reduction makes it easier to accurately control the opening and closing position of the gripper 600.

[0064] Please refer to this carefully. Figure 1-5 and Figure 7-8 According to a specific embodiment of the present invention, the frame 200 includes: a guide rail mounting base 3, a gearbox 4, a motor housing 7, and a bottom cover 9, which are detachably connected from top to bottom; the guide rail cavity and the drive gear assembly mounting cavity 36 are arranged vertically and are both formed within the guide rail mounting base 3; the speed reduction and torque increase gear train assembly mounting cavity 41 extends through the gearbox 4 in the vertical direction; the motor housing 7 and the bottom cover 9 together form a motor receiving cavity 71; the guide rail cavity includes a first guide rail cavity 33 and a second guide rail cavity 34; the guide rail mounting base 3 includes a guide rail base plate 31 and an intermediate guide wall 32 fixedly disposed on the upper part of the guide rail base plate 31; a positioning ring 35 is fixedly disposed on the lower part of the guide rail base plate 31; and the drive gear assembly mounting cavity 36... The lower part of the positioning ring 35 passes through the upper part of the drive gear assembly mounting cavity 36, which extends into the middle guide wall 32 and is connected to the first guide rail cavity 33 and the second guide rail cavity 34 respectively. The guide rail mounting seat 3 also includes a left guide wall 37 and a right guide wall 38. The left guide wall 37 and the right guide wall 38 are symmetrical structures. The cross-section of the left guide wall 37 is an inverted "L" shape, and the middle guide wall 32 is a "T" shape. The left guide wall 37 and the middle guide wall 32 together form the first guide rail cavity 33, which is open at the top and has an overall "convex" shape. The right guide wall 38 and the middle guide wall 32 together form the second guide rail cavity 34, which is open at the top and has an overall "convex" shape. The first guide rail cavity 33 and the second guide rail cavity 34 are symmetrical structures.

[0065] More specifically, the guide rail mounting base 3 and the gear box 4 are detachably and fixedly connected by threaded connectors. The gear box 4 and the motor box 7 are detachably and fixedly connected by threaded connectors; the bottom cover 9 and the motor box 7 are detachably connected by threaded connectors. The motor box 7 is integrally in the shape of a housing having a motor receiving cavity 71.

[0066] In this embodiment, the first guide rail cavity 33 and the second guide rail cavity 34 are respectively used for mounting the rack slide rails 100. The rack slide rails 100 are provided with rack teeth 1234. The rack slide rails 100 are slidably connected to the guide rail cavities. The drive gear assembly mounting cavity 36 is used for mounting the drive gear 500. The drive gear assembly mounting cavity 36 is respectively connected to the first guide rail cavity 33 and the second guide rail cavity 34. The teeth on both sides of the drive gear 500 are respectively engaged with the rack teeth 1234 of the two rack slide rails 100 at the connection. When the drive gear 500 rotates, it can drive the two rack slide rails 100 to move relatively or away from each other simultaneously. In use, a claw head 600 is respectively connected to the two rack slide rails 100. Therefore, the clamping and relaxation of the two claw heads 600 can be realized. The positioning ring 35 is a downwardly convex structure for positioning with the lower gear box 4, which can ensure that the center position of the drive gear 500 is always at a predetermined position, ensuring the transmission accuracy. And the whole rack 200 is a combined splicing structure, which can form a relatively complex receiving cavity and mounting structure, and can meet the mounting requirements of relatively complex intermediate transmission parts.

[0067] It should be noted that: the "rack slide rail 100" in the present invention is a guide rail slidably fitted with the first guide rail cavity 33 or the second guide rail cavity 34, and is provided with a rack structure for cooperating with the drive gear 500, so it is called a "rack slide rail".

[0068] The left guide wall 37, the middle guide wall 32 and the right guide wall 38 together enclose a "convex"-shaped guide rail cavity for loading the rack slide rail 100. The cavity shoulder position of the "convex"-shaped guide rail cavity and the bottom of the "convex" shape act together to realize the vertical limit of the rack slide rail 100. The two side surfaces of the "convex" shape act together to realize the horizontal limit of the rack slide rail 100. Ensure the sliding accuracy of the rack slide rail 100 in the guide rail cavity.

[0069] The first guide rail cavity 33 and the second guide rail cavity 34 are symmetrical structures with each other, and this structure is used for mounting two rack slide rails 100 with symmetrical shapes with each other.

[0070] Please refer to Figure 9-12According to a specific embodiment of the present invention, the guide rail mounting base 3 and the gearbox 4 are further positioned by limiting positioning pins 5; the top of the speed reduction and torque increase gear train assembly mounting cavity 41 is a positioning hole 411 that matches the shape of the outer wall of the positioning ring 35, and the positioning ring 35 is inserted into the positioning hole 411; the frame 200 also includes a gearbox top sealing ring 6 disposed between the guide rail mounting base 3 and the gearbox 4, and the gearbox top sealing ring 6 surrounds the speed reduction and torque increase gear train assembly mounting cavity 41; the guide rail mounting base 3 is made of aluminum; there are two limiting positioning pins 5, and Two limiting positioning pins 5 are respectively provided on both sides of the positioning hole 411; the top surface of the gearbox 4 is also provided with a recessed top sealing groove 42, and the gearbox top sealing ring 6 is provided in the top sealing groove 42; the periphery of the gearbox 4 and the motor box 7 is provided with a gearbox bottom sealing ring 8; the top of the motor box 7 is provided with a motor power end protrusion hole 72, and the outer side of the motor power end protrusion hole 72 is provided with multiple motor mounting holes 73; the top of the motor box 7 is provided with a protruding gear shaft platform 74, and the gear shaft platform 74 is provided with a shaft hole 741.

[0071] More specifically, the gearbox 4 also includes a first screw connection hole 46 for the gearbox that runs through it, and the guide rail base plate 31 is provided with a first screw connection hole 312 for the plate that corresponds to the first screw connection hole 46 for the gearbox.

[0072] In this embodiment, the speed reduction and torque increase gear train assembly mounting cavity 41 is used to mount the speed reduction and torque increase gear train 300. The guide rail mounting seat 3 and the gearbox 4 are connected by a threaded connector (such as a screw).

[0073] It should be noted that for the positioning structure between the guide rail mounting base 3 and the gearbox 4, if only a pin is used, precise meshing of the gear train cannot be guaranteed; if only a positioning ring 35 is used, it cannot prevent rotation, and the positioning ring 35 must independently withstand shear force. If the positioning ring 35 is made of a soft material (such as aluminum alloy), it is easily damaged by shear. If the positioning ring 35 is made of a hard material (such as if the guide rail mounting base 3 is made of steel), the overall weight will be heavier.

[0074] In this embodiment, the guide rail mounting base 3 and the gearbox 4 are positioned by a combination of a positioning ring 35 and a limiting positioning pin 5, which greatly improves the fitting accuracy and positioning stability, solving the aforementioned technical problems. The specific implementation is as follows: The speed-reducing and torque-increasing gear train 300 includes a gear (eighth gear 308) coaxially linked with the drive gear 500. Inserting the positioning ring 35 into the positioning hole 411 ensures precise vertical alignment between the drive gear assembly mounting cavity 36 and the speed-reducing and torque-increasing gear train assembly mounting cavity 41, guaranteeing gear concentricity. The limiting positioning pin 5 is also used for positioning. With the addition of the limiting positioning pin 5, on the one hand, the limiting positioning pin 5, in conjunction with the positioning ring 35, prevents relative rotation between the guide rail mounting base 3 and the gearbox 4; on the other hand, the limiting positioning pin 5 is made of steel, which has high hardness and good stress-bearing effect, capable of withstanding large shear forces. Therefore, the guide rail mounting base 3 can be made of a low-density metal material (such as aluminum alloy), which is beneficial for the overall weight reduction of this invention. The joint between the drive gear assembly mounting cavity 36 and the speed reduction and torque increase gear train assembly mounting cavity 41 is sealed by the gearbox top sealing ring 6, preventing external water and dust from entering the mounting cavity (drive gear assembly mounting cavity 36 or speed reduction and torque increase gear train assembly mounting cavity 41) through the gap between the guide rail mounting seat 3 and the gearbox 4, thus ensuring the sealing performance at this point.

[0075] In this embodiment, the guide rail mounting base 3 is made of aluminum, which contributes to the overall lightweight design of the invention. With limiting positioning pins 5 on both sides of the positioning hole 411, the two pins together resist the shearing force between the guide rail mounting base 3 and the gearbox 4, preventing the aluminum positioning ring 35 from being subjected to shearing force. The gearbox top sealing ring 6 is securely received by the top sealing groove 42. The first screw connection hole 46 of the gearbox and the first screw connection hole 312 of the plate are aligned vertically for inserting screws from bottom to top, achieving a detachable connection between the guide rail mounting base 3 and the gearbox 4.

[0076] More specifically, the gearbox 4 and the motor box 7 are also positioned by a positioning pin 013 on the chassis. The gearbox 4 also includes a second screw connection hole 43 for the gearbox. The motor box 7 is provided with a second threaded connection hole 75 for the chassis, which is located opposite to the second screw connection hole 43 for the gearbox. A screw passes through the second screw connection hole 43 for the gearbox from top to bottom and extends into the second threaded connection hole 75 for the chassis, so that the gearbox 4 and the motor box 7 can be detachably connected.

[0077] According to a specific embodiment of the present invention, the lower part of the motor housing cavity 71 is provided with an installation opening 76, the bottom cover 9 closes the installation opening 76, and the periphery of the junction between the bottom cover 9 and the motor housing 7 is provided with a cover sealing ring 10; the guide rail base plate 31 is provided with two through-holes 311, and the top surface of the gearbox 4 is also provided with two recessed gearbox pin holes 44; the middle parts of the two limiting positioning pins 5 respectively pass through the two guide rail pin holes 311, and the lower parts of the two limiting positioning pins 5 respectively extend into the two gearbox pin holes 44, the upper part of one limiting positioning pin 5 extends into the first guide rail cavity 33, and the upper part of the other limiting positioning pin 5 extends into the second guide rail cavity 34; a pin sealing groove 45 is provided on the outside of each gearbox pin hole 44, and an annular pin sealing ring 011 is provided in the pin sealing groove 45, and the annular pin sealing ring 011 is also located between the guide rail mounting seat 3 and the gearbox 4.

[0078] In this embodiment, the motor housing 7 is mainly used to install the motor and also to cooperate with the gearbox 4 to seal the bottom of the mounting cavity 41 of the speed reduction and torque increase gear train assembly. Furthermore, a gear shaft platform 74 is provided on the top of the motor housing 7, which can be used to support and fix the gear shaft in the speed reduction and torque increase gear train 300. Inserting the gear shaft into the gear shaft hole 741 forms a rotatable connection. The structure in which the gearbox 4 and the motor housing 7 are detachably and fixedly connected by threaded connectors facilitates the installation of the gear train. The motor receiving cavity 71 is used to house and fix the motor. In specific implementation, the motor is installed through the mounting opening 76, and the top connecting end of the motor is fixedly installed in the motor mounting hole 73 via threaded connectors. The output shaft of the motor (motor power end 401) faces upward and extends from the motor power end extension hole 72. This shaft is connected to the first-stage gear in the speed reduction and torque increase gear train 300, and through the transmission of the gear train, the rotational power of the motor is ultimately transmitted to the drive gear 500. The gearbox bottom sealing ring 8 is used for sealing to prevent external water and dust from entering the joint between the gearbox 4 and the motor housing 7, ensuring the airtightness at this point. The cover sealing ring 10 is used for sealing the mounting opening 76 to prevent external water and dust from entering the motor housing cavity 71 through the mounting opening 76, ensuring the airtightness at this point.

[0079] In this embodiment, the limiting positioning pin 5, in addition to its positioning function between the guide rail mounting base 3 and the gearbox 4, also serves to limit the sliding motion of the rack slide rail 100. During use, rack slide rails 100 are respectively installed in the first guide rail cavity 33 and the second guide rail cavity 34. A limiting groove is provided below the rack slide rail 100, and the upper part of the limiting positioning pin 5 extends into the limiting groove of the rack slide rail 100. When the rack slide rail 100 slides, the limiting positioning pin 5 engages with the limiting groove to limit the sliding stroke of the rack slide rail 100. In this embodiment, a ring-shaped sealing ring 011 is provided outside the limiting positioning pin 5. The ring-shaped sealing ring 011 is used for sealing to prevent external water and dust from entering the side gap of the limiting positioning pin 5 through the joint gap between the guide rail mounting base 3 and the gearbox 4, and then entering the guide rail cavity (first guide rail cavity 33 and second guide rail cavity 34), ensuring the sealing performance at that location.

[0080] In this invention, the guide rail mounting base 3, gearbox 4, motor housing 7, and bottom cover 9 are detachably and fixedly connected from top to bottom, facilitating the installation of transmission and power components. The drive gear assembly mounting cavity 36, the speed reduction and torque increase gear train assembly mounting cavity 41, and the motor housing cavity 71 are connected and together form a component housing cavity, used to connect the transmission and power components. Sealing rings are provided at the joints of the guide rail mounting base 3, gearbox 4, motor housing 7, and bottom cover 9 to prevent external water and dust from entering the component housing cavity. Based on this, combined with the aforementioned structure of setting an annular pin sealing ring 011 outside the limiting positioning pin 5, the frame 200 forms a fully sealed structure, waterproof and dustproof, with a protection level reaching IP67.

[0081] In this embodiment, precise positioning between the bottom cover 9 and the motor housing 7 is achieved through the lower positioning pin 012 of the chassis. The bottom positioning pin groove 91, located at the bottom of the bottom cover 9, is used to achieve overall positioning during the installation of the frame 200. The electrical mounting holes communicate with the motor housing cavity 71 and include cable through holes, lamp post mounting holes, and switch mounting holes, etc., for the passage and installation of electrical components.

[0082] Please refer to this carefully. Figure 21According to a specific embodiment of the present invention, the claw head 600 is generally a flat plate with a notch 603 on one side; the claw head 600 includes: a lower connecting claw plate 601 for fixed connection with the rack and pinion slide rail 100, and an upper connecting claw plate 602 fixed to one side of the lower connecting claw plate 601 and for connection with the gripper; the lower connecting claw plate 601 and the upper connecting claw plate 602 are flush on the same side, and one side of the upper connecting claw plate 602 is shorter than the upper connecting claw plate 602 to form a notch 603; the lower connecting claw plate 601 is provided with a claw plate lower connecting hole 6011, and the top of the upper claw connecting plate is provided with at least two reinforcing protrusions 6021, and the upper claw connecting plate is provided with a claw plate upper connecting hole 6022 through the reinforcing protrusions 6021 at the corresponding positions; the two claw heads 600 are arranged opposite each other, and the lower connecting claw plate 601 of one claw head 600 is positioned directly opposite the upper connecting claw plate 602 of the other claw head 600.

[0083] In this embodiment, the claw head 600 is a one-piece molded structure. The lower connecting hole 6011 of the claw plate includes two countersunk screw holes and two locating pin holes. The countersunk holes are used to install countersunk screws, and the locating pins are used to install locating pins. The top of the rack and pinion slide rail 100 is provided with corresponding screw holes and locating pin holes. This is used to precisely fix the claw head 600 onto the rack and pinion slide rail 100. The connecting hole 6022 on the claw plate is used to connect with the gripper. The reinforcing protrusion 6021 is penetrated by the connecting hole 6022 on the claw plate, forming an arc-shaped protrusion structure. The reinforcing protrusion 6021 can extend the length of the connecting hole 6022 on the claw plate to improve the stability of the connection between the claw head 600 and the gripper. In this embodiment, the claw head 600 avoids the use of a regular rectangular plate structure, but instead adopts a flat plate shape with a notch 603 on one side. With this structure, the longer lower connecting claw plate 601 can provide a longer installation position, which facilitates the installation of countersunk screws and locating pins and increases the distance between the two countersunk screws. The structure of this embodiment increases the overall rigidity of the jaws 600. When the jaws are subjected to shearing force, the shearing force is transmitted to the jaws 600 through the locating pins and countersunk screws. The increased distance between the two countersunk screws enhances the overall shear resistance of the jaws 600. Furthermore, because the notches 603 of the two jaws 600 are positioned opposite each other, they extend in a staggered manner during clamping, allowing for a tight clamping fit. This ensures stable clamping even when holding very thin workpieces.

[0084] Please refer to this carefully. Figure 6According to a specific embodiment of the present invention, the rotary drive 400 is a motor, and the top of the motor is the motor power end 401; the speed-reducing and torque-increasing gear train 300 includes: a first gear 301, a second gear 302, a third gear 303, a fourth gear 304, a fifth gear 305, a sixth gear 306, a seventh gear 307, and an eighth gear 308; the motor power end 401 is connected to the first gear 301 to drive the first gear 301 to rotate, the first gear 301 meshes externally with the second gear 302, the third gear 303 is coaxial with and fixedly connected to the second gear 302, and the fourth gear 304... Gears 4 and 5 are located on both sides of gear 303 and mesh externally with it. Gears 6 and 4 are coaxial and fixedly connected. Gears 7 and 5 are coaxial and fixedly connected. Gears 6 and 7 are located on both sides of gear 8 and mesh externally with it. Drive gear 500 is coaxial and fixedly connected with gear 8. Gears 4 and 5 have the same number of teeth as gear 305. Gears 6 and 7 have the same number of teeth as gear 307.

[0085] In this embodiment, the motor provides rotational power. The rotation of the motor drives the first gear 301 of the 400 to rotate. The first gear 301 drives the second gear 302 to rotate. The third gear 303 moves synchronously with the second gear 302 and drives the fourth gear 304 and the fifth gear 305 to rotate respectively. The sixth gear 306 moves synchronously with the fourth gear 304. The seventh gear 307 moves synchronously with the fifth gear 305. The sixth gear 306 and the seventh gear 307 simultaneously drive the eighth gear 308 to rotate, which in turn drives the drive gear 500, which is coaxial with the eighth gear 308, to rotate. The rotation of the drive gear 500 drives the two rack slide rails 100 located on both sides of it to move relative to or away from each other.

[0086] According to a specific embodiment of the present invention, the guide rail base plate 31 is generally rectangular, the middle guide wall 32 is arranged along the length direction of the guide rail base plate 31, and the positioning ring 35 is positioned directly opposite the middle guide wall 32; the speed reduction and torque increase gear assembly mounting cavity 41 is positioned directly opposite the drive gear assembly mounting cavity 36; a lower positioning pin 012 is also provided between the bottom cover 9 and the motor housing 7, and the bottom cover 9 has a recessed bottom positioning pin groove 91, which consists of two spaced-apart grooves; the side of the motor housing 7 is also provided with electrical component mounting holes.

[0087] According to a specific embodiment of the present invention, the rack and pinion slide rail 100 includes a slide rail body 1 formed by upper rail 11 and lower rail 12 fixed vertically. The two sides of the connection surface between the lower rail 12 and the upper rail 11 are a front stepped surface 121 and a rear stepped surface 122, respectively. The two opposite sides of the lower rail 12 in the width direction are a front lower surface 123 and a rear lower surface 124, respectively. The bottom surface, front lower surface 123, rear lower surface 124, front stepped surface 121, and rear stepped surface 122 of the lower rail 12 are all slidably connected to the guide rail cavity groove wall. The sliding contact surface 13 is connected; the two ends of the front lower surface 123 in the length direction are the front left sliding surface 1231 and the front right sliding surface 1232, respectively. A toothed groove 1233 is provided between the front left sliding surface 1231 and the front right sliding surface 1232. The bottom of the toothed groove 1233 is provided with rack teeth 1234; the rack slide rail 100 also includes a rubber sealing frame 2 fixedly connected to the slide rail body 1. The rubber sealing frame 2 includes a sealing ring 21 and a sealing plate 22 (please refer to the following). Figure 19 The sealing ring 21 surrounds the top periphery of the upper rail 11, and there are two sealing pieces 22, which respectively cover the two sides of the slide rail body 1 along its length.

[0088] More specifically, both the lower rail 12 and the upper rail 11 have rectangular cross-sections, and the upper rail 11 and the lower rail 12 have equal lengths and are aligned vertically. The slide rail body 1 is a single-piece structure.

[0089] In this embodiment, the rack and pinion slide rail 100 is used to form a sliding connection structure with the guide rail cavity. When the rack and pinion slide rail 100 is installed into the guide rail cavity, the outer walls of the sealing ring 21 and the sealing plate 22 abut against the corresponding positions of the guide rail cavity groove wall to achieve sliding sealing.

[0090] When the rack and pinion slide rail 100 of the present invention is used to grip the manipulator, the gripper is fixed on the rack and pinion slide rail 100. The rotation of the gear drives the rack and pinion slide rail 100 to move. The gripper moves in a straight line reciprocating motion synchronously with the rack and pinion slide rail 100, and finally realizes the opening and closing of the entire gripper.

[0091] In this embodiment, by improving the structure of the slide rail body 1, the linear accuracy of the rack and pinion slide rail 100 can be improved, as detailed below.

[0092] Since the bottom surface, front bottom surface 123, rear bottom surface 124, front step surface 121, and rear step surface 122 of the lower rail 12 are all sliding contact surfaces 13 that are slidably connected to the guide rail cavity wall; during use, the bottom surface and the step surfaces (front step surface 121 and rear step surface 122) limit the slide rail body 1 from two opposite directions, ensuring the movement accuracy of the slide rail body 1 in the height direction. The front bottom surface 123 and rear bottom surface 124 limit the slide rail body 1 from two opposite directions, ensuring the movement accuracy of the slide rail body 1 in the thickness direction.

[0093] To achieve the forming of a rack structure on the slide rail body 1 and avoid lateral limiting at the rack, a recessed tooth processing groove 1233 is provided on the front lower surface 123, and the front left sliding surface 1231 and the front right sliding surface 1232 are retained for limiting. Rack teeth 1234 are machined at the bottom of the tooth processing groove 1233. Since the tooth processing groove 1233 is a groove structure, the top of the rack teeth 1234 will not protrude from the front lower surface 123, which needs to cooperate with the guide rail cavity. In use, since the two planes of the front lower surface 123 and the rear lower surface 124 respectively cooperate with the guide rail cavity, the rack slide rail 100 is limited in the front and rear directions. Compared with the prior art structure that uses gears to abut against the rack for limiting, the front and rear limiting structure of this invention is no longer related to the gear and rack meshing clearance value, resulting in higher limiting accuracy. Furthermore, when adjusting the gear and rack meshing clearance, the front and rear guiding problem of the slide rail body 1 does not need to be considered; it can be adjusted as needed, which helps improve the smoothness of gear and rack meshing.

[0094] In addition, the toothed groove 1233 also serves as a clearance mechanism. The front lower surface 123 is a sliding contact surface 13, which requires high machining accuracy. By setting the recessed toothed groove 1233, the contact area between the front lower surface 123 and the guide rail cavity is reduced. The area of ​​the mating surface that needs to ensure high machining accuracy is also reduced accordingly, which greatly reduces the machining difficulty. Moreover, the reduction of the mating surface also helps to improve the smoothness of relative sliding.

[0095] This invention fills the outlet of the joint between the slide rail body 1 and the guide rail cavity with a rubber sealing frame 2, ensuring that the side walls and bottom surface of the slide rail body 1 are surrounded by the rubber strip. This effectively prevents external air and dust from entering the gap between the slide rail body 1 and the guide rail cavity from the joint outlet, guaranteeing high sliding sealing performance after the rack and pinion slide rail 100 engages with the guide rail cavity. This provides a basis for improving the protection level of the application of this invention.

[0096] Compared with the prior art, the rack and pinion slide rail 100 of the present invention has the advantages of high guiding accuracy and good sliding sealing, which helps to improve the action accuracy and dustproof level of the present invention.

[0097] It should be noted that the "front" and "rear" directions mentioned in the rack and pinion slide rail 100 of the present invention refer to the thickness direction of the rack and pinion slide rail 100 (see Figure 100). Figure 13 (X-axis direction). "Left" and "Right" refer to the length direction of the rack and pinion slide 100 (see...). Figure 13 (In the Y-axis direction), "up" and "down" refer to the thickness direction of the rack and pinion guide 100 (see...). Figure 13 (Z-axis direction).

[0098] It should also be noted that in this embodiment, "sliding contact surface 13" refers to the surface that slides and engages with the guide rail cavity wall during use to provide a limiting function.

[0099] According to a specific embodiment of the present invention, a recessed front tooth bottom clearance chip collection groove 125 is provided on the bottom surface of the lower rail 12 directly opposite the tooth machining groove 1233.

[0100] In this embodiment, the chip collection groove 125 at the bottom of the front tooth has two functions.

[0101] Function 1: To provide clearance. The bottom surface of the slide rail body 1 and the guide rail cavity are sliding contact surfaces 13, which require high machining accuracy. By setting the chip collection groove 125 at the bottom of the front tooth, the contact area between the bottom surface of the slide rail body 1 and the guide rail cavity is reduced. The area of ​​the mating surface that needs to be machined with high precision is also reduced accordingly, which greatly reduces the machining difficulty. Moreover, the reduction of the mating surface also helps to improve the smoothness of relative sliding.

[0102] Function 2: Chip Collection. The chip collection groove 125 at the bottom of the front tooth can be used to collect machining chips, preventing them from remaining on the rack teeth 1234 or entering the bottom of the slide rail body 1, thus affecting normal transmission or damaging the transmission mating surfaces. A specific example is as follows: The rack slide rail 100 in this invention is used in a robotic arm to grasp workpieces for processing. During machining, machining chips (such as iron filings) will be generated. Since the chip collection groove 125 at the bottom of the front tooth is located, the iron filings will fall into the chip collection groove 125 under the action of gravity, thereby avoiding their impact on the mating surfaces. Furthermore, in specific implementation, since lubricating oil is provided between the bottom of the slide rail body 1 and the guide rail cavity, the iron filings in the chip collection groove will mix with the lubricating oil in the chip collection groove to form a unified oil-chip mixture. This oil-chip mixture can be more stably contained in the chip collection groove 125, and can be cleaned uniformly during equipment maintenance.

[0103] Please refer to this carefully. Figure 13-18According to a specific embodiment of the present invention, the cross-section of the slide rail body 1 is in overall shape to match the shape of the first guide rail cavity 33. The bottom surface of the lower rail 12 is provided with a recessed front tooth bottom clearance chip collection groove 125 facing the tooth machining groove 1233. The two ends of the rear lower surface 124 in the length direction are the rear left sliding surface 1241 and the rear right sliding surface 1242, respectively. A recessed rear side clearance groove 1243 is provided between the rear left sliding surface 1241 and the rear right sliding surface 1242. A recessed front tooth top clearance groove 1211 is provided in the middle section of the front step surface 121. The front tooth tip clearance groove 1211, the tooth machining groove 1233, and the front tooth bottom clearance chip collection groove 125 are connected in sequence; the middle section of the rear step surface 122 is provided with a recessed rear step clearance groove 1221, which is connected to the rear side clearance groove 1243; the bottom surface of the lower rail 12 is symmetrically provided with a recessed left waist-shaped limiting groove 126 and a right waist-shaped limiting groove 127 on both sides, and the left waist-shaped limiting groove 126 and the right waist-shaped limiting groove 127 have the same structure. A middle waist-shaped clearance groove 128 is also provided between the left waist-shaped limiting groove 126 and the right waist-shaped limiting groove 127; the top of the upper rail 11 is provided with at least one set of claw connecting holes, the claw connecting holes include a threaded hole 111 and a positioning pin hole 112, the threaded hole 111 and the positioning pin hole 112 are spaced apart; the top of the front and rear sides of the upper rail 11 is respectively provided with a recessed sealing element mounting groove 113, and the sealing ring 21 partially surrounds the two sealing element mounting grooves 113.

[0104] In this embodiment, the front step surface 121 is a sliding contact surface 13, and the front tooth tip clearance groove 1211 is used to form a clearance structure. After setting the front tooth tip clearance groove 1211, only the two sides of the front step surface 121 are sliding contact surfaces 13 that contact the guide rail cavity wall, which further reduces the processing difficulty and improves the smoothness of sliding. After the front tooth tip clearance groove 1211, the tooth machining groove 1233 and the front tooth bottom clearance chip collection groove 125 are connected in sequence, the clearance space is larger, the processing difficulty is further reduced, and with this structure, all foreign objects entering the interior can fall into the front tooth bottom clearance chip collection groove 125 located at the bottom. The function of the rear step clearance groove 1221 is the same as that of the front tooth tip clearance groove 1211, and will not be described again here. The structure in which the rear step clearance groove 1221 and the rear side clearance groove 1243 are connected can also make the clearance space larger and reduce the processing difficulty.

[0105] In this embodiment, the rear side clearance groove 1243 is used to form a clearance structure. After the rear side clearance groove 1243 is set, only the rear left sliding surface 1241 and the rear right sliding surface 1242 in the rear bottom surface 124 are sliding contact surfaces 13 that contact the guide rail cavity groove wall, which further reduces the processing difficulty and improves the smoothness of sliding.

[0106] In this embodiment, the left waist-shaped limiting groove 126 and the right waist-shaped limiting groove 127 are used to cooperate with the limiting pin to limit the linear reciprocating movement of the rack slide rail 100, ensuring the linear displacement accuracy of the rack slide rail 100. For example, a limiting pin is provided at the lower part of the rack slide rail 100, with the upper part of the limiting pin extending into the left waist-shaped limiting groove 126 and the lower part of the limiting pin fixed. When the rack slide rail 100 moves to one side of the length direction of the left waist-shaped limiting groove 126 and contacts the limiting pin, the limiting pin restricts the rack slide rail 100 from continuing to move, achieving left limiting. When the rack slide rail 100 moves to the other side of the length direction of the left waist-shaped limiting groove 126 and contacts the limiting pin, the limiting pin restricts the rack slide rail 100 from continuing to move, achieving right limiting. The left waist-shaped limiting groove 126 and the right waist-shaped limiting groove 127 are simultaneously provided on the lower rail 12 to improve the versatility of the rack slide rail 100. The rack and pinion slide rail 100 can be connected to the left gripper or rotated 180° to connect to the right gripper, reducing the number of parts and simplifying assembly. Furthermore, since the bottom surface of the lower rail 12 is a sliding contact surface 13, the left waist-shaped limiting groove 126, the right waist-shaped limiting groove 127, and the middle waist-shaped clearance groove 128 all serve a clearance function, reducing the contact area between the bottom surface of the slide rail body 1 and the guide rail cavity. This correspondingly reduces the area of ​​the mating surfaces requiring high machining accuracy, significantly reducing machining difficulty. The reduced mating surfaces also improve the smoothness of relative sliding. The left waist-shaped limiting groove 126, the right waist-shaped limiting groove 127, and the middle waist-shaped clearance groove 128 also contribute to weight reduction.

[0107] In this embodiment, the gripper connection hole is used to connect the gripper. The positioning pin hole 112 is used to install the positioning pin, which facilitates precise positioning of the gripper and the rack and pinion slide rail 100. The threaded connection hole is used to insert screws to achieve locking. Providing multiple sets of gripper connection holes helps to ensure the stability of the connection.

[0108] In this embodiment, the thickness of the protruding sealing ring 21 cannot be too large to avoid jamming with the inner wall of the guide rail cavity. In this embodiment, after setting the sealing element mounting groove 113, the thickness of the sealing ring 21 can be increased to ensure the stress performance of the sealing ring 21. At the same time, the bottom of the sealing element mounting groove 113 contacts the bottom surface of the sealing ring 21, increasing the composite area of ​​the upper rail 11 and the sealing ring 21, which can improve the stability of the composite.

[0109] Please refer to this carefully. Figure 20According to a specific embodiment of the present invention, the two opposite sides of the upper rail 11 in the width direction are the front upper surface 114 and the rear upper surface 115, both of which are non-sliding contact surfaces 13; the cross-sectional shape of the groove matches the cross-sectional shape of the slide rail body 1; the gap between the sliding contact surface 13 and the guide rail cavity wall is D1, the distance by which the rubber sealing frame 2 protrudes from the sliding contact surface 13 is D1, the gap between the non-sliding contact surface 13 and the guide rail cavity wall is D2, and the distance by which the rubber sealing frame 2 protrudes from the non-sliding contact surface 13 is D2; D2 > D1; the bottom of the sealing mounting groove 113 is provided with an upper adhesive receiving hole 116; the two ends of the lower rail 12 in the length direction are respectively provided with lower left adhesive receiving holes. Hole 129 and lower right rubber receiving hole 130, lower left rubber receiving hole 129 and lower right rubber receiving hole 130 are symmetrical structures; the rubber sealing frame 2 also includes: upper connecting post, left connecting post and right connecting post, the upper connecting post is fixed to the sealing ring 21 and extends into the upper rubber receiving hole 116; the left connecting post and right connecting post are respectively connected to two sealing pieces 22 and extend into the lower left rubber receiving hole 129 and lower right rubber receiving hole 130 respectively; there are multiple upper rubber receiving holes 116, and the multiple upper rubber receiving holes 116 are spaced apart along the length direction of the sealing element mounting groove 113; the lower left rubber receiving hole 129 includes multiple spaced longitudinal rubber holes 1291 and transverse rubber holes 1292 that connect the multiple longitudinal rubber holes 1291, and the opening of the longitudinal rubber holes 1291 is located on the left end face of the lower rail 12.

[0110] More specifically, D2 = 2D1, D1 = 0.1 mm.

[0111] In this embodiment, the "non-sliding contact surface 13" refers to a surface with a large gap between itself and the guide rail cavity wall during use, without forming a sliding connection with the guide rail cavity wall, and without serving a limiting function. D2 > D1, ensuring that the position with gap D1 is the functional sliding contact surface 13, and the position with gap D2 is the non-sliding contact surface 13. Setting the distance of the rubber sealing frame 2 protruding from the sliding contact surface 13 to D1 is exactly equal to the gap between the sliding contact surface 13 and the guide rail cavity wall, ensuring a tight seal at the corresponding location. Setting the distance of the rubber sealing frame 2 protruding from the non-sliding contact surface 13 to D2 is exactly equal to the distance of the rubber sealing frame 2 protruding from the non-sliding contact surface 13, ensuring a tight seal at the corresponding location. Therefore, using the above structure, the rubber sealing frame 2 can precisely fill the gap between the slide rail body 1 and the guide rail cavity, effectively preventing water and dust from entering, ensuring that the rack and pinion slide rail 100 in this invention achieves a high level of protection. Furthermore, since the rubber sealing frame 2 is made of rubber and has a certain degree of elasticity, adding the rubber sealing frame 2 will not affect the smoothness of the sliding of the guide rail body relative to the guide rail cavity.

[0112] In this embodiment, when forming the rack and pinion slide rail 100 of the present invention, the slide rail body 1 is processed first, and then the slide rail body 1 is used as an insert. A rubber sealing frame 2 is cast using a mold to obtain an integral structure in which the rubber sealing frame 2 is fixedly covered by the slide rail body 1.

[0113] In this embodiment, the rubber sealing frame 2 is an integrally cast structure. After molding, the upper connecting column is cast into each upper rubber receiving hole 116, and the left connecting column and right connecting column of the longitudinal and transverse connecting structure are formed in the lower left rubber receiving hole 129 and the lower right rubber receiving hole 130, respectively. This structure can tightly fix the rubber sealing frame 2 to the slide rail body 1, ensuring the stability of the covering.

[0114] In summary, the high-protection integrated electric gripper robot of this invention features separate designs for the rack and pinion slide rail and the frame. These designs ensure the functionality of each component, while the frame 200 and the rack and pinion slide rail 100 cooperate to form a sliding seal structure. This creates a fully enclosed internal cavity for the frame 200, guaranteeing the robot's high protection level, waterproofing, dustproofing, and adaptability to harsh environments. Furthermore, the integrated structure of this invention results in a compact and small overall size. The precise design of each component, considering processing technology and motion accuracy, gives the invention advantages such as high guiding precision, good stability, ease of molding, and overall lightweight design. With superior overall performance, products using this invention possess excellent market competitiveness.

[0115] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components; and they can also refer to a "transmission connection," that is, a power connection through various suitable methods such as belt drive, gear drive, or sprocket drive. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A high-protection-level integrated electric gripper robot, characterized in that, include: The machine comprises a frame, a rotary drive, a speed-reducing and torque-increasing gear train, a drive gear, a rack and pinion slide rail, and a claw head. The top of the frame has two guide rail cavities, each containing one rack and pinion slide rail. The frame also includes a drive gear assembly mounting cavity, a speed-reducing and torque-increasing gear train assembly mounting cavity, and a motor housing cavity, all formed therein and connected sequentially. The drive gear assembly mounting cavity communicates with the two guide rail cavities. The rotary drive is mounted in the motor housing cavity, the speed-reducing and torque-increasing gear train is mounted in the speed-reducing and torque-increasing gear train assembly mounting cavity, and the drive gear is mounted in the drive gear assembly mounting cavity. Rack teeth are provided on opposite sides of the rack and pinion slide rail, and on both sides of the drive gear… The gears mesh with the rack teeth of the two rack slide rails respectively; each rack slide rail is connected to a claw head; the rotary drive is connected to the drive gear via the speed-reducing and torque-increasing gear system, which drives the drive gear to rotate to drive the two rack slide rails to move relative to or away from each other; each rack slide rail slides in a sliding seal with the cavity wall of the guide rail cavity to block the communication between the drive gear assembly mounting cavity and the external space; the guide rail cavity includes a first guide rail cavity and a second guide rail cavity, which are symmetrical to each other; the rack slide rail includes a slide rail body formed by upper and lower rails fixed together, and the two sides of the connection surface between the lower rail and the upper rail are the front stepped surface and the backrest surface, respectively. The lower rail has two opposite sides in the width direction, namely the front lower surface and the rear lower surface. The bottom surface, front lower surface, rear lower surface, front stepped surface, and rear stepped surface of the lower rail are all sliding contact surfaces that slide with the guide rail cavity wall. The two ends of the front lower surface in the length direction are the front left sliding surface and the front right sliding surface, respectively. A recessed toothed groove is provided between the front left and front right sliding surfaces, and rack teeth are provided at the bottom of the toothed groove. The cross-section of the slide rail body is integrally matched with the shape of the first guide rail cavity. A recessed front tooth bottom clearance chip collection groove is provided on the bottom surface of the lower rail directly opposite the toothed groove. The two ends of the rear lower surface in the length direction are the rear left sliding surface and the front right sliding surface. The rear right sliding surface has a recessed rear side clearance groove between the rear left sliding surface and the rear right sliding surface; the middle section of the front step surface has a recessed front tooth tip clearance groove, and the front tooth tip clearance groove, the tooth machining groove, and the front tooth bottom clearance chip collection groove are connected in sequence; the middle section of the rear step surface has a recessed rear step clearance groove, and the rear step clearance groove and the rear side clearance groove are connected; the bottom surface of the lower rail has symmetrically recessed left waist-shaped limiting grooves and right waist-shaped limiting grooves on both sides, and the left waist-shaped limiting grooves and right waist-shaped limiting grooves have the same structure. A middle waist-shaped clearance groove is also provided between the left waist-shaped limiting grooves and right waist-shaped limiting grooves; the top of the upper rail has at least one set of gripper connecting holes.

2. The high-protection-level integrated electric gripper robot according to claim 1, characterized in that, The frame includes, from top to bottom, detachably connected: a guide rail mounting base, a gearbox, a motor housing, and a bottom cover; the guide rail cavity and the drive gear assembly mounting cavity are arranged vertically and both formed within the guide rail mounting base; the speed reduction and torque increase gear train assembly mounting cavity extends through the gearbox in the vertical direction; the motor housing and the bottom cover together form the motor receiving cavity; the guide rail mounting base includes a guide rail base plate and a middle guide wall fixedly disposed on the upper part of the guide rail base plate, a positioning ring is fixedly disposed on the lower part of the guide rail base plate, and the lower part of the drive gear assembly mounting cavity extends through... The positioning ring has its upper part extending into the middle guide wall and communicating with the first guide rail cavity and the second guide rail cavity respectively. The guide rail mounting seat also includes a left guide wall and a right guide wall, which are symmetrical to each other. The cross-section of the left guide wall is an inverted "L" shape, and the middle guide wall is a "T" shape. The left guide wall and the middle guide wall together form the first guide rail cavity, which is open at the top and has an overall "convex" shape. The right guide wall and the middle guide wall together form the second guide rail cavity, which is open at the top and has an overall "convex" shape.

3. The high-protection-level integrated electric gripper robot according to claim 2, characterized in that, The guide rail mounting base and the gearbox are also positioned by limiting positioning pins; the top of the speed reduction and torque increase gear train assembly mounting cavity is a positioning hole that matches the shape of the outer wall of the positioning ring, and the positioning ring is inserted into the positioning hole; the frame also includes a gearbox top sealing ring disposed between the guide rail mounting base and the gearbox, and the gearbox top sealing ring is arranged around the speed reduction and torque increase gear train assembly mounting cavity; the guide rail mounting base is made of aluminum; there are two limiting positioning pins, and the two limiting positioning pins are respectively disposed on both sides of the positioning hole; the top surface of the gearbox is also provided with a recessed gearbox top sealing element receiving groove, and the gearbox top sealing ring is disposed in the gearbox top sealing element receiving groove; a gearbox bottom sealing ring is provided around the periphery of the junction of the gearbox and the motor housing; the top of the motor housing is provided with a motor power end protrusion hole, and multiple motor mounting holes are provided on the outside of the motor power end protrusion hole; the top of the motor housing is provided with a protruding gear shaft platform, and a gear shaft platform is provided with axle holes.

4. The high-protection-level integrated electric gripper robot according to claim 3, characterized in that, The lower part of the motor housing cavity is provided with an installation opening, and the bottom cover closes the installation opening. A cover sealing ring is provided around the periphery where the bottom cover and the motor housing meet. The guide rail base plate is provided with two through-hole rail pin holes, and the top surface of the gearbox is also provided with two recessed gearbox pin holes. The middle part of each of the two limiting positioning pins passes through the two rail pin holes, and the lower part of each extends into the two gearbox pin holes. The upper part of one limiting positioning pin extends into the first guide rail cavity, and the upper part of the other limiting positioning pin extends into the second guide rail cavity. A pin sealing groove is provided on the outside of each gearbox pin hole, and an annular pin sealing ring is provided in the pin sealing groove. The annular pin sealing ring is also located between the guide rail mounting base and the gearbox.

5. The high-protection-level integrated electric gripper robot according to claim 4, characterized in that, The claw head is a flat plate with a notch on one side. The claw head includes: a lower connecting claw plate for fixed connection with the rack and pinion slide rail, and an upper connecting claw plate fixed to one side of the lower connecting claw plate and for connection with the gripper. The lower connecting claw plate and the upper connecting claw plate are flush on the same side, and one side of the upper connecting claw plate is shorter than the upper connecting claw plate to form the notch. The lower connecting claw plate is provided with a claw plate lower connecting hole, and the top of the upper connecting claw plate is provided with at least two reinforcing protrusions. The upper connecting claw plate is provided with a claw plate upper connecting hole through the reinforcing protrusions. The two claw heads are arranged opposite each other, and the lower connecting claw plate of one claw head is directly opposite the upper connecting claw plate of the other claw head.

6. The integrated electric gripper robot with high protection level according to claim 5, characterized in that, The rotation drive is a motor, and the top of the motor is the motor power end; the speed-reducing and torque-increasing gear train includes: a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a sixth gear, a seventh gear, and an eighth gear; the motor power end is connected to the first gear to drive the first gear to rotate; the first gear meshes externally with the second gear; the third gear is coaxial with the second gear and fixedly connected; the fourth and fifth gears are located on both sides of the third gear and mesh externally with it; the sixth and fourth gears are coaxial with the fourth gear and fixedly connected; the seventh and fifth gears are coaxial with the fifth gear and fixedly connected; the sixth and seventh gears are located on both sides of the eighth gear and mesh externally with it; the drive gear is coaxial with the eighth gear and fixedly connected; the fourth and fifth gears have the same number of teeth; the sixth and seventh gears have the same number of teeth.

7. The high-protection-level integrated electric gripper robot according to claim 6, characterized in that, The guide rail base plate is rectangular in shape, with the middle guide wall arranged along the length of the guide rail base plate, and the positioning ring positioned opposite the middle guide wall; the speed reduction and torque increase gear assembly mounting cavity is positioned opposite the drive gear assembly mounting cavity; a lower positioning pin is also provided between the bottom cover and the motor housing, and the bottom cover has a recessed bottom positioning pin groove, which consists of two spaced-apart grooves; the side of the motor housing also has electrical component mounting holes.

8. The high-protection-level integrated electric gripper robot according to any one of claims 1-7, characterized in that, The rack and pinion slide rail also includes a rubber sealing frame fixedly connected to the slide rail body. The rubber sealing frame includes a sealing ring and a sealing sheet. The sealing ring surrounds the top periphery of the upper rail, and there are two sealing sheets, which respectively cover both sides of the slide rail body along its length.

9. The high-protection-level integrated electric gripper robot according to claim 8, characterized in that, The gripper connection hole includes a threaded hole and a positioning pin hole, which are spaced apart; the top of the front and rear sides of the upper rail is respectively provided with a recessed sealing element mounting groove, and the sealing ring part surrounds the two sealing element mounting grooves.

10. The high-protection-level integrated electric gripper robot according to claim 9, characterized in that, The upper rail has two opposite sides along its width direction, namely the front upper surface and the rear upper surface, both of which are non-sliding contact surfaces. The gap between the sliding contact surface and the guide rail cavity wall is D1, and the distance by which the rubber seal protrudes from the sliding contact surface is D1. The gap between the non-sliding contact surface and the guide rail cavity wall is D2, and the distance by which the rubber seal protrudes from the non-sliding contact surface is D2; D2 > D1. The bottom of the sealing mounting groove is provided with an upper adhesive receiving hole. The lower rail has a lower left adhesive receiving hole and a lower right adhesive receiving hole at both ends along its length direction. The left and lower right rubber inlets are symmetrically arranged. The rubber sealing frame further includes an upper connecting post, a left connecting post, and a right connecting post. The upper connecting post is fixed to the sealing ring and extends into the upper rubber inlet. The left and right connecting posts are respectively connected to two sealing pieces and extend into the lower left and lower right rubber inlets, respectively. There are multiple upper rubber inlets, and these multiple upper rubber inlets are spaced apart along the length of the sealing element mounting groove. The lower left rubber inlet includes multiple spaced longitudinal rubber inlets and a transverse rubber inlet connecting the multiple longitudinal rubber inlets. The opening of the longitudinal rubber inlet is located on the left end face of the lower rail.

Images