Compact high-precision synchronous clamping self-locking high-protection heavy-load electric claw

Abstract

The application discloses a compact high-precision synchronous clamping self-locking high-protection heavy-load electric claw, which comprises a shell unit and a power unit. Two transversely arranged rack sliding grooves are formed in the upper portion of the shell unit, and a power accommodating cavity is arranged in the shell unit. The power unit comprises two rack sliding blocks and a power transmission assembly arranged in the power accommodating cavity. The rack sliding blocks are slidingly assembled in the rack sliding grooves. The power transmission assembly comprises a rotary power piece, a wheel system, a worm, a worm wheel and a terminal transmission gear which are sequentially and transmissionally connected. The rotary power piece and the worm are arranged side by side in the transverse direction, and the wheel system is arranged at the same end of the rotary power piece and the worm. Compared with the prior art, the compact high-precision synchronous clamping self-locking high-protection heavy-load electric claw has the advantages of high transmission precision, small assembly difficulty, good protection and sealing, compact structure and small size. In addition, the electric claw has the advantages of heavy-load self-locking, and has strong market competitiveness.

Description

Technical Field

[0001] This invention belongs to the field of electric gripper technology, and particularly relates to a compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper. Background Technology

[0002] In the design of two-finger electric grippers, if a compact overall size, high clamping force, and a self-locking function in the event of power failure are required, a worm gear mechanism can be considered as the intermediate transmission structure. The worm gear mechanism inherently possesses reverse self-locking characteristics, ensuring the workpiece remains clamped even after power failure; it also amplifies the motor's output torque, allowing a small-power motor to achieve a large clamping force, perfectly meeting the design requirements of small, heavy-duty electric grippers.

[0003] In the prior art, Chinese Patent Publication No. CN2234423U discloses a novel floating parallel electric gripper, including a clamping part and a driving part. The clamping part is movably connected to the driving part. The clamping part includes a clamping base, and a slide rail is fixedly arranged in the middle of the clamping base. A first clamping claw is arranged on one side of the slide rail, and a second clamping claw is arranged on the other side. Both the first and second clamping claws can slide parallel to each other along the slide rail. A rack is fixedly connected to the bottom of both the first and second clamping claws. The driving part includes an intermediate transmission part and a driving motor. The intermediate transmission part includes a worm gear, a worm, and a driving gear. The intermediate transmission part is installed in the clamping base and can drive the first and second clamping claws to move parallel to each other along the slide rail.

[0004] Existing novel floating parallel electric grippers have the following shortcomings: (1) Low transmission accuracy and difficult assembly. The transmission structure of this new floating parallel electric gripper is a split transmission structure with a single worm gear driving a double worm gear set, and then two independent gears drive two racks respectively. This transmission structure has inherent defects: the two transmission chains run independently, the motion synchronization is poor, and the gripping finger movement deviation is easy to occur; during assembly, the meshing position of the gears and racks needs to be adjusted one by one, which is difficult to assemble and the process is complicated.

[0005] (2) Poor sealing performance. In order to accommodate the installation and housing of two sets of worm gear sets, the upper part of the clamping base is an open structure, and the slide rail is a detachable structure. The rack is installed below the clamping claw, and there must be a splicing gap. This series of structures results in multiple sliding openings and assembly gaps in the transmission area, making it difficult to form a closed cavity inside the clamping base; the dustproof and waterproof capabilities are weak, the protection level is low, and it is difficult to adapt to harsh working environments.

[0006] (3) Poor structural compactness. The motor and worm gear, which are long in axial dimension, are vertically mounted and stacked in the height direction, resulting in a large vertical profile of the electric claw and a large space occupied by the whole machine, which is not conducive to miniaturized integrated installation.

[0007] Therefore, it is necessary to provide a new compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper to solve the above-mentioned technical problems. Summary of the Invention

[0008] (a) Technical problems to be solved Based on this, the present invention provides a compact, high-precision, synchronous clamping self-locking, high-protection, heavy-duty electric gripper to solve the technical problems of low precision, poor protective sealing, and large size of existing electric grippers.

[0009] (II) Technical Solution To address the aforementioned technical problems, this invention proposes a compact, high-precision, synchronous, self-locking, high-protection, heavy-duty electric gripper, comprising a housing unit and a power unit. The housing unit has two transversely arranged rack grooves on its upper part, and a power receiving cavity is provided inside the housing unit. The power unit includes two rack sliders and a power transmission assembly disposed within the power receiving cavity. The two rack sliders are slidably fitted into the two rack grooves in a one-to-one correspondence. The power transmission assembly includes a rotating power source, a gear train, a worm gear, a worm wheel, and an end-drive gear connected in sequence. The rotating power source and the worm gear are arranged side-by-side transversely, and the gear train is arranged in the... The rotational power is directed at one end of the worm gear; rack teeth are respectively provided on the inner sides of the two rack sliders, and the adjacent sidewalls of the two rack grooves are respectively provided with communication ports that communicate with the power receiving cavity; the worm wheel is coaxially and fixedly connected to the end transmission gear, and the two sides of the end transmission gear mesh with the rack teeth of the two rack sliders through the corresponding communication ports; the rotational power outputs power, which drives the end transmission gear to rotate through the gear train, worm gear, and worm wheel in a step-by-step transmission, thereby driving the two rack sliders to slide synchronously relative to each other or in opposite directions; and the rack sliders always cover the corresponding communication ports during the entire sliding process.

[0010] Preferably, the housing unit includes an upper shell and a middle shell; the rack groove is located on the upper part of the upper shell; the power receiving cavity includes a first cavity located on the lower part of the upper shell, the first cavity including an upper gear shaft hole, a gear receiving hole, and an upper bearing groove that are coaxially connected vertically, a partition wall is provided between the two rack grooves, the upper gear shaft hole is formed in the partition wall, and the connecting port communicates with the gear receiving hole; the middle shell includes a middle main shell, and the power receiving cavity further includes a second cavity, the second cavity being located on the upper part of the middle main shell corresponding to the upper bearing groove, and the second cavity including a top-to-bottom section... The lower bearing groove, worm gear hole, support hole, and middle shell connecting countersunk hole are connected in sequence. The power receiving cavity also includes a worm hole, a motor hole, and a gear train hole. The worm hole and motor hole are respectively formed by the left side recess of the middle main shell, and the worm hole and motor hole are arranged vertically. The end drive gear and worm gear are fixedly connected by a bearing mounting cylinder. The end drive gear, bearing mounting cylinder, and worm gear are coaxial and together form a gear and worm gear assembly. The gear and worm gear assembly includes a central hole that passes through it axially. The compact, high-precision, synchronous clamping self-locking, high-protection, heavy-duty electric gripper also includes a through-hole. The central shaft with a central hole and a first bearing sleeved on the outer wall of the bearing mounting cylinder are described. The upper end of the central shaft extends into the upper gear shaft hole, and the lower part of the central shaft has a step for supporting the lower part of the gear and worm gear assembly. The lower end of the central shaft extends into the support hole. The end drive gear is disposed in the gear receiving hole, and the worm gear is disposed in the worm gear hole. The upper bearing groove and the lower bearing groove mate to form a complete first bearing mounting cavity. The first bearing is housed in the first bearing mounting cavity, and the bottom of the upper bearing groove and the lower bearing groove are respectively used for supporting the upper and lower parts of the first bearing. The end face is limited; the worm is installed in the worm hole, and the worm meshes with the worm wheel through the connection between the worm wheel hole and the worm hole; the rotational power is installed in the motor hole; the gear train is installed in the gear train hole, and the gear train is connected to the rotational power through the connection between the motor hole and the gear train hole; the lower end of the middle shell connecting countersunk hole is connected to the motor hole; the compact high-precision synchronous clamping self-locking high-protection heavy-duty electric gripper also includes a threaded connector, one end of which is received in the middle shell connecting countersunk hole, and the other end extends into the lower part of the central shaft to fix the central shaft.

[0011] Preferably, the bottom of the rack slider is provided with a recessed travel limiting groove, and the bottom wall of the upper shell is provided with a positioning countersunk hole facing the rack groove; the compact high-precision synchronous clamping self-locking high-protection heavy-duty electric gripper also includes a positioning countersunk screw, the lower part of which is located in the positioning countersunk hole, and the upper part of which extends into the travel limiting groove to limit the sliding travel of the rack slider.

[0012] Preferably, the power receiving cavity further includes an intermediate gear shaft mounting hole and a limiting pin mounting hole disposed within the main housing. The intermediate gear shaft mounting hole is located between the worm gear hole and the motor hole, and the three are parallel and spaced apart. One end of the intermediate gear shaft mounting hole communicates with the gear train hole. The limiting pin mounting hole is disposed above the motor hole, and its upper and lower ends communicate with the intermediate gear shaft mounting hole and the motor hole, respectively. The limiting pin mounting hole is positioned opposite the end of the intermediate gear shaft mounting hole away from the gear train hole. The gear train includes a driving gear, an intermediate gear ring, and a driven gear meshing sequentially. The driving gear is connected to the rotational power, and the driven gear is connected to the worm gear. The intermediate gear ring has recessed left and right bearing grooves at its two internal ends, and a third bearing and a fourth shaft are respectively disposed in the left and right bearing grooves. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper also includes a gear mounting shaft. The gear mounting shaft is a stepped shaft composed of a small shaft section and a large shaft section. The large shaft section extends into the intermediate gear shaft mounting hole. The small shaft section passes through the fourth bearing, the intermediate gear ring, and the third bearing. The end of the small shaft section away from the large shaft section is fixed with an end-limiting screw to prevent the third bearing from axially dislodging. The side of the large shaft section near the small shaft section has a limiting shoulder to prevent the fourth bearing from axially dislodging. The large shaft section has a recessed limiting ring groove at the position opposite the limiting pin mounting hole. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper also includes a radial limiting cone pin. The radial limiting cone pin is installed in the limiting pin mounting hole, and its end abuts against and fixes the wall of the limiting ring groove.

[0013] Preferably, both the large shaft segment and the small shaft segment are cylindrical in shape. The diameter of the large shaft segment is larger than that of the small shaft segment, and the length of the large shaft segment is greater than that of the small shaft segment. The large shaft segment is completely housed within the intermediate gear shaft mounting hole, and the outer side of the large shaft segment fits precisely against the inner wall of the intermediate gear shaft mounting hole. The longitudinal section of the limiting ring groove is a tapered shape with a larger outer diameter and a smaller inner diameter. The end of the radial limiting cone pin that abuts against the limiting ring groove is a tapered shape that matches the shape of the limiting ring groove.

[0014] Preferably, the rack groove extends transversely through the upper shell, and the upper shell has a through upper shell connecting countersunk hole corresponding to the partition wall. The lower part of the upper shell also has an upper positioning blind hole directly opposite the partition wall. The upper part of the middle main shell also has a connecting screw hole and a lower positioning hole corresponding to the upper shell connecting countersunk hole and the upper positioning blind hole. The compact high-precision synchronous clamping self-locking high-protection heavy-duty electric gripper also includes a positioning pin and a connecting countersunk screw. The upper and lower parts of the positioning pin are respectively received in the upper positioning blind hole and the lower positioning hole. The connecting countersunk screw passes through the upper shell connecting countersunk hole and extends into the connecting screw hole to fix the upper shell and the middle main shell.

[0015] Preferably, the housing unit further includes a lower housing, and the upper housing, middle housing, and lower housing are sequentially connected to form a rectangular parallelepiped housing. The middle housing further includes a left center cover plate and a right center cover plate respectively installed on both sides of the middle main housing; the left center cover plate covers the left end opening of the motor hole, and the right center cover plate covers the right end opening of the gear train hole; the lower housing has an upper opening structure and is connected to the middle main housing, the power receiving cavity further includes the lower housing cavity, the lower part of the motor hole communicates with the lower housing cavity, and the lower housing sidewall is provided with a wire passage hole; the lower housing cavity is provided with The system includes a control board unit connected to the rotational power source; a worm unlocking hole is provided on the left middle cover plate, directly opposite the worm gear hole, and a removable sealing plug is provided inside the worm unlocking hole; a first sealing ring is provided between the left middle cover plate and the main housing, surrounding the worm unlocking hole; a second sealing ring is provided between the main housing and the right middle cover plate, surrounding the right end opening of the gear train hole; a wire passing sealing device is provided inside the wire passing hole; and the first bearing is a sealed bearing.

[0016] Preferably, the upper positioning blind hole is waist-shaped, the lower positioning hole is circular, the diameter of the lower positioning hole is equal to the width of the upper positioning blind hole, and the length direction of the upper positioning blind hole is consistent with the length direction of the rack groove.

[0017] Preferably, the countersunk groove of the upper shell connecting countersunk hole faces upward, and the upper shell connecting countersunk hole includes a first connecting countersunk hole and a second connecting countersunk hole respectively provided on both sides of the gear receiving hole; the countersunk head of the positioning countersunk hole faces downward; the positioning countersunk hole includes a first positioning countersunk hole and a second positioning countersunk hole respectively provided on both sides of the gear receiving hole, and the first positioning countersunk hole and the second positioning countersunk hole respectively connect to the two rack slide grooves; the front and rear sides of the middle main shell are respectively provided with lateral electric claw mounting holes, and the lower part of the lower shell is provided with a bottom electric claw mounting hole; the lateral electric claw mounting hole and the bottom electric claw mounting hole are both countersunk blind holes; the middle main shell is also provided with a weight reduction hole; the rotation power is a motor; the lower part of the rack slider is also provided with a recessed grid-like oil groove, and the upper part of each rack slider is fixedly connected with a gripper finger.

[0018] Preferably, the intermediate gear ring includes a small gear ring assembly and a large gear ring. The small gear ring assembly includes a small gear ring and a circular ring mating portion that are coaxially connected end-to-end and fixedly connected. The small gear ring assembly is integrally formed. The left bearing groove is located inside the end of the small gear ring away from the circular ring mating portion. The right bearing groove is located inside the end of the circular ring mating portion away from the small gear ring. The large gear ring is fixedly sleeved on the outer wall of the circular ring mating portion, and the gap between the large gear ring and the small gear ring is zero. The number of teeth on the large gear ring is greater than the number of teeth on the small gear ring. The small gear ring meshes with the driving gear, and the large gear ring meshes with the driven gear.

[0019] (III) Beneficial Effects Compared with the prior art, the compact, high-precision synchronous clamping self-locking high-protection heavy-duty electric gripper of the present invention achieves the advantages of high transmission accuracy, easy assembly, good protection and sealing, compact structure and small size through the combined design of power unit and housing unit. In addition, combined with its heavy-duty self-locking advantage, the electric gripper as a whole has strong market competitiveness. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 This is an exploded view of the present invention; Figure 3 This is an exploded view of the present invention from another perspective; Figure 4 This is a side view schematic diagram of the present invention; Figure 5 For along Figure 4 Schematic sectional view along the middle AA direction; Figure 6 For along Figure 4 Cross-sectional view along the middle BB direction; Figure 7 For along Figure 4 Cross-sectional view along the CC direction (after rotation at a certain angle); Figure 8 This is a cross-sectional view of the housing unit in this invention; Figure 9 This is a three-dimensional schematic diagram of the main shell after partial cross-section in this invention; Figure 10This is a cross-sectional schematic diagram of the intermediate gear ring and related components in this invention.

[0022] Explanation of reference numerals in the attached figures: 1. Third bearing; 2. Fourth bearing; 3. First bearing; 4. Central shaft; 5. Threaded connector; 6. Positioning countersunk screw; 7. Housing unit; 8. Power unit; 9. Gear mounting shaft; 10. End limit screw; 11. Radial limit cone pin; 12. Positioning pin; 13. Connecting countersunk screw; 14. Control board unit; 15. Removable sealing plug; 16. First sealing ring; 17. Second sealing ring; 18. Wire sealing device; 19. Clip finger; 71. Upper shell; 72. Middle shell; 73. Lower shell; 74. Power containment cavity; 81. Rack and pinion slider; 82. Power transmission assembly; 91. Small axle section; 92. Large axle section; 711. Rack groove; 712. Connecting port; 713. First cavity; 714. Partition wall; 715. First positioning countersunk hole; 716. First connecting countersunk hole; 717. Second connecting countersunk hole; 718. Upper positioning blind hole; 719. Second positioning countersunk hole; 721. Middle main shell; 722. Middle left cover plate; 723. Middle right cover plate; 731. Lower housing inner cavity; 732. Cable guide hole; 733. Bottom-facing electric claw mounting hole; 811. Rack teeth; 812. Stroke limit groove; 813. Mesh-shaped oil groove; 821. Rotational power; 822. Gear train; 823. Worm; 824. Gear and worm gear assembly; 921. Limiting shoulder; 922. Limiting ring groove; 7131, Upper gear shaft hole; 7132, Gear receiving hole; 7133, Upper bearing groove; 7211, Second cavity; 7212, Worm gear hole; 7213, Motor hole; 7214, Gear train hole; 7215, Intermediate gear shaft mounting hole; 7216, Limit pin mounting hole; 7217, Connecting screw hole; 7218, Lower positioning hole; 7219, Lateral electric gripper mounting hole; 7220, Weight reduction hole; 7221. Worm gear unlocking hole; 8241. End-drive gear; 8242. Bearing mounting cylinder; 8243. Worm gear; 8244. Center hole; 8221. Driving gear; 8222. Intermediate gear ring; 8223. Driven gear; 72111, Lower bearing groove; 72112, Worm gear hole; 72113, Support hole; 72114, Countersunk hole for middle shell connection; 82221, Small gear ring assembly; 82222, Large gear ring; 822211, Small gear ring; 822212, Circular ring mating part; 8222111, Left bearing groove; 8222121, Right bearing groove. Detailed Implementation

[0023] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] The following is in conjunction with the appendix Figure 1-10 The present invention provides a further description of the compact, high-precision, synchronous, self-locking, high-protection, heavy-duty electric gripper.

[0025] The directions "up", "down", "left", "right", "front", and "back" mentioned in this embodiment refer to... Figure 1 The directional markings in the diagram are merely for clearly illustrating the relative positions and structural relationships of the present invention and do not constitute a limiting limitation on the scope of protection of the present invention; if the present invention is assembled or used in reverse, the corresponding orientations will be interchanged accordingly.

[0026] This invention discloses a compact, high-precision, synchronous, self-locking, high-protection, heavy-duty electric gripper, comprising a housing unit 7 and a power unit 8. The housing unit 7 has two transversely arranged rack grooves 711 on its upper part, and a power receiving cavity 74 is provided inside the housing unit 7. The power unit 8 includes two rack sliders 81 and a power transmission assembly 82 disposed within the power receiving cavity 74. The two rack sliders 81 are slidably fitted into the two rack grooves 711 in a one-to-one correspondence. The power transmission assembly 82 includes a rotating power source 821, a gear train 822, a worm gear 823, a worm wheel 8243, and a final drive gear 8241, which are sequentially connected. The rotating power source 821 and the worm gear 823 are arranged side-by-side transversely, and the gear train 822 is arranged on top of the rotating power source 821. At the same end as the worm 823; rack teeth 811 are respectively provided on the inner sides of the two rack sliders 81, and the adjacent sidewalls of the two rack grooves 711 are respectively provided with communication ports 712 that communicate with the power receiving cavity 74; the worm wheel 8243 is coaxially and fixedly connected to the end transmission gear 8241, and the two sides of the end transmission gear 8241 respectively mesh with the rack teeth 811 of the two rack sliders 81 through the corresponding communication ports 712; the rotational power 821 outputs power, which is transmitted step by step through the gear train 822, worm 823, and worm wheel 8243 to drive the end transmission gear 8241 to rotate, thereby driving the two rack sliders 81 to slide synchronously relative to each other or in opposite directions; and the rack sliders 81 always cover the corresponding communication ports 712 during the entire sliding process.

[0027] In this embodiment, the rotary power 821 is used to provide rotational power and can be a combination of a motor or a motor-planetary reducer. The power transmission assembly 82 includes a worm gear transmission mechanism, which can obtain a large transmission ratio to achieve speed reduction and torque increase, obtain a large clamping force, and the worm gear transmission mechanism has a built-in mechanical self-locking function, avoiding the need for a brake structure at the rotary power 821, which helps to reduce the size.

[0028] The gear train 822 serves two purposes. First, it enables power transmission between the rotary power 821 and the worm gear 823. Second, by reducing speed and increasing torque through the gear train 822, the output clamping force can be further expanded.

[0029] Regarding transmission accuracy: The rotation of the rotary power 821 is transmitted step by step through the gear train 822, worm 823, and worm wheel 8243. The end transmission gear 8241 rotates synchronously with the worm wheel 8243. The two rack sliders 81 are driven by the same end transmission gear 8241, which can effectively ensure the accuracy and synchronization of the sliding of the two rack sliders 81. During assembly, the two rack sliders 81 are assembled based on the same end transmission gear 8241. The assembly process is simple and quick, and the accuracy of repeated assembly is easy to ensure, which can ensure the long-term stable and high-precision clamping operation of the electric gripper.

[0030] Regarding protective sealing: Except for the connecting port 712, other parts of the power receiving cavity 74 are not connected to the external space. The rack teeth 811 are directly formed on the rack slider 81, eliminating the seam between the moving slider and the rack as in the prior art. This effectively ensures that the outer contour of the rack slider 81 fits tightly with the rack groove 711, easily guaranteeing that the connecting port 712 between the rack groove 711 and the gear receiving hole 7132 is always blocked when the rack slider 81 slides. This effectively prevents the power receiving cavity 74 from connecting to the external space through the connecting port 712, making the power receiving cavity 74 a closed cavity and improving dustproof capability.

[0031] Regarding structural compactness: The long strip-shaped rack and pinion slide 711, the rotating power 821, and the worm gear 823 are all arranged horizontally and vertically in parallel, avoiding the structure of a single long strip-shaped component along the vertical and multiple components stacked along the axial direction. This greatly reduces the overall height of the compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper, resulting in a compact and reasonable structure.

[0032] Compared with the prior art, the compact, high-precision synchronous clamping self-locking high-protection heavy-duty electric gripper of the present invention achieves the advantages of high transmission accuracy, low assembly difficulty, good protection and sealing, compact structure and small size through the combined design of power unit 8 and housing unit 7; and combined with its heavy-duty self-locking advantage, the resulting electric gripper has strong overall market competitiveness.

[0033] According to a specific embodiment of the present invention, the housing unit 7 includes an upper housing 71 and a middle housing 72; a rack groove 711 is disposed on the upper part of the upper housing 71; the power receiving cavity 74 includes a first cavity 713 disposed on the lower part of the upper housing 71, the first cavity 713 including an upper gear shaft hole 7131, a gear receiving hole 7132 and an upper bearing groove 7133 that are coaxial and sequentially connected vertically, a partition wall 714 is provided between the two rack grooves 711, the upper gear shaft hole 7131 is formed in the partition wall 714, and the connecting port 712 communicates with the gear receiving hole 7132; the middle housing 72 includes a middle main housing 721, and the power receiving cavity 74 also includes a second cavity 7211, the second cavity 7211 is disposed on the upper part of the middle main housing 721 corresponding to the upper bearing groove 7133, and the second cavity 7211 includes a lower bearing groove 72111, a worm gear hole 72112, a support hole 72113, and a middle shell connecting countersunk hole 72114 connected sequentially from top to bottom; the power receiving cavity 74 also includes a worm gear hole 72112, a motor hole 7213, and a gear train hole 7214. The worm gear hole 72112 and the motor hole 7213 are respectively formed by the left side recess of the middle main shell 721, and the worm gear hole 72112 and the motor hole 7213 are arranged vertically; the end transmission gear 8241 and the worm gear 8243 are fixedly connected by a bearing mounting cylinder 8242. The end transmission gear 8241, the bearing mounting cylinder 8242, and the worm gear 8243 are coaxial and together form a gear and worm gear assembly 824. The gear and worm gear assembly 824 includes a through-hole along the axial direction. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper also includes a central shaft 4 passing through the central hole 8244 and a first bearing 3 sleeved on the outer wall of the bearing mounting cylinder 8242. The upper end of the central shaft 4 extends into the upper gear shaft hole 7131, and the lower part of the central shaft 4 has a step for supporting the lower part of the gear worm gear assembly 824. The lower end of the central shaft 4 extends into the support hole 72113. The end drive gear 8241 is located in the gear receiving hole 7132, and the worm gear 8243 is located in the worm gear hole 72112. The upper bearing groove 7133 and the lower bearing groove 72111 mate to form a complete first bearing mounting cavity, and the first bearing 3 is received in this cavity. The upper bearing groove 7133 and the lower bearing groove 72111... The groove bottom is used to limit the upper and lower end faces of the first bearing 3 respectively; the worm 823 is installed in the worm hole 7212, and the worm 823 meshes with the worm wheel 8243 through the connection between the worm hole 7212 and the worm wheel hole 72112; the rotational power is installed in the motor hole 7213; the gear train 822 is installed in the gear train hole 7214, and the gear train 822 is connected to the rotational power 821 through the connection between the motor hole 7213 and the gear train hole 7214; the lower end of the middle shell connecting countersunk hole 72114 is connected to the motor hole 7213; the compact high-precision synchronous clamping self-locking high protection heavy-duty electric gripper also includes a threaded connector 5, one end of which is received in the middle shell connecting countersunk hole 72114, and the other end extends into the lower part of the central shaft 4 to fix the central shaft 4.

[0034] In this embodiment, the upper gear shaft hole 7131 is used to receive the upper end of the central shaft 4, the gear receiving hole 7132 is used to receive the end transmission gear 8241, the worm gear hole 72112 is used to receive the worm gear 8243, and the support hole 72113 is used to receive and support the lower end of the central shaft 4. The motor hole 7213 is used to fix and install the rotational power (such as a motor).

[0035] The countersunk hole 72114 of the middle shell is used to install the threaded connector 5. During assembly, the lower shell 73 is not installed first. The tool is inserted from bottom to top through the lower opening of the motor hole 7213 to install the threaded connector 5.

[0036] The upper gear shaft hole 7131 is formed in the partition wall 714. That is, the upper gear shaft hole 7131 is a blind hole. The upper gear shaft hole 7131 does not penetrate the top surface of the upper shell 71 upwards, but only connects to the gear receiving hole 7132 downwards, which does not affect the sealing performance at that point.

[0037] The worm hole 7212 and the motor hole 7213 are respectively recessed from the left side of the middle main housing 721. Thus, the left end opening of the motor hole 7213 and the left end opening of the worm hole 7212 are respectively formed at the left end of the middle main housing 721. The left end opening of the motor hole 7213 and the left end opening of the worm hole 7212 are used for the rotation power 821 and the worm 823 to be installed from the left side.

[0038] The wheel train hole 7214 is formed by a recess on the right side of the middle main housing 721, thus forming a right end opening of the wheel train 822 at the right end of the middle main housing 721. The right end opening of the wheel train 822 is used for the wheel train 822 to be installed from the right end.

[0039] According to a specific embodiment of the present invention, the bottom of the rack slider 81 is provided with a recessed travel limiting groove 812, and the bottom wall of the upper shell 71 is provided with a positioning countersunk hole facing the rack slide groove 711; the compact high-precision synchronous clamping self-locking high protection heavy-duty electric gripper also includes a positioning countersunk screw 6, the lower part of the positioning countersunk screw 6 is provided in the positioning countersunk hole, and the upper part of the positioning countersunk screw 6 extends into the travel limiting groove 812 to limit the sliding stroke of the rack slider 81.

[0040] The structure of this embodiment makes the mechanical limiting structure of the rack slider 81 a completely built-in structure. This mechanical limiting structure does not penetrate the side wall of the housing unit 7 (has no effect on the shape of the housing unit 7) and does not increase the volume of the internal structure.

[0041] According to a specific embodiment of the present invention, the power receiving cavity 74 further includes an intermediate gear shaft mounting hole 7215 and a limiting pin mounting hole 7216 disposed within the middle main housing 721. The intermediate gear shaft mounting hole 7215 is located between the worm gear hole 7212 and the motor hole 7213, and the three are parallel and spaced apart. One end of the intermediate gear shaft mounting hole 7215 communicates with the gear train hole 7214. The limiting pin mounting hole 7216 is disposed above the motor hole 7213, and the upper and lower ends of the limiting pin mounting hole 7216 are respectively connected to the intermediate gear shaft mounting hole 7216. Mounting hole 7215, motor hole 7213; limit pin mounting hole 7216 is set at the end opposite to the intermediate gear shaft mounting hole 7215 away from the gear train hole 7214; gear train 822 includes a driving gear 8221, an intermediate gear ring 8222 and a driven gear 8223 meshing in sequence. The driving gear 8221 is connected to the rotational power 821, and the driven gear 8223 is connected to the worm 823. The intermediate gear ring 8222 has a recessed left bearing groove 8222111 and a right bearing groove 8222121 at its two ends. The left bearing groove 8222111 and the right bearing groove 8222121 are respectively equipped with a third bearing 1 and a fourth bearing 2; the compact high-precision synchronous clamping self-locking high-protection heavy-duty electric gripper also includes a gear mounting shaft 9. The gear mounting shaft 9 is a stepped shaft shape composed of a small shaft section 91 and a large shaft section 92. The large shaft section 92 extends into the intermediate gear shaft mounting hole 7215, and the small shaft section 91 passes through the fourth bearing 2, the intermediate gear ring 8222 and the third bearing 1. The end of the small shaft section 91 away from the large shaft section 92 is fixed with The end limiting screw 10 is used to prevent the third bearing 1 from axially dislodging. The large shaft section 92 has a limiting shoulder 921 on the side near the small shaft section 91 to prevent the fourth bearing 2 from axially dislodging. The large shaft section 92 has a recessed limiting ring groove 922 at the position opposite to the limiting pin mounting hole 7216. The compact high-precision synchronous clamping self-locking high protection heavy-duty electric gripper also includes a radial limiting cone pin 11. The radial limiting cone pin 11 is installed in the limiting pin mounting hole 7216 and its end abuts against the groove wall of the fixed limiting ring groove 922.

[0042] In this embodiment, the space between the worm hole 7212 and the motor hole 7213 is fully utilized to form the intermediate gear shaft mounting hole 7215, which is used to realize the rotational installation of the intermediate gear ring 8222 in the gear train 822.

[0043] In practice, the gear mounting shaft 9 passes through the intermediate gear ring 8222 of the gear train 822. A recessed limiting ring groove 922 is provided on the outer side of the gear mounting shaft 9. A radial limiting cone pin 11 is inserted into the limiting ring groove 922 to limit the position of the gear mounting shaft 9, ensuring its stability. The limiting pin mounting hole 7216 is used for installing the radial limiting cone pin 11. During assembly, without first installing the lower housing 73, a tool is inserted from bottom to top through the lower opening of the motor hole 7213 to install the radial limiting cone pin 11.

[0044] Since the intermediate gear ring 8222 of the gear train 822 is installed at the gear train hole 7214, and the outer teeth of the intermediate gear ring 8222 are the transmission force-bearing positions, in this embodiment, increasing the distance between the limit pin mounting hole 7216 and the gear train hole 7214 can increase the distance between the radial limit cone pin 11 pressing position on the gear mounting shaft 9 and the intermediate gear ring 8222, increase the lever arm, improve the fixing and pressing effect of the radial limit cone pin 11 on the gear mounting shaft 9, and ensure that the gear mounting shaft 9 is firmly fixed.

[0045] Compared to the traditional structure that uses two support bases to support both ends of the gear mounting shaft 9 to fix the gear mounting shaft 9, the structure of this embodiment does not increase the number of components and space by supporting and fixing the gear mounting shaft 9. Instead, it makes full use of the internal space of the main housing 721 to fix the gear mounting shaft 9 inside the main housing 721. The structure is compact and helps to reduce the size of the electric gripper.

[0046] The intermediate gear ring 8222 is rotatably connected to the gear mounting shaft 9 via two spaced bearings (third bearing 1 and fourth bearing 2). This structure ensures the smooth and stable installation and rotation of the intermediate gear ring 8222.

[0047] According to a specific embodiment of the present invention, both the large shaft segment 92 and the small shaft segment 91 are cylindrical in shape. The diameter of the large shaft segment 92 is larger than that of the small shaft segment 91, and the length of the large shaft segment 92 is greater than that of the small shaft segment 91. The large shaft segment 92 is completely housed within the intermediate gear shaft mounting hole 7215, and the outer side of the large shaft segment 92 fits perfectly against the inner wall of the intermediate gear shaft mounting hole 7215. The longitudinal section of the limiting ring groove 922 is a tapered shape with a larger outer diameter and a smaller inner diameter. The end of the radial limiting cone pin 11 that abuts against the limiting ring groove 922 is a tapered shape that matches the shape of the limiting ring groove 922.

[0048] In this embodiment, the large shaft section 92 is thicker and longer than the small shaft section 91, and the large shaft section 92 is fully inserted into the intermediate gear shaft mounting hole 7215, which is exactly the same size as it. This structure makes the gear mounting shaft 9 and the intermediate gear shaft mounting hole 7215 have a longer and larger contact area, which forms a more stable constraint on the position of the gear mounting shaft 9 and ensures its coaxial accuracy with the intermediate gear shaft mounting hole 7215. On this basis, the cone of the radial limiting cone pin 11 abuts against the tapered limiting ring groove 922, which is conducive to the tight fit between the two. The gear mounting shaft 9 can be accurately limited to the preset axial position, improving the axial limiting accuracy.

[0049] As can be seen from the above, the structure of this embodiment can greatly improve the positional accuracy and stability of the gear mounting shaft 9. Furthermore, the gear mounting shaft 9 is built into the main housing 721, which makes full use of the gap between the motor and the worm gear 823 and does not affect the overall volume of the electric gripper.

[0050] According to a specific embodiment of the present invention, the rack groove 711 extends transversely through the upper shell 71, and the upper shell 71 is provided with a through upper shell connecting countersunk hole corresponding to the partition wall 714. The lower part of the upper shell 71 is also provided with an upper positioning blind hole 718 directly opposite the partition wall 714. The upper part of the middle main shell 721 is also provided with a connecting screw hole 7217 and a lower positioning hole 7218 corresponding to the upper shell connecting countersunk hole and the upper positioning blind hole 718. The compact high-precision synchronous clamping self-locking high-protection heavy-duty electric gripper also includes a positioning pin 12 and a connecting countersunk screw 13. The upper and lower parts of the positioning pin 12 are respectively received in the upper positioning blind hole 718 and the lower positioning hole 7218. The connecting countersunk screw 13 passes through the upper shell connecting countersunk hole and extends into the connecting screw hole 7217 to fix the upper shell 71 and the middle main shell 721.

[0051] In this embodiment, the rack groove 711 penetrates the upper shell 71, that is, the direction of the upper shell 71 extending along the rack groove 711 is fully utilized to form the rack groove 711 to meet the stroke requirements.

[0052] To meet the requirement of a fixed connection between the upper shell 71 and the middle main shell 721, this embodiment makes full use of the partition wall 714. The partition wall 714 serves both to separate the two rack grooves 711 and to provide a countersunk hole for the upper shell connection, enabling a fixed connection between the upper shell 71 and the middle main shell 721 without increasing the volume. A countersunk screw 13 is installed in the upper shell connection countersunk hole, penetrating the partition wall 714 and extending into the connection screw hole 7217.

[0053] The locating pin 12 is used for precise positioning when the upper shell 71 and the middle main shell 721 are assembled vertically. The upper locating blind hole 718 is set opposite to the partition wall 714, ensuring that the upper locating blind hole 718 has sufficient depth to form a solid, ensuring the sealing at this point and preventing the locating pin 12 from interfering with other components.

[0054] According to a specific embodiment of the present invention, the housing unit 7 further includes a lower housing 73. The upper housing 71, the middle housing 72, and the lower housing 73 are sequentially connected and together form a rectangular housing. The middle housing 72 further includes a left center cover plate 722 and a right center cover plate 723 respectively installed on both sides of the main housing 721. The left center cover plate 722 covers the left end opening of the motor hole 7213, and the right center cover plate 723 covers the right end opening of the wheel train hole 7214. The lower housing 73 has an upper opening structure and is connected to the main housing 721. The power receiving cavity 74 further includes the inner cavity of the lower housing 73. The lower part of the motor hole 7213 communicates with the inner cavity of the lower housing 73. The side wall of the lower housing 73 is provided with a wire passage hole 732. A control board unit 14 is provided, which is connected to the rotational power. A worm unlocking hole 7221 is provided on the left middle cover plate 722, which is directly opposite the worm hole 7212 and communicates with it. A removable sealing plug 15 is provided in the worm unlocking hole 7221. A first sealing ring 16 is provided between the left middle cover plate 722 and the main housing 721, and the first sealing ring 16 surrounds the worm unlocking hole 7221. A second sealing ring 17 is provided between the main housing 721 and the right middle cover plate 723, and the second sealing ring 17 surrounds the right end opening of the gear train hole 7214. A wire passing sealing device 18 is provided in the wire passing hole 732. The first bearing 3 is a sealed bearing.

[0055] In this embodiment, the structure of the housing unit 7 has been further designed. The outer contour of the housing unit 7 is a regular cuboid, avoiding local protrusions and improving installation adaptability. The housing unit 7 consists of three layers from top to bottom: upper, middle, and lower. The middle layer is composed of three pieces assembled from left, middle, and right sections to form a modular housing structure. By rationally setting the dividing surfaces and connecting structures of the slots in each layer, convenient installation of components can be achieved. During assembly and disassembly, corresponding layers or blocks can be disassembled and assembled as needed, resulting in high efficiency. When used in electric grippers, the housing module can effectively separate the inside and outside, providing good sealing.

[0056] The lower part of the motor hole 7213 communicates with the inner cavity of the lower shell 73. This structure forms an opening at the bottom of the motor hole 7213, which facilitates the insertion of the threaded connector 5 from bottom to top and also allows the power signal line to pass through and connect the motor and the control board unit 14. The wire passage hole 732 is used for the power signal line to pass through. In use, the power signal line is inserted through the wire passage sealing device 18 to ensure the airtightness at this point. The middle left cover plate 722 and the middle right cover plate 723 respectively cover the left end opening of the motor hole 7213 and the right end opening of the wheel train hole 7214. The lower shell 73 covers the lower part of the entire middle shell 72.

[0057] The first sealing ring 16 and the second sealing ring 17 can prevent external moisture from entering the motor hole 7213 through the left and right openings of the main housing 721, further improving the sealing performance. The wire passing sealing device 18 in the wire passing hole 732 can be a bent wire harness wire passing sealing and fixing component or an elastic wire passing rubber plug, which can achieve sealing and quick installation while ensuring the wire passing function.

[0058] Therefore, the structure of this embodiment provides a more enclosed space for the end-drive gear 8241, worm gear 8243, worm 823, gear train 822, motor, and control board unit 14, thereby improving the overall protection level of the electric gripper. Based on the above sealing structure, in use, the first bearing 3 is a sealed bearing. After assembly, the first bearing 3 can isolate the communication channel between the upper bearing groove 7133 and the lower bearing groove 72111, providing a more enclosed space for the worm gear 8243, worm 823, gear train 822, motor, and control board unit 14, achieving further sealing protection for the electrical components housed within. It should be noted that the final protection level achievable by the electric gripper of this invention is IP45.

[0059] In this embodiment, a pre-reserved worm gear unlocking hole 7221 is provided to enable manual unlocking of the worm gear 823, solving the problem of the self-locking structure being locked and unable to move the load manually. A removable sealing plug 15 is used to seal the hole during normal use. The end of the worm gear 823 directly opposite the hole has an unlocking groove. When unlocking is required, the removable sealing plug 15 is unscrewed, and a tool can be inserted through the worm gear unlocking hole 7221 into the unlocking groove to unlock.

[0060] As can be seen from the above, the housing unit 7 of the present invention adopts a layered and segmented splicing and assembly structure, which improves the ease of disassembly and assembly of components, and reasonably arranges the shape and position of the internal receiving holes and slots to ensure the stable installation of the electric claw components and reduce the overall volume, thus meeting the comprehensive use requirements of miniaturization, high integration and easy maintenance of the electric claw housing.

[0061] According to a specific embodiment of the present invention, the upper positioning blind hole 718 is waist-shaped, the lower positioning hole 7218 is circular, the diameter of the lower positioning hole 7218 is equal to the width of the upper positioning blind hole 718, and the length direction of the upper positioning blind hole 718 is consistent with the length direction of the rack groove 711.

[0062] In the above embodiments, it has been mentioned that the upper bearing groove 7133 and the lower bearing groove 72111 are matched to form a complete first bearing mounting cavity. Therefore, it can be seen that when the gear and worm gear assembly 824 is assembled, the first bearing 3 already has a certain vertical positioning function.

[0063] In this embodiment, the upper positioning blind hole 718 is designed as an oblong shape, so that when the upper shell 71 and the middle main shell 721 are assembled, the shell can be slightly adjusted along the longitudinal direction of the upper positioning blind hole 718. This can compensate for certain machining errors while ensuring the positioning function and improve the flexibility of assembly.

[0064] According to a specific embodiment of the present invention, the countersunk groove of the upper shell connecting countersunk hole faces upward, and the upper shell connecting countersunk hole includes a first connecting countersunk hole 716 and a second connecting countersunk hole 717 respectively provided on both sides of the gear receiving hole 7132. The countersunk head of the positioning countersunk hole faces downward; the positioning countersunk hole includes a first positioning countersunk hole 715 and a second positioning countersunk hole 719 respectively provided on both sides of the gear receiving hole 7132, and the first positioning countersunk hole 715 and the second positioning countersunk hole 719 respectively connect to two rack slide grooves 711; the front and rear sides of the middle main shell 721 are respectively provided with lateral electric claw mounting holes 7219, and the lower part of the lower shell 73 is provided with a bottom electric claw mounting hole 733; the lateral electric claw mounting hole 7219 and the bottom electric claw mounting hole 733 are both countersunk blind holes; the middle main shell 721 is also provided with a weight reduction hole 7220; the rotation power 821 is a motor; the lower part of the rack slider 81 is also provided with a recessed grid-like oil groove 813, and the upper part of each rack slider 81 is fixedly connected with a clamping finger 19.

[0065] In this embodiment, with this structure, the countersunk screw 13 can be installed from top to bottom, and the countersunk head of the countersunk screw 13 is completely contained in the countersunk groove.

[0066] The countersunk screw 6 can be inserted from top to bottom, and the countersunk head of the countersunk screw 6 is completely received in the countersunk groove. More importantly, in this structure, the other end of the countersunk screw 6 extends into the rack groove 711 and is located in the travel limiting groove 812, thus fulfilling the limiting function.

[0067] In this embodiment, a lateral electric claw mounting hole 7219 and a bottom electric claw mounting hole 733 are provided, so that the housing unit 7 has three mounting surfaces in different directions, namely two sides and one bottom, which improves the convenience of use. The mounting holes are designed as blind holes, so as not to affect the sealing of the housing.

[0068] The main housing 721 also has a weight reduction hole 7220 inside. The weight reduction hole 7220 is used to further reduce the weight.

[0069] The mesh-like oil groove 813 is used to collect lubricating oil and improve the smoothness of the rack sliding.

[0070] According to a specific embodiment of the present invention, the intermediate gear ring 8222 includes a small gear ring assembly 82221 and a large gear ring 82222. The small gear ring assembly 82221 includes a small gear ring 822211 and an annular mating portion 822212 that are coaxially and fixedly connected end to end. The small gear ring assembly 82221 is integrally formed. The left bearing groove 8222111 is located inside the end of the small gear ring 822211 away from the annular mating portion 822212; the right bearing groove 822... 2121 is located inside the end of the annular mating portion 822212 away from the small gear ring 822211; the large gear ring 82222 is fixedly sleeved on the outer wall of the annular mating portion 822212, and the gap between the large gear ring 82222 and the small gear ring 822211 is zero; the number of teeth of the large gear ring 82222 is greater than the number of teeth of the small gear ring 822211, the small gear ring 822211 meshes with the driving gear 8221, and the large gear ring 82222 meshes with the driven gear 8223.

[0071] In this embodiment, the gap between the large gear ring 82222 and the small gear ring 822211 is zero, which can reduce the axial space occupied by the intermediate gear and help to further reduce the overall volume of the electric gripper.

[0072] In this implementation, a solution is further adopted to process the intermediate gear ring 8222 separately and then combine them into one piece (preferably by welding, but can also be by pin or key connection), which can reduce the processing difficulty, ensure the smooth completion of the processing of the gear teeth on the large gear ring 82222 and the small gear ring 822211, and solve the problem of difficult processing of the intermediate gear ring 8222.

[0073] Furthermore, since the left bearing groove 8222111 and the right bearing groove 8222121 are both located in the same component (small gear ring assembly 82221), and the small gear ring assembly 82221 is an integrally formed structure, it is beneficial to ensure the machining accuracy of the left bearing groove 8222111 and the right bearing groove 8222121, thereby improving the installation accuracy of the entire intermediate gear ring 8222.

[0074] Furthermore, since the number of teeth on the large gear ring 82222 is greater than that on the small gear ring 822211, this gear train 822 can achieve the function of speed reduction and torque increase, which is beneficial for the electric gripper to obtain a large output clamping force. In specific implementation, the gear ratio can be reasonably set according to space requirements to obtain the required torque amplification factor.

[0075] In summary, the beneficial effects of the present invention are as follows: The overall structure employs a worm gear and rack drive, which facilitates the creation of a high-precision, high-clamping-force, self-locking, highly integrated, and long-stroke electric gripper. Specifically: The symmetrical transmission structure of a single end-drive gear 8241 simultaneously meshes with the left and right rack sliders 81, and the left and right sliders are driven from the same source, which completely solves the problem of asynchronous dual drive and greatly improves the clamping repeatability accuracy.

[0076] The worm gear transmission mechanism can achieve a large speed ratio, ensuring the requirement for large clamping force. Furthermore, the worm gear can drive the gear to rotate continuously, driving the rack and pinion slider 81 to move continuously to its stroke limit. Therefore, the stroke of the electric gripper in this invention is not limited by the power unit 8; by correspondingly setting a longer rack groove 711 and rack and pinion slider 81, a larger stroke can be obtained.

[0077] The longer rack groove 711 requires a necessary lateral length of the housing ( Figure 1 Based on the left-right direction shown, the motor and worm gear 823, which have a longer axial direction in the power unit 8, are arranged side by side in the transverse direction. The gear train 822 is also positioned on the same side as the motor and worm gear 823, and the axial dimension of the gear train 822 is compressed as much as possible. This ensures that the addition of the motor, worm gear 823, and gear train 822 does not increase the left-right dimension of the invention, and that the length of the rack groove 711 is always the longest dimension in the left-right direction of the electric gripper. The overall layout is reasonable, forming a highly integrated, small-volume electric gripper.

[0078] By adjusting the number of teeth on the gears in the gear train 822, the speed of the motor can be reduced before being transmitted to the worm gear 823. This, combined with the worm wheel and worm gear, forms a two-stage reduction transmission, giving the overall power unit 8 a larger reduction ratio to form a heavy-duty electric gripper.

[0079] To provide excellent support, housing, and protection for the aforementioned power unit 8, a housing unit 7 was further designed. The housing unit 7 is modular, easy to assemble, and compact, integrating a concealed support and fixing structure for the power unit 8. Specifically: The shell unit 7 consists of three layers: upper, middle, and lower. The middle layer is a modular shell composed of three spliced ​​pieces, which is easy to assemble and maintain.

[0080] The housing unit 7 forms a fully enclosed cavity structure, and the rack and pinion slider 81 is an integrally formed tooth structure with no splicing gaps. The connecting port 712 is completely shielded during the sliding process, preventing the cavity from being exposed and ensuring the protection level.

[0081] The rack and pinion slider 81 limit switch adopts a built-in hidden stroke limit structure; the intermediate gear rotation support installation also adopts a built-in structure, both of which avoid external structures, making full use of the internal space of the housing, ensuring installation accuracy, further improving integration and reducing volume.

[0082] The intermediate gear ring 8222 is a combination of large and small gear rings (822211), which is machined separately and then reassembled, solving the machining problem of gear rings with large speed ratios, while ensuring zero-backlash assembly and saving axial space. The intermediate gear ring 8222 is supported by dual bearings, resulting in smooth transmission and high precision.

[0083] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components; and they can also refer to a "transmission connection," that is, a power connection through various suitable methods such as belt drive, gear drive, or sprocket drive. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A compact, high-precision, synchronous, self-locking, high-protection, heavy-duty electric gripper, characterized in that, The system includes a housing unit and a power unit. The housing unit has two transversely arranged rack grooves on its upper part, and a power receiving cavity is provided inside the housing unit. The power unit includes two rack sliders and a power transmission assembly located within the power receiving cavity. The two rack sliders are slidably fitted into the two rack grooves in a one-to-one correspondence. The power transmission assembly includes a rotating power source, a gear train, a worm, a worm wheel, and a final drive gear, which are sequentially connected. The rotating power source and the worm are arranged side-by-side transversely, and the gear train is located at the same end as the rotating power source and the worm. The two rack sliders are slidably fitted into the two rack grooves in a one-to-one correspondence. The rack and pinion sliders are respectively provided with rack teeth on their opposite inner sides, and the adjacent sidewalls of the two rack grooves are respectively provided with communication ports that communicate with the power receiving cavity; the worm gear and the end drive gear are coaxially and fixedly connected, and the two sides of the end drive gear respectively mesh with the rack teeth of the two rack and pinion sliders through the corresponding communication ports; the rotational power output power is transmitted through the gear train, worm, and worm wheel in a step-by-step manner to drive the end drive gear to rotate, thereby driving the two rack and pinion sliders to slide synchronously relative to each other or in opposite directions; and the rack and pinion sliders always cover the corresponding communication ports during the entire sliding process.

2. The compact, high-precision, synchronous, self-locking, high-protection, heavy-duty electric gripper according to claim 1, characterized in that, The housing unit includes an upper shell and a middle shell; the rack groove is located on the upper part of the upper shell; the power receiving cavity includes a first cavity located on the lower part of the upper shell, the first cavity including an upper gear shaft hole, a gear receiving hole, and an upper bearing groove that are coaxially connected vertically, and a partition wall is provided between the two rack grooves, the upper gear shaft hole is formed in the partition wall, and the connecting port communicates with the gear receiving hole; the middle shell includes a middle main shell, and the power receiving cavity also includes a second cavity, the second cavity being located on the upper part of the middle main shell corresponding to the upper bearing groove, and the second cavity including, from top to bottom, sequentially... The system includes a connected lower bearing groove, worm gear hole, support hole, and middle shell connecting countersunk hole; the power receiving cavity also includes a worm hole, motor hole, and gear train hole, the worm hole and motor hole being recessed from the left side of the middle main shell, and the worm hole and motor hole being arranged vertically; the end drive gear and worm gear are fixedly connected by a bearing mounting cylinder, the end drive gear, bearing mounting cylinder, and worm gear are coaxial and together form a gear and worm gear assembly, the gear and worm gear assembly including a central hole extending axially through it; the compact high-precision synchronous clamping self-locking high-protection heavy-duty electric gripper also includes a through-hole in the middle shell. The bearing assembly includes a central shaft with a central bore and a first bearing fitted onto the outer wall of the bearing mounting cylinder. The upper end of the central shaft extends into the upper gear shaft bore, and the lower part of the central shaft has a step for supporting the lower part of the gear and worm gear assembly. The lower end of the central shaft extends into the support hole. The end-drive gear is located in the gear receiving hole, and the worm gear is located in the worm gear hole. The upper bearing groove and the lower bearing groove mate to form a complete first bearing mounting cavity. The first bearing is housed within the first bearing mounting cavity, and the bottoms of the upper and lower bearing grooves respectively serve to support the upper and lower ends of the first bearing. The surface is limited; the worm is installed in the worm hole, and the worm meshes with the worm wheel through the connection between the worm wheel hole and the worm hole; the rotational power is installed in the motor hole; the gear train is installed in the gear train hole, and the gear train is connected to the rotational power through the connection between the motor hole and the gear train hole; the lower end of the middle shell connecting countersunk hole is connected to the motor hole; the compact high-precision synchronous clamping self-locking high-protection heavy-duty electric gripper also includes a threaded connector, one end of which is received in the middle shell connecting countersunk hole, and the other end extends into the lower part of the central shaft to fix the central shaft.

3. The compact, high-precision, synchronous, self-locking, high-protection, heavy-duty electric gripper according to claim 2, characterized in that, The bottom of the rack slider is provided with a recessed travel limiting groove, and the bottom wall of the upper shell is provided with a positioning countersunk hole facing the rack slide groove; the compact high-precision synchronous clamping self-locking high protection heavy-duty electric gripper also includes a positioning countersunk screw, the lower part of the positioning countersunk screw is located in the positioning countersunk hole, and the upper part of the positioning countersunk screw extends into the travel limiting groove to limit the sliding travel of the rack slider.

4. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper according to claim 3, characterized in that, The power receiving cavity also includes an intermediate gear shaft mounting hole and a limiting pin mounting hole located within the main housing. The intermediate gear shaft mounting hole is located between the worm gear hole and the motor hole, and the three are parallel and spaced apart. One end of the intermediate gear shaft mounting hole communicates with the gear train hole. The limiting pin mounting hole is located above the motor hole, and its upper and lower ends are respectively connected to the intermediate gear shaft mounting hole and the motor hole. The limiting pin mounting hole is positioned opposite the end of the intermediate gear shaft mounting hole away from the gear train hole. The gear train includes a driving gear, an intermediate gear ring, and a driven gear that mesh sequentially. The driving gear is connected to the rotational power, and the driven gear is connected to the worm gear. The intermediate gear ring has recessed left and right bearing grooves at its two ends, and a third and a fourth bearing are respectively provided in the left and right bearing grooves. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper also includes a gear mounting shaft. The gear mounting shaft is a stepped shaft composed of a small shaft section and a large shaft section. The large shaft section extends into the intermediate gear shaft mounting hole. The small shaft section passes through the fourth bearing, the intermediate gear ring, and the third bearing. The end of the small shaft section away from the large shaft section is fixed with an end-limiting screw to prevent the third bearing from axially dislodging. The side of the large shaft section near the small shaft section has a limiting shoulder to prevent the fourth bearing from axially dislodging. The large shaft section has a recessed limiting ring groove at the position opposite the limiting pin mounting hole. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper also includes a radial limiting cone pin. The radial limiting cone pin is installed in the limiting pin mounting hole, and its end abuts against and fixes the wall of the limiting ring groove.

5. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper according to claim 4, characterized in that, Both the large and small shaft segments are cylindrical in shape. The diameter of the large shaft segment is larger than that of the small shaft segment, and the length of the large shaft segment is greater than that of the small shaft segment. The large shaft segment is completely housed within the intermediate gear shaft mounting hole, and the outer side of the large shaft segment fits perfectly against the inner wall of the intermediate gear shaft mounting hole. The longitudinal section of the limiting ring groove is a tapered shape with a larger outer diameter and a smaller inner diameter. The end of the radial limiting cone pin that abuts against the limiting ring groove is a tapered shape that matches the shape of the limiting ring groove.

6. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper according to claim 5, characterized in that, The rack groove extends transversely through the upper shell. The upper shell has a through-hole for connecting the upper shell corresponding to the partition wall. The lower part of the upper shell also has an upper positioning blind hole directly opposite the partition wall. The upper part of the middle main shell also has a connecting screw hole and a lower positioning hole corresponding to the upper shell connecting countersunk hole and the upper positioning blind hole. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper also includes a positioning pin and a connecting countersunk screw. The upper and lower parts of the positioning pin are respectively housed in the upper positioning blind hole and the lower positioning hole. The connecting countersunk screw passes through the upper shell connecting countersunk hole and extends into the connecting screw hole to fix the upper shell and the middle main shell.

7. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper according to claim 6, characterized in that, The housing unit further includes a lower housing. The upper housing, middle housing, and lower housing are sequentially joined together to form a rectangular housing. The middle housing further includes a left center cover plate and a right center cover plate respectively installed on both sides of the middle main housing. The left center cover plate covers the left end opening of the motor hole, and the right center cover plate covers the right end opening of the gear train hole. The lower housing has an opening at the top and is connected to the middle main housing. The power receiving cavity further includes an inner cavity of the lower housing. The lower part of the motor hole communicates with the inner cavity of the lower housing. The side wall of the lower housing is provided with a wire passage hole. The inner cavity of the lower housing is provided with a control... The control board unit is connected to the rotational power unit; the left middle cover plate has a worm unlocking hole that passes through and communicates with the worm hole, and a removable sealing plug is provided in the worm unlocking hole; a first sealing ring is provided between the left middle cover plate and the main housing, and the first sealing ring surrounds the worm unlocking hole; a second sealing ring is provided between the main housing and the right middle cover plate, and the second sealing ring surrounds the right end opening of the gear train hole; a wire passing sealing device is provided in the wire passing hole; the first bearing is a sealed bearing.

8. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper according to claim 7, characterized in that, The upper positioning blind hole is waist-shaped, the lower positioning hole is circular, the diameter of the lower positioning hole is equal to the width of the upper positioning blind hole, and the length direction of the upper positioning blind hole is consistent with the length direction of the rack groove.

9. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper according to claim 8, characterized in that, The countersunk groove of the upper shell connecting countersunk hole faces upward, and the upper shell connecting countersunk hole includes a first connecting countersunk hole and a second connecting countersunk hole respectively provided on both sides of the gear receiving hole; the countersunk head of the positioning countersunk hole faces downward; the positioning countersunk hole includes a first positioning countersunk hole and a second positioning countersunk hole respectively provided on both sides of the gear receiving hole, and the first positioning countersunk hole and the second positioning countersunk hole respectively connect to the two rack slide grooves; the front and rear sides of the middle main shell are respectively provided with lateral electric claw mounting holes, and the lower part of the lower shell is provided with bottom electric claw mounting holes; the lateral electric claw mounting holes and the bottom electric claw mounting holes are both countersunk blind holes; the middle main shell is also provided with a weight reduction hole; the rotation power is a motor; the lower part of the rack slider is also provided with a recessed grid-like oil groove, and the upper part of each rack slider is fixedly connected with a gripper finger.

10. The compact, high-precision, synchronous clamping, self-locking, high-protection, heavy-duty electric gripper according to claim 9, characterized in that, The intermediate gear ring includes a small gear ring assembly and a large gear ring. The small gear ring assembly includes a small gear ring and a circular ring mating portion that are coaxially connected end-to-end and fixedly connected. The small gear ring assembly is integrally formed. The left bearing groove is located inside the end of the small gear ring away from the circular ring mating portion. The right bearing groove is located inside the end of the circular ring mating portion away from the small gear ring. The large gear ring is fixedly sleeved on the outer wall of the circular ring mating portion, and the gap between the large gear ring and the small gear ring is zero. The number of teeth on the large gear ring is greater than the number of teeth on the small gear ring. The small gear ring meshes with the driving gear, and the large gear ring meshes with the driven gear.

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