Rotating mechanism for electric gripper and electric gripper

Abstract

The utility model discloses a rotating mechanism used for an electric gripper and the electric gripper, the rotating mechanism is arranged in a shell of the electric gripper, the rotating mechanism is used for driving a clamping jaw mechanism of the electric gripper to rotate, the rotating mechanism comprises a rotating motor, and a stator of the rotating motor is fixedly connected with the shell; one end of the spindle is fixedly connected with a rotor of the rotating motor, the other end of the spindle is fixedly connected with the clamping jaw mechanism, and the rotating motor drives the clamping jaw mechanism to rotate through the spindle; the outer ring of the bearing is fixedly connected with the shell, and the inner ring of the bearing is fixedly connected with the main shaft; the central axis of the rotating motor coincides with the central axis of the shell. The rotating mechanism of the electric gripper disclosed by the utility model can rotate infinitely and has no back clearance during rotation, so that the accuracy and the practicability of the electric gripper can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of electric grippers, in particular to a rotating mechanism for electric grippers and the electric grippers. Background Art

[0002] With the continuous development of automation equipment, electric grippers are being used more and more widely.

[0003] In the related technology, electric grippers require various wires to connect internal parts during operation in order to realize the rotation of the electric gripper. Most electric grippers use a switching transmission mechanism to realize the rotation. Through suitable motor selection, appropriate transmission mechanism, and effective control and programming, stable electric gripper rotation can be achieved to meet various industrial and application needs.

[0004] However, the electric gripper in the prior art has a limited rotation angle and a backlash in the rotation direction. Utility Model Content

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the utility model is to provide a rotating mechanism for an electric gripper. The rotating mechanism can rotate infinitely and with zero backlash, which can effectively improve the accuracy and practicality of the electric gripper.

[0006] Another purpose of the utility model is to provide an electric gripper.

[0007] According to a rotating mechanism for an electric gripper proposed in the utility model, the rotating mechanism is arranged in a housing of the electric gripper, and the rotating mechanism is used to drive the clamping mechanism of the electric gripper to rotate. The rotating mechanism includes:

[0008] A rotating electric machine, wherein the stator of the rotating electric machine is fixedly connected to the housing;

[0009] A main shaft, one end of which is fixedly connected to the rotor of the rotating motor, and the other end of which is fixedly connected to the clamping mechanism, and the rotating motor drives the clamping mechanism to rotate through the main shaft;

[0010] A bearing, wherein the outer ring of the bearing is fixedly connected to the housing, and the inner ring of the bearing is fixedly connected to the main shaft;

[0011] Wherein, the central axis of the rotating electrical machine coincides with the central axis of the housing.

[0012] According to the rotating mechanism for the electric gripper provided by the utility model, a rotating motor is provided to provide a driving force for the rotating action of the clamping mechanism; a main shaft is provided, and the rotating motor is connected to the clamping mechanism by the main shaft, so that the use of an intermediate mechanism (for example: a gear mechanism) for transmission can be avoided, and backlash-free rotational motion can be achieved, thereby effectively simplifying the component structure of the electric gripper, greatly improving the transmission efficiency of the electric gripper while ensuring precise positioning of the rotation direction, and expanding the application scenarios of the electric gripper; by providing bearings, it can be ensured that the main shaft can achieve a rotational action relative to the housing while being supported by the housing, and the use of bearings can reduce friction and wear during the rotation of the clamping mechanism, thereby increasing the service life of the electric gripper, and simultaneously improving the working efficiency, rotation accuracy and reliability of the electric gripper.

[0013] In some examples of the present invention, the rotating mechanism further comprises:

[0014] A mounting bracket is fixedly connected to the housing, and the mounting bracket is fixedly connected to the stator so that the stator is fixedly connected to the housing through the mounting bracket.

[0015] In some examples of the present invention, the rotating mechanism further comprises:

[0016] A first detection component is fixedly connected to the main shaft and the housing respectively, and is used to detect an initial position of the main shaft.

[0017] In some examples of the present invention, the rotating mechanism further comprises:

[0018] A second detection component is fixedly connected to the main shaft and the housing respectively, and the second detection component is used to detect the rotation position of the main shaft.

[0019] In some examples of the present invention, the rotating mechanism further comprises:

[0020] A circuit board is connected to the housing, and the circuit board is electrically connected to the rotating motor, the first detection component, and the second detection component respectively.

[0021] In some examples of the present invention, the first detection component includes:

[0022] An induction member, the induction member is fixedly connected to the main shaft and is located on a side of the mounting bracket away from the stator;

[0023] The sensor is fixedly connected to the shell, and the sensor is correspondingly arranged with the induction element.

[0024] In some examples of the present invention, the second detection component includes:

[0025] A magnetic member, the magnetic member is fixedly connected to the main shaft, and the magnetic member is located at an end of the main shaft away from the clamping mechanism;

[0026] The encoder is fixedly connected to the circuit board, and the encoder is arranged opposite to the magnetic member.

[0027] The electric gripper proposed by the utility model comprises:

[0028] A housing having a receiving cavity;

[0029] A rotating mechanism, the rotating mechanism is arranged in the accommodating cavity, and the rotating mechanism is the rotating mechanism for the electric gripper described above;

[0030] A clamping mechanism is located at one end of the shell, and the clamping mechanism is transmission-connected to the rotating mechanism.

[0031] In some examples of the present invention, the electric gripper further comprises:

[0032] A connector is connected to the housing and is located at the other end of the housing away from the clamping mechanism. The connector is electrically connected to a circuit board of the selection mechanism.

[0033] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a front view of the rotating mechanism for the electric gripper provided according to the utility model;

[0036] Figure 2 This is an axonometric diagram of a rotating mechanism for an electric gripper provided according to the utility model;

[0037] Figure 3 A cross-sectional view of a rotating mechanism for an electric gripper provided according to the utility model;

[0038] Figure 4It is a front view of the electric gripper provided according to the utility model;

[0039] Figure 5 The utility model is an assembly diagram of the electric gripper provided by the utility model.

[0040] Description of reference numerals:

[0041] 10-Electric gripper;

[0042] 100-housing; 110-accommodating chamber;

[0043] 200-rotating mechanism;

[0044] 210-rotating electric machine; 211-stator; 212-rotor;

[0045] 220-spindle;

[0046] 230-bearing; 231-outer ring; 232-inner ring;

[0047] 240-Mounting bracket;

[0048] 250-first detection component; 251-sensing element; 252-sensor;

[0049] 260-second detection component; 261-magnetic member; 262-encoder;

[0050] 270-circuit board;

[0051] 300-gripping mechanism;

[0052] 400-Connector. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0054] In the description of the present utility model, it is necessary to understand that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" 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 it can be indirectly connected 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.

[0056] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0057] Figure 1 It is a front view of the rotating mechanism for the electric gripper provided according to the utility model; Figure 2 This is an axonometric diagram of a rotating mechanism for an electric gripper provided according to the utility model; Figure 3 A cross-sectional view of a rotating mechanism for an electric gripper provided according to the utility model; Figure 4 It is a front view of the electric gripper provided according to the utility model; Figure 5 The utility model is an assembly diagram of the electric gripper provided by the utility model.

[0058] Reference below Figure 1-Figure 5A rotating mechanism 200 for an electric gripper 10 according to an embodiment of the utility model is described, the rotating mechanism 200 is arranged in the housing 100 of the electric gripper 10, the rotating mechanism 200 is used to drive the clamping mechanism 300 of the electric gripper 10 to rotate, the rotating mechanism 200 includes: a rotating motor 210, the stator 211 of the rotating motor 210 is fixedly connected to the housing 100; a main shaft 220, one end of the main shaft 220 is fixedly connected to the rotor 212 of the rotating motor 210, and the other end of the main shaft 220 is fixedly connected to the clamping mechanism 300, and the rotating motor 210 drives the clamping mechanism 300 to rotate through the main shaft 220; a bearing 230, the outer ring 231 of the bearing 230 is fixedly connected to the housing 100, and the inner ring 232 of the bearing 230 is fixedly connected to the main shaft 220; wherein, the central axis of the rotating motor 210 coincides with the central axis of the housing 100.

[0059] Specifically, the rotating motor 210 can be fixedly installed at a lower position inside the housing 100 along the axial direction of the housing 100. The axial direction of the housing 100 can be Figure 1 The direction indicated by the X in the figure. This can effectively improve the utilization rate of the internal space of the shell 100 and greatly reduce the volume of the electric gripper 10. The central axis of the rotating motor 210 can coincide with the central axis of the shell 100. Such an arrangement can increase the stability of the rotating mechanism 200. The stator 211 of the rotating motor 210 can be fixedly connected to the shell 100 by welding, riveting, threaded connection, etc. Such an arrangement can improve the stability and reliability of the rotating motor 210.

[0060] The shape of the main shaft 220 can be constructed as a cylinder, and one end of the main shaft 220 can be fixedly connected to the rotor 212 of the rotating motor 210 by key connection, thread connection, etc. The other end of the main shaft 220 can be fixedly connected to the clamping jaw seat (not shown in the figure) of the clamping jaw mechanism 300 by welding, riveting, thread connection, etc. When the rotor 212 of the rotating motor 210 rotates, it can drive the main shaft 220 to rotate, and the main shaft 220 can drive the clamping jaw mechanism 300 to rotate to realize the rotation of the electric gripper 10. Such a setting can ensure that the rotating motor 210 can directly drive the clamping jaw mechanism 300 to rotate through the main shaft 220, avoid the use of an intermediate mechanism (such as a gear mechanism) for transmission, and can realize backlash-free rotation. This can effectively simplify the composition structure of the electric gripper 10, greatly improve the transmission efficiency of the electric gripper 10, and ensure the precise positioning of the rotation direction, thereby expanding the application scenarios of the electric gripper 10.

[0061] The outer ring 231 of the bearing 230 can be fixedly connected to the housing 100 by means of threaded connection, bearing seat (not shown in the figure), etc. The inner ring 232 of the bearing 230 can be fixedly connected to the clamping seat of the clamping mechanism 300 by means of coaxial connection, and the clamping seat of the clamping mechanism 300 is coaxially connected to the main shaft 220. The specific connection method can be bolt connection, interference connection, key connection, etc. With such a configuration, the bearing 230 can ensure that the main shaft 220 can achieve rotation relative to the housing 100 while being supported by the housing 100. The use of the bearing 230 can reduce friction and wear during the rotation of the clamping mechanism 300, thereby improving the service life of the electric gripper 10 and simultaneously improving the working efficiency, rotation accuracy and reliability of the electric gripper 10.

[0062] According to the rotating mechanism 200 provided by the utility model, by setting the rotating motor 210, a driving force can be provided for the rotating action of the clamping mechanism 300; by setting the main shaft 220, and the main shaft 220 transmits and connects the rotating motor 210 and the clamping mechanism 300, it is possible to avoid the use of an intermediate mechanism (for example: a gear mechanism) for transmission, and to achieve backlash-free rotational motion, thereby effectively simplifying the composition structure of the electric gripper 10, greatly improving the transmission efficiency of the electric gripper 10 while ensuring precise positioning of the rotation direction, and expanding the application scenarios of the electric gripper 10; by setting the bearing 230, it is possible to ensure that the main shaft 220 can achieve a rotational action relative to the housing 100 while being supported by the housing 100, and the use of the bearing 230 can reduce friction and wear during the rotation of the clamping mechanism 300, thereby increasing the service life of the electric gripper 10, and simultaneously improving the working efficiency, rotation accuracy and reliability of the electric gripper 10.

[0063] Please continue to participate Figure 1-Figure 3 As shown, according to one embodiment of the present utility model, the rotating mechanism 200 further includes: a mounting bracket 240 , the mounting bracket 240 is fixedly connected to the housing 100 , and the mounting bracket 240 is fixedly connected to the stator 211 , so that the stator 211 is fixedly connected to the housing 100 through the mounting bracket 240 .

[0064] Specifically, the structural material of the mounting bracket 240 can be consistent with the housing 100, and can be a metal material, such as aluminum alloy or stainless steel, which is not specifically limited in the embodiment of the present utility model. The mounting bracket 240 can be fixedly connected to the housing 100, and the specific connection method can be welding, riveting, threaded connection or integrated molding connection, etc., which is not specifically limited in the embodiment of the present utility model. The shape of the mounting bracket 240 can be configured as a rectangle, a circle or other irregular shapes, which is not specifically limited in the embodiment of the present utility model.

[0065] It should be noted that the shape of the mounting bracket 240 should match the shape of the interior of the housing 100, so that the mounting bracket 240 can be fixedly mounted inside the housing 100 and provide a mounting and fixing platform for the rotating motor 210. The mounting bracket 240 can be fixedly connected to the stator 211 of the rotating motor 210 by welding, riveting, threading, etc., so that the stator 211 can be fixedly connected to the housing 100 through the mounting bracket 240, thereby improving the stability and reliability of the rotating motor 210.

[0066] Please continue to see Figure 1-Figure 3 As shown, according to another embodiment of the present invention, the rotating mechanism 200 further includes: a first detection component 250 , which is fixedly connected to the main shaft 220 and the housing 100 , respectively, and is used to detect the initial position of the main shaft 220 .

[0067] Specifically, some components of the first detection assembly 250 can be fixedly installed inside the housing 100 by means of threaded connection, welding, etc., and another part of the first detection assembly 250 can be fixedly connected to the spindle 220 by means of nut fastening. In this way, the first detection assembly 250 can detect the initial position of the spindle 220, and thus the initial origin position of the electric gripper 10.

[0068] It should be noted that the initial position can be understood as the start and stop position of the main shaft 220.

[0069] Please continue to see Figure 1 As shown, according to another embodiment of the present invention, the rotating mechanism 200 further includes a second detection component 260 , which is fixedly connected to the main shaft 220 and the housing 100 , respectively, and is used to detect the rotation position of the main shaft 220 .

[0070] Specifically, some components of the second detection assembly 260 can be fixedly connected to the main shaft 220 by means of threaded connection, welding, etc., and another part of the components of the second detection assembly 260 can also be fixedly connected to the housing 100 by means of threaded connection, welding, etc. In this way, the first detection assembly 250 can detect the rotation position of the main shaft 220, thereby detecting the specific rotation position of the electric gripper 10.

[0071] It should be noted that the rotation position can be understood as any rotation position of the main shaft 220 .

[0072] Please continue to see Figure 1-Figure 3As shown, according to another embodiment of the present invention, the rotating mechanism 200 further includes a circuit board 270, which is connected to the housing 100, and the circuit board 270 is electrically connected to the rotating motor 210, the first detection component 250 and the second detection component 260 respectively.

[0073] Specifically, the shape of the circuit board 270 can be rectangular, circular, polygonal or other irregular shapes, which is not specifically limited in the embodiment of the utility model. It should be noted that the shape of the circuit board 270 should match the shape of the internal space of the housing 100. This arrangement facilitates the circuit board 270 to be fixedly installed inside the housing 100.

[0074] The circuit board 270 can be fixedly connected with the housing 100 by a threaded connection. Along the axial direction of the housing, the circuit board 270 can be installed at intervals in the lower position of the rotating motor 210, and is arranged relative to the rotating motor 210. The circuit board 270 can be electrically connected to the rotating motor 210, the first detection component 250 and the second detection component 260 by a wired connection. In this way, the rotating motor 210 can be driven to rotate by the circuit board 270, and the first detection component 250 and the second detection component 260 can be controlled to detect the initial position and rotation position of the rotating motor respectively. The detection data of the first detection component 250 and the second detection component 260 can be transmitted to an external device (not shown in the figure) by the circuit board 270. The number of circuit boards 270 can be one or more, and users can select different numbers of circuit boards 270 according to different needs.

[0075] Please continue to see Figure 1-Figure 3 As shown, according to an optional embodiment of the utility model, the first detection component 250 includes: a sensing member 251, which is fixedly connected to the main shaft 220 and is located on a side of the mounting bracket 240 away from the stator 211; a sensor 252, which is fixedly connected to the housing 100, and the sensor 252 is arranged corresponding to the sensing member 251.

[0076] Specifically, the induction component 251 can be constructed as an induction sheet. The induction component 251 can be coaxially connected with the main shaft 220 and located on the side of the mounting bracket 240 away from the stator 211. The induction component 251 can be movably mounted on the main shaft 220 and then fixed relative to the main shaft 220 by fastening with a nut.

[0077] Furthermore, the structure of the sensing member 251 can be constructed as a planar circular structure with a through hole in the middle, and a regular notch in the circumferential direction. The shape of the notch can be a rectangle or other regular shapes, and the embodiment of the utility model does not specifically limit this. With such a configuration, another part of the first detection component 250 can determine the origin position of the spindle 220 by detecting the position of the notch. It should be noted that the shape of the through hole of the sensing member 251 should be consistent with the cross-sectional shape of the spindle 220. With such a configuration, the installation of the sensing member 251 and the spindle 220 can be facilitated.

[0078] The sensing element 251 is a thin sheet made of opaque material, and the sensing element 251 can be arranged opposite to some components of the first detection component 250 .

[0079] Further, the sensor 252 can be fixed on the inner side of the housing 100 by means of a threaded connection, and is arranged opposite to the sensing member 251. The shape of the sensor 252 can be constructed as a rectangle with a U-shaped groove at one end and a pillar at the other end. When installing the sensor 252, it should be noted that the sensor 252 and the sensing member 251 are used in conjunction with each other, and the U-shaped groove of the sensor 252 can be aligned with the sensing member 251, so that each rotation of the sensing member 251 can pass through the U-shaped groove of the sensor 252. When the notch of the sensing member 251 is facing the sensor 252, the sensor 252 is turned on. With such an arrangement, the sensor 252 can accurately detect the initial position of the spindle 220 through the notch of the sensing member 251. The sensor 252 can be a photoelectric sensor, or other types of sensors such as a Hall switch and a mechanical switch. In this regard, the embodiment of the utility model does not make specific limitations, and users can select different sensors 252 according to different working scenarios.

[0080] Please continue to see Figure 1-Figure 3 As shown, according to a further embodiment of the utility model, the second detection component 260 includes: a magnetic member 261, which is fixedly connected to the main shaft 220 and is located at the end of the main shaft 220 away from the clamping mechanism 300; an encoder 262, which is fixedly connected to the circuit board 270, and the encoder 262 is arranged relative to the magnetic member 261.

[0081] Specifically, the magnetic member 261 may be an induction magnet, and the magnetic member 261 may be fixedly connected to the end of the spindle 220 away from the clamp mechanism 300 by bonding or welding. The magnetic member 261 may be a radially magnetized annular magnet, and it should be noted that the shape of the magnetic member 261 should match the shape of the end of the spindle 220, so that the magnetic member 261 can be easily installed at the end of the spindle 220.

[0082] Furthermore, the encoder 262 can be fixedly connected to the circuit board 270 by welding, riveting, threaded connection, etc., and is arranged opposite to and spaced from the magnetic member 261. In this way, when the magnetic member 261 rotates relative to the encoder 262, the encoder 262 can identify the rotational displacement of the magnetic member 261 according to the change in the direction of the magnetic field, thereby identifying the rotational position of the spindle 220. The encoder 262 can be a magnetic encoder, or other types of encoders such as a photoelectric encoder. This is not specifically limited in the embodiment of the utility model, and users can select different encoders 262 according to different needs.

[0083] The encoder 262 can convert the rotational motion of the spindle 220 into an electrical signal output. By observing and processing the electrical signal, the position information of the spindle 220 can be obtained. The magnetic part 261 can detect and locate the spindle 220 by generating a strong magnetic field near the magnetic object. When the magnetic part 261 rotates relative to the encoder 262, the encoder 262 can distinguish the rotational displacement of the magnetic part 261 according to the change in the direction of the magnetic field. With such a configuration, the rotation angle and position of the spindle 220 can be detected by the cooperation of the magnetic part 261 and the encoder 262, and the movement of the electric gripper 10 can be accurately controlled, thereby improving the accuracy of the electric gripper 10.

[0084] Please continue to see Figure 3 and Figure 4 As shown, the electric gripper 10 provided according to the embodiment of the utility model comprises: a housing 100, the housing 100 having a receiving chamber 110; and a rotating mechanism 200 in the above embodiment, the rotating mechanism 200 being arranged in the receiving chamber 110, wherein the specific structure and working principle of the rotating mechanism 200 have been explained in detail in the above embodiment, and will not be described one by one here. A clamping mechanism 300, the clamping mechanism 300 is located at one end of the housing 100, and the clamping mechanism 300 is transmission-connected to the rotating mechanism 200.

[0085] Specifically, the shape of the shell 100 can be cylindrical or rectangular, and the utility model does not make specific limitations on this. The structural material of the shell 100 can be a metal material, for example, it can be an aluminum alloy, which has high strength and good processability, which can effectively improve the overall strength of the shell 100, and thus can greatly improve the service life of the electric gripper 10. The shell 100 can be provided with a receiving cavity 110 inside, and the receiving cavity 110 can be constructed as a cylindrical cavity or a rectangular cavity, and the embodiments of the utility model do not make specific limitations on this.

[0086] The rotating mechanism 200 can be fixedly arranged in the accommodating chamber 110, and the main shaft 220 of the rotating mechanism 200 can rotate relative to the accommodating chamber 110. The clamping mechanism 300 is arranged at one end of the housing 100, and the clamping seat of the clamping mechanism 300 can be fixedly connected to the end of the main shaft 220 away from the magnetic member 261 by welding, thread connection, etc. In this way, the rotating mechanism 200 can drive the clamping mechanism 300 through the main shaft 220 to realize the rotation action.

[0087] Please continue to see Figure 3 and Figure 4 As shown, in some examples of the present invention, the electric gripper 10 further includes: a connector 400, which is connected to the housing 100, and the connector 400 is located at the other end of the housing 100 away from the clamping mechanism 300, and the connector 400 is electrically connected to the circuit board 270 of the rotating mechanism 200.

[0088] Specifically, the connector 400 can be fixedly connected to the housing 100 by welding, threaded connection, riveting or integral molding connection, and the connector 400 can be located at the other end of the housing 100 away from the clamping mechanism 300. The shape of the connector 400 can be configured as a cylinder, and the surface of one end of the connector 400 outside the housing 100 can be provided with a thread, which can facilitate the connection of the connector 400 with an external device (not shown in the figure). The connector 400 can be electrically connected to the circuit board 270 inside the housing 100 by wired connection, which is convenient for power supply and information interaction of the whole machine. The connector 400 can be an external cable interface, or it can be other types of connectors 400, and it can also be realized by directly leading out wires from the inside. To this end, the embodiment of the utility model does not make specific limitations, and users can choose different implementation methods according to different needs.

[0089] The rotating mechanism 200 for the electric gripper 10 according to the embodiment of the utility model and other components of the electric gripper 10 such as threaded connection, nut fastening, bearing seat connection and external equipment, etc. and operation are known to ordinary technicians in the field and will not be described in detail here.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0091] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A rotating mechanism for an electric gripper, characterized in that: The rotating mechanism is arranged in the housing of the electric gripper, and is used to drive the clamping mechanism of the electric gripper to rotate. The rotating mechanism includes: A rotating electric machine, wherein the stator of the rotating electric machine is fixedly connected to the housing; A main shaft, one end of which is fixedly connected to the rotor of the rotating motor, and the other end of which is fixedly connected to the clamping mechanism, and the rotating motor drives the clamping mechanism to rotate through the main shaft; A bearing, wherein the outer ring of the bearing is fixedly connected to the housing, and the inner ring of the bearing is fixedly connected to the main shaft; Wherein, the central axis of the rotating electrical machine coincides with the central axis of the housing.

2. The rotating mechanism for an electric gripper according to claim 1, characterized in that: Also includes: A mounting bracket is fixedly connected to the housing, and the mounting bracket is fixedly connected to the stator so that the stator is fixedly connected to the housing through the mounting bracket.

3. The rotating mechanism for an electric gripper according to claim 2, characterized in that: Also includes: A first detection component is fixedly connected to the main shaft and the housing respectively, and is used to detect an initial position of the main shaft.

4. The rotating mechanism for an electric gripper according to claim 3, characterized in that: Also includes: The second detection component is fixedly connected to the main shaft and the housing respectively, and the second detection component is used to detect the rotation position of the main shaft.

5. The rotating mechanism for an electric gripper according to claim 4, characterized in that: Also includes: A circuit board is connected to the housing, and the circuit board is electrically connected to the rotating motor, the first detection component, and the second detection component respectively.

6. The rotating mechanism for an electric gripper according to claim 5, characterized in that: The first detection component comprises: An induction member, the induction member is fixedly connected to the main shaft and is located on a side of the mounting bracket away from the stator; The sensor is fixedly connected to the shell, and the sensor is correspondingly arranged with the induction element.

7. The rotating mechanism for an electric gripper according to claim 5, characterized in that: The second detection component comprises: A magnetic member, the magnetic member is fixedly connected to the main shaft, and the magnetic member is located at an end of the main shaft away from the clamping mechanism; The encoder is fixedly connected to the circuit board, and the encoder is arranged opposite to the magnetic component.

8. An electric gripper, characterized in that: include: A housing having a receiving cavity; A rotating mechanism, the rotating mechanism being arranged in the accommodating cavity, the rotating mechanism being a rotating mechanism for an electric gripper according to any one of claims 1 to 7; A clamping mechanism is located at one end of the shell and is transmission-connected to the rotating mechanism.

9. The electric gripper according to claim 8, characterized in that: Also includes: A connector is connected to the housing and is located at the other end of the housing away from the clamping mechanism. The connector is electrically connected to a circuit board of the rotating mechanism.

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