Clamping mechanism for electric gripper and electric gripper

Abstract

The utility model discloses a clamping mechanism used for an electric gripper and the electric gripper, the clamping mechanism is arranged in a shell of the electric gripper, the clamping mechanism is used for controlling the opening degree of a clamping jaw mechanism of the electric gripper, the clamping mechanism comprises a clamping motor, and a stator of the clamping motor is fixedly connected with the shell; one end of the rotating shaft is fixedly connected with a rotor of the clamping motor; the hollow rack and the shell are coaxially arranged, the hollow rack is in transmission connection with the other end of the rotating shaft, the hollow rack is fixedly connected with the clamping jaw mechanism, and the clamping motor controls the opening degree of the clamping jaw through the hollow rack; the central axis of the clamping motor is perpendicular to the central axis of the shell. According to the clamping mechanism for the electric gripper and the electric gripper, the design without a slip ring on the whole can be realized, so that the anti-interference capability of the electric gripper can be improved, the service life of the electric gripper can be prolonged, and the cost of the electric gripper can be reduced.

Description

Technical Field

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

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

[0003] In the related technology, the motor of the clamping mechanism of the electric claw on the market uses an electric slip ring for wire transfer; the clamping mechanism of the electric gripper is driven by electricity, combined with precise control and automation technology, to provide an efficient, accurate and reliable object clamping solution, which is widely used in modern manufacturing and industrial automation fields.

[0004] However, the electric gripper in the prior art has poor anti-electromagnetic interference capability and a short service life. 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 clamping mechanism for an electric gripper. The clamping mechanism disclosed in the utility model can realize an overall slip ring-free design, thereby improving the anti-interference ability and service life of the electric gripper, and reducing the cost of the electric gripper.

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

[0007] According to a clamping mechanism for an electric gripper proposed in the utility model, the clamping mechanism is arranged in a housing of the electric gripper, and the clamping mechanism is used to control the opening degree of the clamping mechanism of the electric gripper, and the clamping mechanism includes:

[0008] A clamping motor, wherein the stator of the clamping motor is fixedly connected to the housing;

[0009] A rotating shaft, one end of which is fixedly connected to the rotor of the clamping motor;

[0010] A hollow rack, wherein the hollow rack is coaxially arranged with the housing, the hollow rack is drivingly connected with the other end of the rotating shaft, the hollow rack is fixedly connected with the clamping mechanism, and the clamping motor controls the opening of the clamping mechanism through the hollow rack;

[0011] Wherein, the central axis of the clamping motor is perpendicular to the central axis of the housing.

[0012] According to the clamping mechanism provided by the utility model, a clamping motor can be provided to provide driving force for the clamping action of the clamping mechanism; by providing a rotating shaft, the clamping motor can directly drive the rotating shaft, and the rotating shaft can reduce the friction loss in the transmission process, improve the transmission efficiency, and improve the reliability of the electric gripper; by providing a hollow rack, it is convenient for the clamping motor to control the rise and fall of the clamping push plate through the hollow rack, so as to control the opening of the clamping mechanism. By providing a rotating shaft and a hollow rack to jointly drive and control the opening of the clamping mechanism, a gear transmission design is adopted, which can effectively avoid the use of an electric slip ring in the clamping mechanism, simplify the structure of the electric gripper, reduce the cost of the electric gripper, and avoid the electromagnetic interference caused by the electric slip ring, thereby enhancing the stability of the electric gripper.

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

[0014] A transmission gear train is connected to the housing and is respectively meshed with the rotating shaft and the hollow rack. The rotating shaft drives the hollow rack to move through the transmission gear train.

[0015] In some examples of the present invention, the transmission gear train includes:

[0016] A driving wheel, the driving wheel is coaxially connected to the rotating shaft;

[0017] A transmission wheel, the transmission wheel is rotatably connected to the housing and meshes with the driving wheel;

[0018] A driven wheel is coaxially connected to the transmission wheel and meshes with the hollow rack.

[0019] In some examples of the present invention, the transmission gear train further includes:

[0020] A gear train bracket is fixedly connected to the housing, and the driven wheel is rotatably connected to the housing via the gear train bracket.

[0021] In some examples of the present invention, the clamping mechanism further comprises:

[0022] A transmission bearing, wherein the inner ring of the transmission bearing is axially connected to the end of the hollow rack away from the rotating shaft, the outer ring of the transmission bearing is axially connected to the clamping mechanism, and the hollow rack controls the opening of the clamping mechanism through the transmission bearing.

[0023] In some examples of the present invention, the clamping mechanism further comprises:

[0024] A detection component is fixedly connected to the rotating shaft and the shell respectively, and the detection component is used to detect the rotation position of the rotating shaft.

[0025] In some examples of the present invention, the detection component includes:

[0026] A clamping induction member, wherein the clamping induction member is fixedly connected to an end of the rotating shaft away from the clamping motor;

[0027] A clamping encoder is fixedly connected to the housing, and the clamping encoder and the clamping induction component are arranged opposite to each other and at intervals.

[0028] The electric gripper proposed by the utility model comprises:

[0029] A housing having a receiving cavity;

[0030] A clamping mechanism, the clamping mechanism is arranged in the accommodating cavity, and the clamping mechanism is the clamping mechanism for the electric gripper described above;

[0031] A clamping mechanism is located at one end of the shell and is fixedly connected to the clamping mechanism.

[0032] In some examples of the present invention, the electric gripper further comprises:

[0033] A connector is connected to the housing and is located at the other end of the housing away from the clamping mechanism.

[0034] 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

[0035] 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.

[0036] Figure 1 It is a structural diagram of a clamping mechanism for an electric gripper provided according to the utility model;

[0037] Figure 2 It is a front view of the clamping mechanism for the electric gripper provided according to the utility model;

[0038] Figure 3 It is a right side view of the clamping mechanism for the electric gripper provided according to the utility model;

[0039] Figure 4It is a left side view of the clamping mechanism for the electric gripper provided according to the utility model;

[0040] Figure 5 It is an axonometric diagram of a clamping mechanism for an electric gripper provided according to the utility model;

[0041] Figure 6 A cross-sectional view of a clamping mechanism for an electric gripper provided according to the utility model;

[0042] Figure 7 A cross-sectional view of the electric gripper provided according to the utility model;

[0043] Figure 8 It is a front view of the electric gripper provided according to the utility model;

[0044] Fig. 9 The utility model is an assembly diagram of the electric gripper provided by the utility model.

[0045] Description of reference numerals:

[0046] 10-Electric gripper;

[0047] 100-housing; 110-accommodating chamber;

[0048] 300-gripping mechanism;

[0049] 400-connector;

[0050] 500-clamping mechanism;

[0051] 510-clamping motor; 511-stator; 512-rotor;

[0052] 520-shaft;

[0053] 530-Hollow rack;

[0054] 540-transmission wheel system; 541-driving wheel; 542-transmission wheel; 543-driven wheel; 544-wheel system bracket;

[0055] 550-transmission bearing; 551-inner ring; 552-outer ring;

[0056] 560- detection component; 561- clamping sensor; 562- clamping encoder. DETAILED DESCRIPTION

[0057] 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.

[0058] In the description of the present utility model, it should be understood 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 the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0059] 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.

[0060] 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.

[0061] Figure 1 It is a structural diagram of a clamping mechanism for an electric gripper provided according to the utility model; Figure 2 It is a front view of the clamping mechanism for the electric gripper provided according to the utility model; Figure 3 It is a right side view of the clamping mechanism for the electric gripper provided according to the utility model; Figure 4It is a left side view of the clamping mechanism for the electric gripper provided according to the utility model; Figure 5 It is an axonometric diagram of a clamping mechanism for an electric gripper provided according to the utility model; Figure 6 A cross-sectional view of a clamping mechanism for an electric gripper provided according to the utility model; Figure 7 A cross-sectional view of the electric gripper provided according to the utility model; Figure 8 It is a front view of the electric gripper provided according to the utility model; Fig. 9 The utility model is an assembly diagram of the electric gripper provided by the utility model.

[0062] Reference below Figure 1-Figure 9 The clamping mechanism 500 for the electric gripper 10 according to the embodiment of the utility model is described. The clamping mechanism 500 is arranged in the shell 100 of the electric gripper 10. The clamping mechanism 500 is used to control the opening of the clamping mechanism 300 of the electric gripper 10. The clamping mechanism 500 includes: a clamping motor 510, and the stator 511 of the clamping motor 510 is fixedly connected to the shell 100; a rotating shaft 520, and one end of the rotating shaft 520 is fixedly connected to the rotor 512 of the clamping motor 510; a hollow rack 530, and the hollow rack 530 is coaxially arranged with the shell 100, and the hollow rack 530 is transmission-connected with the other end of the rotating shaft 520, and the hollow rack 530 is fixedly connected with the clamping mechanism 300, and the clamping motor 510 controls the opening of the clamping mechanism 300 through the hollow rack 530; wherein the central axis of the clamping motor 510 is perpendicular to the central axis of the shell 100.

[0063] Specifically, the clamping motor 510 can be fixedly installed at the inner side of the housing 100 along the radial direction of the housing 100. The radial direction of the housing 100 can be Figure 1 The direction indicated by Y 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 stator 511 of the clamping motor 510 can be fixedly connected to the shell 100 by welding, riveting, threaded connection, etc., and such a configuration can improve the stability of the clamping motor 510. Furthermore, the shape of the rotating shaft 520 can be cylindrical, and one end of the rotating shaft 520 can be fixedly connected to the rotor 512 of the clamping motor 510 by key connection, threaded connection, etc., so as to ensure that the clamping motor 510 can directly drive the rotating shaft 520, and the rotating shaft 520 can reduce the friction loss in the transmission process, improve the transmission efficiency, and improve the reliability of the electric gripper 10.

[0064] The shape of the hollow rack 530 can be constructed as a cylindrical sleeve shape with a rack on the surface, and the extension direction of the rack can be parallel to the axial direction of the hollow rack 530. In the embodiment of the utility model, the electric gripper 10 also includes a rotating mechanism (not shown in the figure), and the main shaft (not shown in the figure) in the rotating mechanism can drive the clamping mechanism 300 to rotate relative to the housing 100. The hollow rack 530 can be mounted on the outside of the main shaft. It should be noted that the hollow hole diameter of the hollow rack 530 should be larger than the main shaft diameter, so that the hollow rack 530 can be smoothly mounted on the main shaft. The hollow rack 530 should be coaxially arranged with the housing 100, and the central axis of the hollow rack 530 coincides with the central axis of the main shaft, so that relative displacement and transmission error can be avoided when the main shaft and the hollow rack 530 move. At the same time, the safety and reliability of the hollow rack 530 can be guaranteed, the abnormal vibration and wear that may occur in the hollow rack 530 during the movement process can be reduced, and the service life of the electric gripper 10 can be extended.

[0065] The hollow rack 530 can be connected to the other end of the rotating shaft 520 by gear meshing. That is, the end of the rotating shaft 520 can be provided with a driving wheel 541 in an integrally formed manner, and the driving wheel 541 can mesh with the hollow rack 530. This arrangement facilitates the clamping motor 510 to drive the hollow rack 530 to move along the axial direction of the shell 100 through the rotating shaft 520, so that the hollow rack 530 can slide axially relative to the shell 100. The axial direction of the shell 100 can be Figure 1 The hollow rack 530 can be fixedly connected to the clamping jaw push plate (not shown in the figure) of the clamping jaw mechanism 300 through the transmission bearing 550, so that the clamping motor 510 can control the rise and fall of the clamping jaw push plate through the hollow rack 530, thereby controlling the opening of the clamping jaw mechanism 300.

[0066] Furthermore, by setting a rotating shaft 520 and a hollow rack 530 to jointly transmit and control the opening of the clamping mechanism 300 and adopting a gear transmission design, the use of an electric slip ring in the clamping mechanism 500 can be effectively avoided, thereby simplifying the structure of the electric gripper 10 and reducing the cost of the electric gripper 10, and avoiding electromagnetic interference caused by the electric slip ring, thereby enhancing the stability of the electric gripper 10.

[0067] According to the clamping mechanism 500 provided by the utility model, the clamping motor 510 is provided to provide driving force for the clamping action of the clamping mechanism 300; by providing the rotating shaft 520, the clamping motor 510 can drive the hollow rack 530 to move by driving the rotating shaft 520, and the rotating shaft 520 can reduce the friction loss in the transmission process, improve the transmission efficiency, and improve the reliability of the electric gripper 10; by providing the hollow rack 530, it is convenient for the clamping motor 510 to control the rise and fall of the clamping push plate through the hollow rack 530, so as to control the opening of the clamping mechanism 300. By providing the rotating shaft 520 and the hollow rack 530 to jointly drive and control the opening of the clamping mechanism 300, and adopting the gear transmission design, it is possible to effectively avoid the use of electric slip rings in the clamping mechanism 500, simplify the structure of the electric gripper 10, reduce the cost of the electric gripper 10, avoid the electromagnetic interference caused by the electric slip ring, and enhance the stability of the electric gripper 10.

[0068] Please continue to participate Figure 1-Figure 5 As shown, according to one embodiment of the utility model, the clamping mechanism 500 also includes: a transmission gear train 540, which is connected to the shell 100, and the transmission gear train 540 is respectively engaged with the rotating shaft 520 and the hollow rack 530, and the rotating shaft 520 drives the hollow rack 530 to move through the transmission gear train 540.

[0069] Specifically, the transmission gear train 540 is arranged inside the shell 100, and is respectively engaged with the rotating shaft 520 and the hollow rack 530 for transmission. In this way, the rotating shaft 520 can drive the hollow rack 530 to move along the axial direction of the shell 100 through the transmission gear train 540, so as to realize the axial sliding of the hollow rack 530 relative to the shell 100.

[0070] It should be noted that the transmission gear train 540 can achieve power transmission by means of gear meshing, and can adjust the transmission ratio in the process of power transmission to achieve different output speeds, torques and powers; the transmission efficiency of the transmission gear train 540 is high, generally above 95%, and the mechanical energy loss is very small; the transmission movement of the transmission gear train 540 is relatively stable and has a long service life, and the wear and damage of mechanical parts are relatively small, and the durability is strong; the transmission gear train 540 has a large speed adjustment range, and users can achieve different transmission speed ratios by replacing gears of different sizes in the transmission gear train 540 to meet different requirements. Such a setting can reduce the cost of the electric gripper 10 while simplifying the clamping mechanism 500, and improve the stability and service life of the electric gripper 10.

[0071] Please continue to see Figure 1-Figure 5As shown, according to another embodiment of the utility model, the transmission wheel system 540 includes: a driving wheel 541, which is coaxially connected to the rotating shaft 520; a transmission wheel 542, which is rotatably connected to the shell 100 and meshes with the driving wheel 541; and a driven wheel 543, which is coaxially connected to the transmission wheel 542 and meshes with the hollow rack 530.

[0072] Specifically, the shape of the driving wheel 541 can be constructed as a circular gear with a through hole in the middle. It should be noted that the through hole of the driving wheel 541 should be larger than the diameter of the rotating shaft 520, so that the rotating shaft 520 can be coaxially mounted with the driving wheel 541. The driving wheel 541 can be fixedly connected to the rotating shaft 520 by a coaxial connection. Such a configuration can ensure that the clamping motor 510 drives the rotating shaft 520 to rotate, thereby driving the driving wheel 541 to rotate.

[0073] Furthermore, the shape of the transmission wheel 542 can be constructed as a circular gear with a plurality of regular weight-reducing holes (not shown in the figure) in the middle. The provision of a plurality of weight-reducing holes can reduce the weight of the transmission wheel 542 itself and the inertia during rotation, thereby improving the operating efficiency and reliability of the transmission wheel 542. The transmission wheel 542 can be connected to the driving wheel 541 by external gear meshing. With this arrangement, the rotation of the driving wheel 541 can drive the transmission wheel 542 to rotate. The user can change the transmission ratio of the driving wheel 541 and the transmission wheel 542 by adjusting the number of teeth of the driving wheel 541 and the transmission wheel 542, so as to adjust the size of the clamping force. For example, the tooth ratio of the driving wheel 541 and the transmission wheel 542 can be 14:52 when the torque is large; the tooth ratio of the driving wheel 541 and the transmission wheel 542 can be 52:14 when the torque is small; the tooth ratio of the driving wheel 541 and the transmission wheel 542 can be 33:33 when the torque is intermediate; in this way, the sum of the number of teeth of the driving wheel 541 and the transmission wheel 542 can be ensured to remain unchanged, that is, the center distance between the driving wheel 541 and the transmission wheel 542 can be ensured to remain unchanged. With this arrangement, the size of the clamping force can be flexibly adjusted by adjusting the tooth ratio of the driving wheel 541 and the transmission wheel 542. The user can select the driving wheel 541 and the transmission wheel 542 with different numbers of teeth according to the actual use scenario, and the embodiment of the utility model does not make specific limitations on this. Such a setting can conveniently adjust the clamping force of the electric gripper 10, thereby improving the practicality of the electric gripper 10.

[0074] In a specific implementation, the shape of the driven wheel 543 can be constructed as a cylindrical gear, and the area of ​​the cross section at both ends is slightly smaller than the area of ​​the middle cross section, so that the driven wheel 543 is easily installed and fixed in the housing 100. It should be noted that the cross section shape of one end of the driven wheel 543 should be consistent with the size and shape of the mounting hole (not shown in the figure) of the transmission wheel 542. In this way, when installing, the user can insert one end of the driven wheel 543 into the matching mounting hole of the transmission wheel 542, and then fix the driven wheel 543 and the transmission wheel 542 together by welding, riveting, key connection, etc.

[0075] Furthermore, the driven wheel 543 and the transmission wheel 542 can also be a single part formed by integral casting. The driven wheel 543 can be connected to the hollow rack 530 by gear rack meshing. It should be noted that the driven wheel 543 and the hollow rack 530 need to be used in conjunction with each other, and whether the module of the driven wheel 543 and the module of the hollow rack 530 match should be considered to ensure that the driven wheel 543 and the hollow rack 530 can mesh normally and avoid excessive or too small meshing gap.

[0076] Please continue to see Figure 6 As shown, according to another embodiment of the present invention, the transmission gear train 540 may include a driving wheel 541 , the driving wheel 541 is coaxially connected to the rotating shaft 520 , and the driving wheel 541 is meshed with the hollow rack 530 .

[0077] Specifically, the shape of the driving wheel 541 is consistent with that in the above-mentioned embodiment, and will not be described one by one here. The driving wheel 541 can be fixedly connected with the rotating shaft 520 by a coaxial connection. In this way, it can be ensured that the clamping motor 510 drives the rotating shaft 520 to rotate, thereby driving the driving wheel 541 to rotate. The driving wheel 541 is transmission-connected with the hollow rack 530 by a gear rack meshing mode. In this way, the rotation of the rotating shaft 520 can drive the hollow rack 530 to achieve axial sliding relative to the housing 100, and the hollow rack 530 is fixedly connected with the clamping jaw push plate of the clamping jaw mechanism 300, so the axial sliding of the clamping jaw push plate can be achieved, thereby controlling the opening of the clamping jaw mechanism 300.

[0078] Furthermore, the user can select different transmission gear trains 540 according to different needs, which can improve the practicality of the electric gripper 10 and expand the scope of use of the electric gripper 10.

[0079] Please continue to see Figure 1-Figure 5 As shown, according to another embodiment of the present invention, the transmission gear train 540 further includes: a gear train bracket 544 , the gear train bracket 544 is fixedly connected to the housing 100 , and the driven wheel 543 is rotatably connected to the housing 100 via the gear train bracket 544 .

[0080] Specifically, the structure of the gear train bracket 544 can be constructed as an irregular frame shape, and a plurality of regular circular holes of different sizes are provided on one side. The side of the gear train bracket 544 provided with the circular holes can be fixedly connected to the housing 100 by welding, riveting, threaded connection, etc. The gear train bracket 544 can provide support for the driving wheel 541, the transmission wheel 542 and the driven wheel 543, so as to improve the stability of the clamping mechanism 500 during operation. Both ends of the driven wheel 543 can be rotatably connected to the circular holes of the gear train bracket 544 by coaxial connection. Such a setting can ensure that the driven wheel 543 can be supported by the gear train bracket 544 and can rotate relative to the gear train bracket 544.

[0081] Please continue to see Figure 1 and Figure 5 As shown, according to another embodiment of the utility model, the clamping mechanism 500 also includes: a transmission bearing 550, the inner ring 551 of the transmission bearing 550 is axially connected to the end of the hollow rack 530 away from the rotating shaft 520, the outer ring 552 of the transmission bearing 550 is axially connected to the clamping mechanism 300, and the hollow rack 530 controls the opening of the clamping mechanism 300 through the transmission bearing 550.

[0082] Specifically, the inner ring 551 of the transmission bearing 550 can be connected to the end of the hollow rack 530 away from the rotating shaft 520 by a coaxial connection, and then the transmission bearing 550 and the end of the hollow rack 530 away from the rotating shaft 520 are fixedly connected by a nut fastening method. The outer ring 552 of the transmission bearing 550 can be fixedly connected to the clamping claw push plate of the clamping claw mechanism 300 by a threaded connection, a bearing seat (not shown in the figure), etc. In this way, the transmission bearing 550 can provide support for the hollow rack 530. The clamping motor 510 can drive the transmission gear train 540 gear assembly to mesh and rotate, thereby driving the hollow rack 530 to achieve axial sliding relative to the housing 100, and the hollow rack 530 is fixedly connected to the clamping claw push plate, so that the axial sliding of the clamping claw push plate can be achieved by driving the hollow rack 530, so that the opening of the clamping claw mechanism 300 can be controlled.

[0083] Furthermore, a sliding bearing (not shown in the figure) may be provided between the hollow rack 530 and the main shaft. The number of sliding bearings may be two, and the sliding bearings may be respectively provided in the inner hole (not shown in the figure) of the hollow rack 530 and close to both ends of the hollow rack 530. The inner ring (not shown in the figure) of the sliding bearing is relatively smooth and can be slidably connected with the main shaft. The outer ring (not shown in the figure) of the sliding bearing may be fixedly connected with the hollow rack 530 by a coaxial connection. The sliding bearing may freely rotate and axially slide relative to the main shaft. With such a configuration, the main shaft may freely rotate relative to the hollow rack 530 through the sliding bearing, and the hollow rack 530 may axially slide relative to the main shaft through the sliding bearing.

[0084] Please continue to see Figure 1-Figure 5 As shown, according to an optional embodiment of the present utility model, the clamping mechanism 500 further includes: a detection component 560 , which is fixedly connected to the rotating shaft 520 and the housing 100 respectively, and is used to detect the rotation position of the rotating shaft 520 .

[0085] Specifically, some components of the detection component 560 can be fixedly connected to the rotating shaft 520 by means of threaded connection or welding, and another part of the components of the detection component 560 can also be fixedly installed on the inner side of the shell 100 by means of threaded connection or welding. With this arrangement, the detection component 560 can detect any rotational position of the rotating shaft 520, thereby detecting the clamping position of the electric gripper 10.

[0086] Please continue to see Figure 1-Figure 5 As shown, according to a further embodiment of the present utility model, the detection component 560 includes: a clamping sensor 561, which is fixedly connected to the end of the rotating shaft 520 away from the clamping motor 510; a clamping encoder 562, which is fixedly connected to the shell 100, and the clamping encoder 562 is opposite to the clamping sensor 561 and is arranged at a distance.

[0087] Specifically, the clamping induction member 561 may be an induction magnet, and the clamping induction member 561 may be fixedly connected to the end of the rotating shaft 520 away from the clamping motor 510 by bonding or welding. The shape of the clamping induction member 561 may be cylindrical, and it should be noted that the shape of the clamping induction member 561 should match the shape of the end of the rotating shaft 520, so that the clamping induction member 561 is easily installed at the end of the rotating shaft 520.

[0088] The clamping encoder 562 can be fixedly installed on the inner side of the housing 100 by welding, riveting, threaded connection, etc., and is arranged opposite to and spaced from the clamping sensor 561. In this way, when the clamping sensor 561 rotates relative to the clamping encoder 562, the clamping encoder 562 can identify the rotational displacement of the clamping sensor 561 according to the change in the direction of the magnetic field, so that the rotation position of the rotating shaft 520 can be identified, and thus the clamping position of the electric gripper 10 can be identified. The clamping encoder 562 can be a magnetic encoder, or other types of encoders such as a photoelectric encoder. This is not specifically limited in the embodiments of the utility model, and users can choose different clamping encoders 562 according to different needs.

[0089] Please continue to see Figure 1 and Figure 7As shown, according to another embodiment of the present invention, the driving of the clamping motor 510 has a torque feedback function. When the clamping jaws of the clamping jaw mechanism 300 move to the closed or open extreme position, it can be used as the origin position of the clamping jaw, thereby being able to accurately detect the origin position of the clamping jaw.

[0090] Please continue to see Figure 1 and Figure 8 As shown, in an optional embodiment of the present invention, the electric gripper 10 includes: a shell 100, the shell 100 has a accommodating cavity 110; and includes the clamping mechanism 500 in the above embodiment, the clamping mechanism 500 is arranged in the accommodating cavity 110, wherein the specific structure and working principle of the clamping mechanism 500 have been explained in detail in the above embodiment and will not be repeated here; a clamping mechanism 300, the clamping mechanism 300 is located at one end of the shell 100, and the clamping mechanism 300 is fixedly connected to the clamping mechanism 500.

[0091] 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.

[0092] The clamping mechanism 500 can be fixedly arranged in the accommodating chamber 110, and the hollow rack 530 of the clamping mechanism 500 can move axially relative to the housing 100. The clamping mechanism 300 is arranged on one side of the housing 100, and the clamping push plate of the clamping mechanism 300 can be fixedly connected to the end of the hollow rack 530 away from the rotating shaft 520 through the transmission bearing 550. In this way, the clamping mechanism 500 can drive the clamping mechanism 300 through the axial sliding of the hollow rack 530 to control the opening of the clamping mechanism 300.

[0093] Please continue to see Figure 1 and Figure 8 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 is located at the other end of the housing 100 away from the clamping mechanism 300 .

[0094] 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 (not shown in the figure) 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. In this regard, the embodiments of the utility model do not make specific limitations, and users can choose different implementation methods according to different needs.

[0095] The clamping mechanism 500 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, 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.

[0096] 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.

[0097] 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 clamping mechanism for an electric gripper, characterized in that: The clamping mechanism is arranged in the housing of the electric gripper, and the clamping mechanism is used to control the opening degree of the clamping mechanism of the electric gripper, and the clamping mechanism includes: A clamping motor, wherein the stator of the clamping motor is fixedly connected to the housing; A rotating shaft, one end of which is fixedly connected to the rotor of the clamping motor; A hollow rack, wherein the hollow rack is coaxially arranged with the housing, the hollow rack is drivingly connected with the other end of the rotating shaft, the hollow rack is fixedly connected with the clamping mechanism, and the clamping motor controls the opening of the clamping mechanism through the hollow rack; Wherein, the central axis of the clamping motor is perpendicular to the central axis of the housing.

2. The clamping mechanism for an electric gripper according to claim 1, characterized in that: Also includes: A transmission gear train is connected to the housing and is respectively meshed with the rotating shaft and the hollow rack. The rotating shaft drives the hollow rack to move through the transmission gear train.

3. The clamping mechanism for an electric gripper according to claim 2, characterized in that: The transmission gear train comprises: A driving wheel, the driving wheel is coaxially connected to the rotating shaft; A transmission wheel, the transmission wheel is rotatably connected to the housing and meshes with the driving wheel; A driven wheel is coaxially connected to the transmission wheel and meshes with the hollow rack.

4. The clamping mechanism for an electric gripper according to claim 3, characterized in that: The transmission gear train also includes: A gear train bracket is fixedly connected to the housing, and the driven wheel is rotatably connected to the housing via the gear train bracket.

5. The clamping mechanism for an electric gripper according to claim 1, characterized in that: Also includes: A transmission bearing, wherein the inner ring of the transmission bearing is axially connected to the end of the hollow rack away from the rotating shaft, the outer ring of the transmission bearing is axially connected to the clamping mechanism, and the hollow rack controls the opening of the clamping mechanism through the transmission bearing.

6. The clamping mechanism for an electric gripper according to claim 1, characterized in that: Also includes: A detection component is fixedly connected to the rotating shaft and the shell respectively, and the detection component is used to detect the rotation position of the rotating shaft.

7. The clamping mechanism for an electric gripper according to claim 6, characterized in that: The detection component comprises: A clamping induction member, wherein the clamping induction member is fixedly connected to an end of the rotating shaft away from the clamping motor; A clamping encoder is fixedly connected to the housing, and the clamping encoder and the clamping induction component are arranged opposite to each other and at intervals.

8. An electric gripper, characterized in that: include: A housing having a receiving cavity; A clamping mechanism, the clamping mechanism being arranged in the accommodating cavity, the clamping mechanism being a clamping 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 fixedly connected to the clamping 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.

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