Multi-joint linkage type small electric clamping jaw

Abstract

The invention discloses a multi-joint linkage type small electric clamping jaw, and relates to the technical field of electric clamping jaws, the multi-joint linkage type small electric clamping jaw comprises a rotating arm, a motor is rotatably mounted on the outer wall of the rotating arm, a rotating part is fixedly mounted at the output end of the motor, an electric jaw is fixedly mounted at the bottom of the rotating part, and the rotating arm is used for driving the motor to move. The output end of the motor is used for driving the rotating part to rotate, the rotating part is used for driving the electric claw to rotate, the electric claw is used for grabbing an object, a fixing device used for combining the rotating part and the electric claw is further arranged at the bottom of the motor, and the electric claw is inserted into a square groove of the rotating part through a fixing rod. And then the sliding key is driven by the first spring to be automatically clamped into the fixing groove, primary positioning can be completed, complex tools are not needed, and the assembling efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric clamps, in particular to a multi-joint linkage small electric clamp. Background Art

[0002] Multi-joint small electric grippers are widely used in automation and robotics for gripping and manipulation, often for precision manipulation, object handling, and assembly. They are designed to provide efficient and precise gripping capabilities, enabling them to accomplish complex tasks that are beyond the capabilities of traditional grippers.

[0003] The patent announcement number CN216940678U is a small electric gripper, which relates to the technical field of electric grippers. It includes a mounting platform and a drive unit installed on the mounting platform. A through slot is provided in the center of the mounting platform, and a telescopic unit is provided in the through slot. The drive unit drives the telescopic unit to extend and retract. The upper end of the telescopic unit is provided with an umbrella-shaped slide rail and a chuck unit slidably connected to the slide rail. The chuck unit is provided with a slide groove that matches the slide rail. The slide groove is arranged at an angle. The chuck unit moves on the end surface of the mounting platform and approaches or moves away from the central axis of the telescopic unit along the slide rail through the slide groove. The patent has a simple structure, is easy to operate, and is small in size. It can clamp cylindrical parts with high clamping accuracy, is flexible and convenient, and has a wide range of applications.

[0004] The above patent is easy to operate, small in size, and can clamp cylindrical parts with high clamping accuracy, flexibility and convenience, and a wide range of applications. However, tools need to be used to replace the electric claw during installation, which leads to low work efficiency. There is no automatic feedback on whether the installation is in place, which makes "false tightening" prone to occur, and vibration may cause mechanical loosening, requiring regular inspection. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides a multi-joint linkage small electric gripper, which solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a multi-joint linkage small electric gripper, comprising a rotating arm, a motor rotatably mounted on the outer wall of the rotating arm, a rotating member fixedly mounted on the output end of the motor, an electric claw fixedly mounted on the bottom of the rotating member, the rotating arm being used to drive the motor to move, the output end of the motor being used to drive the rotating member to rotate, the rotating member being used to drive the electric claw to rotate, and the electric claw being used to grasp objects;

[0007] The bottom of the motor is also provided with a fixing device for combining the rotating part and the electric claw.

[0008] The cam is fixedly mounted on a side of the electric motor to move the gears, and the cam is secured to the side of the rotating shaft by means of a pin. The cam is secured to a position 122 and is adapted to move the gears in the cam to a position where the cam is in contact with the gears.

[0009] According to the above technical solution, the fixing device also includes a sliding rod, a rotating push rod, a sliding plate, a fixed pin, a pushing rod, a rotating ring and a pushing block. The sliding rod is slidably installed on the side of the rotating part close to the motor, the rotating push rod is rotatably installed on the side of the rotating part close to the sliding rod, the sliding plate is slidably installed on the circumferential surface of the rotating part, the fixing pin slides through the sliding plate, and a square opening is opened on the side of the electric claw close to the fixing pin. The fixing pin contacts the inside of the square opening, the pushing rod is slidably installed on the inner wall of the electric claw, the rotating ring is rotatably installed on the inner wall of the electric claw, and the pushing block is fixedly installed on the side of the rotating ring close to the pushing rod. The electric claw and the rotating part are locked by rotating the rotating ring to contact the fixing pin, and the operation steps are simplified, thereby realizing safe, efficient and lossless separation of the electric claw, significantly reducing maintenance costs and downtime.

[0010] According to the above technical solution, a No. 1 spring is provided between the sliding key and the rotating part. The No. 1 spring is provided to drive the sliding key to move toward the fixed rod. The side of the fixed rod close to the sliding rod is set as an inclined surface. A No. 2 spring is provided between the sliding plate and the rotating part. The No. 2 spring is provided to drive the sliding plate to reset. A No. 3 spring is provided between the fixed pin and the sliding plate. The No. 3 spring is provided to push the fixed pin to move toward the electric claw. The side of the push block close to the push rod is set as an inclined surface. The push block is provided with an inclined surface to facilitate the movement of the push rod.

[0011] The cam is fixedly mounted on the bottom of the motor, and the cam is fixedly mounted on the top of the motor to prevent the motor from rotating. The cam is fixedly mounted on the bottom of the motor to prevent the motor from rotating.

[0012] According to the above technical solution, the limiting device also includes a rotating rod, a sliding arc plate and a roller. The rotating rod is rotatably installed at the bottom of the motor, the sliding arc plate is slidably installed at the bottom of the motor, and the roller is rotatably installed on the inner wall of the sliding arc plate. One end of the rotating rod is rotatably connected to the sliding arc plate, and the other end of the rotating rod is rotatably connected to the sliding plate. The contact between the roller and the circumferential surface of the rotating part can enhance the support strength of the connection part between the motor output end and the rotating part, so that it can effectively withstand the additional force or vibration that may be generated during the working process, and avoid loosening or damage of the connection.

[0013] According to the above technical solution, a No. 4 spring is provided between the elastic plate and the inner plate. The No. 4 spring is provided to push the elastic plate to move toward the direction close to the square hole. The side of the upper limit key away from the rotating ring is set as an inclined surface. The upper limit key is provided with an inclined surface to facilitate the sliding ring to push the upper limit key to move. A No. 5 spring is provided between the sliding plate and the inner plate. The No. 5 spring is provided to pull the inner plate toward the inside of the sliding plate. A No. 6 spring is provided between the sliding plate and the motor. The No. 6 spring is provided to drive the sliding plate to move in the direction away from the rotating part.

[0014] According to the above technical solution, the protection device includes an elastic telescopic plate, a connecting rod, a sliding pull plate, a push plate, a fixed plug rod and a clamping rod, the elastic telescopic plate is slidably installed on the bottom of the motor, the sliding pull plate is slidably installed on the bottom of the motor, the connecting rod is blocked and installed on the bottom of the motor, one end of the connecting rod is hinged to the side of the sliding pull plate close to the elastic telescopic plate, and the other end of the connecting rod is hinged to the side of the elastic telescopic plate close to the sliding pull plate, the clamping rod is slidably installed on the bottom of the motor, the push plate is fixedly installed on the side of the sliding pull plate close to the clamping rod, and the fixed plug rod is slidably installed on the bottom of the motor, and a square groove is provided on the side of the clamping rod close to the fixed plug rod, and the fixed plug rod contacts the inner wall of the square groove, thereby protecting the rotating part from overload operation, thereby improving the overall durability of the system, and through the contact between the clamping rod and the rotating part, the rotating part obtains additional support, can withstand greater pressure, and avoids damage caused by continuous deformation.

[0015] According to the above technical solution, the protective device also includes a support rod, an elastic pin, a fixed block and a stop block. The support rod is rotatably installed on the outer wall of the clamping rod. The support rod is an elastic telescopic rod. The elastic telescopic rod is divided into a sliding inner rod and a rotating outer rod. The elastic pin is slidably installed on the inner wall of the sliding inner rod. An adjustment groove is provided on the side of the rotating outer rod close to the elastic pin. The elastic pin contacts the inner wall of the adjustment groove. The fixed block is fixedly installed on the side of the motor close to the support rod. The stop block is fixedly installed on the bottom of the motor. When the movable end of the support rod is extended and contacts the stop block, it enhances the supporting strength of the clamping rod, thereby ensuring that the clamping device is more firm and avoiding the loosening of the structure due to deformation of the rotating part.

[0016] According to the above technical solution, the side where the push plate and the fixed insertion rod are close to each other is set as an inclined surface. The push plate and the fixed insertion rod are provided with an inclined surface to facilitate the push plate to push the fixed insertion rod to move. The side of the elastic pin close to the fixed block is set as an inclined surface. The elastic pin is provided with an inclined surface to perform unidirectional limiting on the support rod so that the movable end of the support rod moves unidirectionally in the direction away from the clamping rod. A torsion spring is provided between the support rod and the clamping rod. The torsion spring is provided to drive the support rod to block in the direction away from the clamping rod. A No. 7 spring is provided between the clamping rod and the motor. The No. 7 spring is provided to drive the clamping rod to move in the direction of the rotating part.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. In this invention, the electric claw is inserted into the square groove of the rotating part through the fixing rod, and then the sliding key is automatically locked into the fixing groove by the No. 1 spring to complete the initial positioning. No complicated tools are required, which significantly improves the assembly efficiency. Afterwards, the fixing pin is inserted into the square opening to strengthen the fixation between the electric claw and the rotating part, prevent loose installation, and ensure reliable mechanical transmission. Through double insurance, when the fixation at one place fails, another device will ensure the fixation between the electric claw and the rotating part to prevent loosening.

[0019] 2. In this invention, the movement of the push block will push the push rod toward the fixed pin, and the push rod will push the fixed pin out of contact with the square mouth, releasing the fixation between the electric claw and the rotating part. Only by pressing down the sliding ring can the sliding key to simultaneously release the limit of the fixed rod, and then the rotating ring can be rotated to contact the fixed pin to lock the electric claw and the rotating part. The operation steps are simplified, and the safe, efficient and lossless separation of the electric claw is achieved, which significantly reduces maintenance costs and downtime.

[0020] 3. In this invention, the movement of the inner plate will release the limit on the sliding ring, so that the rotating part can only rotate after the electric claw is installed. The rotating part is prohibited from rotating when the electric claw is not fully installed, avoiding idling of the motor due to misoperation. Through the setting of the No. 5 spring and the elastic plate, the correct positioning of the inner plate and the sliding plate can be ensured to prevent the equipment from rotating before the installation is completed. This limiting measure improves the safety of operation and avoids equipment damage or danger due to improper operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the position structure of the rotating part and the electric claw of the present invention;

[0023] Figure 3 This is a schematic diagram of the position structure of the sliding plate and the fixing pin of the present invention;

[0024] Figure 4 This is a schematic diagram of the position structure of the rotating ring and the push block of the present invention;

[0025] Figure 5 This is a schematic diagram of the slide and motor position structure of the present invention;

[0026] Figure 6 This is a schematic diagram of the position structure of the sliding board and the inner board of the present invention;

[0027] Figure 7 This is a schematic diagram of the position structure of the sliding pull plate and the push plate of the present invention;

[0028] Figure 8 This is a schematic diagram of the position structure of the elastic expansion plate and the connecting rod of the present invention;

[0029] Figure 9 For the present invention Figure 8 Schematic diagram of the enlarged structure of part A in the middle.

[0030] The meaning of each number in the figure is:

[0031] 1. Rotating arm; 2. Motor; 3. Rotating part; 4. Electric claw; 5. Fixed rod; 6. Sliding key; 7. Connecting rod; 8. Sliding ring; 9. Fixed key; 10. Sliding rod; 11. Rotating push rod; 12. Sliding plate; 13. Fixed pin; 14. Push rod; 15. Rotating ring; 16. Push block; 21. Sliding plate; 22. Inner plate; 23. Elastic plate; 24. Upper limit key; 25. Lower limit key; 26. Rotating rod; 27. Sliding arc plate; 28. Roller; 31. Elastic telescopic plate; 32. Connecting rod; 33. Sliding pull plate; 34. Push plate; 35. Fixed plug rod; 36. Clamping rod; 37. Support rod; 38. Elastic pin; 39. Fixed block; 391. Stop block. DETAILED DESCRIPTION

[0032] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention. Figures 1-9 One embodiment of the present invention is a multi-joint linkage small electric gripper, comprising a rotating arm 1, a motor 2 being rotatably mounted on the outer wall of the rotating arm 1, a rotating member 3 being fixedly mounted on the output end of the motor 2, and an electric claw 4 being fixedly mounted on the bottom of the rotating member 3, the rotating arm 1 being used to drive the motor 2 to move, the output end of the motor 2 being used to drive the rotating member 3 to rotate, the rotating member 3 being used to drive the electric claw 4 to rotate, and the electric claw 4 being used to grasp an object;

[0033] A fixing device for combining the rotating member 3 and the electric claw 4 is also provided at the bottom of the motor 2.

[0034] The fixing device includes a fixing rod 5, a sliding key 6, a connecting rod 7, a sliding ring 8 and a fixing key 9. The fixing rod 5 is fixedly installed on the side of the electric claw 4 close to the motor 2. A square groove is provided on the side of the rotating part 3 close to the fixing rod 5. The fixing rod 5 contacts the inside of the square groove. The sliding key 6 is slidably installed on the side of the rotating part 3 close to the motor 2. A fixing groove is provided on the side of the fixing rod 5 close to the sliding key 6. The sliding key 6 contacts the inside of the fixing groove. The sliding ring 8 is slidably installed on the circumferential surface of the rotating part 3. One end of the connecting rod 7 is rotatably installed on the side of the sliding key 6 close to the sliding ring 8. The other end of the connecting rod 7 is rotatably installed on the side of the sliding ring 8 close to the sliding key 6. The fixed key 9 slides through the sliding ring 8. A limiting groove is provided on the circumferential surface of the rotating part 3. The shape of the fixing key 9 matches the limiting groove. The electric claw 4 is inserted into the square groove of the rotating part 3 through the fixing rod 5, and then the sliding key 6 is automatically clamped into the fixing groove by the No. 1 spring to complete the preliminary positioning. No complicated tools are required, which significantly improves the assembly efficiency.

[0035] The fixing device also includes a sliding rod 10, a rotating push rod 11, a sliding plate 12, a fixed pin 13, a pushing rod 14, a rotating ring 15 and a pushing block 16. The sliding rod 10 is slidably installed on the side of the rotating part 3 close to the motor 2, the rotating push rod 11 is rotatably installed on the side of the rotating part 3 close to the sliding rod 10, the sliding plate 12 is slidably installed on the circumferential surface of the rotating part 3, the fixing pin 13 slides through the sliding plate 12, and a square opening is opened on the side of the electric claw 4 close to the fixing pin 13. The fixing pin 13 contacts the inside of the square opening. The pushing rod 14 is slidably installed on the inner wall of the electric claw 4, the rotating ring 15 is rotatably installed on the inner wall of the electric claw 4, and the pushing block 16 is fixedly installed on the side of the rotating ring 15 close to the pushing rod 14. The rotating ring 15 rotates to contact the fixing pin 13 to lock the electric claw 4 and the rotating part 3. The operation steps are simplified, and the safe, efficient and lossless separation of the electric claw 4 is achieved, which significantly reduces maintenance costs and downtime.

[0036] A No. 1 spring is provided between the sliding key 6 and the rotating part 3. The No. 1 spring is provided to drive the sliding key 6 to move toward the fixed rod 5. The side of the fixed rod 5 close to the sliding rod 10 is set as an inclined surface. A No. 2 spring is provided between the sliding plate 12 and the rotating part 3. The No. 2 spring is provided to drive the sliding plate 12 to reset. A No. 3 spring is provided between the fixed pin 13 and the sliding plate 12. The No. 3 spring is provided to push the fixed pin 13 to move toward the electric claw 4. The side of the push block 16 close to the push rod 14 is set as an inclined surface. The push block 16 is provided with an inclined surface to facilitate the movement of the push rod 14.

[0037] When this embodiment is working: the electric claw 4 needs to be installed at the output end of the rotating part 3 when in use. After the installation is completed, the movement of the rotating arm 1 will drive the motor 2 to move, and the movement of the motor 2 will drive the electric claw 4 to move to the top of the object to be clamped. The object is then grabbed by the electric claw 4, and the electric claw 4 is controlled to rotate by the rotating part 3. The rotation of the electric claw 4 can change the angle of the object during the movement, so that the object can maintain the required angle after moving to the specified position. When installing the electric claw 4, the fixing rod 5 needs to be inserted into the square groove. The insertion of the fixing rod 5 into the square groove will drive the fixing groove to move. When the position of the fixing groove coincides with the sliding key 6, the No. 1 spring will drive the sliding key 6 to insert into the fixing groove to fix The rod 5 is limited, and when the fixed rod 5 is inserted into the square groove, the inclined surface will contact the sliding rod 10, then the fixed rod 5 will push the sliding rod 10 to move away from the fixed rod 5, and the movement of the sliding rod 10 will push the rotating push rod 11 to rotate, and the rotation of the rotating push rod 11 will push the sliding plate 12 to move, and the movement of the sliding plate 12 will drive the fixing pin 13 to move. When the position of the fixing pin 13 coincides with the position of the square opening, the No. 3 spring will drive the fixing pin 13 to be inserted into the inside of the square opening to fix the electric claw 4 and the rotating part 3. The electric claw 4 is inserted into the square groove of the rotating part 3 through the fixed rod 5, and then the No. 1 spring drives the sliding key 6 to automatically snap into the fixing groove to complete the preliminary positioning without the need for complex tools, which significantly improves the assembly efficiency. , and then insert the fixing pin 13 into the square opening to strengthen the fixation of the electric claw 4 and the rotating part 3 to prevent loosening of the installation and ensure the reliability of mechanical transmission. Through double insurance, it can be achieved that when the fixation fails at one place, the other device will ensure the fixation between the electric claw 4 and the rotating part 3 to prevent loosening. When the electric claw 4 needs to be disassembled for replacement and maintenance, press the sliding ring 8 to move downward. The downward movement of the sliding ring 8 will push the connecting rod 7 to move. The movement of the connecting rod 7 will push the sliding key 6 to move away from the fixed rod 5 to release the limit of the fixed rod 5. The movement of the sliding ring 8 will drive the fixed key 9 to move. When the position of the fixed key 9 coincides with the limit groove, push the fixed key 9 into the limit groove to adjust the sliding ring 8. The limit is provided so that the sliding ring 8 will not move to its original position when the electric claw 4 is disassembled. After the limit of the fixed rod 5 is released, the rotating ring 15 is rotated. The rotation of the rotating ring 15 will drive the push block 16 to move. The movement of the push block 16 will push the push rod 14 to move in the direction of the fixed pin 13, and the push rod 14 will push the fixed pin 13 out of contact with the square mouth, thereby releasing the fixation between the electric claw 4 and the rotating member 3. Only by pressing down the sliding ring 8, the limit of the fixed rod 5 on the sliding key 6 can be simultaneously released. Then, the rotating ring 15 is rotated to contact the fixed pin 13 to lock the electric claw 4 and the rotating member 3. The operation steps are simplified, and the safe, efficient and lossless separation of the electric claw 4 is achieved, which significantly reduces maintenance costs and downtime.

[0038] See also Figures 1-9In another embodiment of the present invention, based on the above embodiment, a limiting device for fixing the rotating member 3 is further provided at the bottom of the motor 2. A protective device for supporting the rotating member 3 is also provided at the bottom of the motor 2. The limiting device includes a slide plate 21, an inner plate 22, an elastic plate 23, an upper limit key 24, and a lower limit key 25. The slide plate 21 is slidably mounted on the bottom of the motor 2, the inner plate 22 is slidably mounted on the inner wall of the slide plate 21, and the elastic plate 23 is slidably mounted on the outer wall of the inner plate 22. A square hole is opened on the outer wall of the inner plate 22, and the outer wall of the slide plate 21 is penetrated by the square hole. The upper limit key 24 is fixedly mounted on the side of the elastic plate 23 close to the square hole, and the lower limit key 25 is fixedly mounted on the side of the elastic plate 23 close to the square hole. The shapes of the upper limit key 24 and the lower limit key 25 match the square hole. A slot is provided on the side of the sliding ring 8 close to the inner plate 22, and the shape of the slot matches the inner plate 22. Through the setting of the No. 5 spring and the elastic plate 23, the correct positioning of the inner plate 22 and the sliding plate 21 can be ensured to prevent the equipment from rotating before the installation is completed. This limiting measure improves the safety of operation and avoids equipment damage or danger caused by improper operation.

[0039] The limiting device also includes a rotating rod 26, a sliding arc plate 27 and a roller 28. The rotating rod 26 is rotatably installed at the bottom of the motor 2, the sliding arc plate 27 is slidably installed at the bottom of the motor 2, and the roller 28 is rotatably installed on the inner wall of the sliding arc plate 27. One end of the rotating rod 26 is rotatably connected to the sliding arc plate 27, and the other end of the rotating rod 26 is rotatably connected to the sliding plate 21. The contact between the roller 28 and the circumferential surface of the rotating part 3 can enhance the support strength of the connection part between the output end of the motor 2 and the rotating part 3, so that it can effectively withstand the additional force or vibration that may be generated during the operation, and avoid loosening or damage to the connection.

[0040] A No. 4 spring is provided between the elastic plate 23 and the inner plate 22. The No. 4 spring is provided to push the elastic plate 23 to move toward the direction close to the square hole. The upper limit key 24 is provided with an inclined surface on the side away from the rotating ring 15. The upper limit key 24 is provided with an inclined surface to facilitate the sliding ring 8 to push the upper limit key 24 to move. A No. 5 spring is provided between the sliding plate 21 and the inner plate 22. The No. 5 spring is provided to pull the inner plate 22 to move toward the inside of the sliding plate 21. A No. 6 spring is provided between the sliding plate 21 and the motor 2. The No. 6 spring is provided to drive the sliding plate 21 to move in the direction away from the rotating part 3.

[0041] The protective device includes an elastic telescopic plate 31, a connecting rod 32, a sliding pull plate 33, a pushing plate 34, a fixed plug rod 35 and a clamping rod 36. The elastic telescopic plate 31 is slidably mounted on the bottom of the motor 2, the sliding pull plate 33 is slidably mounted on the bottom of the motor 2, the connecting rod 32 is blocked and mounted on the bottom of the motor 2, one end of the connecting rod 32 is hinged to the side of the sliding pull plate 33 close to the elastic telescopic plate 31, and the other end of the connecting rod 32 is hinged to the side of the elastic telescopic plate 31 close to the sliding pull plate 33. The clamping rod 36 is slidably mounted on the bottom of the motor 2, and the pushing plate 34 is fixedly mounted on the side of the sliding pull plate 33 close to the clamping rod 36. The fixed plug rod 35 is slidably mounted on the bottom of the motor 2. A square groove is provided on the side of the clamping rod 36 close to the fixed plug rod 35, and the fixed plug rod 35 contacts the inner wall of the square groove, protecting the rotating part 3 from overload operation, thereby improving the overall durability of the system. Through the contact of the clamping rod 36 with the rotating part 3, the rotating part 3 is additionally supported and can withstand greater pressure to avoid damage caused by continuous deformation.

[0042] The protective device also includes a support rod 37, an elastic pin 38, a fixed block 39 and a stop block 391. The support rod 37 is rotatably mounted on the outer wall of the clamping rod 36. The support rod 37 is an elastic telescopic rod, which is divided into a sliding inner rod and a rotating outer rod. The elastic pin 38 is slidably mounted on the inner wall of the sliding inner rod. An adjustment groove is provided on the side of the rotating outer rod close to the elastic pin 38. The elastic pin 38 contacts the inner wall of the adjustment groove. The fixed block 39 is fixedly mounted on the side of the motor 2 close to the support rod 37. The stop block 391 is fixedly mounted on the bottom of the motor 2. When the movable end of the support rod 37 is extended and contacts the stop block 391, it enhances the supporting strength of the clamping rod 36, thereby ensuring that the clamping device is more secure and avoiding the loosening of the structure due to deformation of the rotating part 3.

[0043] The side where the push plate 34 and the fixed insertion rod 35 are close to each other is set as an inclined surface. The push plate 34 and the fixed insertion rod 35 are provided with an inclined surface to facilitate the push plate 34 to push the fixed insertion rod 35 to move. The side of the elastic pin 38 close to the fixed block 39 is set as an inclined surface. The elastic pin 38 is provided with an inclined surface to perform a one-way limit on the support rod 37 so that the movable end of the support rod 37 moves in a one-way direction away from the clamping rod 36. A torsion spring is provided between the support rod 37 and the clamping rod 36. The torsion spring is provided to drive the support rod 37 to block in the direction away from the clamping rod 36. A No. 7 spring is provided between the clamping rod 36 and the motor 2. The No. 7 spring is provided to drive the clamping rod 36 to move toward the rotating part 3.

[0044] When the upper limit key 24 is moved, the upper limit key 24 is moved toward the inner part of the inner plate 22, and the upper limit key 24 is moved. The movement of the elastic plate 23 drives the lower limit key 25 to move. The movement of the lower limit key 25 releases the restriction of the inner plate 22 and the sliding plate 21, and the No. 5 spring drives the inner plate 22 to move toward the inside of the sliding plate 21. The movement of the inner plate 22 releases the restriction of the sliding ring 8, so that the rotating part 3 can rotate after the electric claw 4 is installed. When the electric claw 4 is not fully installed, the rotating part 3 is prohibited from rotating, so as to avoid idling of the motor 2 due to misoperation. The arrangement of the No. 5 spring and the elastic plate 23 can ensure the correct positioning of the inner plate 22 and the sliding plate 21, preventing the equipment from rotating before the installation is completed. This limiting measure improves the safety of operation and avoids damage or danger to the equipment due to improper operation. When the inner plate 22 is out of contact with the sliding ring 8, the No. 6 spring will pull the sliding plate 21 to move away from the sliding ring 8. The movement of the sliding plate 21 will drive the rotating rod 26 to rotate. The rotation of the rotating rod 26 will push the sliding arc plate 27 to move toward the rotating part 3. The movement of the sliding arc plate 27 will drive the roller 28 to move. The sliding arc plate 27 moves the roller 28 to contact the circumferential surface of the rotating part 3. After the electric claw 4 is installed, the contact between the roller 28 and the circumferential surface of the rotating part 3 can strengthen the support strength of the connection part between the output end of the motor 2 and the rotating part 3. This can effectively withstand the additional force or vibration that may be generated during the operation and avoid loosening or damage to the connection.

[0045] When the roller 28 contacts the circumferential surface of the rotating member 3, the obstruction of the elastic expansion plate 31 is released, and the movable end of the elastic expansion plate 31 extends toward the roller 28 and contacts the roller 28. When the electric claw 4 clamps a large object, the rotating member 3 is easily deformed. When the rotating member 3 is completely deformed to one side, it pushes the roller 28 to move away from the rotating member 3. The movement of the roller 28 drives the sliding arc plate 27 to move, and the roller 28 pushes the elastic expansion plate 31 to move away from the rotating member 3. The movement of the elastic expansion plate 31 drives the connecting rod 32 to rotate. The rotation of the connecting rod 32 will pull the sliding pull plate 33 to move, and the movement of the sliding pull plate 33 will drive the push plate 34 to move. The movement of the push plate 34 will contact the inclined surface of the fixed plug rod 35, and the push plate 34 will push the fixed plug rod 35 to release the limit on the clamping rod 36, and the clamping rod 36 will be driven by the No. 7 spring to move toward the direction of the rotating part 3, and the clamping rod 36 will contact the circumferential surface of the rotating part 3, thereby strengthening the supporting strength of the rotating part 3 and reducing the speed of the rotating part 3 to avoid more serious damage caused by excessive speed, protecting the rotating part 3 from overload operation, thereby improving the system. The overall durability of the rotating part 3 is improved. Through the contact between the clamping rod 36 and the rotating part 3, the rotating part 3 is additionally supported and can withstand greater pressure to avoid damage caused by continuous deformation. The movement of the clamping rod 36 will drive the support rod 37 to move. The support rod 37 will be out of contact with the fixed block 39, and the obstruction of the support rod 37 will be contacted. The torsion spring will drive the support rod 37 to rotate in the direction away from the clamping rod 36. When the support rod 37 rotates, the movable end of the support rod 37 will extend. The extension of the movable end of the support rod 37 will drive the elastic pin 38 to move, and the movement of the elastic pin 38 will engage with the inner wall of the adjustment slot. The movable end of the support rod 37 is extended and contacts the stop block 391 to strengthen the supporting strength of the clamping rod 36. The blocking effect of the support rod 37 and the design of the elastic pin 38 effectively strengthen the clamping rod 36 to limit the excessive deformation of the rotating part 3, making the stability of the entire mechanism stronger. When the movable end of the support rod 37 is extended and contacts the stop block 391, it enhances the supporting strength of the clamping rod 36, thereby ensuring that the clamping device is more firm and avoiding the loosening of the structure due to the deformation of the rotating part 3.

[0046] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0047] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multi-joint linkage small electric gripper, comprising a rotating arm (1), characterized in that: The outer wall of the rotating arm (1) is rotatably mounted with a motor (2), the output end of the motor (2) is fixedly mounted with a rotating member (3), the bottom of the rotating member (3) is fixedly mounted with an electric claw (4), the rotating arm (1) is used to drive the motor (2) to move, the output end of the motor (2) is used to drive the rotating member (3) to rotate, the rotating member (3) is used to drive the electric claw (4) to rotate, and the electric claw (4) is used to grab an object; The bottom of the motor (2) is also provided with a fixing device for combining the rotating part (3) and the electric claw (4), the bottom of the motor (2) is also provided with a limiting device for fixing the rotating part (3), and the bottom of the motor (2) is also provided with a protective device for supporting the rotating part (3).

2. The multi-joint linkage small electric gripper according to claim 1, characterized in that: The fixing device comprises a fixing rod (5), a sliding key (6), a connecting rod (7), a sliding ring (8) and a fixing key (9), wherein the fixing rod (5) is fixedly mounted on a side of the electric claw (4) close to the motor (2), a square groove is provided on a side of the rotating member (3) close to the fixing rod (5), and the fixing rod (5) contacts the inside of the square groove, the sliding key (6) is slidingly mounted on a side of the rotating member (3) close to the motor (2), a fixing groove is provided on a side of the fixing rod (5) close to the sliding key (6), and the sliding key (6) contacts the inside of the fixing groove, the sliding ring (8) is slidingly mounted on the circumferential surface of the rotating member (3), one end of the connecting rod (7) is rotatably mounted on a side of the sliding key (6) close to the sliding ring (8), and the other end of the connecting rod (7) is rotatably mounted on a side of the sliding ring (8) close to the sliding key (6), the fixing key (9) slides through the sliding ring (8), the circumferential surface of the rotating member (3) is provided with a limiting groove, and the shape of the fixing key (9) matches the limiting groove.

3. The multi-joint linkage small electric gripper according to claim 2, characterized in that: The fixing device further comprises a sliding rod (10), a rotating push rod (11), a sliding plate (12), a fixing pin (13), a pushing rod (14), a rotating ring (15) and a pushing block (16); the sliding rod (10) is slidingly mounted on a side of the rotating member (3) close to the motor (2); the rotating push rod (11) is rotatably mounted on a side of the rotating member (3) close to the sliding rod (10); the sliding plate (12) is slidably mounted on the circumferential surface of the rotating member (3); the fixing pin (13) slides through the sliding plate (12); a square opening is provided on a side of the electric claw (4) close to the fixing pin (13); the fixing pin (13) contacts the inside of the square opening; the pushing rod (14) is slidingly mounted on the inner wall of the electric claw (4); the rotating ring (15) is rotatably mounted on the inner wall of the electric claw (4); and the pushing block (16) is fixedly mounted on a side of the rotating ring (15) close to the pushing rod (14).

4. The multi-joint linkage small electric gripper according to claim 3, characterized in that: A No. 1 spring is provided between the sliding key (6) and the rotating member (3); a side of the fixed rod (5) close to the sliding rod (10) is provided as an inclined surface; a No. 2 spring is provided between the sliding plate (12) and the rotating member (3); a No. 3 spring is provided between the fixed pin (13) and the sliding plate (12); and a side of the push block (16) close to the push rod (14) is provided as an inclined surface.

5. The multi-joint linkage small electric gripper according to claim 4, characterized in that: The limiting device comprises a sliding plate (21), an inner plate (22), an elastic plate (23), an upper limit key (24) and a lower limit key (25); the sliding plate (21) is slidably mounted on the bottom of the motor (2); the inner plate (22) is slidably mounted on the inner wall of the sliding plate (21); the elastic plate (23) is slidably mounted on the outer wall of the inner plate (22); a square hole is provided on the outer wall of the inner plate (22); the outer wall of the sliding plate (21) is penetrated by the square hole; the upper limit key (24) is fixedly mounted on a side of the elastic plate (23) close to the square hole; the lower limit key (25) is fixedly mounted on a side of the elastic plate (23) close to the square hole; the upper limit key (24) and the lower limit key (25) have shapes matching the square hole; a slot is provided on a side of the sliding ring (8) close to the inner plate (22); the slot has a shape matching the inner plate (22).

6. The multi-joint linkage small electric gripper according to claim 5, characterized in that: The limiting device further comprises a rotating rod (26), a sliding arc plate (27) and a roller (28), wherein the rotating rod (26) is rotatably mounted on the bottom of the motor (2), the sliding arc plate (27) is slidably mounted on the bottom of the motor (2), and the roller (28) is rotatably mounted on the inner wall of the sliding arc plate (27), one end of the rotating rod (26) is rotatably connected to the sliding arc plate (27), and the other end of the rotating rod (26) is rotatably connected to the sliding plate (21).

7. The multi-joint linkage small electric gripper according to claim 6, characterized in that: A No. 4 spring is provided between the elastic plate (23) and the inner plate (22); a side of the upper limit key (24) away from the rotating ring (15) is provided as an inclined surface; a No. 5 spring is provided between the sliding plate (21) and the inner plate (22); and a No. 6 spring is provided between the sliding plate (21) and the motor (2).

8. The multi-joint linkage small electric gripper according to claim 7, characterized in that: The protective device comprises an elastic telescopic plate (31), a connecting rod (32), a sliding plate (33), a push plate (34), a fixed plug rod (35) and a clamping rod (36); the elastic telescopic plate (31) is slidably mounted on the bottom of the motor (2); the sliding plate (33) is slidably mounted on the bottom of the motor (2); the connecting rod (32) is blocked and mounted on the bottom of the motor (2); one end of the connecting rod (32) is hinged to a side of the sliding plate (33) close to the elastic telescopic plate (31); The other end of the connecting rod (32) is hinged to the side of the elastic telescopic plate (31) close to the sliding plate (33), the clamping rod (36) is slidably installed at the bottom of the motor (2), the push plate (34) is fixedly installed at the side of the sliding plate (33) close to the clamping rod (36), the fixed insertion rod (35) is slidably installed at the bottom of the motor (2), and a square groove is provided on the side of the clamping rod (36) close to the fixed insertion rod (35), and the fixed insertion rod (35) contacts the inner wall of the square groove.

9. The multi-joint linkage small electric gripper according to claim 8, characterized in that: The protective device further comprises a support rod (37), an elastic pin (38), a fixed block (39) and a stopper (391); the support rod (37) is rotatably mounted on the outer wall of the clamping rod (36); the support rod (37) is an elastic telescopic rod, and the elastic telescopic rod is divided into a sliding inner rod and a rotating outer rod; the elastic pin (38) is slidably mounted on the inner wall of the sliding inner rod; an adjustment groove is provided on a side of the rotating outer rod close to the elastic pin (38); the elastic pin (38) contacts the inner wall of the adjustment groove; the fixed block (39) is fixedly mounted on a side of the motor (2) close to the support rod (37); and the stopper (391) is fixedly mounted on the bottom of the motor (2).

10. The multi-joint linkage small electric gripper according to claim 9, characterized in that: The side where the push plate (34) and the fixed insertion rod (35) are close to each other is set as an inclined surface, the side where the elastic pin (38) is close to the fixed block (39) is set as an inclined surface, a torsion spring is provided between the support rod (37) and the clamping rod (36), and a No. 7 spring is provided between the clamping rod (36) and the motor (2).

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