Electric driving device and clamping jaw

Abstract

The invention belongs to the technical field of product clamping, and discloses an electric driving device and a clamping jaw, and the electric driving device comprises a worm, a worm gear, a driving shaft and a driving piece. The worm gear is meshed with the worm and used for driving the connecting rod to rotate; the worm and the driving shaft can relatively rotate within a first angle range and are connected through an unlocking mechanism; the driving piece is connected with the driving shaft; the unlocking mechanism comprises a first component and a second component which are arranged in a split mode, the first component and the second component are fixed to the opposite ends of the driving shaft and the worm respectively, and when the driving piece is started, the first component and the second component impact each other so that the driving shaft can drive the worm to rotate. Therefore, in the using process of the electric driving device, an electromagnetic locking mechanism does not need to be arranged, the overall size and weight of the electric driving device are effectively reduced, the size of equipment containing the electric driving device is smaller, application of the equipment in a narrow space is facilitated, meanwhile, the weight of the equipment is lighter, and the cost is lower. And the load capacity and the movement flexibility of the equipment can be improved.

Description

Technical Field

[0001] This invention relates to the technical field of product clamping, and more particularly to an electric drive device and a gripper. Background Technology

[0002] In the current era of rapid development of industrial automation and intelligent equipment, grippers, as key components of robot end effectors, are widely used in material handling, assembly, and processing scenarios. With the diversification of application scenarios, higher requirements are placed on the stability and reliability of grippers. Especially in some working conditions that require maintaining a gripping state for a long time or withstanding large external forces, the gripper's finger drive device must have a reliable locking function to prevent the gripped object from accidentally slipping off, ensuring operational safety and accuracy.

[0003] In existing technologies, grippers commonly employ electromagnetic locking mechanisms as the core locking component of the finger-gripping drive device to meet locking requirements. Their specific structure typically consists of an electromagnet, a locking pin, a guide sleeve, and a return spring. When the gripper is operating normally, the electromagnet is de-energized, and the return spring pushes the locking pin to the locked position, restricting the movement of the finger-gripping drive component and maintaining its current gripping state. When it is necessary to adjust the gripper's opening and closing, the electromagnet is energized to generate magnetic force, attracting the locking pin to overcome the spring force, causing it to disengage from the locked position, releasing the restriction on the drive component, and thus enabling free movement of the gripped finger.

[0004] However, because components such as electromagnets and locking pins require sufficient space for installation and movement, the overall size of the structure is significantly increased. This not only limits the application of the gripper in confined spaces but also increases the overall weight of the gripper, adversely affecting its load-bearing capacity and movement flexibility. Summary of the Invention

[0005] The purpose of this invention is to provide an electric drive device and gripper to solve the problem that in the prior art, after the gripper is equipped with an electromagnetic locking mechanism, sufficient space needs to be reserved for the corresponding structure, which leads to a significant increase in the overall size. This not only limits the application of the gripper in a confined space, but also increases the total number of grippers, which has an adverse effect on the overall load capacity and movement flexibility.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides an electric drive device comprising:

[0008] worm gear;

[0009] The worm gear meshes with the worm and is used to be fixed coaxially with the connecting rod to drive the connecting rod to rotate.

[0010] A drive shaft, one end of which is inserted into the worm gear, the worm gear and the drive shaft can rotate relative to each other within a first angle range and are connected by an unlocking mechanism;

[0011] A driving component is connected to the other end of the driving shaft to drive the driving shaft to rotate;

[0012] The unlocking mechanism includes a first component and a second component that are separately arranged. The first component and the second component are respectively fixed to the opposite ends of the drive shaft and the worm gear. When the drive is activated, the first component and the second component impact each other, so that the drive shaft drives the worm gear to rotate.

[0013] Optionally, the first component and the second component are distributed circumferentially along the drive shaft so that the drive shaft can reverse within the first angle range, thereby causing the second component and the first component to impact each other.

[0014] Either the worm gear or the drive shaft is provided with a connecting rod, the first component is provided on the connecting rod, the other is provided with a insertion cavity for the connecting rod to be inserted, and the second component is provided on the cavity wall of the insertion cavity.

[0015] Optionally, the contact surface between the first component and the second component is perpendicular to the rotation direction of the drive shaft.

[0016] Optionally, the electric drive device further includes:

[0017] A sealing sleeve is fitted onto the worm gear, and the end face of the sealing sleeve is in a sealing and sliding fit with the end face of the drive shaft.

[0018] Optionally, the end face of the sealing sleeve and the end face of the drive shaft have a sealing labyrinth groove that interlocks with each other.

[0019] Optionally, the sealing labyrinth groove is filled with grease to seal the gaps in the sealing labyrinth groove by using centrifugal force during the rotation of the sealing sleeve and the drive shaft.

[0020] Optionally, the insertion cavity is filled with grease. During the rotation of the drive shaft and the worm, the grease in the insertion cavity uses centrifugal force to penetrate into the sealing labyrinth groove to seal the gap at the connection between the drive shaft and the worm.

[0021] Optionally, the electric drive device further includes:

[0022] A base is sleeved on the outside of the drive shaft and the sealing sleeve. A first sealing ring is provided between the base and the sealing sleeve, and a second sealing ring is provided between the base and the drive shaft.

[0023] Optionally, the second sealing ring is located at one end of the drive shaft near the sealing sleeve, and the grease can penetrate the second sealing ring to seal the gap between the second sealing ring and the drive shaft.

[0024] Secondly, the present invention also provides grippers, which include:

[0025] chassis;

[0026] The electric drive device as described in any of the first aspects is disposed in the housing;

[0027] Multiple gripper fingers, the linkage of the electric drive device drives the gripper fingers to open and close.

[0028] The beneficial effects of this invention are:

[0029] Firstly, the self-locking mechanism formed by the meshing of the worm gear and worm can lock the rotation of the connecting rod. When the connecting rod needs to reverse, the drive component drives the drive shaft to reverse. At this time, the drive shaft will first rotate relative to the worm within a first angle range, causing the first and second components to impact each other. This impact can drive the worm to rotate, thereby releasing the self-locking between the worm and worm gear, allowing the connecting rod to reverse smoothly. Therefore, during use, this electric drive device uses the self-locking of the worm and worm gear to achieve locking. When unlocking, the drive shaft can rotate relative to the worm within a first angle range, thereby driving the unlocking mechanism to impact. The inertia generated by this impact can drive the worm to rotate and release the self-locking. Thus, this electric drive device does not need to set up an electromagnetic locking mechanism, and therefore does not need to reserve space for a corresponding structure. This effectively reduces the overall size and weight of the electric drive device, making the equipment containing this electric drive device smaller and more convenient for application in confined spaces. At the same time, the weight of the equipment is also lighter, which is beneficial to improving the load capacity and movement flexibility of the equipment, thereby effectively improving the overall application performance of the equipment.

[0030] Secondly, when in use, the gripper uses an electric drive device to drive multiple gripping fingers to clamp the product. After clamping, the electric drive device can form a self-locking mechanism using a worm gear and a worm. When it is necessary to release the product and reverse the drive shaft, the unlocking mechanism generates an impact to drive the worm to rotate, thereby releasing the self-locking mechanism. This allows the gripper to lock and unlock without the need for an additional electromagnetic locking structure, thus effectively reducing the overall size of the gripper and enabling it to be used in confined spaces. It also simplifies the gripper's structure and reduces its overall weight, thereby effectively improving the gripper's load capacity and movement flexibility. Attached Figure Description

[0031] Figure 1 This is a partial cross-sectional structural diagram of the gripper in an embodiment of the present invention;

[0032] Figure 2This is an exploded structural diagram of the electric drive device in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the drive shaft of the electric drive device in an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the structure of the worm and worm wheel of the electric drive device in an embodiment of the present invention;

[0035] Figure 5 This is a partial enlarged cross-sectional view of the gripper in an embodiment of the present invention.

[0036] In the picture:

[0037] 1. Worm gear; 2. Worm wheel; 3. Drive shaft; 4. Drive component; 5. Unlocking mechanism; 51. First component; 52. Second component; 53. Connecting rod; 54. Insertion cavity; 6. Sealing sleeve; 61. Connecting ring platform; 7. Sealing labyrinth groove; 8. Base; 81. First sealing ring; 82. Second sealing ring; 83. First bearing; 84. Second bearing; 10. Housing; 20. Clamping finger. Detailed Implementation

[0038] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0039] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0042] like Figures 1 to 5 As shown, the present invention provides an electric drive device and a gripper.

[0043] The electric drive device includes a worm 1, a worm wheel 2, a drive shaft 3, and a drive component 4. The worm wheel 2 meshes with the worm 1 and is used to fix it coaxially with the connecting rod to drive the connecting rod to rotate. One end of the drive shaft 3 is inserted into the worm 1, and the worm 1 and the drive shaft 3 can rotate relative to each other within a first angle range and are connected through an unlocking mechanism 5. The drive component 4 is connected to the other end of the drive shaft 3 to drive the drive shaft 3 to rotate. The unlocking mechanism 5 includes a first component 51 and a second component 52 that are separately arranged. The first component 51 and the second component 52 are respectively fixed to the opposite ends of the drive shaft 3 and the worm 1. When the drive component 4 is started, the first component 51 and the second component 52 impact each other, so that the drive shaft 3 drives the worm 1 to rotate.

[0044] The self-locking mechanism formed by the meshing of the worm gear 2 and the worm 1 locks the rotation of the connecting rod. When the connecting rod needs to be reversed, the drive component 4 drives the drive shaft 3 to reverse. At this time, the drive shaft 3 will first rotate relative to the worm 1 within a first angle range, causing the first component 51 and the second component 52 to impact each other. This impact can drive the worm 1 to rotate, thereby releasing the self-locking between the worm 1 and the worm gear 2, allowing the connecting rod to reverse smoothly. Therefore, during the use of this electric drive device, the self-locking of the worm 1 and the worm gear 2 is used to achieve locking. When unlocking, the drive shaft 3 can rotate relative to the worm 1 within a first angle range, thereby driving the unlocking mechanism 5 to impact. The inertia generated by this impact can drive the worm 1 to rotate and release the self-locking. Thus, this electric drive device does not need to set up an electromagnetic locking mechanism, and there is no need to reserve space for the corresponding structure. This effectively reduces the overall size and weight of the electric drive device, making the equipment containing this electric drive device smaller and more convenient for application in confined spaces. At the same time, the weight of the equipment is also lighter, which is beneficial to improving the load capacity and movement flexibility of the equipment, thereby effectively improving the overall application performance of the equipment.

[0045] Specifically, the worm gear 1 is rotatably connected within the housing 10 of the corresponding device. This device can be a gripper or other equipment; the present invention does not limit this. The worm wheel 2 is disposed on the side of the worm gear 1 and meshes with it. When the worm gear 1 rotates, it drives the worm wheel 2 to rotate. The worm wheel 2 is coaxially and fixedly connected to the connecting rod, so the connecting rod can rotate with the rotation of the worm gear 1. When the worm gear 1 and the worm wheel 2 form a self-locking mechanism, the rotation of the connecting rod can be locked. The connecting rod can be a multi-link structure or a single-link structure, specifically designed according to the actuator end that the connecting rod needs to drive; the present invention does not limit this. The drive shaft 3 is disposed below the worm gear 1 and can be coaxially arranged with the worm gear 1 to further reduce the radial space occupied. The drive shaft 3 is connected to the drive component 4. The drive component 4 can be a servo motor or an electric cylinder, etc. It can be connected to the drive shaft 3 through a gearbox or through other transmission structures. In this embodiment, in order to further reduce the space occupied, the drive shaft 3 passes through the drive component 4 and is fixedly connected to the rotor of the drive component 4.

[0046] The top of the drive shaft 3 and the worm gear 1 can be inserted and connected. An unlocking mechanism 5 is provided at the insertion point of the two, and the unlocking mechanism 5 can move within a first angle range, so that the drive shaft 3 can rotate freely within the first angle range. The first angle range can be 30°, 60° or 90°, or other degrees. The specific design can be based on the impact required for actual unlocking.

[0047] Optionally, the first component 51 and the second component 52 are spaced apart along the circumferential direction of the drive shaft 3 so that the drive shaft 3 can reverse within a first angle range to drive the second component 52 and the first component 51 to generate an impact.

[0048] Specifically, a first component 51 and a second component 52 are respectively protruded at the connection between the worm gear 1 and the drive shaft 3, taking the first component 51 on the worm gear 1 and the second component 52 on the drive shaft 3 as an example. The first component 51 and the second component 52 are distributed axially at intervals of a first angle, so that when the drive shaft 3 reverses, the second component 52 will first rotate within the first angle range, and after rotating beyond the first angle, it will collide with the first component 51 to generate an impact. In order to improve the impact resistance of the overall structure, multiple first components 51 can be distributed at intervals around the drive shaft 3, and a second component 52 is provided between two adjacent first components 51. In this embodiment, the first component 51 protrudes on the end face of the connecting rod 53 and is provided in two at intervals, and two second components 52 are provided correspondingly.

[0049] To improve the impact effect, the contact surfaces of the first component 51 and the second component 52 are perpendicular to the rotation direction of the drive shaft 3. This ensures that the force generated when the second component 52 impacts the first component 51 is perpendicular to the radial direction of the drive shaft 3, thereby effectively increasing the torque and maximizing the impact force to drive the worm gear 1 to rotate. Furthermore, the second component 52 is inclined towards the side of the first component 51, so that the inclined surface of the second component 52 will initially contact the first component 51. As the second component 52 rotates, the inclined surface gradually presses against the first component 51 to generate impact, thus avoiding the possibility of surface contact and excessive noise during the collision.

[0050] Optionally, either the worm gear 1 or the drive shaft 3 is provided with a connecting rod 53, a first component 51 is provided on the connecting rod 53, and the other is provided with a insertion cavity 54 for the connecting rod 53 to be inserted, and a second component 52 is provided on the cavity wall of the insertion cavity 54.

[0051] Specifically, taking the first component 51 mounted on the worm gear 1 as an example, the connecting rod 53 is mounted on the worm gear 1 and is coaxially mounted with the worm gear 1. The two can be fixed together by welding. The first component 51 is a block-shaped protrusion on the side of the connecting rod 53. In this embodiment, in order to improve the connection strength between the connecting rod 53 and the worm gear 1, the connecting rod 53 and the worm gear 1 are integrally structured.

[0052] The upper end face of the drive shaft 3 is recessed to form a insertion cavity 54, and a second component 52 protrudes from the cavity wall of the insertion cavity 54. The depth of the insertion cavity 54 can be adapted to the depth of the connecting rod 53, that is, the connecting rod 53 can be completely inserted into the insertion cavity 54, so as to further save axial space and reduce the axial dimension of the electric drive device. It should be understood that the insertion cavity 54 can also be formed at the lower end of the connecting rod 53. In this case, the upper end of the drive shaft 3 is inserted into the insertion cavity 54, and the second component 52 is provided on the end face or side wall of the drive shaft 3, while the first component 51 protrudes from the cavity wall of the insertion cavity 54.

[0053] In another embodiment, the connecting rod 53 is mounted on the drive shaft 3, and the two are integrated. A insertion cavity 54 is opened at the lower end of the worm gear 1, and the second component 52 is mounted on the cavity wall of the insertion cavity 54, which can also realize the corresponding unlocking action. The specific positions of the connecting rod 53, the first component 51 and the second component 52 can be designed according to the actual processing difficulty, and are not limited to the above examples.

[0054] In order to improve the impact effect of the first component 51 and the second component 52, grease is filled in the insertion groove so that the second component 52 can agitate the grease when the drive shaft 3 is idling, which can play a lubricating role. This not only reduces the noise intensity generated when the two collide, but also helps to extend the service life.

[0055] Optionally, the electric drive device also includes a sealing sleeve 6. The sealing sleeve 6 is fitted onto the worm gear 1, and the end face of the sealing sleeve 6 is in sealed sliding contact with the end face of the drive shaft 3.

[0056] Specifically, the sealing sleeve 6 is located at the end of the worm gear 1 near the drive shaft 3. The two can be threaded together for fixation, or fixed together by bolting, bonding, welding, or snap-fitting. The end of the sealing sleeve 6 near the drive shaft 3 has a connecting ring 61. The end face of the connecting ring 61 fits against the upper end face of the drive shaft 3, forming a sealed sliding fit between the two end faces. For example, there is a groove and a protrusion interlocking structure between the end faces. In this embodiment, the end face of the sealing sleeve 6 and the end face of the drive shaft 3 have a sealing labyrinth groove 7 that interlocks with each other. The sealing labyrinth groove 7 is filled with grease or other structures to improve the lubrication effect.

[0057] By setting the sealing sleeve 6, when the drive shaft 3 rotates, the setting of the sealing labyrinth groove 7 makes the drive shaft 3 and the sealing sleeve 6 form a sealed sliding fit. Moreover, when the drive shaft 3 rotates relative to the worm gear 1, it will also rotate relative to the sealing sleeve 6, causing the grease and other structures in the sealing labyrinth groove 7 to diffuse radially under the action of centrifugal force and seal the gap between the drive shaft 3 and the sealing sleeve 6, further improving the sealing effect and reducing the possibility of external foreign objects entering the electric drive device.

[0058] Optionally, the sealed labyrinth groove 7 is filled with grease to seal the gaps in the sealed labyrinth groove 7 by using centrifugal force during the rotation of the sealing sleeve 6 and the drive shaft 3.

[0059] Specifically, the grease can improve the lubrication effect between the sealing sleeve 6 and the drive shaft 3, so that the drive shaft 3 experiences less resistance when idling. When the first component 51 and the second component 52 are engaged, the drive shaft 3 can rotate synchronously with the sealing sleeve 6. At this time, the grease in the sealing labyrinth groove 7 can be thrown outward by centrifugal force, so that the grease fills the gap between the sealing sleeve 6 and the drive shaft 3, further improving the dynamic sealing effect.

[0060] Optionally, the insertion cavity 54 is filled with grease. During the rotation of the drive shaft 3 and the worm gear 1, the grease in the insertion cavity 54 uses centrifugal force to penetrate into the sealing labyrinth groove 7 to seal the gap at the joint between the drive shaft 3 and the worm gear 1.

[0061] Specifically, the grease effectively improves the lubrication between the worm gear 1 and the drive shaft 3, as well as between the first component 51 and the second component 52, enabling them to slide smoothly relative to each other. As the drive component 4 continues to operate, the temperature rises, which increases the air pressure in the insertion cavity 54. This reduces the viscosity of the grease and increases its fluidity. When the worm gear 1 and the drive shaft 3 rotate synchronously, the grease can penetrate into the sealing labyrinth groove 7 under the action of centrifugal force, thereby forming active lubrication and further improving the dynamic sealing effect.

[0062] Optionally, the electric drive device also includes a base 8. The base 8 is sleeved on the outside of the drive shaft 3 and the sealing sleeve 6, a first sealing ring 81 is provided between the base 8 and the sealing sleeve 6, and a second sealing ring 82 is provided between the base 8 and the drive shaft 3.

[0063] Specifically, the base 8 rotates with the sealing sleeve 6 via a first bearing 83 and is rotatably connected to the drive shaft 3 via a second bearing 84. A first sealing groove is formed in the base 8 near the upper end of the sealing sleeve 6, and a first sealing ring 81 is disposed in the first sealing groove. A second sealing groove is formed in the base 8 near the upper end of the drive shaft 3, and a second sealing ring 82 is disposed in the second sealing groove. Both the first sealing ring 81 and the second sealing ring 82 can be X-shaped, with a double-lip structure in all four directions, and the recessed parts are filled with grease. This ensures that the side of the first sealing ring 81 that contacts the sealing sleeve 6 maintains a seal without hindering the rotation of the sealing sleeve 6 with the worm gear 1. Similarly, the side of the second sealing ring 82 that contacts the drive shaft 3 maintains a seal without hindering the rotation of the drive shaft 3. It should be understood that the first sealing ring 81 and the second sealing ring 82 can also be other shapes, such as O-rings or skeleton oil seals, etc., and the specific design can be tailored according to the actual protection level requirements, damping magnitude, and service life requirements.

[0064] Optionally, the second sealing ring 82 is located at one end of the drive shaft 3 near the sealing sleeve 6, and grease can penetrate the second sealing ring 82 to seal the gap between the second sealing ring 82 and the drive shaft 3.

[0065] Specifically, the second sealing ring 82 is positioned close to the upper end face of the drive shaft 3, allowing the grease in the sealing labyrinth groove 7 to overflow under centrifugal force and come into contact with the second sealing ring 82. This improves the lubrication effect between the second sealing ring 82 and the drive shaft 3, and also seals the gap between the second sealing ring 82 and the drive shaft 3, thereby further improving the dynamic sealing effect.

[0066] The gripper includes a housing 10, a plurality of gripping fingers 20, and the aforementioned electric drive device. The electric drive device is disposed in the housing 10; for each gripping finger 20, a linkage of the electric drive device drives the gripping finger to open and close.

[0067] When in use, the gripper uses an electric drive device to drive multiple gripping fingers 20 to clamp the product. After clamping, the electric drive device can form a self-locking mechanism using the worm gear 2 and worm 1. When it is necessary to release the product and reverse the drive shaft 3, the unlocking mechanism 5 generates an impact to drive the worm 1 to rotate, thereby releasing the self-locking mechanism. This allows the gripper to lock and unlock without the need for an additional electromagnetic locking structure, thus effectively reducing the overall size of the gripper and enabling it to be used in confined spaces. It also simplifies the gripper's structure and reduces its overall weight, thereby effectively improving the gripper's load capacity and movement flexibility.

[0068] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An electric drive device, characterized in that, include: Worm (1); The worm gear (2) meshes with the worm (1) and is used to fix it coaxially with the connecting rod to drive the connecting rod to rotate; The drive shaft (3) is inserted into the worm gear (1) at one end. The worm gear (1) and the drive shaft (3) can rotate relative to each other within a first angle range and are connected by the unlocking mechanism (5). A drive component (4) is connected to the other end of the drive shaft (3) to drive the drive shaft (3) to rotate; The unlocking mechanism (5) includes a first component (51) and a second component (52) that are separately arranged. The first component (51) and the second component (52) are respectively fixed to the opposite ends of the drive shaft (3) and the worm (1). When the drive component (4) is started, the first component (51) and the second component (52) impact each other so that the drive shaft (3) drives the worm (1) to rotate.

2. The electric drive device according to claim 1, characterized in that, The first component (51) and the second component (52) are distributed circumferentially along the drive shaft (3) so that the drive shaft (3) can reverse within the first angle range and drive the second component (52) and the first component (51) to generate an impact. Either the worm gear (1) or the drive shaft (3) is provided with a connecting rod (53), the first component (51) is provided on the connecting rod (53), and the other is provided with a plug-in cavity (54) for the connecting rod (53) to be inserted, and the second component (52) is provided on the cavity wall of the plug-in cavity (54).

3. The electric drive device according to claim 2, characterized in that, The contact surface between the first component (51) and the second component (52) is perpendicular to the rotation direction of the drive shaft (3).

4. The electric drive device according to claim 2, characterized in that, The electric drive device further includes: A sealing sleeve (6) is fitted onto the worm gear (1), and the end face of the sealing sleeve (6) is in sealed sliding contact with the end face of the drive shaft (3).

5. The electric drive device according to claim 4, characterized in that, The end face of the sealing sleeve (6) and the end face of the drive shaft (3) have a sealing labyrinth groove (7) that is mutually inserted and engaged.

6. The electric drive device according to claim 5, characterized in that, The sealing labyrinth groove (7) is filled with grease to seal the gap between the sealing labyrinth groove (7) by centrifugal force during the rotation of the sealing sleeve (6) and the drive shaft (3).

7. The electric drive device according to claim 5, characterized in that, The insertion cavity (54) is filled with grease. During the rotation of the drive shaft (3) and the worm (1), the grease in the insertion cavity (54) invades the sealing labyrinth groove (7) by centrifugal force to seal the gap at the joint between the drive shaft (3) and the worm (1).

8. The electric drive device according to claim 6, characterized in that, The electric drive device further includes: A base (8) is sleeved on the outside of the drive shaft (3) and the sealing sleeve (6). A first sealing ring (81) is provided between the base (8) and the sealing sleeve (6), and a second sealing ring (82) is provided between the base (8) and the drive shaft (3).

9. The electric drive device according to claim 8, characterized in that, The second sealing ring (82) is located at one end of the drive shaft (3) near the sealing sleeve (6), and the grease can penetrate the second sealing ring (82) to seal the gap between the second sealing ring (82) and the drive shaft (3).

10. A gripper, characterized in that, include: Casing (10); The electric drive device as described in any one of claims 1 to 9 is disposed in the housing (10); Multiple gripper fingers (20) are driven by the linkage of the electric drive device to open and close.

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