Electric clamp holder

Abstract

An electric gripper (10A) is provided with: an electric motor (34); a pair of movable members (40) for gripping the workpiece; a guide rod (38) that guides the pair of movable members; and a power transmission mechanism (42) that transmits power of the motor to the pair of movable members and causes the pair of movable members to approach and separate along the guide rod, the pair of movable members being respectively provided with a sliding bearing (78) that slides with respect to the guide rod.

Description

Technical Field

[0001] This invention relates to an electric gripper. Background Technology

[0002] Japanese Patent Application Publication No. 2018-176306 discloses an electric gripper having an electric motor and a pair of movable parts for holding a workpiece. Summary of the Invention

[0003] Looking forward to better electric grippers.

[0004] The purpose of this invention is to solve the above-mentioned problems.

[0005] One aspect of the invention is an electric gripper comprising: an electric motor; a pair of movable parts for gripping a workpiece; a guide rod for guiding the pair of movable parts; and a power transmission mechanism for transmitting power from the electric motor to the pair of movable parts, causing the pair of movable parts to approach and separate along the guide rod, wherein each of the pair of movable parts is provided with a sliding bearing that slides relative to the guide rod.

[0006] According to the present invention, a better electric gripper can be obtained. Attached Figure Description

[0007] Figure 1 This is a perspective view of the electric clamp according to the first embodiment of the present invention.

[0008] Figure 2 yes Figure 1 Front view of the electric gripper.

[0009] Figure 3 yes Figure 1 A bottom view of the electric clamp.

[0010] Figure 4 yes Figure 1 An exploded perspective view of the electric gripper.

[0011] Figure 5 yes Figure 1 An exploded perspective view of the electric gripper.

[0012] Figure 6 This is a 3D view of the main body of the clamp.

[0013] Figure 7 This is a partially abbreviated exploded 3D view of the main body of the clamp.

[0014] Figure 8 yes Figure 1 A longitudinal sectional view of the electric clamp.

[0015] Figure 9It is along Figure 8 A cross-sectional view of the IX-IX line.

[0016] Figure 10 It is along Figure 8 A cross-sectional view along the XX line.

[0017] Figure 11 It is along Figure 8 A cross-sectional view along line XI-XI.

[0018] Figure 12 This is a perspective view of the electric clamp according to the second embodiment of the present invention.

[0019] Figure 13 yes Figure 12 Front view of the electric gripper.

[0020] Figure 14 yes Figure 12 A bottom view of the electric clamp.

[0021] Figure 15 yes Figure 12 An exploded perspective view of the electric gripper.

[0022] Figure 16 This is a 3D view of the main body of the clamp.

[0023] Figure 17 yes Figure 12 A longitudinal sectional view of the electric clamp.

[0024] Figure 18 It is along Figure 17 A cross-sectional view of the XVIII-XVIII line. Detailed Implementation

[0025] (First Implementation)

[0026] The electric clamp 10A of the first embodiment of the present invention will now be described using the accompanying drawings. Figure 1 As shown, the electric gripper 10A is used, for example, by being mounted on the tip of a robot arm (not shown). In the description of the electric gripper 10A, it is sometimes referred to as... Figure 1 The X direction is called the width direction. Figure 1 The Y direction is called the thickness direction. Figure 1 The Z-direction is called the height direction. The width direction, thickness direction, and height direction are orthogonal to each other.

[0027] like Figure 2 and Figure 3As shown, the electric gripper 10A can attach and detach a pair of attachments 300 for holding the workpiece. The shape, size, etc. of the attachments 300 are appropriately selected according to the material, shape, size, etc. of the workpiece. The electric gripper 10A allows the pair of attachments 300 to approach and separate in the X direction.

[0028] like Figure 1 As shown, the electric gripper 10A is formed in a longitudinal shape. (As indicated...) Figures 1-3 As shown, the length (maximum length) L1 of the electric gripper 10A in the height direction (Z direction) is longer than the length (maximum length) L2 of the electric gripper 10A in the thickness direction (Y direction). Therefore, in the electric gripper 10A, the thickness direction can be shortened.

[0029] like Figure 4 and Figure 5 As shown, the electric gripper 10A includes a housing 12 and a gripper body 14. The housing 12 houses the gripper body 14. The housing 12 includes a first cover member 16 covering the gripper body 14 in the Z1 direction and a second cover member 18 covering the gripper body 14 in the Z2 direction. The first cover member 16 and the second cover member 18 are connected by a fastening member 20. Figure 4 As shown, an adapter 24 and an external connector 26 are mounted on the first wall surface 22 facing the Z1 direction of the first cover component 16. The adapter 24 is detachable relative to the tip of the robot arm. A cable (not shown) is detachable from the external connector 26.

[0030] like Figure 3 and Figure 5 As shown, a pair of elongated holes 30 extending in the width direction (X direction) are formed on the second wall surface 28 of the second cover member 18 facing the Z2 direction. The pair of elongated holes 30 are arranged side by side in the thickness direction (Y direction). Parts of a pair of movable members 40 forming the clamp body 14 are inserted through the pair of elongated holes 30. A pair of accessories 300 can be attached or detached from each of the pair of movable members 40.

[0031] like Figures 6 to 11 As shown, the gripper body 14 includes a support member 32, a motor 34, a controller 36, a pair of guide rods 38, a pair of movable parts 40, and a power transmission mechanism 42. The power transmission mechanism 42 has a feed screw shaft 44 for bringing the pair of movable parts 40 closer together and separating them. Figure 4 and Figure 8 As shown, the adapter 24, motor 34, feed screw shaft 44, and a pair of guide rods 38 are arranged sequentially along the height direction.

[0032] The support member 32 is secured to the housing 12 by a plurality of fastening members not shown. The support member 32 has high rigidity. The support member 32 is integrally formed, for example, from a metal material or a rigid resin material. The constituent material of the support member 32 is not particularly limited.

[0033] like Figure 7 and Figure 8 As shown, the support member 32 has a base portion 46, a pair of first support portions 48, and a second support portion 50. The base portion 46 is a plate-shaped portion extending in the X direction. A through hole 52 is formed in the center of the base portion 46. The pair of first support portions 48 protrude from both ends of the base portion 46 in the X direction in the Z2 direction. The pair of first support portions 48 support a pair of guide rods 38.

[0034] like Figure 7 and Figure 9 As shown, each first support portion 48 has a pair of rod support holes 54 through which a pair of guide rods 38 are inserted. The pair of rod support holes 54 are arranged at intervals in the Y direction. Figure 7 As shown, the second support portion 50 protrudes from the base portion 46 in the Z1 direction and extends in a ring shape. The second support portion 50 supports the power transmission mechanism 42. The internal space of the second support portion 50 communicates with the through hole 52.

[0035] like Figure 4 , Figure 6 and Figure 8 As shown, the motor 34 is driven by electricity supplied via an external connector 26. The motor 34 extends in the X direction. The motor 34 has a motor body 56 and a rotating shaft 58. The motor body 56 is formed in a cuboid shape. The motor body 56 is fixed to the support member 32 via a plate member 59. The rotating shaft 58 protrudes from the motor body 56 in the X1 direction.

[0036] Controller 36 controls motor 34. Controller 36 is integrally disposed within the motor body 56 on a surface facing the opposite side (X2 direction) to the rotation axis 58. Figure 6 As shown, the length of the controller 36 in the Y direction is longer than the length of the motor body 56 in the Y direction. Viewed from the Z direction, the controller 36 is L-shaped. The controller 36 has a protrusion 60 that protrudes in the Y2 direction relative to the motor body 56.

[0037] The protrusion 60 extends in the X1 direction. Viewed from the Y direction, a portion of the protrusion 60 overlaps with the motor body 56. In other words, the protrusion 60 is integrally formed on the surface of the motor body 56 facing the Y2 direction. Alternatively, the protrusion 60 may also protrude in the Y1 direction relative to the motor body 56. Figure 4As shown, a motor connector 62 is provided on the surface of the protrusion 60 facing the X2 direction. The motor connector 62 is connected to the external connector 26 via a connecting cable (not shown).

[0038] like Figure 7 and Figure 9 As shown, a pair of guide rods 38 guide a pair of movable parts 40 in the X direction. The pair of guide rods 38 are arranged side by side in the Y direction. The guide rods 38 extend in the X direction along the rotation axis 58 of the motor 34. The ends of the guide rods 38 pass through the rod support holes 54 of the support member 32. The guide rods 38 are mounted to the first support portion 48 by fastening members 63.

[0039] like Figure 7 , Figure 9 and Figure 10 As shown, the axial middle portion of the guide rod 38 is supported by an intermediate support portion 64. The intermediate support portion 64 is fixed to the support member 32 by a plurality of fastening members 66. In addition, the intermediate support portion 64 is fixed to the second cover member 18 (see reference 18) by fastening members 68. Figure 10 A pair of intermediate insertion holes 70 are formed in the intermediate support portion 64 for inserting a pair of guide rods 38.

[0040] like Figure 7 and Figure 9 As shown, a pair of movable parts 40 move in the X direction under the power of a motor 34. Each movable part 40 has a movable body 72 and a pair of mounting portions 74. The movable body 72 is plate-shaped. A pair of insertion holes 76 are formed in the movable body 72 for inserting a pair of guide rods 38. The pair of insertion holes 76 are arranged side-by-side, separated from each other, in the Y direction. Figure 9 As shown, two sliding bearings 78 are disposed in each through hole 76. The sliding bearings 78 are formed in a ring shape and are fixed to the movable body 72. The sliding bearings 78 slide relative to the guide rod 38 in the X direction. Alternatively, only one sliding bearing 78 may be disposed in each through hole 76.

[0041] like Figure 7 As shown, a pair of mounting portions 74 protrude from both ends of the movable body 72 in the Y direction toward the Z2 direction. Mounting portions 74 are provided with mounting attachments 300 (see reference 300). Figure 2 Multiple mounting holes 80.

[0042] like Figure 8 As shown, the power transmission mechanism 42 transmits power from the electric motor 34 to a pair of movable parts 40. The power transmission mechanism 42 has a feed screw shaft 44, an intermediate part 82, and a pair of nuts 84.

[0043] The feed screw shaft 44 extends along the rotation axis 58 in the X direction. Axially, the total length L3 of the motor 34 is shorter than the total length L4 of the feed screw shaft 44. One end of the feed screw shaft 44 (the end in the X1 direction) is aligned relative to the rotation axis 58. The feed screw shaft 44 extends in the X2 direction relative to the end of the motor 34.

[0044] The end of the controller 36 opposite to the motor 34 is located in the X direction between the other end (the end in the X2 direction) of the feed screw shaft 44 and the motor 34. The total length L4 of the feed screw shaft 44 in the X direction is longer than the distance L5 in the X direction from the end of the motor 34 in the X1 direction to the end of the controller 36 in the X2 direction. In the axial direction of the feed screw shaft 44, the total length L4 of the feed screw shaft 44 is longer than the total length L6 of the guide rod 38 (see reference). Figure 9 )short.

[0045] The feed screw shaft 44 is supported by a pair of bearings 86 fixed to the second support 50, enabling it to rotate. The bearings 86 are, for example, rolling bearings, but can also be sliding bearings. Figure 7 and Figure 8 As shown, the feed screw shaft 44 includes a right-hand threaded portion 88 and a left-hand threaded portion 90. The right-hand threaded portion 88 and the left-hand threaded portion 90 are arranged separately from each other in the X direction. That is, no external thread is formed in the central portion of the feed screw shaft 44 in the axial direction.

[0046] like Figure 6 and Figure 8 As shown, the intermediate component 82 transmits the rotational force of the motor 34 to the feed screw shaft 44. The intermediate component 82 has a first pulley 92, a second pulley 94, and a belt 96. The first pulley 92 is an annular component fixed to the rotating shaft 58. The second pulley 94 is an annular component fixed to one end (the end in the X1 direction) of the feed screw shaft 44. The belt 96 is formed in an annular shape and wound around the first pulley 92 and the second pulley 94. The first pulley 92 and the second pulley 94 are arranged side-by-side in the Z direction. The intermediate component 82 may also be composed of, for example, multiple gears.

[0047] like Figure 7 and Figure 8 As shown, a pair of nuts 84 are screwed into a right-hand threaded portion 88 and a left-hand threaded portion 90, respectively. Nut 84 includes a nut body 98 and a pair of pressing portions 100a and 100b. The nut body 98 has a quadrilateral shape. Figure 8 As shown, a hole 102 is formed in the nut body 98 for the feed screw shaft 44 to pass through. An internal thread is formed in the hole 102 to engage with the external thread of the feed screw shaft 44.

[0048] like Figure 7As shown, a pair of pressing parts 100a and 100b are plate-shaped portions protruding from the nut body 98 in the Z2 direction. The pair of pressing parts 100a and 100b are opposite each other in a separated state in the X direction. The pressing part 100a is located on the central side of the feed screw shaft 44 in the axial direction compared to the pressing part 100b.

[0049] like Figure 7 , Figure 8 and Figure 11 As shown, a pin member 104 is disposed between a pair of pressing parts 100a and 100b. The pin member 104 engages with the pair of pressing parts 100a and 100b. Figure 8 and Figure 11 As shown, the pin member 104 is inserted into a retaining hole 106 formed in the Z1 direction face of the movable body 72. With the pin member 104 inserted into the retaining hole 106, it is fixed to the movable body 72 by a fastening member 108. The pin member 104 is located at the center of the movable body 72 in the Y direction.

[0050] In the electric clamp 10A, when the rotating shaft 58 of the motor 34 rotates in the first rotation direction, the rotational force of the motor 34 is transmitted to the feed screw shaft 44 via the intermediate component 82 (first pulley 92, belt 96, and second pulley 94), causing the feed screw shaft 44 to rotate. As the feed screw shaft 44 rotates, a pair of nuts 84 move towards each other relative to the feed screw shaft 44. Consequently, the pressing portion 100b of the nuts 84 presses against the pin component 104, thus causing the pair of movable components 40 to move towards each other. Therefore, the workpiece can be held by means of the attachment 300 fitted to the pair of movable components 40.

[0051] On the other hand, when the rotating shaft 58 of the motor 34 rotates in a second rotation direction opposite to the first rotation direction, the feed screw shaft 44 rotates in the opposite direction. In this case, a pair of nuts 84 move relative to the feed screw shaft 44 in a direction that separates them from each other. As a result, the pressing part 100a of the nut 84 presses against the pin member 104, and thus the pair of movable parts 40 move in a direction that separates them from each other. As a result, the accessory 300 can be separated from the workpiece.

[0052] According to the above embodiment, since the pair of movable parts 40 slide relative to the guide rod 38 via the sliding bearing 78, the structure can be simplified compared to the case where the movable parts are guided by a linear guide having multiple rolling elements (balls). This allows for a lighter electric gripper 10A. Therefore, a superior electric gripper 10A can be obtained.

[0053] (Second Implementation)

[0054] Next, the electric gripper 10B according to the second embodiment of the present invention will be described with reference to the accompanying drawings. In the electric gripper 10B of this embodiment, the same reference numerals are used to denote the same structures as those in the electric gripper 10A described above, and detailed descriptions thereof are omitted. Furthermore, in this embodiment, the same structures as those in the electric gripper 10A achieve the same effects.

[0055] like Figure 12 As shown, the electric gripper 10B is formed in a horizontally elongated shape (flat shape). For example... Figures 12-14 As shown, the length (maximum length) L7 of the electric gripper 10B in the height direction (Z direction) is shorter than the length (maximum length) L8 of the electric gripper 10B in the thickness direction (Y direction). Therefore, in the electric gripper 10B, the height direction can be shortened.

[0056] like Figure 15 As shown, the electric gripper 10B includes a housing 12a and a gripper body 14a. The housing 12a houses the gripper body 14a. The housing 12a includes a first cover member 16a covering the gripper body 14a from the Z1 direction and a second cover member 18a covering the gripper body 14a from the Z2 direction. The first cover member 16a and the second cover member 18a are connected by a fastening member 20. An adapter 24 and an external connector 26 are mounted on the first wall surface 22a of the first cover member 16a facing the Z1 direction. A pair of elongated holes 30 extending in the width direction (X direction) are formed on the second wall surface 28a of the second cover member 18a facing the Z2 direction (see reference). Figure 14 ).

[0057] like Figures 15-18 As shown, the gripper body 14a includes a support component 32, a motor 34, a controller 36, a pair of guide rods 38, a pair of movable parts 40, and a power transmission mechanism 42. Figure 15 and Figure 17 As shown, the adapter 24, the feed screw shaft 44, and a pair of guide rods 38 are arranged sequentially along the height direction. Figure 15 , Figure 16 and Figure 18 As shown, the motor 34 and the feed screw shaft 44 are arranged along the thickness direction (Y direction).

[0058] like Figure 16 As shown, the motor body 56 is fixed to the support member 32 via the plate member 59a. The controller 36 has a protrusion 60 that protrudes in the Y1 direction (opposite to the support member 32) relative to the motor body 56. The protrusion 60 extends in the X1 direction. Viewed from the Y direction, a portion of the protrusion 60 overlaps with the motor body 56. Figure 16 and Figure 18As shown, the rotation shaft 58 of the motor 34 is arranged in the Y direction relative to one end (the end in the X1 direction) of the feed screw shaft 44.

[0059] The following notes were also made public in connection with the above-mentioned disclosure.

[0060] (Note 1)

[0061] An electric gripper 10A, 10B includes: an electric motor 34; a pair of movable parts 40 for gripping workpieces; a guide rod 38 for guiding the pair of movable parts; and a power transmission mechanism 42 for transmitting power from the electric motor to the pair of movable parts, causing the pair of movable parts to approach and separate along the guide rod, wherein each of the pair of movable parts is provided with a sliding bearing 78 that slides relative to the guide rod.

[0062] With this structure, since a pair of movable parts slide relative to the guide rod via sliding bearings, the structure is simpler compared to the case where the movable parts are guided by a linear guide with multiple rolling elements (balls). This allows for a lighter electric gripper. Therefore, a superior electric gripper can be obtained.

[0063] (Note 2)

[0064] In the electric clamp described in Appendix 1, it may also include a support member 32 that supports both ends of the guide rod.

[0065] With this structure, the guide rod can be prevented from deflecting when the workpiece is held by a pair of movable parts by the support components.

[0066] (Note 3)

[0067] In the electric clamp described in Appendix 2, the support member may also have an intermediate support portion 64 that supports the axial middle portion of the guide rod.

[0068] With this structure, the deflection of the guide rod can be further suppressed by the intermediate support.

[0069] (Note 4)

[0070] In any one of the appendices 1 to 3, the electric clamp may also include a pair of guide rods, with a pair of insertion holes 76 formed in the movable part for the pair of guide rods to pass through, and the sliding bearings respectively disposed in the pair of insertion holes.

[0071] With this structure, the movable parts can be smoothly guided along a pair of guide rods.

[0072] (Note 5)

[0073] In any of the electric clamps described in Appendices 1 to 4, the power transmission mechanism may include: a feed screw shaft 44, which is rotated by the power of the electric motor and includes a right-hand threaded portion 88 and a left-hand threaded portion 90; and a pair of nuts 84, which are respectively screwed into the right-hand threaded portion and the left-hand threaded portion, and the pair of movable members are moved by being axially pushed towards the guide rod by the pair of nuts while supported on the guide rod.

[0074] This structure simplifies the power transmission mechanism, thus enabling the miniaturization of the electric gripper.

[0075] (Note 6)

[0076] In the electric clamp described in Appendix 5, the pair of nuts may each have a pair of pressing portions 100a and 100b, which are arranged to be opposite each other in a separated state in the axial direction of the feed screw shaft, and a pin portion 104 is mounted on each of the pair of movable parts in a manner disposed between the pair of pressing portions.

[0077] With this structure, the movable part can be moved by pressing the pin component with the pressing part of the nut. In this case, the movable part can be positioned near the nut, and the pressing force of the pressing part can be efficiently transmitted to the movable part. In addition, the electric clamp can be miniaturized.

[0078] (Note 7)

[0079] In the electric clamp described in Appendix 5, the motor, the feed screw shaft, and the guide rod may also be arranged sequentially along a height direction orthogonal to the rotation axis 58 of the motor.

[0080] This structure allows for a reduction in the thickness of the electric gripper.

[0081] (Note 8)

[0082] In the electric gripper described in Appendix 7, an adapter 24 may also be included, which can be attached to and detached from the robot arm. The adapter, the motor, the feed screw shaft, and the guide rod are arranged sequentially along the height direction.

[0083] This structure allows for a reduction in the thickness of the electric gripper.

[0084] (Note 9)

[0085] In the electric gripper described in Appendix 7 or 8, the length L1 of the electric gripper in the height direction may be longer than the length L2 of the electric gripper in the thickness direction orthogonal to the height direction.

[0086] This structure allows for a reduction in the thickness of the electric gripper.

[0087] (Postscript 10)

[0088] In any of the electric clamps described in Appendices 5 to 9, the feed screw shaft and the guide rod may be arranged along a height direction orthogonal to the rotation axis of the motor, and the motor and the feed screw shaft may be arranged along a thickness direction orthogonal to the height direction.

[0089] This structure allows for a reduction in the length of the electric gripper in the height direction.

[0090] (Postscript 11)

[0091] In the electric gripper described in Appendix 10, there may also be an adapter that can be attached and detached relative to the robot arm, wherein the adapter, the feed screw shaft and the guide rod are arranged sequentially along the height direction.

[0092] With this structure, the length in the thickness direction of the electric gripper can be suppressed.

[0093] (Postscript 12)

[0094] In the electric gripper described in Appendix 10 or 11, the length L7 in the height direction of the electric gripper may be shorter than the length L8 in the thickness direction of the electric gripper.

[0095] This structure allows for a reduction in the length of the electric gripper in the height direction.

[0096] (Postscript 13)

[0097] In any one of the appendices 7 to 12, the electric clamp may also have the following: a first pulley 92 disposed on the rotating shaft; a second pulley 94 disposed at one end of the feed screw shaft; and an annular belt 96 wound around the first pulley and the second pulley, the first pulley and the second pulley being arranged side by side.

[0098] This structure enables the power transmission mechanism to be miniaturized and allows the power of the electric motor to be efficiently transmitted to the feed screw shaft.

[0099] (Postscript 14)

[0100] In the electric clamp described in Appendix 13, the total length L3 of the motor may be shorter than the total length L4 of the feed screw shaft in the axial direction.

[0101] This structure allows for a reduction in the length of the axial electric clamp for the feed screw shaft.

[0102] (Postscript 15)

[0103] In the electric clamp described in Appendix 14, the electric motor may also have: an electric motor body 56; and a rotating shaft protruding from the electric motor body, wherein a controller 36 for controlling the electric motor is integrally provided on the surface of the electric motor body facing the side opposite to the rotating shaft.

[0104] This structure enables the electric gripper to be miniaturized compared to a configuration where the motor and controller are separate.

[0105] (Postscript 16)

[0106] In the electric clamp described in Appendix 15, the end of the controller on the side opposite to the motor may also be located between the other end of the feed screw shaft and the motor.

[0107] This structure allows for a reduction in the length of the axial electric clamp for the feed screw shaft.

[0108] (Postscript 17)

[0109] In the electric gripper described in Appendix 16, the controller may also have a protrusion 60 that protrudes from the motor body toward a thickness direction orthogonal to the height direction.

[0110] With this structure, the length of the controller in the height direction can be suppressed because the protrusion of the controller protrudes in the thickness direction relative to the motor body.

[0111] (Postscript 18)

[0112] In the electric gripper described in Appendix 17, a portion of the protrusion may overlap with the motor body when viewed from the thickness direction.

[0113] With this structure, the length of the controller in the height direction can be further suppressed.

[0114] (Postscript 19)

[0115] In any one of the electric clamps described in Appendices 7 to 12, the total length of the feed screw shaft may be shorter than the total length L6 of the guide rod in the axial direction.

[0116] This structure allows for a reduction in the length of the axial electric clamp for the feed screw shaft.

[0117] Furthermore, the present invention is not limited to the above disclosure, and various structures may be adopted without departing from the spirit of the present invention.

[0118] Symbol Explanation

[0119] 10A, 10B Electric Clamping Device

[0120] 24 Adapters

[0121] 32 Support components

[0122] 34 Electric motors

[0123] 36 Controllers

[0124] 38 guide rods

[0125] 40 movable parts

[0126] 42 Power transmission mechanism

[0127] 44 Feed screw shaft

[0128] 56. Motor body

[0129] 58 Rotation axis

[0130] 60 Protrusion

[0131] 64 Intermediate Support Section

[0132] 76 Through-hole

[0133] 78 Sliding bearing

[0134] 84 Nut

[0135] 88 Right-hand thread section

[0136] 90 Left thread section

[0137] 92 First pulley

[0138] 94 Second pulley

[0139] 96 belt

[0140] 100a, 100b Pressing Part

[0141] 104 Pin Components.

Claims

1. An electric gripper (10A, 10B), characterized in that, have: Electric motor (34); A pair of movable parts (40) for holding the workpiece; Guide rod (38), which guides the pair of movable parts; and A power transmission mechanism (42) transmits power from the electric motor to the pair of movable parts, causing the pair of movable parts to approach and separate along the guide rod. Each of the pair of movable parts is provided with a sliding bearing (78) that slides relative to the guide rod.

2. The electric gripper according to claim 1, characterized in that, It also includes a support component (32) that supports both ends of the guide rod.

3. The electric gripper according to claim 2, characterized in that, An intermediate support portion (64) is installed on the support component to support the axial middle portion of the guide rod.

4. The electric gripper according to claim 1, characterized in that, A pair of guide rods are provided. The movable part has a pair of through holes (76) for inserting a pair of guide rods. The sliding bearings are respectively arranged in the pair of through holes.

5. The electric gripper according to claim 1, characterized in that, The power transmission mechanism has: A feed screw shaft (44), which is rotated by the power of the motor, and includes a right-hand threaded portion (88) and a left-hand threaded portion (90); and A pair of nuts (84) that respectively engage with the right-hand threaded portion and the left-hand threaded portion. The pair of movable parts, supported by the guide rod, are moved by the pair of nuts pushing them axially toward the guide rod.

6. The electric gripper according to claim 5, characterized in that, The pair of nuts each have a pair of pressing parts (100a, 100b), which are arranged opposite each other in a separated state in the axial direction of the feed screw shaft. In each of the pair of movable parts, a pin component (104) is mounted in such a manner as to be disposed between the pair of pressing parts.

7. The electric gripper according to claim 5, characterized in that, The motor, the feed screw shaft, and the guide rod are arranged sequentially along a height direction orthogonal to the rotation axis (58) of the motor.

8. The electric gripper according to claim 7, characterized in that, It also includes an adapter (24) that can be loaded and unloaded relative to the robotic arm. The adapter, the motor, the feed screw shaft, and the guide rod are arranged sequentially along the height direction.

9. The electric gripper according to claim 7, characterized in that, The length (L1) of the electric gripper in the height direction is longer than the length (L2) of the electric gripper in the thickness direction, which is orthogonal to the height direction.

10. The electric gripper according to claim 5, characterized in that, The feed screw shaft and the guide rod are arranged along a height direction orthogonal to the rotation axis of the motor. The motor and the feed screw shaft are arranged along the thickness direction orthogonal to the height direction.

11. The electric gripper according to claim 10, characterized in that, It also includes an adapter that allows for loading and unloading relative to the robotic arm. The adapter, the feed screw shaft, and the guide rod are arranged sequentially along the height direction.

12. The electric gripper according to claim 10, characterized in that, The length (L7) of the electric gripper in the height direction is shorter than the length (L8) of the electric gripper in the thickness direction.

13. The electric clamp according to any one of claims 7 to 12, characterized in that, The power transmission mechanism has: A first pulley (92) is disposed on the rotating shaft; A second pulley (94) is disposed at one end of the feed screw shaft; and A ring-shaped belt (96) is wound around the first pulley and the second pulley. The first pulley and the second pulley are arranged side by side.

14. The electric gripper according to claim 13, characterized in that, Along the axial direction of the feed screw shaft, the total length (L3) of the motor is shorter than the total length (L4) of the feed screw shaft.

15. The electric gripper according to claim 14, characterized in that, The electric motor has: The main body of the electric motor (56); and The rotating shaft protruding from the motor body, A controller (36) for controlling the motor is integrally provided on the side of the motor body facing the opposite side of the rotation axis.

16. The electric gripper according to claim 15, characterized in that, The end of the controller on the side opposite to the motor is located between the other end of the feed screw shaft and the motor.

17. The electric gripper according to claim 16, characterized in that, The controller has a protrusion (60) that protrudes from the motor body toward a thickness direction orthogonal to the height direction.

18. The electric gripper according to claim 17, characterized in that, Viewed from the thickness direction, a portion of the protrusion overlaps with the motor body.

19. The electric clamp according to any one of claims 7 to 12, characterized in that, In the axial direction of the feed screw shaft, the total length of the feed screw shaft is shorter than the total length (L6) of the guide rod.

Images