Electric clamping jaw and robot

By adopting the design of vertical shaft and worm/bevel gear combination in the electric jaw, the problem of electric jaws being occupied at the end of the multi-axis robot and the air pipe bending in high-speed scenarios is solved, and high space utilization is achieved and compact construction ensures efficient clamping and releasing objects.

CN222308875UActive Publication Date: 2025-01-07SHENZHEN DH ROBOTICS TECH CO LTD
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Patent Information

Application Number
CN202421004524.3
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-05-10
Publication Date
2025-01-07
Estimated Expiration
2034-05-10

AI Technical Summary

Technical Problem

The existing electric jaws occupy a high space in the application of multi-axis robot ends, resulting in waste. At the same time, the flat pneumatic jaws are prone to practical application problems such as tracheal bending in high-speed scenarios.

Method used

An electric jaw is designed, including a housing, a drive motor, a first and a second transmission member, a transmission gear, a first and a second clamping assembly, a slide rail, and clamping is achieved by a vertical first and second rotation shaft The relatively close or away of the assembly, the drive motor is placed transversely within the housing to save height and realize transmission through a combination of worm or bevel gears, ensuring the compactness of the jaws and high space utilization.

Benefits of technology

It achieves high space utilization and compact structure of the jaws, avoids high occupation, solves the application problems of pneumatic jaws in high-speed scenarios, and provides more efficient ability to clamp and release objects.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model provides an electric clamping jaw and a robot, and relates to the field of robots. The electric clamping jaw comprises a shell. A driving motor; a first transmission member; a second transmission member; a transmission gear; the driving motor drives the first transmission part, the second transmission part and the transmission gear to transmit. A first clamping assembly; the second clamping assembly is provided with a second tooth-shaped part, and the second tooth-shaped part is opposite to the first tooth-shaped part and is in meshing transmission with the transmission gear; the first clamping assembly and the second clamping assembly are both in sliding connection with the sliding rail. The transmission gear is used for driving the first tooth-shaped part and the second tooth-shaped part so that the first clamping assembly and the second clamping assembly can be relatively close to or away from each other along the sliding rail, and therefore the object can be clamped or released. The electric clamping jaw and the robot have the advantages of being high in space utilization rate and compact in structure.
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Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to an electric gripper and a robot. Background Art

[0002] Electric grippers usually use a longitudinal motor structure to achieve transmission, so that the grippers are very thin but high. However, for some special working scenarios, such as the end of a multi-axis robot, the height of the grippers actually occupies the end travel of the robot, resulting in waste. In such scenarios, flat pneumatic grippers are used, and pneumatic grippers are prone to practical application problems such as air pipe bending in such high-speed scenarios. Utility Model Content

[0003] The purpose of the utility model includes, for example, providing an electric gripper and a robot, which have the characteristics of high space utilization and compact structure.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, an embodiment of the utility model provides an electric gripper, comprising:

[0006] case;

[0007] A driving motor, wherein the driving motor is installed in the housing;

[0008] a first transmission member, the first transmission member being in transmission connection with the driving motor, and the driving motor being used for driving the first transmission member to rotate around a first rotating shaft;

[0009] a second transmission member, the second transmission member being in transmission connection with the first transmission member, the first transmission member being used for driving the second transmission member to rotate around a second rotating shaft, wherein the second rotating shaft is perpendicular to the first rotating shaft;

[0010] A transmission gear, the transmission gear is fixedly connected to the second transmission member, and the second transmission member is used to drive the transmission gear to rotate around the second rotating shaft;

[0011] A first clamping assembly, wherein the first clamping assembly has a first tooth-shaped portion, and the first tooth-shaped portion is meshed with the transmission gear for transmission;

[0012] A second clamping assembly, wherein the second clamping assembly has a second tooth-shaped portion, the second tooth-shaped portion is opposite to the first tooth-shaped portion and meshes with the transmission gear for transmission;

[0013] A slide rail, wherein the slide rail is connected to the housing, the first clamping assembly and the second clamping assembly are both slidably connected to the slide rail, and the sliding directions of the first clamping assembly and the second clamping assembly are both parallel to the first rotating shaft;

[0014] The transmission gear is used to drive the first tooth-shaped portion and the second tooth-shaped portion, so that the first clamping assembly and the second clamping assembly are relatively close to or away from each other along the slide rail, thereby clamping or releasing an object.

[0015] Further, in an optional embodiment, the first transmission member includes a worm, the worm is fixedly connected to the output shaft of the drive motor, and the second transmission member includes a worm wheel or a helical gear drivingly connected to the worm, and the worm wheel or the helical gear is coaxially arranged with the transmission gear; or,

[0016] The first transmission member includes a first bevel gear fixedly connected to the output shaft of the drive motor, and the second transmission member includes a second bevel gear meshing with the first bevel gear, and the second bevel gear is coaxially arranged with the transmission gear.

[0017] Further, in an optional embodiment, the first clamping assembly includes a first mounting member and a first clamping member connected to each other, the first toothed portion is provided on the first mounting member, and the first clamping member is slidably connected to the slide rail;

[0018] The second clamping assembly includes a second mounting member and a second clamping member connected to each other, the second toothed portion is arranged on the second mounting member, the second clamping member is slidably connected to the slide rail, the first mounting member is opposite to the second mounting member, and the first clamping member is opposite to the second clamping member and forms a clamping space.

[0019] Further, in an optional embodiment, the first clamping member is provided with a first clamping portion and a first sliding groove, the first clamping portion is opposite to the second clamping member, and the first sliding groove is slidably matched with the slide rail so that the first clamping member slides along the slide rail.

[0020] Further, in an optional embodiment, the second clamping member is provided with a second clamping portion and a second sliding groove, the second clamping portion is opposite to the second clamping member, and the second sliding groove is slidably matched with the slide rail so that the second clamping member slides along the slide rail.

[0021] Further, in an optional embodiment, the electric clamp further includes a bearing, the bearing is coaxially arranged with the transmission gear, and the first mounting member and the second mounting member are respectively located on both sides of the bearing.

[0022] Further, in an optional embodiment, the first mounting member is provided with a first receiving groove on a side close to the bearing, and the second mounting member is provided with a second receiving groove on a side close to the bearing, and the bearing is received in a receiving groove formed by the first receiving groove and the second receiving groove.

[0023] Further, in an optional embodiment, the shell is provided with a mounting groove, the slide rail is located in the mounting groove, and the first clamping member and the second clamping member are partially accommodated in the mounting groove.

[0024] In a second aspect, an embodiment of the utility model provides a robot comprising any of the electric grippers described above.

[0025] The electric gripper and robot provided by the utility model have the following beneficial effects: a driving motor drives the first transmission member to rotate, and the first transmission member is connected to the second transmission member in transmission, thereby driving the second transmission member to rotate; the transmission gear is fixedly connected to the second transmission member, that is, the transmission gear and the second transmission member rotate synchronously, the first clamping component has a first tooth-shaped portion, and the second clamping component has a second tooth-shaped portion, the first tooth-shaped portion and the second tooth-shaped portion are respectively located on both sides of the transmission gear and mesh with the transmission gear for transmission. When the transmission gear rotates, the first tooth-shaped portion and the second tooth-shaped portion are driven, and since the first tooth-shaped portion and the second tooth-shaped portion are located on opposite sides of the transmission gear, that is, the first clamping component and the second clamping component are brought closer to or farther away from each other through the first tooth-shaped portion and the second tooth-shaped portion, when the first clamping component and the second clamping component are brought closer to each other, the object can be clamped, and when the first clamping component and the second clamping component are farther away from each other, the clamped object can be released. The driving motor drives the first transmission member and the second transmission member to rotate, the rotation axis of the first transmission member is the first rotating shaft, the rotation axis of the second transmission member is the second rotating shaft, and the first rotating shaft and the second rotating shaft are perpendicular to each other; the driving motor can be placed horizontally in the housing and can realize the longitudinal rotation of the second transmission member, thereby saving the overall height and ensuring the end stroke of the clamping claw. The embodiment of the utility model has the characteristics of high space utilization and compact structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the utility model and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0027] Figure 1 It is a structural schematic diagram of the electric clamp described in a specific embodiment of the utility model;

[0028] Figure 2 for Figure 1 A schematic diagram of the structure of the electric gripper with part of the outer shell removed;

[0029] Figure 3 for Figure 2A schematic diagram of the structure of the electric gripper in another perspective;

[0030] Figure 4 for Figure 3 A schematic diagram of the structure of the electric gripper in another viewing angle;

[0031] Figure 5 for Figure 4 Schematic diagram of the enlarged structure at A in FIG.

[0032] Icon: 100-electric clamp; 11-housing; 110-mounting slot; 12-driving motor; 13-first transmission member; 14-second transmission member; 15-transmission gear; 17-first clamping assembly; 170-first toothed portion; 171-first mounting member; 1711-first receiving slot; 172-first clamping member; 18-second clamping assembly; 180-second toothed portion; 181-second mounting member; 1811-second receiving slot; 182-second clamping member; 19-slide rail; 20-bearing. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0034] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0037] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0038] The specific implementation of the utility model is described in detail below in conjunction with the accompanying drawings.

[0039] See also Figures 1 to 5 The present embodiment provides an electric gripper 100. The electric gripper 100 can be applied to a robot to implement a gripping operation on an object. The electric gripper 100 provided in the present embodiment has the characteristics of high space utilization and compact structure.

[0040] like Figures 1 to 3 As shown, the electric clamp 100 provided in the embodiment of the utility model includes a housing 11; a drive motor 12, which is installed in the housing 11; a first transmission member 13, which is transmission-connected to the drive motor 12, and the drive motor 12 is used to drive the first transmission member 13 to rotate around a first rotation axis; a second transmission member 14, which is transmission-connected to the first transmission member 13, and the first transmission member 13 is used to drive the second transmission member 14 to rotate around a second rotation axis, wherein the second rotation axis is perpendicular to the first rotation axis; a transmission gear 15, which is fixedly connected to the second transmission member 14, and the second transmission member 14 is used to drive the transmission gear 15 to rotate around the second rotation axis; a first clamping assembly 17, the first clamping assembly 1 7 has a first toothed portion 170, which is meshed with the transmission gear 15 for transmission; a second clamping assembly 18, which has a second toothed portion 180, which is opposite to the first toothed portion 170 and meshed with the transmission gear 15 for transmission; a slide rail 19, which is connected to the housing 11, and the first clamping assembly 17 and the second clamping assembly 18 are both slidably connected to the slide rail 19, and the sliding directions of the first clamping assembly 17 and the second clamping assembly 18 are both parallel to the first rotating shaft; the transmission gear 15 is used to drive the first toothed portion 170 and the second toothed portion 180, so that the first clamping assembly 17 and the second clamping assembly 18 are relatively close to or away from each other along the slide rail 19, thereby clamping or releasing an object.

[0041] It should be pointed out that the electric clamp 100 provided in the embodiment of the utility model has the characteristics of high space utilization and compact structure. The drive motor 12 is used to drive the first clamping component 17 and the second clamping component 18 to move in relative or opposite directions, so as to clamp or release the object. The drive motor 12 drives the first transmission member 13 and the second transmission member 14 to rotate, the rotation axis of the first transmission member 13 is the first rotation axis, the rotation axis of the second transmission member 14 is the second rotation axis, and the first rotation axis and the second rotation axis are perpendicular to each other; in the embodiment of the utility model, the drive motor 12 rotates around the first rotation axis, and the sliding directions of the first clamping component 17 and the second clamping component 18 are parallel to the first rotation axis, that is, the drive motor 12 can be placed horizontally in the housing 11, and can realize the longitudinal rotation of the second transmission member 14 ("longitudinal" and "horizontal" are relative directions, and the longitudinal direction is the thickness direction of the electric clamp 100), which is conducive to saving the overall height and ensuring the end stroke of the clamp. In the embodiment of the utility model, the path of motion transmission is: the driving motor 12 drives the first transmission member 13 to rotate, and the first transmission member 13 is connected to the second transmission member 14 in transmission connection, thereby driving the second transmission member 14 to rotate; the transmission gear 15 is fixedly connected to the second transmission member 14, that is, the transmission gear 15 and the second transmission member 14 rotate synchronously, the first clamping assembly 17 has a first toothed portion 170, and the second clamping assembly 18 has a second toothed portion 180, the first toothed portion 170 and the second toothed portion 180 are respectively located on both sides of the transmission gear 15 and are connected to the transmission gear 15 When the transmission gear 15 rotates, the meshing transmission drives the first toothed portion 170 and the second toothed portion 180. Since the first toothed portion 170 and the second toothed portion 180 are located on opposite sides of the transmission gear 15, the first clamping component 17 and the second clamping component 18 can be moved closer to or farther away from each other through the first toothed portion 170 and the second toothed portion 180. When the first clamping component 17 and the second clamping component 18 are closer to each other, they can clamp an object. When the first clamping component 17 and the second clamping component 18 are farther away from each other, they can release the clamped object.

[0042] In the embodiment of the utility model, a planetary reducer is not used as a reduction mechanism, but through the cooperation of the first transmission member 13 and the second transmission member 14, the drive motor 12 is placed horizontally in the housing 11, thereby greatly reducing the height dimension.

[0043] In an optional embodiment, the first transmission member 13 includes a worm, which is fixedly connected to the output shaft of the drive motor 12, and the second transmission member 14 includes a worm wheel or a helical gear connected to the worm, and the worm wheel is coaxially arranged with the transmission gear 15 (or the helical gear is coaxially arranged with the transmission gear 15), and the first transmission member 13 and the second transmission member 14 can be arranged on the side of the drive motor 12. Or for the first transmission member 13 and the second transmission member 14, the first transmission member 13 includes a first bevel gear, which is fixedly connected to the output shaft of the drive motor 12, and the second transmission member 14 includes a second bevel gear meshing with the first bevel gear, and the second bevel gear is coaxially arranged with the transmission gear 15.

[0044] It should be noted that the first transmission member 13 and the second transmission member 14 can be a combination of a worm and a worm gear, a combination of a worm and a helical gear, or a combination of two bevel gears. It should be particularly noted that when the first transmission member 13 and the second transmission member 14 are worm and a worm gear, the clamping jaw can have a self-locking function without the need for additional electronic brake configuration.

[0045] In an optional embodiment, the first clamping assembly 17 includes a first mounting member 171 and a first clamping member 172 that are connected to each other, the first toothed portion 170 is arranged on the first mounting member 171, and the first clamping member 172 is slidably connected to the slide rail 19; the second clamping assembly 18 includes a second mounting member 181 and a second clamping member 182 that are connected to each other, the second toothed portion 180 is arranged on the second mounting member 181, and the second clamping member 182 is slidably connected to the slide rail 19, the first mounting member 171 is opposite to the second mounting member 181, and the first clamping member 172 is opposite to the second clamping member 182 and forms a clamping space.

[0046] In this embodiment, the first clamping member 172 is provided with a first clamping portion and a first sliding groove. The first clamping portion is opposite to the second clamping member 182 . The first sliding groove is slidably matched with the slide rail 19 so that the first clamping member 172 slides along the slide rail 19 .

[0047] In this embodiment, the second clamping member 182 is provided with a second clamping portion and a second sliding groove, the second clamping portion is opposite to the second clamping member 182 , and the second sliding groove is slidably matched with the slide rail 19 , so that the second clamping member 182 slides along the slide rail 19 .

[0048] In an optional embodiment, the electric clamp 100 further includes a bearing 20 , which is coaxially arranged with the transmission gear 15 , and the first mounting member 171 and the second mounting member 181 are respectively located on both sides of the bearing 20 .

[0049] In an optional embodiment, the first mounting member 171 is provided with a first receiving groove 1711 on the side close to the bearing 20, and the second mounting member 181 is provided with a second receiving groove 1811 on the side close to the bearing 20, and the bearing 20 is received in the receiving groove formed by the first receiving groove 1711 and the second receiving groove 1811.

[0050] In an optional embodiment, the housing 11 is provided with a mounting groove 110, the slide rail 19 is located in the mounting groove 110, and the first clamping member 172 and the second clamping member 182 are partially accommodated in the mounting groove 110. As shown in the figure, the mounting groove 110 is provided on a side surface of the housing 11, the slide rail 19 is installed on the housing 11 and is located in the mounting groove 110, and the first clamping member 172 and the second clamping member 182 are assembled on the slide rail 19 and are partially accommodated in the mounting groove 110.

[0051] In view of this problem, the present invention produces a flat electric gripper 100, which is superior in height to the existing longitudinal motor electric gripper 100, and solves the field application problem of the flat pneumatic gripper caused by the need to connect air pipes and sensor cables.

[0052] The embodiment of the utility model also provides a robot including the electric gripper 100 in any of the aforementioned embodiments.

[0053] The electric gripper 100 and the robot including the electric gripper 100 provided in this embodiment: the driving motor 12 drives the first transmission member 13 to rotate, and the first transmission member 13 is in transmission connection with the second transmission member 14, thereby driving the second transmission member 14 to rotate; the transmission gear 15 is fixedly connected with the second transmission member 14, that is, the transmission gear 15 and the second transmission member 14 rotate synchronously, the first clamping component 17 has a first tooth-shaped portion 170, and the second clamping component 18 has a second tooth-shaped portion 180, the first tooth-shaped portion 170 and the second tooth-shaped portion 180 are respectively located on both sides of the transmission gear 15 and are connected to the transmission gear 15. The meshing transmission of the movable gear 15 drives the first toothed portion 170 and the second toothed portion 180 when the transmission gear 15 rotates. Since the first toothed portion 170 and the second toothed portion 180 are located on opposite sides of the transmission gear 15, the first clamping assembly 17 and the second clamping assembly 18 are moved closer to or farther away from each other through the first toothed portion 170 and the second toothed portion 180. When the first clamping assembly 17 and the second clamping assembly 18 are moved closer to each other, the object can be clamped. When the first clamping assembly 17 and the second clamping assembly 18 are moved away from each other, the clamped object can be released. The driving motor 12 drives the first transmission member 13 and the second transmission member 14 to rotate. The rotation axis of the first transmission member 13 is the first rotation axis, and the rotation axis of the second transmission member 14 is the second rotation axis, and the first rotation axis and the second rotation axis are perpendicular to each other. The driving motor 12 can be placed horizontally in the housing 11 and can realize the longitudinal rotation of the second transmission member 14, which is conducive to saving the overall height and ensuring the end stroke of the clamping claw. The embodiment of the utility model has the characteristics of high space utilization and compact structure.

[0054] It should be noted that, in the description of the present invention, the terms "upper", "lower", "inside", "outside", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the utility model product is usually placed when in use, or are directions or positional relationships commonly understood by those skilled in the art. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0055] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0056] It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms such as "setting" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] Although the utility model is disclosed as above, the utility model is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the utility model. Therefore, the protection scope of the utility model shall be subject to the scope defined by the claims.

Claims

1. An electric gripper, characterized in that: include: case; A driving motor is installed in the housing; A first transmission member, transmission-connected to the driving motor, the driving motor is used to drive the first transmission member to rotate around a first rotating shaft; a second transmission member, which is in transmission connection with the first transmission member, and the first transmission member is used to drive the second transmission member to rotate around a second rotation axis, wherein the second rotation axis is perpendicular to the first rotation axis; A transmission gear, fixedly connected to the second transmission member, the second transmission member is used to drive the transmission gear to rotate around the second rotating shaft; A first clamping assembly having a first tooth-shaped portion, wherein the first tooth-shaped portion is meshed with the transmission gear for transmission; A second clamping assembly has a second tooth-shaped portion, the second tooth-shaped portion is opposite to the first tooth-shaped portion and meshes with the transmission gear for transmission; A slide rail connected to the housing, the first clamping assembly and the second clamping assembly are both slidably connected to the slide rail, and the sliding directions of the first clamping assembly and the second clamping assembly are both parallel to the first rotating shaft; The transmission gear is used to drive the first tooth-shaped portion and the second tooth-shaped portion, so that the first clamping assembly and the second clamping assembly are relatively close to or away from each other along the slide rail, thereby clamping or releasing an object.

2. The electric gripper according to claim 1, characterized in that: The first transmission member includes a worm, which is fixedly connected to the output shaft of the drive motor. The second transmission member includes a worm wheel or a helical gear drivingly connected to the worm, and the worm wheel or the helical gear is coaxially arranged with the transmission gear.

3. The electric gripper according to claim 1, characterized in that: The first transmission member includes a first bevel gear fixedly connected to the output shaft of the drive motor, and the second transmission member includes a second bevel gear meshing with the first bevel gear, and the second bevel gear is coaxially arranged with the transmission gear.

4. The electric gripper according to any one of claims 1 to 3, characterized in that: The first clamping assembly comprises a first mounting member and a first clamping member connected to each other, the first toothed portion is arranged on the first mounting member, and the first clamping member is slidably connected to the slide rail; The second clamping assembly includes a second mounting member and a second clamping member connected to each other, the second toothed portion is arranged on the second mounting member, the second clamping member is slidably connected to the slide rail, the first mounting member is opposite to the second mounting member, and the first clamping member is opposite to the second clamping member and forms a clamping space.

5. The electric gripper according to claim 4, characterized in that: The first clamping member is provided with a first clamping portion and a first sliding groove, the first clamping portion is opposite to the second clamping member, and the first sliding groove is slidably matched with the slide rail so that the first clamping member slides along the slide rail.

6. The electric gripper according to claim 4, characterized in that: The second clamping member is provided with a second clamping portion and a second sliding groove, the second clamping portion is opposite to the second clamping member, and the second sliding groove is slidably matched with the slide rail so that the second clamping member slides along the slide rail.

7. The electric gripper according to claim 4, characterized in that: The electric clamp further comprises a bearing, which is coaxially arranged with the transmission gear, and the first mounting member and the second mounting member are respectively located on both sides of the bearing.

8. The electric gripper according to claim 7, characterized in that: The first mounting member is provided with a first receiving groove on a side close to the bearing, and the second mounting member is provided with a second receiving groove on a side close to the bearing. The bearing is received in a receiving groove formed by the first receiving groove and the second receiving groove.

9. The electric gripper according to claim 4, characterized in that: The housing is provided with a mounting groove, the slide rail is located in the mounting groove, and the first clamping member and the second clamping member are partially accommodated in the mounting groove.

10. A robot, characterized in that: It comprises the electric clamp as claimed in any one of claims 1 to 9.