A sliding mechanism and electric clamp

Abstract

The utility model discloses a sliding mechanism and an electric clamp. The sliding mechanism includes a sliding seat, a sliding member, a transmission assembly and a stroke adjustment member. The sliding seat has two slide grooves extending along a first direction; the sliding member and the slide groove are arranged one by one, the first end of the sliding member can be slidably arranged in the slide groove along the first direction, and the second ends of the two sliding members are respectively used to connect with two clamping arms arranged opposite to each other in the first direction; the transmission assembly is used to transmit and connect between the clamp driving mechanism and the two sliding members, so that the clamp driving mechanism drives the two sliding members to move synchronously toward or away from each other; the two slide grooves of the stroke adjustment member are respectively provided with stroke adjustment members at one end away from each other, and the stroke adjustment member is detachably connected to the sliding seat. The sliding mechanism and electric clamp disclosed by the utility model can adjust the sliding stroke of the two sliding members, thereby adjusting the operating stroke of the two clamping arms, thereby improving the versatility and flexibility of use of the electric clamp.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping jaws, in particular to a sliding mechanism and an electric clamping jaw. Background Art

[0002] With the development of automation technology, automation equipment such as manipulators and robots that can automatically grasp or transport materials are becoming more and more widely used, and the claw structure that can clamp materials is an important component of automation equipment such as manipulators or robots.

[0003] Electric grippers are a type of grippers that are widely used, and usually include a housing, a gripping assembly, and a drive motor. The gripping assembly includes two sliders that can slide relative to each other, with the gripping jaws mounted on the sliders, which are slidably mounted in the housing, and a rack is mounted on the sliders; a gear is rotatably mounted in the housing, and the gear is meshed with the two racks; the drive motor is connected to the gear to drive the gear to rotate, thereby driving the two sliders to move relative to or away from each other, and then driving the two gripping jaws to move closer to or farther away from each other.

[0004] In the prior art, the stroke of the relative opening and closing movement of the two clamping arms is fixed. However, since the stroke required for the electric clamp to grasp different materials may be different in different application scenarios, it is difficult to improve the versatility of the existing electric clamp, which affects the use cost and flexibility of the electric clamp. Utility Model Content

[0005] The utility model aims to provide a sliding mechanism and an electric clamping jaw, so as to improve the versatility of the electric clamping jaw, improve the use flexibility of the electric clamping jaw, and reduce the use cost of the electric clamping jaw.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] A sliding mechanism, comprising:

[0008] A slide seat having two slide grooves extending along a first direction;

[0009] A sliding member is arranged in one-to-one correspondence with the sliding groove, the first end of the sliding member can be slidably arranged in the sliding groove along the first direction, and the second ends of the two sliding members are respectively used to connect with two clamping arms arranged opposite to each other in the first direction;

[0010] A transmission assembly, used for transmission connection between the clamping jaw driving mechanism and the two sliding members, so that the clamping jaw driving mechanism drives the two sliding members to move toward or away from each other synchronously;

[0011] A stroke adjusting member is provided at one end of the two slide grooves which are away from each other, and the stroke adjusting member is detachably connected to the slide seat.

[0012] As an optional technical solution of the sliding mechanism, the sliding mechanism includes an adjusting locking member, which passes through the sliding seat from outside to inside and is fastened to the stroke adjusting member;

[0013] And / or, the slide groove has two side groove walls arranged opposite to each other along a second direction, the stroke adjustment member abuts against the two side groove walls, and the second direction is perpendicular to the first direction;

[0014] And / or, a side of the stroke adjusting member away from the sliding member abuts against a groove wall at one end of the sliding groove.

[0015] As an optional technical solution for a sliding mechanism, the sliding mechanism also includes a sliding guide assembly, which is arranged in a one-to-one correspondence with the sliding member. The sliding guide assembly includes a sliding shaft extending along the first direction and a linear bearing slidably mounted on the sliding shaft. The linear bearing is fixedly mounted on the sliding member, and the two ends of the sliding shaft are connected to the groove walls on opposite sides of the sliding groove.

[0016] As an optional technical solution for a sliding mechanism, each sliding guide assembly includes at least two linear bearings that are coaxially arranged side by side.

[0017] As an optional technical solution for a sliding mechanism, the linear bearing is a linear ball bearing, which includes a plurality of ball rows arranged at intervals along the circumference of the sliding shaft, and the ball rows of two adjacent linear bearings are staggered along the circumference of the sliding shaft.

[0018] As an optional technical solution for a sliding mechanism, the sliding seat has two first side portions that are opposite to and spaced apart in the first direction, the two first side portions respectively forming opposite side groove walls of the sliding groove, and at least one of the first side portions is provided with a mounting shaft hole, through which the sliding shaft can be plugged in and out and installed on the sliding seat.

[0019] As an optional technical solution of the sliding mechanism, the two first side portions are provided with the mounting shaft holes, the two ends of the sliding shaft are inserted into the two mounting shaft holes, and the two ends of the sliding shaft are detachably connected to the sliding seat through shaft fasteners respectively;

[0020] Alternatively, the sliding shaft includes a main shaft body, a first end of the main shaft body is provided with a limiting portion protruding radially, the first end of the main shaft body is inserted into the mounting shaft hole, the limiting portion is located outside the slide groove and abuts against the open end surface of the mounting shaft hole, and the second end of the main shaft body is detachably connected to the sliding seat via an axial fastener.

[0021] As an optional technical solution of a sliding mechanism, the stroke adjustment member is sleeved on the sliding shaft.

[0022] As an optional technical solution of the sliding mechanism, the two slide grooves are arranged opposite to each other and spaced apart in a second direction, the second direction is perpendicular to the first direction, and the slide seat has a partition located between the two slide grooves;

[0023] The transmission assembly includes a transmission gear and two racks respectively meshed with the transmission gear on opposite sides. The transmission gear is rotatably mounted on the partition. The racks are provided on the opposite sides of the two sliding members. The transmission gear is used to connect with the clamp driving mechanism.

[0024] As an optional technical solution of the sliding mechanism, a first gap adjusting member is provided on the side of the sliding member away from the partition, the first gap adjusting member partially extends out of the sliding member and abuts against the groove wall of the sliding groove, and the height of the first gap adjusting member protruding from the sliding member can be adjusted.

[0025] As an optional technical solution of the sliding mechanism, a receiving groove is provided on a side of the sliding member away from the partition, and the first gap adjusting member is installed in the receiving groove;

[0026] The sliding mechanism includes a second adjustment member, an adjustment hole is opened on one side of the sliding member, the adjustment hole is connected to the accommodating groove, the second adjustment member is arranged in the adjustment hole, and the second adjustment member can move along the axial direction of the adjustment hole to push the first adjustment member to move in the direction toward the groove wall of the sliding groove.

[0027] As an optional technical solution of the sliding mechanism, the second gap adjusting member comprises a screw portion and a cone head portion which are coaxially connected, the outer cone surface of the cone head portion abuts against a side of the first gap adjusting member away from the groove wall of the slide groove, the adjustment hole is a threaded hole, and the screw portion is threadedly screwed into the threaded hole;

[0028] And / or, the adjustment hole extends along the first direction and passes through the end surface of the sliding member.

[0029] As an optional technical solution of the sliding mechanism, the first gap adjusting member is a ball structure or a roller structure extending along a third direction, the first gap adjusting member is rollingly mounted on the sliding member, and the third direction is perpendicular to both the first direction and the second direction;

[0030] And / or, the first gap adjusting member and the rack are arranged opposite to each other in the second direction.

[0031] An electric clamp comprises a clamp driving mechanism and two clamping arms arranged opposite to each other, and also comprises the sliding mechanism as described above, wherein the two clamping arms are detachably connected to the second ends of the two sliding members respectively, and the clamp driving mechanism is connected to the transmission assembly to drive the two clamping arms to open or close relative to each other along the first direction.

[0032] As an optional technical solution for an electric gripper, the gripper driving mechanism includes:

[0033] A housing, the housing being detachably mounted on a side of the slide seat away from the clamping arm, and the housing having a mounting cavity opening toward the slide seat;

[0034] A driving assembly is installed in the installation cavity, and a driving end of the driving assembly extends out of the installation cavity and is connected to the transmission assembly, wherein the transmission assembly includes a transmission gear rotatably installed on the slide seat and two racks meshed on opposite sides of the transmission gear, and the two racks extend along the first direction and are respectively connected to the two sliding members;

[0035] A drive control board, installed in the housing and communicatively connected with the drive assembly;

[0036] The external terminal is installed on the housing and is communicatively connected with the drive control board.

[0037] Beneficial effects of the utility model:

[0038] The sliding mechanism provided by the utility model can improve the sliding reliability of the sliding member by slidingly setting the first end of the sliding member in the sliding groove; by detachably setting a stroke adjusting member inside the sliding groove, it can change the effective idle length of the sliding groove through the stroke adjusting member on the basis of keeping the sizes of the sliding seat and the sliding groove unchanged, thereby changing the sliding stroke of the sliding member along the first direction, and then adjusting the maximum distance between the two clamping arms, so that the sliding mechanism can be applicable to a variety of strokes, improving the versatility and flexibility of use of the sliding mechanism, and reducing the design and processing cost of the sliding mechanism; furthermore, since the stroke adjusting member is detachably connected to the sliding seat, the stroke adjusting member can be removed relative to the sliding seat to meet the applicability of the sliding member at the maximum stroke.

[0039] The electric clamp provided by the utility model can improve the adaptability of the electric clamp to different strokes, improve the versatility and use flexibility of the electric clamp, and reduce the processing, design and use costs of the electric clamp by adopting the above-mentioned sliding mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the structure of the electric clamp provided in the first embodiment of the utility model;

[0041] Figure 2It is a structural schematic diagram of the sliding mechanism and the clamping arm provided in the first embodiment of the utility model;

[0042] Figure 3 It is a structural schematic diagram of the slide provided in the first embodiment of the utility model;

[0043] Figure 4 It is a structural schematic diagram of a slide provided by another embodiment of the utility model;

[0044] Figure 5 It is a structural schematic diagram of the sliding mechanism and the clamping arm provided in the first embodiment of the utility model under the first section;

[0045] Figure 6 It is a structural schematic diagram of the sliding mechanism provided in the first embodiment of the utility model under the second cross section of the clamping arm;

[0046] Figure 7 It is a schematic structural diagram of the sliding mechanisms provided in the first embodiment of the utility model under the third section;

[0047] Figure 8 It is a structural schematic diagram of a sliding member provided in Embodiment 1 of the present utility model;

[0048] Fig. 9 It is a side view of the sliding member provided in the first embodiment of the utility model;

[0049] Fig.10 It is a partial structural schematic diagram of the sliding mechanism provided in the first embodiment of the utility model;

[0050] Fig.11 It is a cross-sectional schematic diagram of the sliding guide assembly provided in the first embodiment of the utility model;

[0051] Fig.12 It is a structural schematic diagram of a stroke adjustment member provided in the first embodiment of the utility model;

[0052] Fig.13 is a cross-sectional view of the sliding mechanism provided in the second embodiment of the utility model;

[0053] Fig.14 It is a structural schematic diagram of a sliding member provided in Embodiment 2 of the present utility model;

[0054] Fig.15 is a structural schematic diagram of a sliding member provided by another embodiment of the utility model;

[0055] Fig.16 This is a cross-sectional view of the electric gripper provided in the third embodiment of the utility model, in which the wiring terminal is used as an integrated wiring harness connector structure;

[0056] Fig.17 yes Fig.16The structural diagram at I in the middle;

[0057] Fig.18 This is a schematic diagram of the structure of the main shell provided in the third embodiment of the present utility model;

[0058] Fig.19 It is a schematic diagram of the structure of the end cover provided in the third embodiment of the utility model;

[0059] Fig. 20 This is a schematic diagram of the structure of the wiring board provided in the third embodiment of the utility model;

[0060] Fig.21 It is a structural schematic diagram of the cover plate provided in the third embodiment of the present utility model;

[0061] Fig. 22 This is a schematic diagram of the structure of the electric clamp provided in the third embodiment of the present utility model when the drive control board is installed in the bottom installation space and the wiring board is installed in the first outlet;

[0062] Fig.23 This is a schematic diagram of the structure of the electric clamp provided in the third embodiment of the present utility model when the drive control board is installed in the side installation space and the wiring board is installed in the first outlet;

[0063] Fig.24 This is a schematic diagram of the structure of the electric clamp provided in the third embodiment of the utility model when the drive control board is installed in the bottom installation space and the wiring board is installed in the second outlet;

[0064] Fig.25 This is a schematic diagram of the structure of the electric clamp provided in the third embodiment of the present utility model when the drive control board is installed in the side installation space and the wiring board is installed in the second outlet;

[0065] Fig.26 This is a schematic diagram of the structure of the electric clamp provided in the third embodiment of the present utility model when no brake assembly is configured.

[0066] In the figure:

[0067] 1. Sliding mechanism; 11. Sliding seat; 111. First side portion; 1111. Mounting shaft hole; 1112. Limiting groove; 112. Second side portion; 113. Partition portion; 1131. Mounting notch; 1132. Column hole; 114. Sliding groove; 1141. First groove portion; 1142. Second groove portion; 115. Positioning step surface; 12. Sliding member; 121. Main slider; 1211. Positioning groove; 12111. External supporting surface; 1212. Internal supporting surface; 1213. Mounting groove; 1214. Accommodating groove; 1215. Adjusting hole; 122. Baffle portion; 123. Mounting seat body; 124. Extended convex portion; 125, mounting through hole; 1251, bearing hole; 1252, shaft through hole; 13, transmission assembly; 131, transmission gear; 132, rack; 14, gap adjustment assembly; 141, first gap adjustment member; 142, second gap adjustment member; 15, stroke adjustment member; 151, main block; 1511, shaft through hole; 1512, fixing hole; 152, raised portion; 16, sliding guide assembly; 161, sliding shaft; 1611, main shaft body; 1612, limiting portion; 162, linear bearing; 1621, ball row; 163, shaft fastener; 164, axial limiting member; 165, circumferential anti-rotation member; 17, support column;

[0068] 2. Clamping arm; 21. Clamping claw; 22. Fixed seat;

[0069] 3. Gripper driving mechanism; 31. Shell; 311. Main shell; 3111. First wire outlet; 3112. First mounting part; 3113. Fixed protrusion; 312. End cover; 3121. Second wire outlet; 3122. Second mounting part; 3123. Mounting boss; 313. Cover plate; 314. Wiring board; 3141. Wiring outlet; 32. Reducer; 33. Driving motor; 34. Mounting flange; 35. Drive control board; 36. Communication board; 37. Adapter board; 38. Brake; 381. Connecting flange; 39. Magnetic sensor; 310. Isolation sleeve; 3101. Fixed ear; 320. External terminal; 330. Connecting bracket; 340. Connecting column; 350. Indicator light. DETAILED DESCRIPTION

[0070] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0071] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it 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, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0073] In the description of this embodiment, the terms "upper", "lower", "right", etc., are based on the directions or positions shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0074] Embodiment 1

[0075] This embodiment provides an electric gripper that can be used to clamp or release materials, thereby realizing operations such as material handling, transfer or rotation, and at the same time can improve the versatility of the electric gripper and reduce the design and use costs of the electric gripper.

[0076] Specifically, Figure 1 and Figure 2As shown, the electric clamp includes a clamp mechanism and a clamp driving mechanism 3. The clamp mechanism includes a sliding mechanism 1 and two clamp arms 2. The sliding mechanism 1 includes a slide seat 11 and a slide member 12 slidably mounted on the two slide seats 11. The two clamp arms 2 are parallel and spaced apart in a first direction, and the two clamp arms 2 are respectively connected to the two slide members 12. The two slide members 12 can slide toward or away from each other along the first direction so that the two clamp arms 2 are relatively closed or opened. The sliding mechanism 1 also includes a transmission assembly 13. The clamp driving mechanism 3 is mounted on the slide seat 11, and the transmission assembly 13 is transmission-connected between the clamp driving mechanism 3 and the slide members 12. The clamp driving mechanism 3 drives the two slide members 12 to move synchronously through the transmission assembly 13.

[0077] like Figure 2 and Figure 6 As shown, the slide 11 has two slide slots 114 extending in a first direction, the first ends of the two slide members 12 can be slidably installed in the slide slots 114 along the first direction, and the second ends of the slide members 12 are connected to the clamping arm 2; the two slide slots 114 are respectively provided with a stroke adjustment member 15 at one end away from each other, and the stroke adjustment member 15 is detachably connected to the slide 11. When the two slide members 12 are respectively in contact with the two stroke adjustment members 15, the two clamping arms 2 have a maximum spacing.

[0078] The sliding mechanism 1 and the electric clamp provided in the present embodiment can improve the sliding reliability of the sliding member 12 by slidingly setting the first end of the sliding member 12 in the sliding groove 114; by detachably setting the stroke adjustment member 15 inside the sliding groove 114, the effective idle length of the sliding groove 114 can be changed by the stroke adjustment member 15 on the basis of keeping the sizes of the sliding seat 11 and the sliding groove 114 unchanged, thereby changing the sliding stroke of the sliding member 12 along the first direction, and then adjusting the maximum distance between the two clamping arms 2, so that the electric clamp can be applicable to a variety of strokes, thereby improving the versatility and flexibility of use of the sliding mechanism 1 and the electric clamp, and reducing the design and processing costs of the sliding mechanism 1 and the electric clamp; furthermore, since the stroke adjustment member 15 is detachably connected to the sliding seat 11, the stroke adjustment member 15 can be removed relative to the sliding seat 11 to meet the applicability of the sliding member 12 at the maximum stroke.

[0079] In this embodiment, the two slide grooves 114 are arranged opposite to each other and spaced apart in the second direction, and the two ends of the two slide grooves 114 are respectively flush, so that the two sliding members 12 are at least partially overlapped in the second direction, so as to facilitate the connection between the two sliding members 12 and the transmission assembly 13, and also facilitate reducing the size of the sliding mechanism 1 in the first direction while ensuring the maximum movement stroke of the two clamping arms 2 in the first direction.

[0080] like Figure 2 and Figure 3As shown, the slide groove 114 penetrates a side wall of the slide seat 11 along the third direction to form a notch. To improve the convenience of setting the slide groove 114, the slide seat 11 has two first side portions 111 that are opposite and spaced in the first direction and two second side portions 112 that are opposite and spaced in the second direction. The same end of the first side portion 111 and the second side portion 112 are connected through the bottom plate portion to enclose a cavity with one side open. A partition 113 is connected between the two first side portions 111. The partition 113 and the two second side portions 112 are spaced apart so that the partition 113 divides the cavity into two slide grooves 114 in the second direction, and also avoids collision between the two slide members 12, thereby improving the operating safety and reliability of the slide member 12.

[0081] In this embodiment, the slide 11 is integrally formed to reduce the cost of the sliding mechanism 1 and the electric clamp. Specifically, the slide 11 is made of aluminum or aluminum alloy material to reduce the weight of the slide 11, thereby reducing the weight of the sliding mechanism 1 and the electric clamp. Further, the slide 11 can be formed by partially processing a lightweight aluminum die-cast blank.

[0082] In other embodiments, Figure 4 As shown, the second side portion 112, the bottom plate portion and the partition portion 113 can be integrally formed into a main seat body with two open ends, and the two first side portions 111 are respectively detachably connected to the main seat body. In this configuration, the main seat body is formed by processing aluminum profiles, and the first side portion 111 can be made of aluminum or aluminum alloy, or can be made of steel plate or other metal plate structures.

[0083] like Figure 2 , Figure 5 and Figure 6 As shown, the sliding member 12 includes a main sliding member 121 and a mounting seat body 123 connected to each other, the main sliding member 121 is slidably inserted in the sliding groove 114, the mounting seat body 123 is located outside the sliding groove 114 and extends in the second direction toward the other sliding groove 114, and the mounting seat body 123 can cover the notches of the two sliding grooves 114 in the second direction, and the clamping arm 2 is installed in the middle of the mounting seat body 123 along the second direction. This arrangement can ensure that the two sliding members 12 are respectively matched with the two sliding grooves 114, and the clamping arm 2 can be centrally arranged relative to the sliding seat 11 in the second direction, so that the two clamping arms 2 are arranged directly opposite to each other in the first direction.

[0084] The clamping arm 2 is detachably connected to the sliding member 12, so that the user can select the shape and structure of the clamping arm 2 according to needs without changing the structure of the sliding mechanism 1, thereby improving the structural versatility of the sliding mechanism 1, realizing the modular setting of the sliding mechanism 1 and the clamping arm 2, and reducing the cost of the clamping mechanism and the electric clamp.

[0085] In order to improve the convenience of connecting the clamping arm 2 with the sliding member 12, the clamping arm 2 includes a clamping claw portion 21 and a fixed seat portion 22. The size of the fixed seat portion 22 along the second direction is larger than the size of the clamping claw portion 21, and the clamping claw portion 21 extends along the third direction. The fixed seat portion 22 is detachably connected to the mounting seat body 123 through a fastener, and the fastener is preferably provided on each of the opposite sides of the clamping claw portion 21 in the second direction to ensure the reliability of the connection between the clamping arm 2 and the mounting seat body 123.

[0086] In this embodiment, a baffle portion 122 is further provided between the main slider 121 and the mounting seat body 123. The baffle portion 122 covers the main slider 121 in the first direction, and the baffle portion 122 is in contact with the end surface where the slot is located. The baffle portions 122 of the two sliding members 12 are arranged side by side and against each other to achieve shielding of the slot and the gap between the two main sliders 121, reduce the probability of external impurities such as dust layers entering the interior of the slide 11, improve the safety and reliability of the sliding mechanism 1 and the electric clamp, and improve the aesthetics of the clamp mechanism.

[0087] Furthermore, one end of the mounting seat body 123 is connected to the baffle portion 122, and an avoidance gap is provided between the other end and the end surface of the slide seat 11, wherein the avoidance gap allows the baffle portion 122 of another sliding member 12 to be inserted, thereby preventing the mounting seat body 123 from spanning the two slide grooves 114 and affecting the relative sliding between the sliding members 12.

[0088] Furthermore, the height of the partition portion 113 in the third direction is smaller than the height of the first side portion 111 in the third direction to reduce the weight of the slide 11. The main slider 121 is provided with an extension protrusion 124 along the direction toward the other slider 12. The extension protrusion 124 is flush with the two ends of the main slider 121 at both ends of the first direction. The extension protrusion 124 is located on the side of the partition portion 113 away from the bottom plate portion, and the extension protrusions 124 of the two sliders 12 cooperate to block the partition portion 113, thereby further preventing the slide groove 114 from being exposed, reducing the occurrence of dust layers or external impurities entering the slide groove 114 and affecting the performance of the transmission assembly 13, and improving the reliability of the sliding mechanism 1 and the electric clamp.

[0089] like Figures 5 to 7As shown, in this embodiment, the transmission assembly 13 includes a transmission gear 131 and two racks 132 respectively meshing with the transmission gear 131 on opposite sides. The transmission gear 131 is rotatably mounted on the partition 113. The two sliding members 12 are provided with racks 132 on the opposite sides thereof. The transmission gear 131 is used to connect with the clamp driving mechanism 3. Thus, the clamp driving mechanism 3 drives the transmission gear 131 to rotate, so as to drive the two racks 132 to move in opposite directions, thereby driving the two sliding members 12 to move closer to or away from each other in the first direction. The synchronous movement of the two sliding members 12 is achieved by using the gear rack 132, which has a simple structure, high transmission reliability, and is easy to arrange. Specifically, the transmission gear 131 is rotatably mounted on the partition 113 and the rotation axis is arranged along the third direction.

[0090] In other embodiments, the transmission assembly 13 may also adopt a screw-nut mechanism, where the screw is rotatably installed on the slide 11 and has two threaded sections with opposite rotation directions, and two nut seats are respectively threadedly installed on the threaded sections. The two nut seats are respectively connected to the two sliding members 12. At the same time, a guide structure is provided on the slide 11 to guide the nut seat and the sliding member 12 to move in a first direction but not to rotate relative to the screw.

[0091] To install the transmission gear 131 , a mounting notch 1131 is formed on the partition 113 along the second direction. The transmission gear 131 is rotatably disposed at the mounting notch 1131 , and two sides of the transmission gear 131 extend into the two slide grooves 114 to mesh with the two racks 132 .

[0092] Furthermore, a disassembly opening connected to the installation notch 1131 is provided on the bottom plate, and the transmission gear 131 can enter and exit the installation notch 1131 through the disassembly opening to achieve the cooperation between the transmission gear 131 and the clamping jaw driving mechanism 3. Specifically, the transmission gear 131 is sleeved on the output shaft of the clamping jaw driving mechanism 3, and the output shaft carries the transmission gear 131 through the disassembly opening to enter the installation notch 1131 to mesh with the two racks 132.

[0093] The sliding member 12 and the rack 132 are processed separately and assembled into one body, so that the sliding member 12 and the rack 132 can be processed with different materials respectively, so as to ensure the performance of the sliding member 12 and the rack 132 respectively, and to reduce the processing difficulty of the rack 132. In this embodiment, the rack 132 is made of wear-resistant materials such as stainless steel to enhance the wear resistance of the rack 132 and improve the service life of the sliding mechanism 1 and the electric clamp; the sliding member 12 is preferably made of aluminum or aluminum alloy to reduce the overall weight of the sliding member 12 and reduce the cost, and easily reduce the overall weight and cost of the clamping mechanism. In other embodiments, the rack 132 can also be integrally processed on the sliding member 12.

[0094] In order to improve the installation reliability of the rack 132 on the sliding member 12, a mounting groove 1213 is opened on the side of the sliding member 12 facing the partition 113, and the length of the mounting groove 1213 along the first direction is equal to the length of the rack 132 along the first direction. The rack 132 is installed in the mounting groove 1213 to achieve the installation and positioning of the rack 132 on the sliding member 12 through the mounting groove 1213. At the same time, it also avoids the problem of a large gap between the sliding member 12 and the groove wall of the sliding groove 114 caused by the rack 132 protruding from the outer surface of the sliding member 12.

[0095] Furthermore, the groove depth of the second direction of the installation groove 1213 is greater than the thickness of the rack 132, so that the transmission gear 131 partially extends into the installation groove 1213 and meshes with the rack 132, thereby further reducing the gap between the sliding member 12 and the partition 113, improving the compactness of the structure, and facilitating the sliding reliability of the sliding member 12. The installation groove 1213 preferably passes through the side of the main slider 121 away from the mounting seat body 123 to reduce the interference between the transmission gear 131 and the sliding member 12.

[0096] like Figure 3 , Figure 5 and Figure 8 As shown, in this embodiment, the slide groove 114 includes a first groove portion 1141 and a second groove portion 1142, the first groove portion 1141 is located at a side of the second groove portion 1142 away from the clamping arm 2, and the width of the first groove portion 1141 along the second direction is smaller than the width of the second groove portion 1142 along the second direction, so that a positioning step surface 115 is formed at the groove bottom of the second groove portion 1142. The positioning step surface 115 is located at a side of the slide groove 114 away from the partition portion 113, and the positioning step surface 115 is arranged away from the groove bottom of the slide groove 114.

[0097] A positioning groove 1211 is provided on the side of the main slider 121 away from the partition 113. The positioning groove 1211 penetrates the main slider 121 along the first direction and penetrates the side of the main slider 121 facing the bottom of the slide groove 114. The groove wall of the positioning groove 1211 on the side opposite to the partition 113 forms an outer support surface 12111. The outer support surface 12111 slides against the groove wall of the first groove portion 1141. The outer support surface 12111 is arranged opposite to each other in the second direction. This arrangement enables the end of the main slider 121 facing the bottom of the slide groove 114 to be stably clamped between the groove wall of the first groove portion 1141 and the transmission gear 131, reducing the probability of the sliding member 12 being deflected during the sliding process; at the same time, this arrangement can reduce the area of ​​the sliding member 12 abutting against the groove wall of the slide groove 114, reduce the friction resistance between the sliding member 12 and the slide seat 11, and reduce the sliding matching requirements between the sliding member 12 and the second groove portion 1142, thereby reducing the processing cost.

[0098] like Figure 3 , Figure 7and Figure 8 As shown, in order to prevent the sliding member 12 from deflecting during the movement along the first direction, in this embodiment, the sliding mechanism 1 further includes a support column 17, which extends along the third direction and is installed on the partition 113. The support column 17 can rotate around its own axis direction and both sides protrude outwardly from the opposite sides of the partition 113 along the second direction. A plurality of support columns 17 are arranged at intervals along the first direction, and the support columns 17 can abut against the sliding member 12. By providing the support column 17, the gap between the partition 113 and the sliding member 12 can be eliminated, and the gap between the sliding member 12 and the partition 113 can be avoided, which causes the sliding member 12 to deflect toward the partition 113, thereby improving the reliability of the sliding member 12 sliding along the first direction; furthermore, since the support column 17 is rotatably installed on the sliding member 12, when the sliding member 12 is running, the contact between the sliding member 12 and the support column 17 is a rolling contact, which can reduce the resistance of the sliding member 12 when sliding, while realizing the lateral support of the support column 17 to the sliding member 12, thereby improving the smoothness of the sliding of the sliding member 12.

[0099] To facilitate the installation of the support column 17 , a column hole 1132 is opened on the partition 113 , and the column hole 1132 passes through the end surface of the partition 113 and the two opposite sides along the second direction. The column hole 1132 is arranged in a one-to-one correspondence with the support column 17 , and the support column 17 is installed in the column hole 1132 .

[0100] Specifically, an inner support surface 1212 is formed on a side surface of the main sliding block 121 facing the partition portion 113 . A mounting groove 1213 is formed on the inner support surface 1212 . The inner support surface 1212 abuts against the support column 17 .

[0101] like Figures 8 to 11 As shown, in this embodiment, in order to improve the smoothness of sliding of the sliding member 12, each sliding member 12 is correspondingly provided with a sliding guide assembly 16, and the sliding guide assembly 16 includes a sliding shaft 161 extending along the first direction and a linear bearing 162 slidably mounted on the sliding shaft 161, the linear bearing 162 is fixedly mounted on the sliding member 12, and the two ends of the sliding shaft 161 are respectively connected to the two end groove walls of the sliding groove 114. Since the linear bearing 162 is slidably arranged on the sliding shaft 161, and the linear bearing 162 is fixedly mounted on the sliding member 12, the sliding guide of the sliding member 12 along the first direction can be achieved through the cooperation of the linear bearing 162 and the sliding shaft 161, the reliability of the sliding member 12 moving along the first direction is ensured, and the smoothness of sliding of the sliding member 12 is improved; at the same time, the linear bearing 162 is used for the sliding guide of the sliding member 12, which has the characteristics of high sliding guide precision, strong wear resistance and low sliding friction, and can effectively reduce the wear of the sliding guide assembly 16, extend the service life of the sliding guide assembly 16, and reduce the use cost of the clamping mechanism.

[0102] Furthermore, each sliding guide assembly 16 is correspondingly provided with a bearing group, and each bearing group includes at least two linear bearings 162 coaxially arranged side by side, thereby reducing the size of a single linear bearing 162, enhancing the guiding accuracy and reducing the damping during the operation of the sliding member 12. In other embodiments, each sliding member 12 may also be correspondingly provided with a linear bearing 162.

[0103] In this embodiment, the linear bearing 162 is a linear ball bearing, which has a plurality of ball rows 1621 arranged at intervals along the circumferential direction, each ball row 1621 includes a plurality of balls arranged in sequence along the axial direction of the linear ball bearing, and the ball rows 1621 of two adjacent linear bearings 162 are staggered in the circumferential direction of the sliding shaft 161, thereby further improving the guiding accuracy of the bearing group for the sliding of the sliding member 12, and further reducing the friction of the bearing group moving relative to the sliding shaft 161. In other embodiments, the linear bearing 162 may also be an extensible linear bearing with a self-lubricating effect, or other linear rolling bearings with built-in rolling balls.

[0104] In order to improve the convenience of disassembly and assembly of the sliding guide assembly 16, at least one first side portion 111 is provided with a mounting shaft hole 1111, and the sliding shaft 161 can be installed on the slide seat 11 through the mounting shaft hole 1111. Therefore, the sliding shaft 161 can be disassembled and assembled along the first direction through the mounting shaft hole 1111, so that the linear bearing 162 installed on the sliding shaft 161 is removed from the sliding shaft 161, and then the sliding member 12 is separated from the sliding shaft 161, and the assembly formed by the sliding member 12 and the linear bearing 162 can be removed through the notch of the slide groove 114.

[0105] Furthermore, in this embodiment, both first side portions 111 are provided with mounting shaft holes 1111, which facilitates the user to judge whether the sliding shaft 161 is inserted in place through the mounting shaft holes 1111 on both sides, so as to improve the convenience of disassembly and assembly of the sliding shaft 161. In other embodiments, only one first side portion 111 may be provided with a mounting shaft hole 1111, and the other side wall may be provided with a limiting groove 1112 or other structures for supporting the sliding shaft 161.

[0106] In this embodiment, the sliding shaft 161 includes a main shaft body 1611 and a limiting portion 1612 arranged at the first end of the main shaft body 1611, the limiting portion 1612 protrudes radially from the main shaft body 1611, the first end of the main shaft body 1611 is inserted into the mounting shaft hole 1111, the limiting portion 1612 is located outside the slide groove 114 and abuts against the open end surface of the mounting shaft hole 1111, and the second end of the main shaft body 1611 is detachably connected to the slide seat 11 through the shaft fastener 163. In this way, the insertion limit of the sliding shaft 161 can be achieved through the abutment between the limiting portion 1612 and the sliding seat 11, thereby improving the assembly efficiency of the sliding shaft 161; at the same time, the movement of the sliding shaft 161 along the end toward the shaft fastener 163 is limited by the abutment between the limiting portion 1612 and the sliding seat 11, while the movement of the sliding shaft 161 along the end away from the shaft fastener 163 is limited by the fastener, thereby ensuring the stability of the sliding shaft 161 after assembly on the sliding seat 11, and when the sliding shaft 161 needs to be disassembled, the sliding shaft 161 can be pulled out relative to the sliding seat 11 by removing the shaft fastener 163.

[0107] In other embodiments, the two first side portions 111 are each provided with a mounting shaft hole 1111 , and both ends of the sliding shaft 161 are inserted into the two mounting shaft holes 1111 , and both ends of the sliding shaft 161 are detachably connected to the slide seat 11 via shaft fasteners 163 .

[0108] Furthermore, a limiting groove 1112 is provided on the outer wall surface of the two first side portions 111, the mounting shaft hole 1111 passes through the bottom of the limiting groove 1112, and the limiting portion 1612 is accommodated in the mounting groove; the shaft fastener 163 is a fastening screw, and the screw head of the fastening screw is accommodated in the corresponding side limiting groove 1112 to avoid scratches or aesthetic problems caused by the limiting portion 1612 and the shaft fastener 163 protruding from the outer surface of the slide seat 11.

[0109] In order to realize the installation of the linear bearing 162 on the sliding member 12, the sliding member 12 is provided with a mounting hole 125 along the first direction. The bearing group is limitedly installed in the mounting hole 125 and the sliding shaft 161 passes through the mounting hole 125. The bearing group can enter and exit the mounting hole 125 through a side opening of the mounting hole 125.

[0110] Furthermore, the mounting through hole 125 includes a bearing hole 1251 and a shaft through hole 1252 which are coaxial and connected in the axial direction. The aperture of the bearing hole 1251 is larger than the aperture of the shaft through hole 1252. The bearing hole 1251 passes through the end face of one end of the sliding member 12, and the shaft through hole 1252 passes through the end face of the other opposite end of the sliding member 12. A limiting step surface is formed between the bearing hole 1251 and the shaft through hole 1252. The bearing group is installed in the bearing hole 1251 and one end face abuts against the limiting step surface. An axial limiting member 164 is installed on the sliding seat 11, and the axial limiting member 164 abuts against the other end face of the bearing group to limit the installation position of the bearing group and the sliding seat 11 in the first direction, avoid relative sliding of the linear bearing 162 and the sliding seat 11 in the first direction, and ensure the guiding reliability of the linear bearing 162 for the sliding member 12.

[0111] In this embodiment, the axial stopper 164 is an annular structure disposed at the hole wall of the mounting through hole 125, and the annular structure may be, but is not limited to, a wire retaining spring, a hole retaining spring, a stopper washer or other structures. In other embodiments, the axial stopper 164 may be a stopper plug-in such as a positioning pin or a screw that penetrates the sliding member 12 and extends into the mounting through hole 125, and the extension direction of the stopper plug-in is perpendicular to the direction of the mounting shaft hole 1111.

[0112] Furthermore, a circumferential stopper 165 is provided on the sliding member 12, and the end of the circumferential stopper 165 abuts against the linear bearing 162, and the circumferential stopper 165 and the linear bearing 162 are arranged one by one to limit the rotation of the linear bearing 162 around the sliding shaft 161, and ensure the accuracy of the position of the ball row 1621 between two adjacent linear bearings 162. The circumferential stopper 165 is preferably a screw, which is screwed on the sliding member 12 to reduce the cost and improve the convenience of setting the circumferential stopper 165.

[0113] like Fig. 9 and Fig.12 As shown, in this embodiment, the stroke adjustment member 15 is sleeved on the sliding shaft 161 to increase the contact area between the stroke adjustment member 15 and the sliding member 12 while avoiding interference between the stroke adjustment member 15 and the sliding shaft 161. Specifically, the adjustment member 15 is provided with a shaft through hole 151, and the sliding shaft 161 is penetrated in the shaft through hole 151.

[0114] Furthermore, the stroke adjustment member 15 can be inserted into or withdrawn from the slide slot 114 through the notch of the slide slot 114, so that when the sliding shaft 161 is pulled out of the slide seat 11, the stroke adjustment member 15 can be disassembled and assembled, thereby increasing the difficulty of disassembling and assembling the stroke adjustment member 15. In other embodiments, the stroke adjustment member 15 can be arranged between the sliding shaft 161 and the bottom of the slide slot 114.

[0115] In order to further improve the setting stability and reliability of the stroke adjustment member 15, in this embodiment, an adjustment locking member is transmitted on the slide 11, and the adjustment locking member passes through the slide 11 from the outside to the inside and is fastened to the stroke adjustment member 15, so that the stroke adjustment member 15 can be fixed inside the slide slot 114, avoiding the movement of the stroke adjustment member 15 during the use of the electric clamp, and improving the convenience of use of the stroke adjustment member 15; furthermore, the adjustment locking member passes through the slide 11 from the outside to the inside, which can facilitate the disassembly and assembly of the stroke adjustment member 15. In other embodiments, the locking member can also only abut against the stroke adjustment member 15 at the end.

[0116] Furthermore, the adjustment locking member is threadedly connected to the stroke adjustment member 15 to improve the setting stability of the stroke adjustment member 15. Specifically, the stroke adjustment member 15 is provided with a fixing hole 1512 on one side facing the bottom of the slide slot 114. The fixing hole 1512 is a threaded hole. The adjustment locking member passes through the bottom of the slide slot 114 and is screwed into the fixing hole 1512.

[0117] It is worth noting that in this embodiment, the stroke of the sliding member 12 can be flexibly adjusted by replacing the stroke adjusting member 15 of different sizes, that is, when the size of the stroke adjusting member 15 in the first direction changes, the space occupied by it in the slide slot 114 changes, that is, the effective vacant length of the slide slot 114 that can be used for the operation of the sliding member 12 changes, and the operation stroke of the sliding member 12 changes. In other embodiments, the structure of the stroke adjusting member 15 itself may not be changed, and the distance between the stroke adjusting member 15 and the other end of the slide slot 114 is adjusted by sliding the stroke adjusting member 15 in the slide slot 114, and the adjusted stroke adjusting member 15 is tightened by adjusting the locking member.

[0118] In other embodiments, both ends of the slide groove 114 may be detachably connected with a stroke adjusting member 15, that is, the maximum distance between the two clamping arms 2 can be adjusted by a pair of stroke adjusting members 15, and the minimum distance between the two clamping arms 2 can be adjusted by another pair of stroke adjusting members 15.

[0119] In order to improve the setting stability of the stroke adjusting member 15 in the slide groove 114, the side of the stroke adjusting member 15 away from the sliding member 12 is in contact with the groove wall of one end of the slide groove 114 to prevent the stroke adjusting member 15 from moving along the first direction under the pressure of the sliding member 12, thereby ensuring the setting stability of the stroke adjusting member 15.

[0120] Furthermore, the slide groove 114 has two side groove walls arranged opposite to each other along the second direction, and the stroke adjustment member 15 abuts against the two side groove walls. The second direction is perpendicular to the first direction to further prevent the stroke adjustment member 15 from shaking in the slide groove 114, thereby ensuring the setting stability and reliability of the stroke adjustment member 15.

[0121] In this embodiment, the stroke adjustment member 15 includes a main block 151, the shape of which is adapted to the shape of the slide slot 114, so that the two opposite sides of the main block 151 along the second direction and the side away from the sliding member 12 abut against the groove wall of the slide slot 114. A protrusion 152 is convexly provided on one side of the main block 151 facing the partition 113, and the protrusion 152 is mounted on the partition 113 and is arranged lower than the end surface of the slide seat 11.

[0122] In this embodiment, the arrangement of the clamping jaw driving mechanism 3 can be carried out with reference to the prior art, which is not the focus of this embodiment and is not limited or elaborated in this embodiment.

[0123] Embodiment 2

[0124] The embodiment provides a sliding mechanism 1 and an electric clamp including the clamp mechanism, and the structure of the electric clamp provided in this embodiment is basically the same as that of the first embodiment, with only some differences in the settings. This embodiment will not repeat the same contents as the first embodiment.

[0125] like Fig.13 and Fig.14 As shown, in this embodiment, in order to further reduce the probability of the sliding member 12 shaking during the sliding process, the sliding mechanism 1 includes a gap adjustment component 14, and the gap adjustment component 14 includes a first gap adjustment component 141. The first gap adjustment component 141 is provided on the side of the sliding member 12 away from the partition 113, and the first gap adjustment component 141 partially extends out of the sliding member 12 and abuts against the groove wall of the sliding groove 114, and the height of the first gap adjustment component 141 protruding from the sliding member 12 can be adjusted. By setting the first gap adjusting member 141, the first gap adjusting member 141 can make up the gap between the sliding member 12 and the groove wall of the slide groove 114, so that the first gap adjusting member 141 can provide lateral support to the sliding member 12, thereby avoiding the sliding member 12 from shaking during the sliding process, and ensuring the sliding reliability of the sliding member 12; at the same time, since the height of the first gap adjusting member 141 protruding from the sliding member 12 can be adjusted, the first gap adjusting member 141 can adapt to the distance between the sliding member 12 and the groove wall of the slide groove 114, thereby improving the reliability and accuracy of the gap adjustment, thereby improving the sliding accuracy of the sliding member 12.

[0126] For the convenience of subsequent description, the groove wall on one side of the sliding groove 114 that is opposite to and spaced from the partition portion 113 is referred to as an outer groove wall.

[0127] In order to improve the convenience of setting the first gap adjusting member 141, a receiving groove 1214 is provided on the side of the sliding member 12 away from the partition 113, and the receiving groove 1214 corresponds to the first gap adjusting member 141 one by one, and the first gap adjusting member 141 is installed in the receiving groove 1214 and partially extends out of the receiving groove 1214 and abuts against the outer groove wall. By providing the receiving groove 1214, it is possible to prevent the first gap adjusting member 141 from being separated from the sliding member 12 when the sliding member 12 slides, thereby ensuring the stability and reliability of the setting of the first gap adjusting member 141.

[0128] Furthermore, the first gap adjusting member 141 is rollingly or rotatably installed in the accommodating groove 1214, so that the contact between the first gap adjusting member 141 and the sliding member 12 and the outer groove wall is rolling contact, which reduces friction, thereby reducing the friction force of the sliding member 12 and improving the sliding smoothness of the sliding member 12.

[0129] In this embodiment, the first gap adjustment member 141 is a spherical structure, that is, the accommodating groove 1214 is a spherical groove, and the maximum depth of the spherical groove is smaller than the outer diameter of the spherical structure, so that the first gap adjustment member 141 can be rolled and accommodated in the spherical groove while the first gap adjustment member 141 slightly protrudes out of the spherical groove to abut against the outer groove wall.

[0130] In other embodiments, Fig.15 As shown, the first gap adjusting member 141 is a circular shaft structure, and the circular shaft structure extends along the third direction. Correspondingly, the accommodating groove 1214 is a cylindrical groove.

[0131] Furthermore, an adjustment hole 1215 is provided on one side of the sliding member 12, the adjustment hole 1215 is communicated with the accommodating groove 1214, the second gap adjusting member 142 is disposed in the adjustment hole 1215, and the second gap adjusting member 142 can move along the axial direction of the adjustment hole 1215 to push the first gap adjusting member 141 to move in the direction toward the groove wall of the slide groove 114. Thus, the user can adjust the height of the first gap adjusting member 141 protruding from the slide seat 11 by operating the second gap adjusting member 142, thereby improving the convenience and reliability of gap adjustment.

[0132] The end of the second gap adjusting member 142 has a pressing surface, which is inclined relative to the second direction and the moving direction of the second gap adjusting member 142, and the second direction is perpendicular to the moving direction of the second gap adjusting member 142, and the pressing surface abuts against the side of the first gap adjusting member 141 away from the outer groove wall. Therefore, when the second gap adjusting member 142 moves along the adjustment hole 1215, the contact position of the first adjustment member on the pressing surface changes, so that the first gap adjusting member 141 is pushed.

[0133] The second gap adjusting member 142 includes a screw portion and a cone head portion connected coaxially, the outer cone surface of the cone head portion abuts against the side of the first gap adjusting member 141 away from the groove wall of the slide groove 114, and the adjustment hole 1215 is a threaded hole, and the screw portion is screwed into the threaded hole. Thus, the adjustment of the second gap adjusting member 142 along the second direction can be achieved by screwing the second gap adjusting member 142, the adjustment structure is simple, and the stability and reliability of the setting of the second gap adjusting member 142 after adjustment can be ensured. In other embodiments, the second adjustment member can also be a wedge block slidably inserted in the adjustment hole 1215, the inclined surface of the wedge block forms a pressing surface, and the wedge block is fastened to the sliding member 12 through a fastening structure after the adjustment is completed.

[0134] In order to improve the effect of gap adjustment, at least two first gap adjustment members 141 corresponding to each sliding member 12 are arranged at intervals along the first direction to increase the pressing position of the sliding member 12 and ensure that the rack 132 can stably mesh with the transmission gear 131. Specifically, in this embodiment, the first gap adjustment members 141 are arranged at both ends of the sliding member 12 along the first direction, and the second gap adjustment members 142 are arranged one by one corresponding to the first gap adjustment members 141.

[0135] Further, the adjustment hole 1215 extends along the first direction and passes through the end surface of the sliding member 12 along the first direction, that is, the second gap adjusting member 142 moves along the first direction. This arrangement can improve the convenience of setting the second gap adjusting member 142. In other embodiments, the second gap adjusting member 142 can also extend along the third direction, that is, the second gap adjusting member 142 is inserted into the adjustment hole 1215 from the sliding member 12 toward the bottom of the slide groove 114 or away from the bottom of the slide groove 114.

[0136] In this embodiment, the first gap adjusting member 141 and the rack 132 are arranged relative to each other in the second direction, so that the end of the sliding member 12 close to the slide groove 114 can be stably clamped between the first gap adjusting member 141 and the gear, ensuring that the sliding member 12 will not deflect during the sliding process and effectively avoiding interference between the gap adjusting component 14 and the sliding guide component 16.

[0137] Embodiment 3

[0138] This embodiment provides an electric gripper, and the electric gripper provided in this embodiment is a further improvement made on the basis of the above embodiment, and this embodiment will not repeat the same structure as the above embodiment.

[0139] like Fig.16As shown, in this embodiment, the clamp driving mechanism 3 includes a housing 31, a driving assembly, a driving control board 35 and an external terminal 320. Among them, one end of the housing 31 is connected to the side of the slide 11 away from the clamping arm 2, and the housing 31 has a mounting cavity with an opening toward the slide 11; the driving assembly and the driving control board 35 are installed in the mounting cavity, and the driving assembly is connected to the transmission assembly 13 in a transmission manner to drive the two clamping arms 2 to open or close relative to each other through the transmission assembly 13; the driving assembly is connected to the driving control board 35 so that the driving control board 35 controls the operation of the driving assembly; the external terminal 320 is installed on the housing 31 and is connected to the driving control board 35 for communication, and the external terminal 320 is used to connect with an external electrical device.

[0140] The shell 31 includes a shell body, a first wire outlet 3111 is provided on a side of the shell body adjacent to the slide 11, and a second wire outlet 3121 is provided on a side of the shell body away from the slide 11; the shell 31 also includes a wiring board 314 and a cover plate 313 with the same appearance, the wiring board 314 can be detachably installed on any one of the first wire outlet 3111 and the second wire outlet 3121, the cover plate 313 closes the other of the first wire outlet 3111 and the second wire outlet 3121, and the external terminal 320 is installed on the wiring board 314.

[0141] That is, Fig. 22 and Fig.23 As shown, when the wiring board 314 is installed at the first outlet 3111, the cover plate 313 is installed at the second outlet 3121 and blocks the second outlet 3121, and the clamping jaw drive mechanism 3 is a side outlet mode; Figure 24 to Figure 26 As shown, when the wiring board 314 is installed at the second wire outlet 3121, the cover plate 313 is installed at the first wire outlet 3111 and blocks the first wire outlet 3111, and the clamping jaw driving mechanism 3 adopts the bottom appearance mode. This setting can be set according to the installation position of the wiring board 314 on the basis of the unchanged shell body structure and appearance, so as to achieve compatibility of two outlet positions, so that the outlet position can be selected according to the application scenario of the electric clamp, improve the wiring flexibility of the electric clamp, improve the universal setting of the shell body and the shell 31, and improve the universality of the clamping jaw driving mechanism 3.

[0142] Furthermore, if Figures 16 to 21As shown, the shell body includes a main shell 311 and an end cover 312. Both ends of the main shell 311 are open and one side is provided with a first wire outlet 3111. One open end of the main shell 311 is detachably connected to the slide seat 11, and the other open end of the main shell 311 is detachably connected to the end cover 312. The end cover 312 is provided with a second wire outlet 3121. The drive assembly is located in the main shell 311. The end cover 312 and the main shell 311 are surrounded to form an installation cavity. The drive assembly can be disassembled and assembled to the outer shell 31 through the opening of the main shell 311. This facilitates the disassembly, maintenance and replacement of the internal structure of the main shell 311, and also reduces the difficulty of processing the shell body.

[0143] In this embodiment, the cross-section of the main shell 311 is rectangular, and the main shell 311 has two first side walls that are opposite and spaced apart in the first direction and two second side walls that are opposite and spaced apart in the second direction. The first wire outlet 3111 is arranged on one of the first side walls, thereby reducing the overall size of the electric clamp in the second direction and improving the compactness of the structure.

[0144] The cross section of the end cover 312 is adapted to the cross section of the main shell 311, and the end cover 312 has an end plate portion and four side plates vertically connected to the periphery of the end plate portion, the second outlet 3121 is opened in the end plate portion, and the side plate portion is connected to the main shell 311. The end cover 312 and the main shell 311 are preferably connected by screws to ensure connection reliability. In other embodiments, the end cover 312 and the main shell 311 can also be connected by snap-fit ​​or other connection methods. This embodiment does not limit the specific connection structure of the end cover 312 and the main shell 311.

[0145] The first outlet 3111 and the second outlet 3121 have the same structure and are preferably rectangular openings to reduce the difficulty of processing. The cover plate 313 and the wiring board 314 are both flat structures, and the wiring board 314 is provided with wiring openings 3141, and the number of wiring openings 3141 can be set according to demand.

[0146] In order to improve the installation convenience of the cover plate 313 and the wiring plate 314 on the main shell 311 or the cover plate 313, the main shell 311 is provided with a first mounting portion 3112 on the inner side of the first wire outlet 3111, and the end cover 312 is provided with a second mounting portion 3122 on the inner side of the second wire outlet 3121. The cover plate 313 and the wiring plate 314 can be connected to the first mounting portion 3112 or the second mounting portion 3122.

[0147] In this embodiment, a plurality of first mounting portions 3112 are arranged at intervals around the first wire outlet 3111, and a plurality of second mounting portions 3122 are arranged at intervals around the second wire outlet 3121, so as to ensure the stability of the cover plate 313 and the wiring plate 314 on the main shell 311 or the end cover 312. In other embodiments, the first mounting portion 3112 and / or the second mounting portion 3122 can be an annular structure surrounding the corresponding first wire outlet 3111 or the second wire outlet 3121.

[0148] In this embodiment, the first wire outlet 3111 and the second wire outlet 3121 are both the same rectangular openings. A first mounting portion 3112 is provided at each of the four corners of the first wire outlet 3111 , and a second mounting portion 3122 is provided at each of the four corners of the second wire outlet 3121 .

[0149] The four corners of the cover plate 313 and the wiring plate 314 are each provided with a first fastening hole, and the first mounting portion 3112 and the second mounting portion 3122 are each provided with a second fastening hole. The cover plate 313 and the wiring plate 314 are fastened to the corresponding first mounting portion 3112 or the second mounting portion 3122 through the first fastening holes and the second fastening holes that are aligned with each other.

[0150] In this embodiment, the end cover 312 and the end cover 312 are formed by processing aluminum profiles to reduce processing costs and reduce the weight of the shell 31.

[0151] A mounting boss 3123 is provided inside the end cover 312, and the mounting boss 3123 has a mounting surface facing the slide seat 11. The clamping jaw drive mechanism 3 includes a communication board 36, and the communication board 36 is detachably mounted on the mounting surface and electrically connected to the external terminal 320. The drive control board 35 is mounted on the communication board 36 and electrically connected to the communication board 36. There is an installation gap between the communication board 36 and the second outlet 3121, and the installation gap can be used to install the external terminal 320.

[0152] That is, when the wiring board 314 is installed at the first outlet 3111, the communication board 36 and the cover plate 313 are opposite and spaced apart; when the wiring board 314 is installed at the second outlet 3121, the external terminal 320 is passed through the wiring board 314, part of the external terminal 320 is located in the installation gap, and the other part of the external terminal 320 passes through the wiring board 314 and extends out of the housing 31.

[0153] In order to further improve the connection convenience between the drive control board 35 and the communication board 36, there is a bottom installation space between the drive assembly and the communication board 36, and there is a side installation space on the side of the drive assembly and the main shell 311 away from the first outlet 3111; the drive control board 35 can be selectively installed in the bottom installation space and opposite to the communication board 36 and arranged at intervals, or installed in the side installation space and vertically connected to the communication board 36. That is, two spaces are reserved inside the shell 31 for installing the drive control board 35. The user can install the drive control board 35 in the bottom installation space or the side installation space according to the layout requirements of the internal structure of the shell 31, thereby further improving the versatility of the clamping jaw drive mechanism 3 and the flexibility of the internal structure layout of the electric clamping jaw.

[0154] like Fig. 22 and Fig.24 As shown, when the drive control board 35 is installed in the bottom installation space, the drive control board 35 and the communication board 36 are spaced apart, and the two are separated by a connecting column 340, and the connecting column 340 is connected to both the communication board 36 and the drive control board 35 to ensure a stable gap between the drive control board 35 and the communication board 36. A plurality of connecting columns 340 are spaced apart to ensure the fixing stability of the drive control board 35 on the communication board 36.

[0155] like Fig.23 and Fig.25 As described above, when the drive control board 35 is installed in the side installation space, the drive control board 35 is located on the side of the drive assembly away from the first wire outlet 3111 to avoid interference between the drive control board 35 and the wiring board 314 or the cover plate 313. One end of the drive board facing the communication board 36 is fixed to the communication board 36 through the connecting bracket 330. Specifically, the connecting bracket 330 is L-shaped, and the two sides are detachably connected to the drive control board 35 and the communication board 36 respectively.

[0156] The number and type of the external terminals 320 can be set according to user requirements. For example, the external terminals 320 can be, but are not limited to, IO interfaces, CAN interfaces, Ethercat interfaces, or ISlink interfaces.

[0157] For example, Fig.16 As shown, when the external terminal 320 adopts an integrated wiring harness connector, the integrated wiring harness connector is inserted into the wiring port 3141, and the connecting wires of the drive control board 35 and the communication board 36 are connected to the integrated wiring harness connector.

[0158] like Figure 22 to Figure 26As shown, when the external terminal 320 adopts other types of communication interfaces, the clamp driving mechanism 3 includes an adapter plate 37, the external terminal 320 is mounted on the adapter plate 37, the adapter plate 37 is spaced apart on the inner side of the adapter plate 37, and the communication board 36 and the drive control board 35 are both electrically connected to the adapter plate 37. It is worth noting that when the wiring board 314 is installed at the second wiring outlet 3121, the adapter plate 37 is located between the communication board 36 and the wiring board 314, and when the wiring board 314 is installed at the first wiring outlet 3111, the adapter plate 37 is located between the wiring board 314 and the drive assembly.

[0159] In this embodiment, the driving assembly includes a mounting flange 34, a reducer 32 and a driving motor 33. The mounting flange 34 is detachably mounted on the side of the slide 11 away from the clamping arm 2; the reducer 32 is detachably mounted on the side of the mounting flange 34 away from the slide 11, the output shaft of the reducer 32 passes through the mounting flange 34 and the slide 11 in sequence and is fixedly connected to the transmission gear 131, and a reduction gear set is arranged in the reducer 32; the driving motor 33 is detachably mounted on the side of the reducer 32 away from the mounting flange 34, and a driving gear is sleeved on the motor shaft of the driving motor 33, and the driving gear is meshed with the input gear of the reduction gear set.

[0160] The structural setting of the above-mentioned drive assembly, since the reducer 32 is installed on the mounting flange 34, and the drive motor 33 is installed on the outside of the reducer 32, can adjust the reduction ratio of the drive assembly by adjusting the structure of the reduction gear set of the reducer 32 without changing the fixed flange, the shape of the reducer 32 and the drive motor 33, thereby improving the versatility and standardized design of the electric gripper components, thereby realizing mass production and low-cost design of components and reducing the overall cost of the gripper drive mechanism 3.

[0161] In this embodiment, the drive motor 33 is an outer rotor motor, thereby reducing the size of the drive motor 33 and reducing the space occupied by the drive motor 33 in the housing 31. In order to reduce the interference between the rotor of the drive motor 33 and the internal structure of the housing 31, the clamping jaw drive mechanism 3 also includes an isolation sleeve 310, which is sleeved on the outside of the drive motor 33 at intervals, so that the rotor of the drive motor 33 is isolated by the isolation sleeve 310, and the drive motor 33 is protected.

[0162] In order to further improve the universal design of the electric clamp, a brake installation space is provided on the side of the installation cavity away from the slide 11 of the driving component, and the brake installation space is used to install the brake component. That is, the user can choose whether the electric clamp has a brake component installed according to the needs. When the electric clamp needs to install the brake component, the brake component can be added to the brake installation space on the basis of other structures remaining basically unchanged, thereby meeting the user's use needs and improving the design flexibility of the electric clamp.

[0163] Furthermore, a fixing protrusion 3113 is disposed in the installation cavity. The fixing protrusion 3113 is disposed at each of the four corners of the installation cavity. The fixing protrusion 3113 has a fixing surface facing away from the slide seat 11 .

[0164] like Fig.26 As shown, when the brake installation space does not need to install a brake assembly, the isolation sleeve 310 is installed on the fixed surface of the fixed protrusion 3113. Specifically, the outer wall of the isolation sleeve 310 is provided with a fixed ear 3101 protruding outward, and the fixed ear 3101 is detachably connected to the fixed surface of the fixed protrusion 3113. Preferably, the fixed ear 3101 and the fixed protrusion 3113 are connected by a screw.

[0165] like Fig. 22 As shown, when the brake installation space needs to install a brake assembly, the brake assembly can be detachably installed on the fixed surface and cooperate with the drive motor 33, and the isolation sleeve 310 is clamped between multiple fixed protrusions 3113, thereby achieving installation and fixation of the brake assembly and the isolation sleeve 310.

[0166] Specifically, the brake assembly includes a matching electromagnetic brake 38 and a matching magnetic sensor 39 sleeve, the electromagnetic brake 38 has a connecting flange 381, the connecting flange 381 is installed on the fixed surface, the magnetic sensor 39 sleeve is installed on the motor shaft of the drive motor 33, and the friction plate of the electromagnetic brake 38 is matched with the square mouth of the magnetic sensor 39 sleeve to ensure that the central inner hole of the electromagnetic brake 38 can pass through the magnetic encoder sleeve and its end permanent magnet concentrically with a gap. In order to ensure a uniform outer size and take into account the braking of a larger clamping force model, the maximum clamping force selection of the electromagnetic brake 38 is adopted to adapt to the full coverage of the smaller clamping force, and the uniform outer shape and internal configuration of springs or magnetic coils can also be used to achieve adaptation to different clamping forces.

[0167] Furthermore, the fixing protrusion 3113 extends along the third direction and has an outer surface that is an arc-shaped surface, so as to reduce the wear on the isolation sleeve 310 while achieving abutment against the isolation sleeve 310 .

[0168] Furthermore, the housing 31 is also equipped with an indicator light 350, which is electrically connected to the communication board 36 to indicate the operating status of the electric gripper. Specifically, a plug-in port for the indicator light 350 is reserved on the side wall of the end cover 312, and the indicator light 350 is plugged into the plug-in port to facilitate the connection between the indicator light 350 and the communication board 36.

[0169] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of protection of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A sliding mechanism, characterized in that: include: A slide seat (11) having two slide grooves (114) extending along a first direction; A sliding member (12) is arranged in one-to-one correspondence with the sliding groove (114), the first end of the sliding member (12) can be slidably arranged in the sliding groove (114) along the first direction, and the second ends of the two sliding members (12) are respectively used to connect with two clamping arms (2) arranged opposite to each other in the first direction; A transmission assembly (13) is used for transmission connection between the clamping jaw driving mechanism (3) and the two sliding members (12), so that the clamping jaw driving mechanism (3) drives the two sliding members (12) to move synchronously toward or away from each other; A stroke adjusting member (15) is provided at one end of the two slide grooves (114) that is away from each other, and the stroke adjusting member (15) is detachably connected to the slide seat (11).

2. The sliding mechanism according to claim 1, characterized in that: The sliding mechanism comprises an adjusting locking member, which passes through the sliding seat (11) from the outside to the inside and is fastened to the stroke adjusting member (15); And / or, the slide groove (114) has two side groove walls arranged opposite to each other along a second direction, the stroke adjustment member (15) abuts against the two side groove walls, and the second direction is perpendicular to the first direction; And / or, a side of the stroke adjustment member (15) away from the sliding member (12) abuts against a groove wall at one end of the sliding groove (114).

3. The sliding mechanism according to claim 1, characterized in that: The sliding mechanism also includes a sliding guide assembly (16), the sliding guide assembly (16) is arranged in a one-to-one correspondence with the sliding member (12), the sliding guide assembly (16) includes a sliding shaft (161) extending along the first direction and a linear bearing (162) slidably mounted on the sliding shaft (161), the linear bearing (162) is fixedly mounted on the sliding member (12), and the two ends of the sliding shaft (161) are connected to the groove walls on opposite sides of the sliding groove (114).

4. The sliding mechanism according to claim 3, characterized in that: Each sliding guide assembly (16) includes at least two linear bearings (162) coaxially arranged side by side.

5. The sliding mechanism according to claim 4, characterized in that: The linear bearing (162) is a linear ball bearing, which includes a plurality of ball rows (1621) arranged at intervals along the circumference of the sliding shaft (161), and the ball rows (1621) of two adjacent linear bearings (162) are staggered along the circumference of the sliding shaft (161).

6. The sliding mechanism according to claim 3, characterized in that: The slide seat (11) has two first side portions (111) which are arranged opposite to each other and spaced apart in the first direction, and the two first side portions (111) respectively form the groove walls on the opposite sides of the slide groove (114). At least one of the first side portions (111) is provided with a mounting shaft hole (1111), and the sliding shaft (161) can be installed on the slide seat (11) by being plugged in and out through the mounting shaft hole (1111).

7. The sliding mechanism according to claim 6, characterized in that: The two first side portions (111) are each provided with a mounting shaft hole (1111), and both ends of the sliding shaft (161) are inserted into the two mounting shaft holes (1111), and both ends of the sliding shaft (161) are detachably connected to the sliding seat (11) via shaft fasteners (163); Alternatively, the sliding shaft (161) includes a main shaft body (1611), the first end of the main shaft body (1611) is provided with a limiting portion (1612) protruding radially, the first end of the main shaft body (1611) is inserted into the mounting shaft hole (1111), the limiting portion (1612) is located outside the slide groove (114) and abuts against the open end surface of the mounting shaft hole (1111), and the second end of the main shaft body (1611) is detachably connected to the slide seat (11) via a shaft fastener (163).

8. The sliding mechanism according to claim 3, characterized in that: The stroke adjustment member (15) is sleeved on the sliding shaft (161).

9. The sliding mechanism according to any one of claims 1 to 8, characterized in that: The two slide grooves (114) are arranged opposite to each other and spaced apart in a second direction, the second direction is perpendicular to the first direction, and the slide seat (11) has a partition (113) located between the two slide grooves (114); The transmission assembly (13) comprises a transmission gear (131) and two racks (132) respectively meshed with the transmission gear (131) on opposite sides. The transmission gear (131) is rotatably mounted on the partition (113). The racks (132) are provided on opposite sides of the two sliding members (12). The transmission gear (131) is used to connect with the clamp driving mechanism (3).

10. The sliding mechanism according to claim 9, characterized in that: A first gap adjusting member (141) is provided on a side of the sliding member (12) facing away from the partition (113); the first gap adjusting member (141) partially extends out of the sliding member (12) and abuts against a groove wall of the sliding groove (114); and the height of the first gap adjusting member (141) protruding from the sliding member (12) is adjustable.

11. The sliding mechanism according to claim 10, characterized in that: A receiving groove (1214) is provided on a side of the sliding member (12) facing away from the partition (113), and the first gap adjusting member (141) is installed in the receiving groove (1214); The sliding mechanism comprises a second gap adjusting member (142), an adjusting hole (1215) is provided on one side of the sliding member (12), the adjusting hole (1215) is communicated with the accommodating groove (1214), the second gap adjusting member (142) is arranged in the adjusting hole (1215), and the second gap adjusting member (142) can move along the axial direction of the adjusting hole (1215) to push the first gap adjusting member (141) to move in a direction toward the groove wall of the sliding groove (114).

12. The sliding mechanism according to claim 11, characterized in that: The second gap adjusting member (142) comprises a screw portion and a cone head portion which are coaxially connected, the outer cone surface of the cone head portion abuts against a side of the first gap adjusting member (141) away from the groove wall of the slide groove (114), the adjustment hole (1215) is a threaded hole, and the screw portion is threadedly screwed into the threaded hole; And / or, the adjustment hole (1215) extends along the first direction and passes through the end surface of the sliding member (12).

13. The sliding mechanism according to claim 10, characterized in that: The first gap adjusting member (141) is a ball structure or a roller structure extending along a third direction, and the first gap adjusting member (141) is rollingly mounted on the sliding member (12), and the third direction is perpendicular to both the first direction and the second direction; And / or, the first gap adjusting member (141) and the rack (132) are arranged opposite to each other in the second direction.

14. An electric clamp, comprising a clamp driving mechanism (3) and two clamping arms (2) arranged opposite to each other, characterized in that: It also includes a sliding mechanism as described in any one of claims 1 to 13, wherein the two clamping arms (2) are detachably connected to the second ends of the two sliding members (12), respectively, and the clamping jaw driving mechanism (3) is connected to the transmission assembly (13) to drive the two clamping arms (2) to open or close relative to each other along the first direction.

15. The electric gripper according to claim 14, characterized in that: The clamping jaw driving mechanism (3) comprises: A housing (31), the housing (31) being detachably mounted on a side of the slide seat (11) facing away from the clamping arm (2), and the housing (31) having a mounting cavity with an opening facing the slide seat (11); A driving assembly is installed in the installation cavity, and a driving end of the driving assembly extends out of the installation cavity and is connected to the transmission assembly (13), the transmission assembly (13) comprises a transmission gear (131) rotatably installed on the slide seat (11) and two racks (132) meshed on opposite sides of the transmission gear (131), the two racks (132) both extend along the first direction and are respectively connected to the two sliding members (12); A drive control panel (35), installed in the housing (31) and communicatively connected with the drive assembly; An external terminal (320) is mounted on the housing (31) and is communicatively connected to the drive control board (35).

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