Electric gripper

Abstract

The utility model discloses an electric gripper which comprises a base, a motor, an output lead screw, a nut, a connecting plate, an extrusion plate, a left gripper, a right gripper, a right follower, a left follower, a left pressure spring baffle, a left pressure spring, a right pressure spring baffle and a right pressure spring. According to the utility model, the motor, the extrusion plate and the follower are combined, the extrusion plate is used for driving the left gripper and the right gripper to close and open, only the moving directions of the left gripper and the right gripper are changed, and the left gripper and the right gripper respectively depend on elastic potential energy provided by the left pressure spring and the right pressure spring as pressure for clamping a gripped object; under the elastic action of the pressure spring, the grabbed object can be firmly grabbed, and the grabbed object cannot be crushed. And when the grabbing pressure needs to be adjusted, only the pressure spring with proper elasticity needs to be selected, and the grabbing pressure is easier to adjust.

Description

Technical Field

[0001] The utility model relates to biomedical experimental equipment, in particular to an electric gripper used for clamping objects such as slides, reagent bottles, reagent tubes, etc. Background Art

[0002] In biomedical experiments, gripping various lab equipment, such as slides, reagent bottles, and tubes, is a common task. Existing grippers typically rely on motors to directly open and close. However, slides, reagent bottles, and tubes are fragile items. Grippers driven directly by motors often apply excessive pressure, breaking the slides. However, insufficient force can easily cause the slides to fall during gripping, making it difficult to precisely control the gripping force. Utility Model Content

[0003] In view of the deficiencies in the prior art, the present invention aims to provide an electric gripper.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] An electric gripper, comprising a base, a motor, an output screw, a nut, a connecting plate, an extrusion plate, a left gripper, a right gripper, a right follower, a left follower, a left compression spring baffle, a left compression spring, a right compression spring baffle and a right compression spring;

[0006] The motor is fixed to the base, the output screw is vertically arranged and the motor can drive the output screw to rotate axially; the nut is threadedly connected to the output screw and can move up and down along the output screw when the output screw rotates; the connecting plate is fixedly connected to the nut, and the upper end of the extrusion plate is fixedly connected to the connecting plate;

[0007] The left compression spring baffle and the right compression spring baffle are fixed to the left and right sides of the base respectively, the two ends of the left compression spring are connected to the left compression spring baffle and the left grip respectively, and the two ends of the right compression spring are connected to the right compression spring baffle and the right grip respectively; when the left grip and the right grip are in a closed state, the left compression spring and the right compression spring are in a compressed state;

[0008] The left gripper and the right gripper are respectively provided with a left follower and a right follower;

[0009] The lower part of the extrusion plate has an inverted triangle structure, and the two sides of the bottom of the inverted triangle structure are respectively provided with inclined surfaces slanting downward from the outside to the inside, and the left follower and the right follower can move along the inclined surfaces on the left and right sides of the inverted triangle structure respectively; or, the lower part of the extrusion plate has a triangular structure, and the left and right sides of the triangular structure respectively have inclined surfaces slanting upward from the outside to the inside, and the left follower and the right follower can move along the inclined surfaces on the left and right sides of the triangular structure respectively.

[0010] Furthermore, the electric gripper also includes a guide rail 1 and a slider 1, the guide rail 1 is parallel to the output screw rod, the slider 1 is slidably assembled on the guide rail 1, and the connecting plate is fixedly connected to the slider 1 and the nut respectively.

[0011] Furthermore, the electric gripper also includes a guide rail 2, a right slider of guide rail 2 and a left slider of guide rail 2. The guide rail 2 is horizontally fixed to the base, and the right slider of guide rail 2 and the left slider of guide rail 2 are respectively slidably assembled on the right side and left side of guide rail 2, and the right gripper and the left gripper are respectively fixed on the right slider of guide rail 2 and the left slider of guide rail 2.

[0012] Furthermore, when the lower part of the extrusion plate has an inverted triangle structure, a vertical dividing block is provided in the center of the bottom of the extrusion plate, and the lower ends of the inclined surfaces on the left and right sides of the extrusion plate intersect at the vertical dividing block; the left follower and the right follower are respectively located on the left and right sides of the vertical dividing block, and when the left gripper and the right gripper are in a closed state, the left follower and the right follower respectively resist the vertical dividing block.

[0013] Furthermore, the left gripper includes a left gripper arm and a left small gripper, the left small gripper is fixed to the lower end of the left gripper arm, and the left gripper arm is fixed to the left slider of the guide rail 2; the right gripper includes a right gripper arm and a right small gripper, the right small gripper is fixed to the lower end of the right gripper arm, and the right gripper arm is fixed to the right slider of the guide rail 2.

[0014] Furthermore, the electric gripper also includes guide rail three, guide rail three right slider and guide rail three left slider. The guide rail three is parallel to the guide rail two. The guide rail three right slider and guide rail three left slider are slidably assembled on the right and left sides of the guide rail three respectively, and the right gripper and left gripper are fixed on the guide rail three right slider and guide rail three left slider respectively.

[0015] Furthermore, the electric gripper also includes a clamping baffle and a clamping sensing switch. The clamping baffle is fixed to the left gripper or the right gripper, and the clamping sensing switch is correspondingly arranged on the left side or the right side of the base. The clamping baffle can enter and exit the sensing area of the clamping sensing switch as the left gripper or the right gripper moves.

[0016] Furthermore, the electric gripper also includes a starting induction switch and a starting baffle, the starting baffle is fixed to the connecting plate, and the starting induction switch is installed on the base; the starting baffle can enter and exit the induction area of the starting induction switch as the connecting plate moves up and down.

[0017] Furthermore, the base is provided with a handle.

[0018] The beneficial effects of the present invention are:

[0019] 1. In this utility model, a motor, a squeeze plate, and a follower are combined to drive the closing and opening of the left and right grippers. This only changes their movement direction. The left and right grippers, respectively, rely on the elastic potential energy provided by the left and right compression springs to act as pressure to hold the object. The spring force of the compression springs securely holds the object without crushing it. Adjusting the gripping pressure is achieved by simply selecting a compression spring with the appropriate elastic force, making it easier to achieve.

[0020] 2. The utility model is provided with a clamping baffle and a clamping sensing switch, which can effectively sense whether the object has been grasped when grasping the object. The clamping baffle can continuously block the clamping sensing switch to indicate that the object has been grasped. The clamping baffle does not continuously block the clamping sensing switch to indicate that the object has not been grasped, thereby helping to indicate the grasping status of the object.

[0021] 3. The utility model can accurately sense the starting state of the left and right grippers by setting a starting block and a starting sensing switch. When the extrusion plate is in an inverted triangle structure, the starting sensing switch is blocked, indicating that the left and right grippers are fully closed. When the extrusion plate is in a triangular structure, the starting sensing switch is blocked, indicating that the left and right grippers are fully opened.

[0022] 4. In the present invention, by setting up multiple vertical and horizontal guide rails, the connecting plate, left gripper and right gripper cooperate with the slider to slide on each guide rail, which can achieve smooth movement of the left gripper and the right gripper, and improve the moving position accuracy of the left gripper and the right gripper, so that they can accurately reach the position of the object to be grasped and grasp it. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is an overall three-dimensional diagram of the electric gripper in Example 1 of the present utility model;

[0024] Figure 2 This is a front view of the electric gripper in Example 1 of the present utility model (the extrusion plate is omitted);

[0025] Figure 3 This is a three-dimensional schematic diagram of the electric gripper in Example 1 of the present utility model in the gripper open state (the extrusion plate is omitted);

[0026] Figure 4 This is a three-dimensional schematic diagram of the electric gripper in Example 1 of the present utility model when the gripper is closed (the extrusion plate is omitted);

[0027] Figure 5 This is a three-dimensional schematic diagram of the electric gripper grasping an object in Example 1 of the present utility model (the extrusion plate is omitted);

[0028] Figure 6 This is a three-dimensional schematic diagram of the electric gripper in the second embodiment of the present invention when the gripper is in a closed state;

[0029] Figure 7 This is a three-dimensional schematic diagram of the electric gripper in Example 2 of the present utility model when the gripper is closed (the extrusion plate is omitted);

[0030] Figure 8 This is a three-dimensional schematic diagram of the electric gripper in Example 2 of the present utility model when the gripper is in an open state;

[0031] Figure 9 This is a three-dimensional schematic diagram of the electric gripper in the second embodiment of the present invention when the gripper is open (the extrusion plate is omitted)

[0032] Figure 10 This is a three-dimensional schematic diagram of the electric gripper grabbing an object in Example 2 of the present utility model;

[0033] Figure 11 This is a three-dimensional schematic diagram of the electric gripper grabbing the object in Example 2 of the utility model (the extrusion plate is omitted). DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings. It should be noted that this embodiment is based on the technical solution and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to this embodiment.

[0035] Example 1

[0036] This embodiment provides an electric gripper, such as Figure 1 As shown in Figure 5, it includes a base 1, a motor 2, a guide rail 1 3, a slider 1 4, an output screw 5, a nut 6, a connecting plate 7, an extrusion plate 8, a left gripper 9, a right gripper 10, a guide rail 2 12, a guide rail 2 right slider 13, a guide rail 2 left slider 14, a right follower 15, a left follower 16, a left compression spring baffle 17, a left compression spring 18, a right compression spring baffle 19 and a right compression spring 20.

[0037] The motor 2 is a screw motor, secured to the base 1 via a motor mounting plate 21. The motor 2's output screw 5 is vertically positioned. The nut 6 is threadedly connected to the output screw 5 and can move up and down along the output screw 5 as the output screw 5 rotates. The guide rail 1-3 is parallel to the output screw 5. The slider 1-4 is slidably mounted on the guide rail 1-3. The connecting plate 7 is fixedly connected to the slider 1-4 and the nut 6, respectively. The upper end of the extrusion plate 8 is fixedly connected to the connecting plate 7. By providing the guide rail 1-3 and slider 1-4, the connecting plate 7 can be ensured to drive the extrusion plate to move up and down smoothly.

[0038] The guide rail 2 12 is horizontally fixed to the base 1, and the guide rail 2 right slider 13 and the guide rail 2 left slider 14 are slidably assembled on the right side and left side of the guide rail 2 12 respectively, and the right grip 10 and the left grip 9 are fixed on the guide rail 2 right slider 13 and the guide rail 2 left slider 14 respectively.

[0039] The left gripper 9 and the right gripper 10 are respectively provided with a left follower 16 and a right follower 15. The lower part of the extrusion plate 8 has an inverted triangle structure, and the two sides of the bottom of the inverted triangle structure are respectively provided with inclined surfaces sloping downward from the outside to the inside; the left follower 16 and the right follower 15 can move along the inclined surfaces on the left and right sides of the inverted triangle structure respectively.

[0040] The left compression spring baffle 17 and the right compression spring baffle 19 are fixed to the left and right sides of the base 1 respectively, the two ends of the left compression spring 18 are connected to the left compression spring baffle 17 and the left grip 9 respectively, and the two ends of the right compression spring 20 are connected to the right compression spring baffle 19 and the right grip 10 respectively; when the left grip 9 and the right grip 10 are in a closed state, the left compression spring 18 and the right compression spring 20 are in a compressed state.

[0041] In the aforementioned electric gripper, when the left gripper moves to the left, the left compression spring is compressed, exerting rightward pressure on the left gripper. The more the left gripper moves to the left, the more the left compression spring is compressed, and the greater the rightward pressure exerted by the left compression spring on the left gripper. When the left gripper moves to the right, the left compression spring is relaxed, and the left compression spring also exerts rightward pressure on the left gripper. The more the left gripper moves to the right, the more the left compression spring is relaxed, and the rightward pressure exerted by the left compression spring on the left gripper decreases. However, even if the left gripper closes with the right gripper and cannot move further to the right, the left compression spring will still exert sufficient rightward pressure on the left gripper to enable the left gripper to cooperate with the right gripper to tightly grip the object.

[0042] Similarly, when the right grip moves to the right, the right compression spring is compressed, exerting leftward pressure on the right grip. The more the right grip moves to the right, the more the right compression spring is compressed, and the greater the leftward pressure exerted by the right compression spring on the right grip. When the right grip moves to the left, the right compression spring is relaxed, and the right compression spring also exerts leftward pressure on the right grip. The more the right grip moves to the left, the more the right compression spring is relaxed, and the less leftward pressure exerted by the right compression spring on the right grip. However, even if the right grip closes with the left grip and the right grip cannot move further to the left, the right compression spring will still exert sufficient leftward pressure on the right grip, allowing the right grip to cooperate with the left grip to firmly grip the object.

[0043] In this embodiment, a vertical dividing block 22 is provided at the bottom center of the extrusion plate 8, and the lower ends of the inclined surfaces on the left and right sides of the extrusion plate 8 intersect at the vertical dividing block 22; the left follower 16 and the right follower 15 are respectively located on the left and right sides of the vertical dividing block 22, and when the left gripper 9 and the right gripper 10 are in a closed state, the left follower 16 and the right follower 15 are respectively against the vertical dividing block 22.

[0044] In this embodiment, the left gripper 9 includes a left gripper arm 23 and a left small gripper 24, the left small gripper 24 is fixed to the lower end of the left gripper arm 23, and the left gripper arm 23 is fixed to the left slider 14 of the guide rail 2; the right gripper 10 includes a right gripper arm 25 and a right small gripper 26, the right small gripper 26 is fixed to the lower end of the right gripper arm 25, and the right gripper arm 25 is fixed to the right slider 13 of the guide rail 2.

[0045] In this embodiment, the electric gripper further includes a guide rail 3 11, a right slider 27 of guide rail 3, and a left slider 28 of guide rail 3. Guide rail 3 11 is parallel to guide rail 2 12. The right slider 27 and the left slider 28 of guide rail 3 are slidably mounted on the right and left sides of guide rail 3 11, respectively. The right gripper 10 and the left gripper 9 are respectively fixed to the right slider 27 and the left slider 28 of guide rail 3. The dual guide rail arrangement of guide rail 2 12 and guide rail 3 11 can make the operation of the left and right grippers more stable.

[0046] In this embodiment, the electric gripper also includes a clamping baffle 29 and a clamping sensing switch 30. The clamping baffle 29 is fixed to the left gripper 9 (can also be fixed to the right gripper 10), and the clamping sensing switch 30 is correspondingly arranged on the left side of the base 1 (when the clamping baffle 29 is fixed to the right gripper 10, the clamping sensing switch 30 is correspondingly arranged on the right side of the base 1). The clamping baffle 29 can enter and exit the sensing area of the clamping sensing switch 30 as the left gripper 9 (or right gripper) moves.

[0047] In this embodiment, the electric gripper also includes a starting sensing switch 31 and a starting baffle 32. The starting baffle 32 is fixed to the connecting plate 7, and the starting sensing switch 31 is installed on the base 1. When the left gripper 9 and the right gripper 10 are closed, the starting baffle 32 is located in the sensing area of the starting sensing switch 31, and the starting baffle 32 can enter and exit the sensing area of the starting sensing switch 31 as the connecting plate 7 moves up and down.

[0048] In this embodiment, the base 1 is provided with a handle 33. Through the handle, the base and the electric gripper can be easily moved as a whole.

[0049] The working principle of the above electric clamping gripper is:

[0050] like Figure 1 、 2 As shown in FIG4 , when the left gripper 9 and the right gripper 10 are in the closed state, the starting block 32 is located in the sensing area of the starting sensing switch 31 , and the starting sensing switch 31 senses that the left gripper 9 and the right gripper 10 are in the closed state.

[0051] At this time, if the motor 2 drives the output screw 5 to reverse, the nut 6 moves downward while driving the connecting plate 7, the extrusion plate 8 and the starting baffle 32 to move downward together. The starting baffle 32 gradually leaves the sensing area of the starting induction switch 31. The inclined surfaces on the left and right sides of the extrusion plate 8 squeeze the left follower 16 and the right follower 15 at the same time, forcing the left follower 16 and the right follower 15 to move left and right along the inclined surfaces on both sides respectively. The left follower 16 together with the left gripper 9 overcomes the pressure of the left compression spring 18 and moves to the left. The right follower 15 together with the right gripper 10 overcomes the pressure of the right compression spring 20 and moves to the right, so that the left gripper 9 and the right gripper 10 open, and the distance between the left gripper and the right gripper becomes larger and larger until they can no longer move and the motor stops rotating. At this time, the distance between the left gripper and the right gripper is more than 2mm greater than the width of the object being grasped. Figure 3 shown.

[0052] When it is necessary to grab an item, the motor 2 drives the output screw 5 to rotate forward, and the nut 6 moves upward along the output screw 5, while driving the connecting plate 7, the starting baffle 32 and the extrusion plate 8 to move upward together. As the extrusion plate 8 moves upward, the extrusion force of its left and right inclined surfaces on the left follower 16 and the right follower 15 becomes smaller and smaller until it disappears.

[0053] The left gripper 9, under the elastic potential energy of the left compression spring 18, drives the left follower 16 to move rightward. The left follower 16 moves rightward, closely following the left slope of the squeeze plate 8. The clamping block 29 on the left gripper 9 also moves rightward. The right gripper 10, under the elastic potential energy of the right compression spring 20, drives the right follower 15 to move leftward. The right follower 15 moves leftward, closely following the right slope of the squeeze plate 8. The left gripper 9 and right gripper 10 gradually close.

[0054] If there is no object to be grasped between the left gripper 9 and the right gripper 10, during the process of the left gripper 9 moving to the right, the clamping baffle 29 on the left gripper 9 will first enter the sensing area of the clamping sensing switch 30, and then leave the sensing area of the clamping sensing switch 30. Finally, the left gripper 9 and the right gripper 10 are closed. At the same time, the starting baffle 32 on the connecting plate 7 gradually moves upward until it blocks the starting sensing switch 31, and the motor 2 stops rotating. At this time, the clamping sensing switch 30 is not blocked by the clamping baffle 31, so that it can be sensed that there is no object to be grasped between the left gripper and the right gripper.

[0055] If a grasped object 100 (a specimen bottle in this embodiment) is placed between the left grasping hand 9 and the right grasping hand 10, Figure 5 As shown, the left small gripper 24 at the lower end of the left gripper 9 and the right small gripper 26 at the lower end of the right gripper 10 together clamp the object 100. At this time, the distance between the left small gripper 24 and the right small gripper 26 is just the same as the width of the object 100, and the clamping block 29 just blocks the clamping sensor switch 30. The clamping sensor switch 30 senses the clamping block 29 and thus can sense that the object 100 has been grasped. The extrusion plate 8 continues to move upward, but the right gripper 10 no longer moves to the left, and the left gripper 9 no longer moves to the right. The clamping block 29 on the left gripper 9 still blocks the clamping sensor switch 30, but the left follower 16 and the right follower 15 are separated from the inclined surfaces on both sides of the extrusion plate 8. At the same time, the starting block 32 on the connecting plate gradually moves upward until it blocks the starting sensor switch 31, and the motor 2 stops rotating.

[0056] Example 2

[0057] This embodiment is basically the same as embodiment 1, the main difference being that, in this embodiment, Figure 6 As shown in FIG11 , the lower portion of the extrusion plate 8 has a triangular structure, and the left and right sides of the triangular structure respectively have inclined surfaces inclined upward from the outside to the inside; the left follower 16 and the right follower 15 can respectively move along the inclined surfaces on the left and right sides of the triangular structure.

[0058] More specifically, in this embodiment, the extrusion plate 8 is I-shaped and is divided into an upper part, a middle part and a lower part. The upper part of the extrusion plate 8 is fixed to the connecting plate 7. When the left grip 9 and the right grip 10 are in a closed state, the left follower 16 and the right follower 15 are respectively against the left and right sides of the middle part of the extrusion plate 8.

[0059] like Figure 6 As shown in FIG-7 , when the left gripper 9 and the right gripper 10 are closed, the starting block 32 is not within the sensing area of the starting sensing switch 31 .

[0060] If the motor 2 drives the output screw 5 to rotate forward, the nut 6 moves upward while driving the connecting plate 7, the extrusion plate 8 and the starting baffle 32 to move upward. The starting baffle 32 gradually enters the sensing area of the starting induction switch 31 and blocks the starting induction switch 31. The inclined surfaces on the left and right sides of the lower part of the extrusion plate 8 squeeze the left follower 16 and the right follower 15 at the same time, forcing the left follower 16 and the right follower 15 to move left and right along the inclined surfaces on both sides respectively. The left follower 16 together with the left gripper 9 overcomes the pressure of the left compression spring 18 and moves to the left. The right follower 15 together with the right gripper 10 overcomes the pressure of the right compression spring 20 and moves to the right, so that the left gripper 9 and the right gripper 10 open, and the distance between the left gripper and the right gripper becomes larger and larger until they can no longer move and the motor stops rotating. At this time, the distance between the left gripper and the right gripper is more than 2mm greater than the width of the object being grasped. Figure 8 -9.

[0061] When it is necessary to grab an item, the motor 2 drives the output screw 5 to rotate in the opposite direction. The nut 6 moves downward along the output screw 5, while driving the connecting plate 7, the starting baffle 32 and the extrusion plate 8 to move downward together. As the extrusion plate 8 moves downward, the extrusion force of its left and right sides on the left follower 16 and the right follower 15 becomes smaller and smaller until it disappears.

[0062] The left gripper 9, under the elastic potential energy of the left compression spring 18, drives the left follower 16 to the right. The left follower 16 moves rightward along the inclined surface on the left side of the extrusion plate 8, and the clamping block 29 on the left gripper 9 also moves rightward. The right gripper 10, under the elastic potential energy of the right compression spring 20, drives the right follower 15 to the left. The right follower 15 moves leftward along the inclined surface on the right side of the extrusion plate 8. The left gripper 9 and the right gripper 10 gradually close.

[0063] If there is no object to be grasped between the left gripper 9 and the right gripper 10, during the process of the left gripper 9 moving to the right, the clamping baffle 29 on the left gripper 9 will first enter the sensing area of the clamping sensing switch 30, and then leave the sensing area of the clamping sensing switch 30. Finally, the left gripper 9 and the right gripper 10 are closed. At the same time, the starting baffle 32 on the connecting plate 7 gradually moves downward and leaves the sensing area of the starting sensing switch 31, and the motor 2 stops rotating. At this time, the clamping sensing switch 30 is not blocked by the clamping baffle 31, so that it can be sensed that there is no object to be grasped between the left gripper and the right gripper.

[0064] If a grasped object 100 (a specimen bottle in this embodiment) is placed between the left grasping hand 9 and the right grasping hand 10, Figure 10As shown in FIG11 , the left small gripper 24 at the lower end of the left gripper 9 and the right small gripper 26 at the lower end of the right gripper 10 together clamp the object 100. At this time, the distance between the left small gripper 24 and the right small gripper 26 is exactly the same as the width of the object 100, and the clamping block 29 just blocks the clamping sensor switch 30. The clamping sensor switch 30 senses the clamping block 29 and thus can sense that the object 100 has been grasped. The extrusion plate 8 continues to move downward, but the right gripper 10 no longer moves left, and the left gripper 9 no longer moves right. The clamping block 29 on the left gripper 9 still blocks the clamping sensor switch 30, but the left follower 16 and the right follower 15 separate from the inclined surfaces on both sides of the extrusion plate 8. At the same time, the starting block 32 on the connecting plate gradually moves downward and leaves the sensing area of the starting sensor switch 31, and the motor 2 stops rotating.

[0065] Those skilled in the art can make various corresponding changes and modifications based on the above technical solutions and concepts, and all of these changes and modifications should be included in the scope of protection of the claims of this utility model.

Claims

1. An electric gripper, characterized in that: It includes a base, a motor, an output screw, a nut, a connecting plate, an extrusion plate, a left gripper, a right gripper, a right follower, a left follower, a left compression spring baffle, a left compression spring, a right compression spring baffle and a right compression spring; The motor is fixed to the base, the output screw is vertically arranged and the motor can drive the output screw to rotate axially; the nut is threadedly connected to the output screw and can move up and down along the output screw when the output screw rotates; the connecting plate is fixedly connected to the nut, and the upper end of the extrusion plate is fixedly connected to the connecting plate; The left compression spring baffle and the right compression spring baffle are fixed to the left and right sides of the base respectively, the two ends of the left compression spring are connected to the left compression spring baffle and the left grip respectively, and the two ends of the right compression spring are connected to the right compression spring baffle and the right grip respectively; when the left grip and the right grip are in a closed state, the left compression spring and the right compression spring are in a compressed state; The left gripper and the right gripper are respectively provided with a left follower and a right follower; The lower part of the extrusion plate has an inverted triangle structure, and the two sides of the bottom of the inverted triangle structure are respectively provided with inclined surfaces slanting downward from the outside to the inside, and the left follower and the right follower can move along the inclined surfaces on the left and right sides of the inverted triangle structure respectively; or, the lower part of the extrusion plate has a triangular structure, and the left and right sides of the triangular structure respectively have inclined surfaces slanting upward from the outside to the inside, and the left follower and the right follower can move along the inclined surfaces on the left and right sides of the triangular structure respectively.

2. The electric gripper according to claim 1, characterized in that: It also includes a guide rail 1 and a slider 1, the guide rail 1 is parallel to the output screw rod, the slider 1 is slidably assembled on the guide rail 1, and the connecting plate is fixedly connected to the slider 1 and the nut respectively.

3. The electric gripper according to claim 1, characterized in that: It also includes guide rail 2, guide rail 2 right slider and guide rail 2 left slider. The guide rail 2 is horizontally fixed to the base. The guide rail 2 right slider and guide rail 2 left slider can be slidably assembled on the right side and left side of the guide rail 2 respectively. The right gripper and left gripper are fixed on the guide rail 2 right slider and guide rail 2 left slider respectively.

4. The electric gripper according to claim 1, characterized in that: When the lower part of the extrusion plate has an inverted triangle structure, a vertical dividing block is provided in the center of the bottom of the extrusion plate, and the lower ends of the inclined surfaces on the left and right sides of the extrusion plate intersect at the vertical dividing block; the left follower and the right follower are respectively located on the left and right sides of the vertical dividing block, and when the left gripper and the right gripper are in a closed state, the left follower and the right follower respectively abut against the vertical dividing block.

5. The electric gripper according to claim 3, characterized in that: The left gripper includes a left gripper arm and a left small gripper, the left small gripper is fixed to the lower end of the left gripper arm, and the left gripper arm is fixed to the left slider of the guide rail 2; the right gripper includes a right gripper arm and a right small gripper, the right small gripper is fixed to the lower end of the right gripper arm, and the right gripper arm is fixed to the right slider of the guide rail 2.

6. The electric gripper according to claim 3, characterized in that: It also includes guide rail three, guide rail three right slider and guide rail three left slider. The guide rail three is parallel to the guide rail two. The guide rail three right slider and guide rail three left slider are slidably assembled on the right side and left side of the guide rail three respectively, and the right gripper and left gripper are fixed on the guide rail three right slider and guide rail three left slider respectively.

7. The electric gripper according to claim 1, characterized in that: The electric gripper also includes a clamping baffle and a clamping sensing switch. The clamping baffle is fixed to the left gripper or the right gripper, and the clamping sensing switch is correspondingly arranged on the left side or the right side of the base. The clamping baffle can enter and exit the sensing area of the clamping sensing switch as the left gripper or the right gripper moves.

8. The electric gripper according to claim 1, characterized in that: The electric gripper also includes a starting induction switch and a starting baffle. The starting baffle is fixed to the connecting plate, and the starting induction switch is installed on the base. The starting baffle can enter and exit the induction area of the starting induction switch as the connecting plate moves up and down.

9. The electric gripper according to claim 1, characterized in that: The base is provided with a handle.

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