Environment-resistant lengthened-stroke multi-finger electric precision rotary clamping jaw

Abstract

The invention discloses an environment-resistant lengthened-stroke multi-finger electric precision rotary clamping jaw, which is characterized in that the limitation of a traditional clamping jaw is broken through from the dimensions of transmission efficiency and structural strength through the innovative matching of a cross-like lengthened sliding large-stroke sliding block and a lengthened inclined surface guide inclined block shaped like a Chinese character'chang '. An efficient, compact and reliable technical scheme is provided for achieving the large-stroke multi-finger clamping jaw, and diversified grabbing requirements in industrial automation can be better met. The two prime movers can operate independently and can also achieve coupling motion through signal transmission, the design of mechanical coupling and signal cooperation enables the control precision of the multi-finger claw head to reach a new level, the manual intervention cost is greatly reduced, and the stability of an automatic production line is improved. Through triple protection of combination of static sealing and dynamic sealing, the clamping jaw can stably operate in a humid, dusty and high-corrosivity extreme environment, an internal motor and a transmission part are always kept in a clean and dry state, and blockage, corrosion or short circuit caused by foreign matter erosion is avoided.

Description

Technical Field

[0001] This invention belongs to the field of electric gripper technology, specifically, it is an environmentally resistant, extended-stroke, multi-finger electric precision rotary gripper. Background Technology

[0002] Existing multi-finger gripping technologies suffer from adaptability limitations. While the layout of a motor, slip ring, and control unit enables the rotation and clamping functions of a two-finger electric gripper, it suffers from fundamental design limitations in multi-finger gripping scenarios with three or more fingers. For example, a patented rotating gripper (application number: 202111291241.2) cleverly arranges its motor, slip ring, and control unit to allow the rotating gripper to not only hold the target object but also rotate it infinitely or quantitatively. The slip ring prevents wire tangling during operation. However, this invention is suitable for two-finger grippers but not for three-, four-, or more-finger grippers. When more fingers are needed, such as three-finger self-centering gripping or four-finger gripping of workpieces in confined spaces or with varying cross-sectional lengths and widths to meet precision gripping requirements, this structure lacks environmental resistance and cannot be used in harsh environments.

[0003] The existing technology has the following drawbacks:

[0004] 1) The gear base described in the patent (application number: 202111291241.2) has a hollow through hole. The rotating shaft of the first driver passes through the through hole and is connected to the clamping assembly. The clamping assembly is disposed on the gear base, which has a limiting seat and a limiting groove. The clamping assembly is disposed within the limiting groove. With this technical solution, it is obvious that if there are impurities in the external environment, such as water or dust, they will enter the interior of the gear base through the meshing gap of the clamping assembly, and then pass through the through hole of the gear base into the interior of the driver, thereby affecting the internal working environment and easily causing the electric gripper to fail.

[0005] 2) The clamping component described in the patent (application number: 202111291241.2) is in the form of a gear and rack. If it were made with three, four, or more fingers, it would require a larger storage space or the fingers would need to be made smaller, making it impossible to simultaneously meet the requirements of high load, long stroke, and compact structure. Furthermore, the gear and rack require precise matching, making it difficult to achieve high-precision synchronous clamping. Summary of the Invention

[0006] This invention addresses the shortcomings of existing technologies by providing an environmentally resistant, extended-stroke, multi-finger electric precision rotary gripper.

[0007] To achieve the above objectives, the specific technical solution of the present invention is as follows:

[0008] The application discloses a kind of environmental resistance lengthened stroke multi-finger electric precision rotary clamping jaw, including first prime mover, relative first prime mover up and down movable connection electric clamping coupling transmission assembly, second prime mover, relative second prime mover rotation connection second transmission gear assembly, with second transmission gear assembly mutual gear engagement first transmission gear assembly, relative electric clamping coupling transmission assembly rotation connection large stroke umbrella head, with first transmission gear assembly fixed connection multi-finger claw head base, be located in the through slot of multi-finger claw head base inside and with large stroke umbrella head sliding connection and along the through slot be close to and away from large stroke umbrella head large stroke slider, first transmission gear assembly and multi-finger claw head base center are all set through hole for large stroke umbrella head pass through, large stroke umbrella head is driven under the first prime mover in the cavity of multi-finger claw head base inside along axial reciprocating motion, first transmission gear assembly is driven under the second prime mover and drives multi-finger claw head base to rotate.

[0009] As further improvement, the first prime mover, electric clamping coupling transmission assembly, second prime mover and second transmission gear assembly, first transmission gear assembly of the application are located inside the shell, the lower opening of the shell is connected with the dynamic seal of the first transmission gear assembly through the first sealing ring fixed to the opening of the shell, and the second sealing ring is fixed to the bottom of the internal cavity of the multi-finger claw head base.

[0010] As further improvement, the electric clamping coupling transmission assembly of the application includes a coupling slider fixedly connected to the transmission rod of the first prime mover, a linear slider fixedly connected to the outer surface of the coupling slider, a guide linear guide rail slidably connected to the linear slider and fixed to the shell, and a groove is formed in the lower part of the coupling slider for clamping the third bearing. The outer ring of the third bearing is clamped in the groove of the coupling slider, and the linear slider moves up and down along the guide linear guide rail under the drive of the transmission rod of the first prime mover.

[0011] As further improvement, the second transmission gear assembly of the application includes a rotating part and a bearing part. The rotating part is a cylindrical structure with a stepped surface. One end of the rotating part is a second transmission gear, the other end is a connection end connected to the motor, and the middle section is a smooth cylindrical body with a protruding stepped surface. The bearing part includes two second bearings. The inner ring of the second bearing is fixed to the surface of the middle section smooth cylindrical body, and the two second bearings are located on both sides of the protruding stepped surface.

[0012] As further improvement, the first transmission gear assembly of the application includes a first transmission gear meshing with the second transmission gear, and a first bearing fixed to the inner ring of the first transmission gear. A first sealing ring is further provided on the outer ring of the first bearing and below the first transmission gear. The first sealing ring is fixed to the shell, and the first sealing ring and the outer ring of the first bearing are in contact and friction transmission, forming a dynamic seal.

[0013] As a further improvement, the large-stroke umbrella head comprises an umbrella head and a push rod, the push rod is in clearance fit with the starting through hole in the first bearing and the multi-prong head base, one end of the push rod is fixedly connected with the inner ring of the third bearing, the umbrella head comprises a transverse connecting rod consistent in number with the large-stroke slider and a guide inclined block at 120-150 degrees with the transverse connecting rod, the upper surface of the transverse connecting rod and the guide inclined block jointly form an overall plane, the lower part of the guide inclined block exceeds the lower surface of the transverse connecting rod, the structure formed by the transverse connecting rod and the guide inclined block has a cross section in the shape of a "factory", the large-stroke umbrella head is located in the cavity formed inside the multi-prong head base, the second sealing ring is fixedly connected at the through hole at the bottom of the multi-prong head base, the push rod passes through the second sealing ring and forms a sliding seal relative to the second sealing ring.

[0014] As a further improvement, the multi-prong head base is provided with at least two or more through grooves passing through the central axis and along the radial direction, the through grooves are evenly distributed on the plane perpendicular to the push rod, the through grooves are communicated at the central through hole to form an overall cavity, the through grooves have a cross section in the shape of a "cross", and correspond to the large-stroke slider with a cross section in the shape of a "cross", the large-stroke slider moves back and forth along the through grooves under the action of the guide inclined block of the large-stroke umbrella head.

[0015] As a further improvement, the bottom of each through groove is provided with a first recess for accommodating the lower part of the guide inclined block on the elongated inclined push block exceeding the lower surface of the transverse connecting rod, the height of the through groove is greater than the thickness of the guide inclined block in the axial direction by 1-100 mm, so that the guide inclined block moves back and forth along the axial direction in the overall internal cavity.

[0016] As a further improvement, the large-stroke slider is provided with a guide inclined groove at the connection with the guide inclined block, the guide inclined block slides in the corresponding guide inclined groove, the upper surface of the multi-prong head base is further provided with a second recess for installing a baffle, the baffle contacts the overall plane on the upper surface of the elongated inclined push block for limiting the elongated inclined push block to prevent the guide inclined block from disengaging from the guide inclined groove on the finger, the through grooves are 2-4 and evenly distributed along the circumferential direction, or the through grooves are 5 and the included angle between each through groove is 72 degrees, or the through grooves are 6 and the included angle between each through groove is 60 degrees.

[0017] As a further improvement, the first transmission gear and the second transmission gear of the present application can be any one of a straight gear pair, a helical gear pair, a magnetic field gear or a gear chain wheel pair, the first prime mover can be any one of a hydraulic push rod, a pneumatic push rod, an electromagnetic push rod, a ball screw or a T-shaped screw or an explosion-proof screw motor, the second prime mover can be any one of a servo motor, a stepper motor, a rotary cylinder, a rotary hydraulic cylinder, a DD motor, a speed reduction integrated machine and an explosion-proof motor, and the casing comprises a fixed seat, a top cover plate located above the fixed seat and in sealing cooperation with the fixed seat, and a bottom cover plate located below the fixed seat and in sealing cooperation with the fixed seat.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] 1) The innovative structural design of the large-stroke umbrella head and the slider breaks through the performance bottleneck and strengthens the core bearing capacity. The present application fundamentally solves the limitations of traditional clamping jaws in terms of stroke, torque, bearing capacity and anti-overturning capacity through the multi-finger design of the large-stroke umbrella head and the large-stroke slider, combined with the structural innovation of the "cross" cross-section slider and the "factory" elongated slope umbrella push rod. The unique design of the "cross" cross-section slider significantly expands the contact area. Compared with the single contact surface of the traditional slider, the cross-type stress structure makes the force distribution more uniform. It not only can withstand greater torque, but also greatly improves the anti-overturning moment. This means that when grabbing heavy workpieces or facing eccentric loads, the clamping jaw is less likely to be skewed or deformed, and the stability is far superior to traditional designs. The design of the "factory" elongated slope umbrella push rod further expands the contact area through the elongated slope contact structure, and cooperates with the linkage of the large-stroke umbrella head to achieve a fold increase in the movement distance of the slider, completely breaking through the problem of limited stroke of traditional clamping jaws.

[0020] From the large-stroke realization mechanism, the "cross" elongated sliding large-stroke slider and the "factory" elongated slope type guide slope cooperate to subvert the traditional small-stroke transmission logic. The "elongated slope" design of the "factory" elongated slope type guide slope is the key. The increase in the length of the slope enables the linear driving displacement of the push block to be converted into a larger movement distance of the large-stroke slider through the slope. For example, when the push block moves a small distance in the driving direction, the contact point between the slope and the large-stroke slider will produce a fold increase in the distance of the "cross" sliding large-stroke slider along the horizontal or vertical direction due to the length advantage of the slope. This design breaks through the limitation that the overall size must be increased to increase the stroke of the traditional push-pull rod. Through the geometric optimization of the transmission structure, the movement stroke of the large-stroke slider is greatly improved without significantly expanding the appearance of the clamping jaw, perfectly adapting to the core demand of large-stroke for multi-claw and other multi-finger clamping jaws.

[0021] In terms of large torque and high bearing capacity, the structural design of the "cross-like" elongated sliding large stroke slider plays a decisive role. The "cross-like" structure is not a simple shape definition, but an integrated design with reinforcing ribs or extended contact surfaces in both the horizontal and vertical directions: the horizontal extension increases the contact width with the workpiece, and the vertical reinforcement improves the structural strength of the large stroke slider. This design significantly increases the contact area between the large stroke slider and the workpiece, at least 2 times more than the traditional narrow large stroke slider. Greater contact area means that the clamping force can be more evenly distributed on the workpiece surface, avoiding damage to the workpiece caused by excessive local pressure, and also allowing the friction force to be stacked to withstand greater torque. Even in scenarios where heavy workpieces are grabbed or rotated, the large stroke slider is less likely to slip or deform, significantly increasing the upper limit of the clamping jaw's bearing capacity.

[0022] The realization of high anti-overturning torque is the result of the synergistic effect of two types of components. During the grabbing process, the center of gravity of the workpiece may shift or external impact forces may cause the clamping jaw to tilt, at which point the elongated feature of the "cross-like" elongated sliding large stroke slider lengthens the force arm, in conjunction with the large contact area of the "factory" elongated inclined surface guide inclined block, forming a stable force balance system. The large contact area of the "factory" push block ensures smoother force transmission between the push block and the large stroke slider, avoiding transmission failure caused by local stress concentration; the "cross-like" large stroke slider disperses the overturning torque to the entire clamping system through its structural rigidity and large area contact with the workpiece, effectively resisting the risk of workpiece tilting or falling off. This design allows the clamping jaw to maintain a stable clamping state when handling eccentric workpieces or irregularly shaped workpieces, significantly improving the safety and reliability of the operation.

[0023] In summary, the innovative combination of the "cross-like" elongated sliding large stroke slider and the "factory" elongated inclined surface guide inclined block breaks through the limitations of traditional clamping jaws in terms of transmission efficiency, structural strength, and force distribution, providing an efficient, compact, and reliable technical solution for large stroke multi-finger clamping jaws, better adapting to the diverse grabbing needs in industrial automation.

[0024] 2) The design of the electric clamping coupling transmission assembly transmits the movement of the first and second prime movers to the multi-finger claw head base, and the movement of the first and second prime movers is mechanically coupled and transmitted through the mechanism, that is, the prime movers can move independently or coupled by signal transmission, thereby realizing precise control of the multi-finger claw head. The movement of the first prime mover can be transmitted to the large-stroke umbrella head of the multi-finger claw head base, and the large-stroke umbrella head is matched with the large-stroke slider to realize the opposite or opposite movement of the large-stroke slider. The movement of the second prime mover can be transmitted to the multi-finger claw head base through the cooperation of the second transmission gear assembly and the first transmission gear assembly to realize the forward or reverse precise movement of the multi-finger claw head base in the circumferential direction. The dual breakthrough of precise control and flexible movement is realized. The combination of the electric clamping coupling transmission assembly is the core of the invention to realize precise control and multi-functional movement. Through ingenious design, the movement of the first and second prime movers is efficiently transmitted to the multi-finger claw head base, realizing flexible switching between "independent movement" and "coupled movement", and achieving optimal force transmission, breaking through the bottleneck of single function and insufficient control precision of traditional transmission mechanisms.

[0025] When the first prime mover is started, its movement can be fully transmitted to the large-stroke umbrella head, and then the umbrella head is matched with the large-stroke slider to precisely drive the slider to move in opposite directions or opposite directions. This process is fast in response and controllable in stroke, ensuring that the tightness of the workpiece grabbing is just right. The movement of the second prime mover is transmitted through the cooperation of the gear assembly to drive the multi-finger claw head base to rotate in the circumferential direction.

[0026] More importantly, the two prime movers can operate independently or coupled by signal transmission. This mechanical coupling and signal coordination design enables the control precision of the multi-finger claw head to reach a new level, greatly reduces the cost of manual intervention, and improves the stability of the automatic production line.

[0027] 3) The three-seal design ensures reliability in extreme environments. The sealing housing is composed of a top cover plate above the fixed seat and a bottom cover plate below the fixed seat, which are sealed with the fixed seat. Foreign matter cannot enter the motor and internal transmission parts through the movement gap position and the machine body, causing internal transmission parts to fail due to environmental reasons. For example, water, coolant, corrosive liquid, gas or dust impurities enter the clamping jaw. Through the static sealing of the machine housing, foreign matter is effectively prevented from entering the electric claw interior, completely blocking the channel for foreign matter to enter the interior from the machine body gap, and even small dust or liquid droplets cannot penetrate.

[0028] But foreign matter can enter the electric claw inside through rotation or linear motion, so a second sealing ring is arranged in the claw head for linear transmission to prevent foreign matter from entering from the claw head; at the rotating transmission connecting part of the claw head base and the shell, a first sealing ring is arranged to prevent foreign matter from entering from the rotating transmission part, the first sealing ring precisely fills the rotating gap, prevents foreign matter from entering from the rotating connection, and the triple sealing design realizes the environmental resistance, fundamentally solving the pain point of the failure of traditional clamping claws due to internal element pollution.

[0029] The triple protection of the static seal combined with dynamic seal enables the clamping claw to stably operate in humid, dusty and highly corrosive extreme environments, and the internal motor and transmission parts always remain clean and dry, and will not be jammed, corroded or short-circuited due to foreign matter erosion, which not only greatly prolongs the service life of the clamping claw, but also reduces the number of downtime maintenance, and provides "zero failure" guarantee for continuous production. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a partial sectional view of the device of the present application;

[0031] Figure 2 is an exploded schematic view of the device structure of the present application;

[0032] Figure 3 is a schematic view of the device structure of the present application;

[0033] Figure 4 is a schematic view of the multi-finger claw head base structure of the device of the present application;

[0034] Figure 5 is a schematic view of the large-stroke umbrella head and large-stroke slider structure in the device of the present application;

[0035] Figure 6 is a schematic view of the coupling slider structure in the device of the present application;

[0036] Figure 7 is a partial sectional view of the multi-finger claw head base large-stroke slider large-stroke umbrella head baffle in the device of the present application;

[0037] In the figure: 110 is the multi-finger claw head base, 120 is the long-stroke slider, 130 is the long-stroke umbrella head, 140 is the baffle, 150 is the through slot, 160 is the umbrella head, 170 is the push rod, 180 is the transverse connecting rod, 190 is the guide inclined block, 210 is the first transmission gear, 220 is the first bearing, 230 is the second transmission gear, 240 is the second bearing, 250 is the connecting end, 260 is the convex step surface, 270 is the smooth cylinder, 280 is the rotating part, 310 is the coupling slider, 320 is the third bearing, 330 is the linear slider, 340 is the guide linear guide rail, 350 is the transmission rod, 410 is the first prime mover, 420 is the second prime mover, 500 is the machine shell, 510 is the bottom cover plate, 520 is the fixed seat, 530 is the top cover plate, 600 is the signal line, 710 is the first sealing ring, 720 is the second sealing ring, 810 is the first groove, 820 is the second groove, and 830 is the guide inclined groove. DETAILED DESCRIPTION

[0038] The technical solutions of the present application will be further described below in combination with the drawings of the specification through specific embodiments:

[0039] Figure 1 is a partial cross-sectional view of the device of the present application; Figure 2 is an exploded view of the device structure of the present application; Figure 3 is a structural view of the device of the present application; Figure 4 is a structural view of the multi-finger claw head base 110 of the device of the present application; Figure 5 is a structural view of the long-stroke umbrella head 130 and the long-stroke slider 120 in the device of the present application; Figure 6 is a structural view of the coupling slider 310 in the device of the present application; Figure 7 is a partial cross-sectional view of the multi-finger claw head base 110, the long-stroke slider 120, the long-stroke umbrella head 130, and the baffle 140 in the device of the present application;

[0040] The application discloses a kind of environmental resistance lengthened stroke multi-finger electric precision rotary clamping jaw, including first prime mover 410, relative to the up and down movement of first prime mover 410 Electric clamping coupling transmission assembly connected, second prime mover 420, relative to the rotation connection of second prime mover 420 Second transmission gear 230 component, with the first transmission gear 210 component that second transmission gear 230 component is mutually toothed, rotationally connected with electric clamping coupling transmission assembly Large stroke umbrella head 130, with the fixed connection of first transmission gear 210 component Multi-finger claw head base 110, be located in the through slot 150 inside multi-finger claw head base 110 With large stroke umbrella head 130 slidingly connected and along the through slot 150 It is close to and away from large stroke umbrella head 130 Large stroke slider 120, the through hole for being crossed by large stroke umbrella head 130 is set in the center of first transmission gear 210 component and multi-finger claw head base 110, large stroke umbrella head 130 is driven under the first prime mover 410 In the cavity inside multi-finger claw head base 110 Along axial reciprocating motion, first transmission gear 210 component is driven under the second prime mover 420 Multi-finger claw head base 110 is rotated.

[0041] First prime mover 410, electric clamping coupling transmission assembly, second prime mover 420 and second transmission gear 230 component, first transmission gear 210 component are located inside the machine shell 500, the lower opening of machine shell 500 It is connected with the dynamic sealing of first transmission gear 210 component through the first sealing ring 710 fixed to the opening of machine shell 500, the inner cavity bottom of multi-finger claw head base 110 It is provided with the second sealing ring 720 fixedly connected.

[0042] Electric clamping coupling transmission assembly includes coupling slider 310 fixedly connected with the transmission rod 350 of first prime mover 410, fixedly connected with the linear slider 330 on the outer surface of coupling slider 310, slidingly connected with linear slider 330 And the guide linear guide rail fixed to the machine shell 500, recess is opened in the lower part of coupling slider 310 For clamping third bearing 320, the outer ring of third bearing 320 is clamped in the recess of coupling slider 310, linear slider 330 is driven by the transmission rod 350 of first prime mover 410 Through coupling slider 310 Along guide linear guide rail 340, it moves up and down.

[0043] Second transmission gear 230 component includes rotating part 280 and bearing part, rotating part 280 is a cylindrical structure with stepped surface, one end of rotating part 280 is second transmission gear 230, the other end is connecting end 250 connected with motor, the middle section is smooth cylinder 270 provided with convex stepped surface 260, bearing part is two second bearings 240, the inner ring of second bearing 240 is fixed to the surface of middle section light ring cylinder, two second bearings 240 are located on both sides of convex stepped surface 260. The outer ring of second bearing 240 is fixed to the inner side of machine shell 500.

[0044] The first transmission gear 210 assembly includes a first transmission gear 210 meshing with the second transmission gear 230, and a first bearing 220 fixed to the inner ring of the first transmission gear 210. A first sealing ring 710 is further provided on the outer ring of the first bearing 220 and below the first transmission gear 210. The first sealing ring 710 is fixed to the machine housing 500. The first sealing ring 710 contacts and frictionally drives the outer ring of the first bearing 220 to form a dynamic seal.

[0045] The large-stroke umbrella head 130 includes an umbrella head 160 and a push rod 170. The push rod 170 has a clearance fit with the through holes in the first bearing 220 and the multi-finger claw head base 110. One end of the push rod 170 is fixedly connected to the inner ring of the third bearing 320. The umbrella head 160 includes transverse connecting rods 180 having the same number as the large-stroke slider 120 and guiding inclined blocks 190 at an angle of 120 - 150 degrees with the transverse connecting rods 180. The upper surfaces of the transverse connecting rods 180 and the guiding inclined blocks 190 together form an integral plane. The lower part of the guiding inclined blocks 190 extends beyond the lower surface of the transverse connecting rods 180. The cross-section of the structure formed by the transverse connecting rods 180 and the guiding inclined blocks 190 is in the shape of "厂". The large-stroke umbrella head 130 is located in the cavity formed inside the multi-finger claw head base 110. A second sealing ring 720 is fixedly clamped at the bottom of the multi-finger claw head base 110 and at the through hole. The push rod 170 passes through the second sealing ring 720 and makes a sliding movement relative to the second sealing ring 720 to form a sliding seal.

[0046] The multi-finger claw head base 110 is provided with at least two or more through slots 150 passing through the center axis and along the radial direction. In an embodiment of the present invention, there are 4 through slots 150. The through slots 150 are evenly distributed on a plane perpendicular to the push rod 170. The through slots 150 are connected at the central through hole to form an integral cavity. The through slots 150 are in a structure with a cross-section similar to a "十" shape and correspond to the large-stroke slider 120 with the same cross-section of a similar "十" shape. The large-stroke slider 120 is located in the through slots 150 and makes a centripetal or centrifugal back-and-forth movement along the through slots 150 under the action of the guiding inclined blocks 190 of the large-stroke umbrella head 130.

[0047] A first groove 810 is opened at the bottom of each through slot 150 to accommodate the lower part of the guiding inclined blocks 190 of the lengthened inclined plane push block that extends beyond the lower surface of the transverse connecting rods 180. In the initial state, the large-stroke sliders 120 are all located in the through slots 150 at the position closest to the central through hole of the multi-finger claw head base 110. The height of the through slots 150 is greater than the axial thickness A of the guiding inclined blocks 190 by 1 - 100 mm, so that the guiding inclined blocks 190 have space to move up and down axially in the integral cavity, reaching the limit at the first groove 810 at the bottom and reaching the limit at the stop piece 140 at the top. Thus, the guiding inclined blocks 190 move back and forth axially in the integral internal cavity.

[0048] The connection part of the large-stroke slider 120 matched with the guide inclined block 190 is provided with a guide inclined groove 830, and the guide inclined block 190 slides in the corresponding guide inclined groove 830. The upper surface of the multi-finger claw head base 110 is also provided with a second groove 820 for installing the baffle 140. The baffle 140 is in contact with the overall plane of the upper surface of the elongated inclined surface push block, so as to limit the elongated inclined surface push block and prevent the guide inclined block 190 from being separated from the guide inclined groove 830 on the fingers. The through groove 150 is 2-4, which is uniformly distributed along the circumference, or the through groove 150 is 5, and the included angle between each through groove 150 is 72 degrees, or the through groove 150 is 6, and the included angle between each through groove 150 is 60 degrees.

[0049] The first transmission gear 210 and the second transmission gear 230 can be any one of a straight gear pair, an inclined gear pair, a magnetic field wheel or a gear chain wheel pair. The first prime mover 410 is any one of a hydraulic push rod 170, a pneumatic push rod 170, an electromagnetic push rod 170, a ball screw or a T-shaped screw or an explosion-proof screw motor. The second prime mover 420 is any one of a servo motor, a stepper motor, a rotary cylinder, a rotary hydraulic cylinder, a DD motor, a speed reduction integrated machine and an explosion-proof motor. The machine shell 500 includes a fixed seat 520, a top cover plate 530 sealingly matched with the fixed seat 520, and a bottom cover plate 510 sealingly matched with the fixed seat 520. The upper part of the machine shell is connected with a signal line 600.

[0050] When working, the first prime mover 410 drives the transmission rod 350, drives the coupling slider 310 to move linearly downward under the guidance of the linear guide rail and the linear slider 330, drives the large-stroke umbrella head 130 connected with the coupling slider 310 to move downward, and drives the umbrella head 160 to move away from the first groove 810 and move toward the baffle 140. At the same time, under the action of the guide inclined block 190, the guide inclined groove 830 of the large-stroke slider 120 matched with the guide inclined block 190 moves away from the center through hole of the multi-finger claw head base 110 until the upper surface of the transverse connecting rod 180 and the guide inclined block 190 form an overall plane which is limited by the baffle 140, and the claw clamp is opened to the maximum. In addition, according to the requirement, under the action of the first prime mover 410 driving the transmission rod 350, the umbrella head 160 is driven to move close to the first groove 810 and move away from the baffle 140. At the same time, under the action of the guide inclined block 190, the guide inclined groove 830 of the large-stroke slider 120 matched with the guide inclined block 190 moves close to the center through hole of the multi-finger claw head base 110 until the guide inclined block 190 exceeds the lower part of the "factory" shape of the lower surface of the transverse connecting rod 180 to reach the bottom of the first groove 810, and the claw clamp is closed to the minimum. The umbrella head 160 can be precisely moved back and forth along the axial direction in the internal cavity of the multi-finger claw head base 110 under the driving of the transmission rod 350.

[0051] Meanwhile, the second prime mover 420 drives the first transmission gear 210 in gear with it to rotate by driving the second transmission gear 230 to rotate, and drives the first bearing 220 fixedly connected with the first transmission gear 210 to rotate, so the multi-prong head base 110 fixedly connected with the first bearing 220 also rotates.

[0052] The above only lists specific embodiments of the present application. Obviously, the present application is not limited to the above embodiments, and can have many variations. All variations directly derived or thought of by those of ordinary skill in the art from the content disclosed in the present application should be considered within the protection scope of the present application.

Claims

1. A multi-finger electric precision rotary gripper with extended stroke and environmental resistance, characterized in that, The device includes a first prime mover, an electric clamping coupling transmission assembly that is movably connected to the first prime mover, a second prime mover, a second transmission gear assembly that is rotatably connected to the second prime mover, a first transmission gear assembly that meshes with the second transmission gear assembly, a long-stroke umbrella head that is rotatably connected to the electric clamping coupling transmission assembly, a multi-finger claw head base that is fixedly connected to the first transmission gear assembly, a long-stroke slider that slides and engages with the long-stroke umbrella head in a through groove inside the multi-finger claw head base and moves closer to and further away from the long-stroke umbrella head along the through groove, and through holes that are opened at the center of the first transmission gear assembly and the multi-finger claw head base for the long-stroke umbrella head to pass through, the long-stroke umbrella head moving back and forth axially in the cavity inside the multi-finger claw head base under the drive of the first prime mover, and the first transmission gear assembly driving the multi-finger claw head base to rotate under the drive of the second prime mover.

2. The environmentally resistant, extended-stroke, multi-finger electric precision rotary gripper according to claim 1, characterized in that, The first prime mover, the electric clamping coupling transmission assembly, the second prime mover and the second transmission gear assembly, and the first transmission gear assembly are all located inside the housing. The lower opening of the housing is dynamically sealed to the first transmission gear assembly through a first sealing ring fixed to the opening of the housing. A second sealing ring is fixed at the bottom of the internal cavity of the multi-finger claw base.

3. The environmentally resistant, extended-stroke, multi-finger electric precision rotary gripper according to claim 1, characterized in that, The electric clamping coupling transmission assembly includes a coupling slider fixedly connected to the transmission rod of the first prime mover, a linear slider fixed to the outer surface of the coupling slider, a guide linear slide rail slidably connected to the linear slider and fixed to the housing, and a groove provided below the coupling slider for engaging a third bearing. The outer ring of the third bearing is engaged in the groove of the coupling slider. The linear slider moves up and down along the guide linear slide rail under the drive of the transmission rod of the first prime mover.

4. The environmentally resistant, extended-stroke, multi-finger electric precision rotary gripper according to claim 1, 2, or 3, characterized in that, The second transmission gear assembly includes a rotating part and a bearing part. The rotating part is a cylindrical structure with a stepped surface. One end of the rotating part is the second transmission gear, the other end is the connection end for connecting to the motor, and the middle section is a smooth cylinder with a protruding stepped surface. The bearing part consists of two second bearings. The inner ring of the second bearing is fixed to the surface of the middle section of the cylindrical ring, and the two second bearings are located on both sides of the protruding stepped surface.

5. The environmentally resistant, extended-stroke, multi-finger electric precision rotary gripper according to claim 4, characterized in that, The first transmission gear assembly includes a first transmission gear that meshes with a second transmission gear, a first bearing fixed to the inner ring of the first transmission gear, and a first sealing ring provided on the outer ring of the first bearing and below the first transmission gear. The first sealing ring is fixed to the housing, and the first sealing ring contacts and rubs against the outer ring of the first bearing to form a dynamic seal.

6. The environmentally resistant, extended-stroke, multi-finger electric precision rotary gripper according to claim 5, characterized in that, The described large-stroke umbrella head includes an umbrella head and a push rod. The push rod has a clearance fit with both the through holes in the first bearing and the multi-finger claw head base. One end of the push rod is fixedly connected to the inner ring of the third bearing. The umbrella head includes transverse connecting rods with the same number as the large-stroke sliders and guide inclined blocks that form an angle of 120 - 150 degrees with the transverse connecting rods. The upper surfaces of the transverse connecting rods and the guide inclined blocks together form an integral plane. The lower part of the guide inclined block extends beyond the lower surface of the transverse connecting rod. The cross-section of the structure formed by the transverse connecting rod and the guide inclined block is in the shape of "厂". The large-stroke umbrella head is located in the cavity formed inside the multi-finger claw head base. A second sealing ring is fixedly clamped at the bottom of the multi-finger claw head base and at the through hole. The push rod passes through the second sealing ring and makes a sliding movement relative to the second sealing ring to form a sliding seal.

7. The environmentally resistant, extended-stroke, multi-finger electric precision rotary gripper according to claim 6, characterized in that, The described multi-finger claw head base is provided with at least two or more through grooves that pass through the center axis and are along the radial direction. The through grooves are evenly distributed on a plane perpendicular to the push rod. The through grooves are all connected at the central through hole to form an integral cavity. The through grooves are in a structure with a cross-section similar to a "十" shape and correspond to the large-stroke sliders with the same cross-section similar to a "十" shape. The large-stroke sliders are located in the through grooves and make a centripetal or centrifugal back-and-forth movement along the through grooves under the action of the guide inclined blocks of the large-stroke umbrella head.

8. The environmentally resistant, extended-stroke, multi-finger electric precision rotary gripper according to claim 1, 2, 3, 5, 6, or 7, characterized in that, A first groove is opened at the bottom of each through groove to accommodate the lower part of the guide inclined block of the lengthened inclined plane push block that extends beyond the lower surface of the transverse connecting rod. The height of the through groove is greater than the axial thickness A1 - 100mm of the guide inclined block, so that the guide inclined block can move back and forth along the axis inside the integral internal cavity.

9. The environmentally resistant, extended-stroke, multi-finger electric precision rotary gripper according to claim 8, characterized in that, A guide inclined groove is opened at the connection of the large-stroke slider where it is mated with the guide inclined block. The guide inclined block slides in the corresponding guide inclined groove. A second groove is also opened on the upper surface of the multi-finger claw head base for installing and configuring a retaining piece. The retaining piece contacts the integral plane on the upper surface of the lengthened inclined plane push block to limit the lengthened inclined plane push block to prevent the guide inclined block from脱离手指上的导向斜槽 (this part seems to have an incorrect expression in Chinese, but translated as is). The through grooves are 2 - 4 in number and are evenly distributed along the circumferential direction, or the through grooves are 5 in number with an included angle of 72 degrees between each through groove, or the through grooves are 6 in number with an included angle of 60 degrees between each through groove.

10. The environmentally resistant, extended-stroke, multi-finger electric precision rotary gripper according to claim 9, characterized in that, The first transmission gear and the second transmission gear can be any one of a spur gear pair, a helical gear pair, a magnetic field wheel, or a gear sprocket pair. The first prime mover can be any one of a hydraulic push rod, a pneumatic push rod, an electromagnetic push rod, a ball screw, or a T-shaped screw or an explosion-proof screw motor. The second prime mover can be any one of a servo motor, a stepper motor, a rotary cylinder, a rotary hydraulic cylinder, a DD motor, a speed reducer integrated machine, an explosion-proof motor. The machine shell includes a fixed seat, a top cover plate that is hermetically fitted above the fixed seat, and a bottom cover plate that is hermetically fitted below the fixed seat.

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