Electric clamping device, carrying robot objective table and flexible gripper end effector

Abstract

The utility model discloses an electric clamping device. The electric clamping device comprises a clamping head pressing module and a power module. The clamping head pressing module comprises an upper shell, a self-locking worm and gear transmission assembly, a rotating shaft, a first coupler and a clamping arm pressing assembly. A first mounting cavity and a second mounting cavity which are communicated are formed in the upper shell, and the self-locking worm and gear transmission assembly comprises a worm gear and a worm. And the worm and the worm gear rotate, so that the rotating shaft drives the pressing and clamping arm assembly to open or clamp. Compared with the prior art, the electric clamping device has the advantages that the clamping arm pressing assembly can rotate to any position in the stroke range to press a workpiece, and the electric clamping device is flexible and convenient to use, wide in application range and constant in clamping force. The clamping head pressing module and the power modules are of a modularized structure, and the clamping head pressing module can be connected with different power modules to form the clamping device with the required performance. The electric clamping device is applied to the carrying robot objective table and the flexible gripper end executor, and stable clamping of materials can be achieved.

Description

Technical Field

[0001] This utility model belongs to the field of material clamping technology, and particularly relates to an electric clamping device, a handling robot platform, and a flexible gripper end effector. Background Technology

[0002] Clamps are used to clamp workpieces. Clamps are mounted on material handling robots.

[0003] In the prior art, Chinese patent CN210451541 discloses an electric clamping device, including: a cylinder assembly, a lead screw assembly, a connecting rod assembly, and a pressure arm assembly; the cylinder assembly includes a housing, the bottom of which is connected to a motor, and the output shaft of the motor extends into the interior of the housing; the lead screw assembly includes a lead screw connected to the output shaft of the motor and a lead screw mating block adapted to the lead screw; the connecting rod assembly includes a fork-shaped member and a connecting block that are hinged to each other, the fork-shaped member being sleeved on the outer peripheral surface of the lead screw mating block and following the lead screw mating block along the lead screw. The connecting block moves along its length, and a rotating block is rotatably provided at the other end of the connecting block. A connecting rod passes through the free end of the rotating block in the horizontal direction. The connecting rod is rotatably mounted on the housing and both ends of the connecting rod extend out of the housing. The pressure arm assembly includes a pressure tongue and pressure arms symmetrically arranged on both sides of the pressure tongue. The motor drives the lead screw to rotate, and the lead screw mating block drives the fork-shaped component to move along the length direction of the lead screw. The connecting block drives the rotating block to swing, thereby driving the connecting rod to rotate. The connecting rod drives the pressure arm assembly to open or clamp.

[0004] Existing electric clamps use a screw-driven linkage structure for force transmission, which has the following drawbacks: During clamping, the clamping force is relatively large only at the dead point position, and quite small at other positions. This type of electric clamp relies on the dead point position of the linkage structure for clamping; in actual use, shims need to be added to adjust the dead point position to precisely match the required clamping position. This results in poor flexibility and limited applicability. Furthermore, when the bearings wear, gaps develop between components, causing the dead point position to shift and leading to a rapid decrease in clamping force, affecting the clamping effect.

[0005] The handling robot's platform and flexible gripper end effector also need to achieve stable clamping of materials. If the clamping force weakens when using the existing electric clamping device, the workpiece may fall or slip.

[0006] Therefore, it is necessary to provide a new electric clamp, a handling robot platform, and a flexible gripper end effector to solve the above-mentioned technical problems. Summary of the Invention

[0007] (a) Technical problems to be solved

[0008] Based on this, the present invention provides an electric clamp, a platform for a handling robot, and a flexible gripper end effector to solve the technical problems of fixed clamping point position and unstable clamping force in existing electric clamps.

[0009] (II) Technical Solution

[0010] To solve the above-mentioned technical problems, this utility model proposes an electric clamping device, including a clamping head module and a power module; the clamping head module includes: an upper housing, a self-locking worm gear transmission assembly, a rotating shaft, a first coupling, and a clamping arm assembly; the upper housing has a first mounting cavity and a second mounting cavity that communicate with each other; the self-locking worm gear transmission assembly includes a worm wheel and a worm, the worm wheel being located in the second mounting cavity; the worm is located in the first mounting cavity, the upper part of the worm meshes with the worm wheel, and the lower part of the worm is connected to the upper part of the first coupling, the lower part of the first coupling having a power connection hole; the first coupling is also located in the first mounting cavity, the lower part of the first mounting cavity... The unit has a power shaft insertion opening; the rotating shaft is also fixedly connected to the worm gear, and the end of the rotating shaft and the clamping arm assembly are both located outside the upper housing, with one end of the clamping arm assembly fixed to the rotating shaft and the other end of the clamping arm assembly serving as the clamping end; the power module includes a lower housing and a rotary power unit located within the lower housing, the lower housing being fixed to the lower part of the upper housing, and the lower housing completely enclosing the power shaft insertion opening, the rotary power unit including a power output shaft with one end inserted into the power connection hole, the power output shaft, the first coupling, and the worm gear rotating synchronously, driving the worm gear to rotate, and driving the clamping arm assembly to open or clamp through the rotating shaft.

[0011] This utility model also proposes a handling robot platform, including the electric clamp as described above. The handling robot platform further includes: a carrying platform, a detachable fixed clamping block, and a movable clamping block; the movable clamping block is installed on the inner side of the pressure rod through a threaded connector passing through the clamping block mounting hole; the detachable fixed clamping block and the electric clamp are respectively installed on opposite sides of the carrying platform, and the top of the detachable fixed clamping block protrudes from the upper surface of the carrying platform. The upper housing and the lower housing are both located below the upper surface of the carrying platform. When the pressure arm assembly rotates, it can drive the movable clamping block to rotate above the upper surface of the carrying platform and cooperate with the detachable fixed clamping block to clamp the material; the movable clamping block has spherical or cylindrical rubber protrusions on the side away from the pressure rod.

[0012] This utility model also proposes a flexible gripper end effector, including the electric clamp as described above. The flexible gripper end effector further includes: a movable gripper block, a fixed gripper block used in conjunction with the movable gripper block, a first mounting bracket for fixing the fixed gripper block, and a second mounting bracket for fixing the electric clamp. The four outer sides of the upper housing are a front mounting surface, a left mounting surface, a rear mounting surface, and a right mounting surface, respectively. The front mounting surface and the rear mounting surface are opposite to each other, and the left mounting surface and the right mounting surface are opposite to each other. The movable gripper block is mounted on the lower side of the pressure rod through a threaded connector passing through the gripper block mounting hole. One end of the first mounting bracket is fixedly mounted on the left mounting surface, the fixed gripper block is mounted on the other end of the first mounting bracket, one end of the second mounting bracket is mounted on the front mounting surface or the rear mounting surface, and the other end of the second mounting bracket is a clamping arm mounting lug. The clamping arm assembly actuates, causing the movable gripper block to move away from or closer to the fixed gripper block, thereby realizing the opening or clamping of the flexible gripper end effector.

[0013] (III) Beneficial Effects

[0014] Compared with existing technologies, the electric clamp of this utility model has the following advantages: The clamping head module adopts a structure in which a self-locking worm gear transmission assembly with a self-locking function directly drives the clamping arm assembly to rotate. It fully utilizes the advantages of worm gear transmission, enabling workpiece clamping at any position within the rotational stroke range of the clamping arm assembly. This makes it flexible, convenient, and widely applicable. Furthermore, the clamping arm assembly clamps after reaching its designated position (not a fixed dead-point clamping structure), so the clamping force is not affected by wear on bearings or other components, ensuring a constant clamping force. Stable clamping of the workpiece can be achieved at any position within the rotational stroke range of the clamping arm assembly. The clamping head module and power module adopt a modular structure, allowing the clamping head module to be connected to different power modules to form a clamp with the required performance, further improving the flexibility and applicability of this utility model. The handling robot platform and flexible gripper end effector of this utility model both utilize the above-mentioned electric clamp, facilitating stable material clamping. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the electric clamp of this utility model;

[0017] Figure 2 This is a cross-sectional schematic diagram of the electric clamping device of this utility model;

[0018] Figure 3 For along Figure 2 Schematic diagram of the cross section of line AA;

[0019] Figure 4 This is an exploded view of the electric clamp of this utility model;

[0020] Figure 5 This is a three-dimensional schematic diagram of the upper housing in one direction of the electric clamp of this utility model.

[0021] Figure 6 This is a perspective view of the upper housing in the electric clamp of this utility model from another direction.

[0022] Figure 7 This is a schematic diagram of the structure of the front cover plate of the upper shell in the electric clamp of this utility model.

[0023] Figure 8 This is a schematic diagram of the positive and negative limit positions and the zero-degree clamping position of the clamping arm assembly in the electric clamping device of this utility model.

[0024] Figure 9 This is a schematic diagram of the handling robot platform of this utility model from the open state to the clamping state;

[0025] Figure 10 This is a schematic diagram of the flexible gripper end effector of this utility model.

[0026] The attached figures are labeled as follows:

[0027] 100. Electric clamp; 200. Handling robot platform; 300. Flexible gripper end effector; 400. Movable gripper arm;

[0028] 1. Upper housing; 2. Self-locking worm gear transmission assembly; 3. Rotating shaft; 4. Coupling; 5. Clamping arm assembly; 6. First bearing; 7. Bushing; 8. Second bearing; 9. Locking nut; 10. Limiting sleeve; 112. Vertical long screw; 113. Horizontal screw; 114. Horizontal locating pin; 115. Third bearing; 116. Fourth bearing; 117. Fifth bearing; 118. Sixth bearing;

[0029] 11. Upper shell base; 12. Rear side plate of upper shell; 13. Front side cover plate of upper shell; 14. Rod top mounting platform; 15. First mounting cavity; 16. Second mounting cavity; 17. Mating surface; 18. Precision locating pin hole; 19. Screw hole;

[0030] 21. Worm gear; 22. Worm;

[0031] 41. Power connection hole;

[0032] 51. Boom; 52. Pressure bar;

[0033] 81. Inner ring of the bearing; 82. Outer ring of the bearing;

[0034] 101. Inner side mounting hole;

[0035] 141. Worm gear mounting hole;

[0036] 111. Drive shaft insertion opening; 112. Outer side mounting hole; 113. Front mounting surface; 114. Left side mounting surface; 115. Rear mounting surface; 116. Right side mounting surface; 117. Front square coarse positioning slot; 118. Rear square coarse positioning slot; 119. Upper left coarse positioning step; 120. Lower left coarse positioning step; 121. Bearing mounting hole; 122. Sleeve mounting hole; 123. Vertical threaded connection hole; 124. Upper right coarse positioning step; 125. Lower right coarse positioning step; 126. Label receiving slot; 127. Lower housing fitting step; 128. Screw hole;

[0037] 0121. Horizontal threaded connection hole; 0122. Horizontal pin hole; 0123. Disc-shaped second mounting cavity; 0124. Worm gear mounting groove; 0125. Rear limit arc strip;

[0038] 211. Front positioning limit block; 212. Rear positioning limit block;

[0039] 221. Rod top mounting section; 222. Helical gear section; 223. Bushing mounting section; 224. Bearing mounting section; 225. External thread section; 226. Coupling mounting section; 227. Limiting step;

[0040] 521. Clamping end; 522. Clamping block mounting hole;

[0041] 131. Worm gear mounting front groove; 132. Disc-shaped second mounting front cavity; 133. Front limit arc strip;

[0042] 2211. Wrench hole;

[0043] 0101, Clamping head module; 0102, Power module;

[0044] 01. Lower housing; 02. Motor; 03. Reducer; 04. Aviation connector; 05. Second coupling; 06. Loading platform; 07. Detachable fixing clamp; 08. Movable clamp; 09. Movable gripper; 010. Fixed gripper; 0011. First mounting bracket; 0012. Second mounting bracket;

[0045] 00011, Lower shell base; 00012, Lower shell bottom cover plate;

[0046] 031. Front cover; 032. Planetary gear ring; 033. Rear cover; 034. Power take-off shaft;

[0047] 081. Rubber protrusion;

[0048] 00121. Clamp arm mounting ears. Detailed Implementation

[0049] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0050] The following is in conjunction with the appendix Figure 1-10 The electric clamp 100, the handling robot platform 200, and the flexible gripper end effector 300 of this utility model will be further described.

[0051] Please refer to this carefully. Figure 1-4 This utility model discloses an electric clamping device 100, including a clamping head module 0101 and a power module 0102. The clamping head module 0101 includes: an upper housing 1, a self-locking worm gear transmission assembly 2, a rotating shaft 3, a first coupling 4, and a clamping arm assembly 5. The upper housing 1 has a first mounting cavity 15 and a second mounting cavity 16 that are connected. The self-locking worm gear transmission assembly 2 includes a worm wheel 21 and a worm 22. The worm wheel 21 is located in the second mounting cavity 16. The worm 22 is located in the first mounting cavity 15. The upper part of the worm 22 meshes with the worm wheel 21, and the lower part of the worm 22 is connected to the upper part of the first coupling 4. The lower part of the first coupling 4 has a power connection hole 41. The first coupling 4 is also located in the first mounting cavity 15. The lower part of 15 has a power shaft insertion opening 111; the rotating shaft 3 is also fixedly connected to the worm gear 21. The end of the rotating shaft 3 and the clamping arm assembly 5 are both located outside the upper housing 1, and one end of the clamping arm assembly 5 is fixed to the rotating shaft 3, and the other end of the clamping arm assembly 5 is the clamping end 521; the power module 0102 includes a lower housing 01 and a rotary power unit located inside the lower housing 01. The lower housing 01 is fixed to the lower part of the upper housing 1, and the lower housing 01 completely closes the power shaft insertion opening 111. The rotary power unit includes a power output shaft 034 with one end inserted into the power connection hole 41. The power output shaft 034, the first coupling 4 and the worm gear 22 rotate synchronously, driving the worm gear 21 to rotate, and driving the clamping arm assembly 5 to open or clamp through the rotating shaft 3.

[0052] The structure and function of each part in this embodiment will be further explained below.

[0053] Regarding the clamping head module 0101: The upper housing 1 provides installation space and a mounting base. The self-locking worm gear transmission assembly 2 transmits the rotational power of the power module 0102 to the clamping arm assembly 5 via the rotating shaft 3, converting it into the opening and closing power of the clamping arm assembly 5. The first coupling 4 enables a quick connection between the worm 22 and the power output shaft 034 in the power module 0102. The clamping arm assembly 5 clamps the workpiece to be clamped. This utility model's clamping head module 0101 abandons the existing screw-driven linkage structure and instead adopts a structure where the self-locking worm gear transmission assembly 2 with self-locking function directly drives the clamping arm assembly 5 to rotate. It fully utilizes the advantages of worm gear transmission, allowing workpiece clamping at any position within the rotational stroke range of the clamping arm assembly 5. It is flexible and convenient to use, has a wide range of applications, and is a clamping structure where the clamping arm assembly 5 clamps after it reaches its position (not a fixed dead-point clamping structure). The clamping force is not affected by the wear of bearings or other components, ensuring a constant clamping force and stable holding.

[0054] Figure 8 The three position states of the clamping arm assembly 5 are shown: the zero-degree clamping position is the horizontal clamping state of the clamping arm assembly 5; the lowest limit clamping state is the state of rotating counterclockwise by an angle P from the zero-degree clamping position; and the highest limit clamping state is the state of rotating clockwise by an angle K from the zero-degree clamping position. -P to K is the rotation stroke range of the clamping arm assembly 5.

[0055] It should be noted that the condition for the worm gear assembly to have a self-locking function is existing technology, and the fact that this utility model does not describe it in detail does not affect the full disclosure of this utility model.

[0056] Regarding the power module 0102: The lower housing 01 is used to house the rotary power unit. The lower housing 01 is also used to connect with the upper housing 1 to form a closed housing structure. The rotary power unit is used to provide rotational power to the worm gear 22. In specific implementations, parameters such as the rotational speed and output torque of the rotary power unit can be designed as needed.

[0057] Regarding the clamping head module 0101 and the power module 0102: In this utility model, both the clamping head module 0101 and the power module 0102 are modular structures capable of achieving independent functions. They are interconnected. The clamping head module 0101 has a pre-reserved opening 111 at its lower part for inserting a power shaft. The power module 0102 has a power output shaft 034 that can be inserted into the power connection hole 41. The upper housing 1 and the lower housing 01 are fastened together to form a closed housing structure. The clamping head module 0101 can be connected to different power modules 0102 to form a clamp with the required performance. The performance of the clamp includes the opening and closing speed and clamping torque of the clamping arm assembly 5, etc.

[0058] As can be seen from the above, the electric clamp 100 of this utility model has the following beneficial effects:

[0059] (1) The clamping head module 0101 adopts a structure in which the self-locking worm gear transmission assembly 2 with self-locking function directly drives the clamping arm assembly 5 to rotate. It makes full use of the advantages of worm gear transmission, and the workpiece can be clamped at any position within the rotation stroke range of the clamping arm assembly 5. It is flexible and convenient to use and has a wide range of applications. Moreover, it is a structure that clamps after the clamping arm assembly 5 is in place. The clamping force is not affected by the wear of bearings and other components. The clamping force is constant, and the workpiece can be stably clamped at any position within the rotation stroke range of the clamping arm assembly 5.

[0060] (2) The clamping head module 0101 and the power module 0102 adopt a modular structure. The clamping head module 0101 can be connected with different power modules 0102 to form a clamp with the required performance, which further improves the flexibility and applicability of this utility model.

[0061] According to a specific embodiment of this utility model, the first mounting cavity 15 is rod-shaped, and the second mounting cavity 16 is disc-shaped. The second mounting cavity 16 is located on the upper side of the first mounting cavity 15. The rotating shaft 3 is coaxially arranged with the worm gear 21. The worm 22 includes, from top to bottom, the following components arranged in sequence: a rod top mounting section 221, a helical tooth section 222, a bushing mounting section 223, a bearing mounting section 224, an external thread section 225, and a coupling mounting section 226. The joint between the helical tooth section 222 and the bushing mounting section 223 has a limiting step 227. The clamping head module 0101 also includes: a first bearing 6, a bushing 7, a second bearing 8, a locking nut 9, and a limiting sleeve 10; the first bearing 6 is sleeved outside the rod top mounting section 221, the second bearing 8 is sleeved outside the bearing mounting section 224, and the worm gear 22 is rotatably connected to the upper housing 1 via the first bearing 6 and the second bearing 8 respectively; the second bearing 8 includes an inner bearing ring 81 and an outer bearing ring 82; the bushing 7 is sleeved on the bushing mounting section 223, and the upper part of the inner bearing ring 81 abuts against the limiting step 227; the locking nut 9 is located on the helical gear section 2. 22, and the locking nut 9 abuts against the lower part of the inner ring 81 of the bearing; the top of the limiting sleeve 10 abuts against the lower part of the outer ring 82 of the bearing, and the bottom side of the upper housing 1 is provided with an outer mounting hole 112 communicating with the first mounting cavity 15; the lower part of the limiting sleeve 10 is provided with an inner mounting hole 101 at the position opposite to the outer mounting hole 112; the coupling mounting section 226 is inserted into the first coupling 4 and connected to the first coupling 4; the lower outer side of the first coupling 4 is also provided with a coupling side locking hole communicating with the power connection hole 41, and the coupling side locking hole is connected to the inner ring 82 of the bearing. The height of the lateral mounting holes 101 is consistent; the rotary power unit includes a motor 02 and a reducer 03 connected to the motor 02. The reducer 03 includes a front cover 031, a planetary gear ring 032, a rear cover 033, and a power output shaft 034. The front cover 031, the planetary gear ring 032, and the rear cover 033 are fixedly connected in sequence from top to bottom. The other end of the power output shaft 034 is located inside the planetary gear ring 032. The upper outer side of the front cover 031 is fixedly installed on the lower part of the upper housing 1, and the upper inner side of the front cover 031 abuts against the lower part of the limiting sleeve 10.

[0062] In this embodiment, a specific mounting structure for the worm gear 22 is provided, which ensures smooth and stable rotation of the worm gear 22. Specifically, the top section of the worm gear (top mounting section 221) is rotatably connected to the top wall of the upper housing 1 via the first bearing 6, and the middle section of the worm gear 22 (top mounting section 221) is rotatably connected to the inner wall of the upper housing 1 via the second bearing 8. This rotatable connection at both the top and bottom improves the stability of the worm gear 22's rotation. The bushing 7 and the locking nut 9 cooperate to axially limit the second bearing 8. After the pressure chuck module 0101 is connected to the power module 0102, the lower end of the limiting sleeve 10 is abutted and limited, thus restricting the downward movement freedom of the second bearing 8 and ensuring that the second bearing 8 and the limiting sleeve 10 are located in a preset position within the first mounting cavity 15 after assembly.

[0063] The coupling side locking hole, the outer side mounting hole 112, and the inner side mounting hole 101 are all at the same height. Rotating the first coupling 4 allows the coupling side locking hole to be aligned with the inner side mounting hole 101. The outer side mounting hole 112 and the inner side mounting hole 101 are used as tool insertion holes during installation. For example, when the clamping head module 0101 is connected to the power output shaft 034 in the power module 0102, the set screw of the first coupling 4 is screwed into the coupling side locking hole through the outer side mounting hole 112 and the inner side mounting hole 101 in sequence with a screwdriver, and the set screw abuts against the outer side wall of the power output shaft 034, thereby improving the stability of the connection between the first coupling 4 and the power output shaft 034.

[0064] It should be noted that the reducer 03 in this embodiment can be an externally purchased component. When selecting a specific model, it can be mainly selected according to the speed ratio requirements. It is also necessary to ensure that after the clamping head module 0101 and the power module 0102 are assembled, the upper inner side of the front cover 031 abuts against the lower part of the limiting sleeve 10, which is exactly the lower limit of the limiting sleeve 10.

[0065] The reducer 03 is used to reduce speed and increase torque. In this embodiment, a planetary reducer 03 with a reduction ratio of i is used, where i = 8~12. The output speed is 1 / i times the speed of motor 02, and it can output i times the motor torque.

[0066] Please refer to this carefully. Figure 5-7According to a specific embodiment of this utility model, the upper shell 1 includes: an upper shell base 11, an upper shell rear side plate 12, and an upper shell front side cover plate 13; the upper shell base 11 and the upper shell rear side plate 12 are integral structures; the upper shell front side cover plate 13 and the upper shell rear side plate 12 are detachably connected; the upper shell rear side plate 12 is located above the upper shell base 11; the upper shell rear side plate 12 is provided with a recessed worm gear mounting groove 0124 that is semi-cylindrical in shape, and the upper shell front side cover plate 13 is directly opposite the worm gear mounting groove. The rear groove 0124 is also provided with a recessed, semi-cylindrical worm gear mounting groove 131. The upper housing 11 is also provided with a bearing mounting hole 121 and a sleeve mounting hole 122. The second bearing 8 is installed in the bearing mounting hole 121, and the limiting sleeve 10 is installed in the sleeve mounting hole 122. The outward mounting hole 112 is located on the bottom side of the upper housing 11 and communicates with the sleeve mounting hole 122. The rear side plate 12 of the upper housing is also provided with a recessed groove. A recessed disc-shaped second mounting cavity 0123; a recessed disc-shaped second mounting front cavity 132 is provided on the front cover plate 13 of the upper shell; the front cover plate 13 of the upper shell is fastened to the rear plate 12 of the upper shell, and the worm gear mounting rear groove 0124, the worm gear mounting front groove 131, the bearing mounting hole 121 and the sleeve mounting hole 122 together form the first mounting cavity 15; the disc-shaped second mounting rear cavity 0123 and the disc-shaped second mounting front cavity 132 together form the second mounting cavity 16; upper shell seat 11 The mating surface 17 with the front cover plate 13 of the upper shell is stepped; a protruding rod top mounting platform 14 is provided on one side of the top of the rear side plate 12 of the upper shell, and the rod top mounting platform 14 and the rear side plate 12 of the upper shell are an integral structure; a worm gear mounting hole 141 is provided in the rod top mounting platform 14, the first bearing 6 is installed in the worm gear mounting hole 141, the top of the worm 22 extends into the worm gear mounting hole 141, and the top of the worm 22 is rotatably connected to the rod top mounting platform 14 via the first bearing 6.

[0067] In this embodiment, the structure of the upper shell 1 is specifically designed. The upper shell 1 is designed as a split structure, and the external shape of each split structure and the shape of the internal mounting holes / cavities are reasonably set to ensure the overall strength of the upper shell 1 while meeting the requirements for the installation and stable installation of internal components. Specifically, the upper shell base 11 and the upper shell rear side plate 12 are an integral structure, which facilitates the overall strength of the upper shell 1. The upper shell front side cover plate 13 and the upper shell rear side plate 12 are detachably connected, which facilitates the installation of components such as the worm gear 21 and the worm 22. During assembly, the worm 22 is installed into the first mounting cavity 15 from bottom to top. The upper shell base 11 is provided with a bearing mounting hole 121 and a sleeve mounting hole 122 for corresponding installation of the second bearing 8 and the limiting sleeve 10. First, the worm gear 21 is installed into the disc-shaped second mounting cavity 0123 to ensure smooth meshing between the worm gear 21 and the worm 22. Then, the upper shell front side cover plate 13 is fastened to realize the installation of the worm gear 21 and the worm 22.

[0068] In this embodiment, the mating surface 17 between the upper housing seat 11 and the front cover plate 13 of the upper housing is stepped, which facilitates mutual interlocking and improves the stability of the assembly. Furthermore, the stepped mating surface 17 avoids long straight seam structures, further improving the overall mechanical properties of the upper housing 1. In this embodiment, the rod top mounting platform 14 and the rear side plate 12 of the upper housing are an integral structure; that is, the upper housing seat 11, the rear side plate 12 of the upper housing, and the rod top mounting platform 14 are all integrated. This structure ensures that the worm gear mounting hole 141 is a complete hole, further improving the installation accuracy and stability of the worm gear 22.

[0069] According to a specific embodiment of this utility model, the outer contour of the upper shell 11 is generally cuboid; each of the four outer sides of the upper shell 11 is provided with a coarse positioning structure and a fine positioning pin hole 18, the coarse positioning structure being a coarse positioning through groove or a coarse positioning step; one of the four outer sides of the upper shell 11 is also provided with a recessed label receiving groove 126; the bottom outer circumference of the upper shell 11 is recessed to form a lower shell fitting step 127, and an outward mounting hole 112 is provided on the lower shell fitting step 127; the lower shell fitting step 127 is also provided with a screw hole 128; the lower shell 01 includes a lower shell base 00011 and a lower shell bottom cover plate 00 012, the lower housing 00011 is a shell-shaped structure extending vertically. The bottom cover plate 00012 of the lower housing is detachably fixed to the bottom of the lower housing 00011. The upper part of the lower housing 00011 is fitted onto the lower housing mounting step 127 and passes through the upper housing 11 via a threaded connector, extending into the screw hole 128, thereby achieving a fixed connection between the lower housing 00011 and the upper housing 11. The side wall of the lower housing 00011 is also provided with an aviation plug 04. The reducer 03 is a two-stage planetary reducer. The power module 0102 also includes a second coupling 054. The motor 02 and the reducer 03 are connected through the second coupling 054.

[0070] More specifically, the four outer surfaces of the upper housing 11 are a front mounting surface 113, a left mounting surface 114, a rear mounting surface 115, and a right mounting surface 116. The front mounting surface 113 and the rear mounting surface 115 are arranged opposite to each other, and the left mounting surface 114 and the right mounting surface 116 are arranged opposite to each other. The front mounting surface 113 has a recessed front square coarse positioning through groove 117 in the middle. The rear mounting surface 115 has a recessed rear square coarse positioning through groove 118 in the middle. The upper part of the left mounting surface 114 has a raised upper left coarse positioning step 119, which is formed by cutting the bottom of the front cover plate 13 and the rear plate 12 of the upper housing flat. The lower part of the left mounting surface 114 has a raised lower left coarse positioning step 120. The upper part of the right mounting surface 116 has a raised upper right coarse positioning step 124, and the lower part of the right mounting surface 116 has a raised lower right coarse positioning step 125.

[0071] The label receiving slot 126 is used for labeling. During installation, the left mounting surface 114 of this utility model is the main mounting surface. Since a front mounting surface 113, a rear mounting surface 115, and a right mounting surface 116 are also provided, installation on four surfaces can be achieved, providing greater flexibility. In each mounting surface, a coarse positioning structure is used to achieve coarse positioning for quick assembly, a fine positioning pin hole 18 is used to achieve fine positioning to ensure installation accuracy, and a screw hole 19 is used to install threaded connectors for detachable connection. The positioning groove is located in the middle of the mounting surface, and the coarse positioning step is located at the top and bottom of the mounting surface. In adjacent surfaces, the positioning groove and the coarse positioning step are alternately arranged, which reduces the weakening of the upper housing 11 strength by the positioning structure. The lower housing fitting step 127 and screw hole 128 are reserved for quick connection with the power module 0102. When the rotational power for driving the worm gear 22 is connected, the lower housing 01 of the power module 0102 is fitted into the lower housing fitting step 127 and locked with screws. This structure enables rapid docking between the pressure clamp module 0101 and the power module 0102, while ensuring that the upper and lower shells are flush.

[0072] According to a specific embodiment of this utility model, the clamping head module 0101 further includes: a vertical long screw 012, a horizontal screw 013, and a horizontal positioning pin 014; the upper shell base 11 is also provided with a vertical threaded connection hole 123 that runs through it in the vertical direction, one end of the vertical long screw 012 is located in the vertical threaded connection hole 123, and the other end of the vertical long screw 012 extends into the front cover plate 13 of the upper shell; the rear side plate 12 of the upper shell is provided with a horizontal threaded connection hole 0121 and a horizontal pin hole 0122 that run through it in the front and rear directions, one end of the horizontal screw 013 passes through the rear side plate 12 of the upper shell, and the other end of the horizontal screw 013 extends into the front cover plate 13 of the upper shell, one end of the horizontal positioning pin 014 passes through the rear side plate 12 of the upper shell, and the other end of the horizontal positioning pin 014 extends into the front cover plate 13 of the upper shell.

[0073] In this embodiment, the connection structure of the upper shell 1 after separation is specifically designed.

[0074] The transverse positioning pin 014 is used for precise positioning between the rear side plate 12 of the upper shell and the front side cover plate 13 of the upper shell. Since the front and rear parts of the worm gear 21 are positioned by the rear side plate 12 of the upper shell and the front side cover plate 13 of the upper shell respectively, the fastening accuracy of the rear side plate 12 of the upper shell and the front side cover plate 13 of the upper shell is high, which can ensure the installation accuracy of the worm gear 21.

[0075] The vertical long screw 012 and the horizontal screw 013 achieve locking from both the horizontal and vertical directions, ensuring the stability of the upper housing 1 connection.

[0076] During assembly, before the rear side plate 12 and the front side cover 13 of the upper shell are fastened together, first install the transverse positioning pin 014, then install the transverse screw 013, and then install the vertical long screw 012 to achieve the installation of the vertical long screw 012 and the transverse screw 013.

[0077] According to a specific embodiment of the present invention, the clamping arm assembly 5 includes a fixedly connected arm 51 and a pressure rod 52. The end of the arm 51 away from the pressure rod 52 is fixedly connected to the rotating shaft 3. The end of the pressure rod 52 away from the arm 51 is a clamping end 521, and the clamping end 521 is provided with a clamping block mounting hole 522. The number of arms 51 is two, and the two arms 51 are respectively fixed to both ends of the rotating shaft 3; or the number of arms 51 is two, and the two arms 51 are respectively fixed to both ends of the rotating shaft 3.

[0078] In this embodiment, the clamping block mounting hole 522 is used to install movable clamping blocks 08 or movable gripping blocks 09 of different shapes to match workpieces of different shapes. This embodiment provides two structures for the clamping arm assembly 5. Compared with the former, the structure with two arms 51 is more stable and suitable for occasions with large clamping force and high precision requirements; the structure with one arm 51 is simpler and suitable for occasions with small clamping force and low cost requirements.

[0079] According to a specific embodiment of this utility model, the worm gear 21 is provided with a protruding positioning and limiting block, and the second mounting cavity 16 is provided with a protruding limiting arc strip. The trajectory formed by the positioning and limiting block as the worm gear 21 rotates is the positioning and limiting block trajectory, which is arc-shaped. The limiting arc strip is set along the positioning and limiting block trajectory. The limiting arc strip works in conjunction with the positioning and limiting block to limit the rotation angle of the worm gear 21. The positioning and limiting block includes a front positioning and limiting block 211 and a rear positioning and limiting block 212 located on opposite sides of the front and rear sides of the worm gear 21, respectively. The limiting arc strip includes a front limiting arc strip 133 and a rear limiting arc strip 0125. The front limiting arc strip 133 is located near the upper front cover plate 13 of the upper shell. On one side of the rear side plate 12 of the shell, the rear limiting arc strip 0125 is located on the side of the rear side plate 12 of the upper shell near the front cover plate 13 of the upper shell; the first coupling 4 is an elastic first coupling; the pressure chuck module 0101 also includes: a third bearing 015, a fourth bearing 016, a fifth bearing 017 and a sixth bearing 018; one end of the rotating shaft 3 is rotatably connected to the rear side plate 12 of the upper shell via the third bearing 015, and the other end of the rotating shaft 3 is rotatably connected to the front cover plate 13 of the upper shell via the fourth bearing 016; one end of the worm gear 21 is rotatably connected to the rear side plate 12 of the upper shell via the fifth bearing 017, and the other end of the worm gear 21 is rotatably connected to the front cover plate 13 of the upper shell via the sixth bearing 018.

[0080] In this embodiment, the positioning limit block on the worm gear 21 has the following two functions.

[0081] Function 1: The positioning limit block is used for positioning. When the clamping head module 0101 is used in conjunction with the encoder, the positioning limit block can serve as the encoder's reset point, so that the encoder can accurately measure the rotation signal of the worm gear 21 each time it is used again after a power outage.

[0082] Function 2: The positioning limit block is used for mechanical limiting. When the positioning limit block rotates to contact the two ends of the limiting arc strip, the limiting arc strip restricts the worm gear 21 from continuing to rotate, thereby limiting the rotation angle of the clamping arm assembly 5. This ensures that even in the event of an electrical failure, the clamping arm assembly 5 will rotate within the preset rotation range, preventing the clamping arm assembly 5 from over-travel and colliding with the upper housing 1.

[0083] The flexible connector is used to absorb vibration and compensate for assembly and machining errors. The third bearing 015 and the fourth bearing 016 are used to ensure the smooth rotation of the shaft 3.

[0084] According to a specific embodiment of this utility model, the top of the rod top mounting section 221 is provided with a recessed wrench hole 2211; the second bearing 8 is an angular contact ball bearing; there are two second bearings 8, and the two second bearings 8 are installed back to back. The upper part of the inner ring of the upper second bearing 8 abuts against the lower part of the bushing 7, the upper part of the outer ring of the upper second bearing 8 abuts against the top of the bearing hole, the lower part of the inner ring of the lower second bearing 8 abuts against the upper part of the locking nut 9, and the lower part of the outer ring of the lower second bearing 8 abuts against the upper part of the limiting sleeve 10.

[0085] In this embodiment, since the worm gear 21 and worm 22 of this invention have a self-locking function, when a power failure occurs, a wrench can be inserted into the wrench hole 2211 to manually rotate the worm 22, thereby controlling the rotation of the clamping arm assembly 5 and realizing the manual unlocking function. Two angular contact bearings are mounted back-to-back to provide axial thrust. The limiting sleeve 10 is used for radial positioning of the second bearing 8.

[0086] Please refer to this carefully. Figure 9This utility model also discloses a handling robot platform 200, including the electric clamping device 100 as described in the above embodiment. The handling robot platform 200 also includes: a handling platform 06, a detachable fixed clamping block 07, and a movable clamping block 08; the movable clamping block 08 is installed on the inner side of the pressure rod 52 by a threaded connector passing through the clamping block mounting hole 522; the detachable fixed clamping block 07 and the electric clamping device 100 are respectively installed on opposite sides of the handling platform 06, and the top of the detachable fixed clamping block 07 protrudes from the upper surface of the handling platform 06. The upper housing 1 and the lower housing 01 are both located below the upper surface of the handling platform 06. When the pressure arm assembly 5 rotates, it can drive the movable clamping block 08 to rotate onto the upper surface of the handling platform 06 and cooperate with the detachable fixed clamping block 07 to achieve material clamping; the movable clamping block 08 has a spherical or cylindrical rubber protrusion 081 on the side away from the pressure rod 52.

[0087] In this embodiment, the detachable fixing clamp 07 is fixed to the loading platform 06 by tie screws. The loading platform 06 is provided with a strip-shaped mounting groove on the upper part. When in use, the position of the detachable fixing clamp 07 is adjusted in advance according to the size of the material to be transferred.

[0088] This embodiment describes one application scenario of the electric clamp 100. The electric clamp 100 is installed on a handling robot and, through electric drive, can control the opening and closing of the movable clamping block 08. The movable clamping block 08, in conjunction with the detachable fixed clamping block 07, clamps the material and self-locks after clamping, facilitating the handling robot to smoothly transfer the material to the target location.

[0089] The rubber protrusion 081 has a certain degree of elasticity, and there is a certain gap between the spherical or cylindrical protrusions, which makes it easy for the rubber protrusion 081 to fit tightly against the clamping surface at different clamping angles, so as to achieve a stable clamping.

[0090] Please refer to this carefully. Figure 10This utility model also discloses a flexible gripper end effector 300, including the electric clamp 100 as described in the above embodiment. The flexible gripper end effector 300 further includes: a movable gripper block 09, a fixed gripper block 010 used in conjunction with the movable gripper block 09, a first mounting bracket 0011 for fixing the fixed gripper block 010, and a second mounting bracket 0012 for fixing the electric clamp 100. The four outer surfaces of the upper housing 11 are a front mounting surface 113, a left mounting surface 114, a rear mounting surface 115, and a right mounting surface 116. The front mounting surface 113 and the rear mounting surface 115 are arranged opposite to each other, and the left mounting surface 114... Mounting surfaces 14 and 116 on the right are positioned opposite each other. The movable gripper 09 is mounted on the lower side of the pressure rod 52 by passing through the gripper mounting hole 522 with a threaded connector. One end of the first mounting bracket 0011 is fixedly mounted on the left mounting surface 114, and the fixed gripper 010 is mounted on the other end of the first mounting bracket 0011. One end of the second mounting bracket 0012 is mounted on the front mounting surface 113 or the rear mounting surface 115, and the other end of the second mounting bracket 0012 is the clamping arm mounting ear 00121. When the clamping arm assembly 5 moves, it drives the movable gripper 09 away from or closer to the fixed gripper 010, so as to realize the opening or clamping of the flexible gripper end effector 300.

[0091] In this embodiment, the movable gripper 09 is mounted on the electric clamper 100 and moves synchronously with the clamping arm assembly 5. The left mounting surface 114 provides a mounting base for the first mounting bracket 0011, and the fixed gripper 010 is fixedly mounted on the side of the upper housing 11 via the first mounting bracket 0011. The second mounting bracket 0012 is used to mount the electric clamper 100 onto the movable clamping arm 400 of the flexible gripper. The second mounting bracket 0012 and one end can be mounted on the front mounting surface 113 or the rear mounting surface 115. The clamping arm mounting ear 00121 has a through mounting hole to facilitate the fixed connection between the clamping arm mounting ear 00121 and the movable clamping arm 400.

[0092] This embodiment represents another application scenario of the electric clamp 100. The electric clamp 100 is mounted on the movable gripper arm 400 of the flexible gripper, and can control the opening and closing of the movable gripper block 09 via electric drive. When the movable gripper block 09 is closed, it cooperates with the fixed gripper block 010 to clamp the material. The flexible gripper can be equipped with multiple end effectors to jointly clamp and place large-volume, frame-shaped materials.

[0093] This utility model also has the following advantages: The overall structure of this utility model is a combination of a motor 02 with a driver, a planetary reducer, a worm 22 and a worm wheel 21. The opening angle of the clamping arm assembly can be controlled by an encoder and can stay at any position. The clamping arm assembly can clamp at any position during the entire rotation process, and the clamping force is constant.

[0094] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components; and they can also refer to a "transmission connection," that is, a power connection through various suitable methods such as belt drive, gear drive, or sprocket drive. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

Claims

1. An electric clamp, characterized in that, The system includes a chuck module and a power module. The chuck module comprises: an upper housing, a self-locking worm gear transmission assembly, a rotating shaft, a first coupling, and a chuck arm assembly. The upper housing has a first mounting cavity and a second mounting cavity that communicate with each other. The self-locking worm gear transmission assembly includes a worm wheel and a worm. The worm wheel is located in the second mounting cavity. The worm is located in the first mounting cavity, with its upper part meshing with the worm wheel and its lower part connected to the upper part of the first coupling. The lower part of the first coupling has a power connection hole. The first coupling is also located in the first mounting cavity, and the lower part of the first mounting cavity has a power shaft insertion opening. The rotating shaft is also fixedly connected to the worm gear. The end of the rotating shaft and the clamping arm assembly are both located outside the upper housing. One end of the clamping arm assembly is fixed to the rotating shaft, and the other end of the clamping arm assembly is the clamping end. The power module includes a lower housing and a rotary power unit located inside the lower housing. The lower housing is fixed to the lower part of the upper housing, and the lower housing completely closes the power shaft insertion opening. The rotary power unit includes a power output shaft with one end inserted into the power connection hole. The power output shaft, the first coupling, and the worm gear rotate synchronously, driving the worm gear to rotate, and driving the clamping arm assembly to open or clamp through the rotating shaft.

2. The electric clamping device according to claim 1, characterized in that, The first mounting cavity is rod-shaped, and the second mounting cavity is disc-shaped, with the second mounting cavity located on the upper side of the first mounting cavity. The rotating shaft is coaxially arranged with the worm gear. The worm includes, from top to bottom, a rod-top mounting section, a helical gear section, a bushing mounting section, a bearing mounting section, an external thread section, and a coupling mounting section. The joint between the helical gear section and the bushing mounting section has a limiting step. The pressure chuck module further includes a first bearing, a bushing, a second bearing, a locking nut, and a limiting sleeve. The first bearing is sleeved outside the rod-top mounting section, and the second bearing is sleeved outside the bearing mounting section. The worm is rotatably connected to the upper housing via the first bearing and the second bearing, respectively. The second bearing includes an inner bearing ring and an outer bearing ring. The bushing is sleeved on the bushing mounting section, and the upper part of the inner bearing ring abuts against the limiting step. The locking nut is located on the helical gear section, and the locking nut abuts against the... The lower part of the bearing inner ring; the top of the limiting sleeve abuts against the lower part of the bearing outer ring; the bottom side of the upper housing is provided with an outward mounting hole communicating with the first mounting cavity; the lower part of the limiting sleeve is provided with an inward mounting hole opposite to the outward mounting hole; the coupling mounting section is inserted into the first coupling and connected to the first coupling; the lower outer side of the first coupling is also provided with a coupling lateral locking hole communicating with the power connection hole, and the coupling lateral locking hole is at the same height as the inward mounting hole; the rotary power unit includes a motor and a reducer connected to the motor, the reducer includes: a front cover, a planetary gear ring, a rear cover and the power output shaft; the front cover, planetary gear ring and rear cover are fixedly connected from top to bottom, the other end of the power output shaft is located in the planetary gear ring, the upper outer side of the front cover is fixedly installed on the lower part of the upper housing, and the upper inner side of the front cover abuts against the lower part of the limiting sleeve.

3. The electric clamping device according to claim 2, characterized in that, The upper shell includes: an upper shell base, an upper shell rear side plate, and an upper shell front side cover plate; the upper shell base and the upper shell rear side plate are integral structures; the upper shell front side cover plate and the upper shell rear side plate are detachably connected; the upper shell rear side plate is located on the upper part of the upper shell base; the upper shell rear side plate is provided with a recessed worm gear mounting groove that is generally semi-cylindrical; the upper shell front side cover plate is also provided with a recessed worm gear mounting groove that is generally semi-cylindrical, located opposite the worm gear mounting groove; the upper shell base is also provided with a bearing mounting hole and a sleeve mounting hole; the second bearing is installed in the bearing mounting hole; the limiting sleeve is installed in the sleeve mounting hole; the outward mounting hole is located on one side of the bottom of the upper shell base and communicates with the sleeve mounting hole; the upper shell rear side plate is also provided with a recessed disc-shaped... The second mounting cavity; a recessed disc-shaped second mounting cavity is provided on the front cover plate of the upper shell; the front cover plate of the upper shell is fastened to the rear cover plate of the upper shell, and the worm gear mounting groove, the worm gear mounting groove, the bearing mounting hole and the sleeve mounting hole together form the first mounting cavity; the disc-shaped second mounting cavity and the disc-shaped second mounting cavity together form the second mounting cavity; the mating surface between the upper shell seat and the front cover plate of the upper shell is stepped; a rubber protrusion rod top mounting platform is provided on one side of the top of the rear cover plate of the upper shell, and the rod top mounting platform and the rear cover plate of the upper shell are an integral structure; a worm gear mounting hole is provided through the rod top mounting platform, the first bearing is installed in the worm gear mounting hole, the top of the worm gear extends into the worm gear mounting hole, and the top of the worm gear is rotatably connected to the rod top mounting platform via the first bearing.

4. The electric clamping device according to claim 3, characterized in that, The upper housing has an overall rectangular parallelepiped shape. Each of the four outer surfaces of the upper housing has a coarse positioning structure and a fine positioning pin hole. The coarse positioning structure is either a coarse positioning through groove or a coarse positioning step. One of the four outer surfaces of the upper housing also has a recessed label receiving groove. The bottom outer circumference of the upper housing is recessed to form a lower housing assembly step, and the outward-facing mounting hole is located on the lower housing assembly step. Screw holes are also provided on the lower housing assembly step. The lower housing includes a lower housing base and a lower housing bottom cover plate. The lower housing base is a shell-like structure extending vertically. The lower housing bottom cover plate is detachably fixed to the bottom of the lower housing base. The upper part of the lower housing base is fitted onto the lower housing assembly step and passes through the upper housing base via a threaded connector, extending into the screw hole to achieve a fixed connection between the lower housing base and the upper housing base. An aviation connector is also provided on the side wall of the lower housing base. The reducer is a two-stage planetary reducer. The power module also includes a second coupling. The motor and the reducer are connected via the second coupling.

5. The electric clamping device according to claim 4, characterized in that, The clamping head module further includes: a vertical long screw, a horizontal screw, and a horizontal positioning pin; the upper shell base is also provided with a vertical threaded connection hole that runs through it in the vertical direction, one end of the vertical long screw is located in the vertical threaded connection hole, and the other end of the vertical long screw extends into the front cover plate of the upper shell; the rear side plate of the upper shell is provided with a horizontal threaded connection hole and a horizontal pin hole that run through it in the front-rear direction, one end of the horizontal screw passes through the rear side plate of the upper shell, and the other end of the horizontal screw extends into the front cover plate of the upper shell, one end of the horizontal positioning pin passes through the rear side plate of the upper shell, and the other end of the horizontal positioning pin extends into the front cover plate of the upper shell.

6. The electric clamping device according to claim 5, characterized in that, The clamping arm assembly includes a fixedly connected arm and a pressure rod. The end of the arm away from the pressure rod is fixedly connected to the rotating shaft. The end of the pressure rod away from the arm is the clamping end, and the clamping end is provided with a clamping block mounting hole. The number of arms is two, and the two arms are respectively fixed to both ends of the rotating shaft; or the number of arms is two, and the two arms are respectively fixed to both ends of the rotating shaft.

7. The electric clamping device according to claim 6, characterized in that, The worm gear is provided with a rubber protrusion positioning and limiting block, and the second mounting cavity is provided with a rubber protrusion limiting arc strip. The trajectory formed by the positioning and limiting block as the worm gear rotates is the positioning block trajectory, which is an arc shape. The limiting arc strip is set along the positioning block trajectory and works in conjunction with the positioning and limiting block to limit the rotation angle of the worm gear. The positioning and limiting block includes a front positioning and limiting block and a rear positioning and limiting block located at opposite positions on the front and rear sides of the worm gear, respectively. The limiting arc strip includes a front limiting arc strip and a rear limiting arc strip. The front limiting arc strip is located on the front cover plate of the upper shell. The rear limiting arc strip is located on the side of the rear side plate of the upper shell near the front cover plate of the upper shell; the first coupling is an elastic first coupling; the pressure chuck module further includes: a third bearing, a fourth bearing, a fifth bearing, and a sixth bearing; one end of the rotating shaft is rotatably connected to the rear side plate of the upper shell via the third bearing, and the other end of the rotating shaft is rotatably connected to the front cover plate of the upper shell via the fourth bearing; one end of the worm gear is rotatably connected to the rear side plate of the upper shell via the fifth bearing, and the other end of the worm gear is rotatably connected to the front cover plate of the upper shell via the sixth bearing.

8. The electric clamping device according to claim 7, characterized in that, The top of the rod top mounting section is provided with a recessed wrench hole; the second bearing is an angular contact ball bearing; there are two second bearings, and the two second bearings are installed back to back. The upper part of the inner ring of the upper second bearing abuts against the lower part of the bushing, the upper part of the outer ring of the upper second bearing abuts against the top of the bearing hole, the lower part of the inner ring of the lower second bearing abuts against the upper part of the locking nut, and the lower part of the outer ring of the lower second bearing abuts against the upper part of the limiting sleeve.

9. A platform for a transport robot, characterized in that, The transport robot platform, including the electric clamp as described in any one of claims 6-8, further includes: a transport platform, a detachable fixed clamping block, and a movable clamping block; the movable clamping block is installed on the inner side of the pressure rod through a threaded connector passing through the clamping block mounting hole; the detachable fixed clamping block and the electric clamp are respectively installed on opposite sides of the transport platform, and the top of the detachable fixed clamping block protrudes from the upper surface of the transport platform; the upper housing and the lower housing are both located below the upper surface of the transport platform; the pressure arm assembly rotates, which can drive the movable clamping block to rotate above the upper surface of the transport platform, and cooperate with the detachable fixed clamping block to clamp the material; the movable clamping block has spherical or cylindrical rubber protrusions on the side away from the pressure rod.

10. A flexible gripper end effector, characterized in that, The flexible gripper end effector, including the electric clamp as described in any one of claims 6-8, further includes: a movable gripper block, a fixed gripper block used in conjunction with the movable gripper block, a first mounting bracket for fixing the fixed gripper block, and a second mounting bracket for fixing the electric clamper; the four outer surfaces of the upper housing are a front mounting surface, a left mounting surface, a rear mounting surface, and a right mounting surface, the front mounting surface and the rear mounting surface being opposite to each other, and the left mounting surface and the right mounting surface being opposite to each other; the movable gripper block is mounted on the lower side of the pressure rod through a threaded connector passing through the gripper block mounting hole; one end of the first mounting bracket is fixedly mounted on the left mounting surface, the fixed gripper block is mounted on the other end of the first mounting bracket, one end of the second mounting bracket is mounted on the front mounting surface or the rear mounting surface, and the other end of the second mounting bracket is a clamping arm mounting lug; the clamping arm assembly actuates, causing the movable gripper block to move away from or closer to the fixed gripper block, thereby realizing the opening or clamping of the flexible gripper end effector.

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