Low-back-clearance Y-shaped rotary clamping module

Abstract

The utility model discloses a low-back-clearance Y-shaped rotary clamping module. The low-back-clearance Y-shaped rotary clamping module comprises a box body, a Y-shaped clamping jaw mechanism, a linear motion transmission assembly, a rotary motion transmission assembly, a clamping driving motor and a rotary driving motor, the Y-shaped clamping jaw mechanism comprises a jaw block supporting seat, a jaw block assembly and a push-pull head assembly, the jaw block supporting seat is rotatably connected to one end of the box body, the jaw block assembly is rotatably connected to the jaw block supporting seat, and one end of the push-pull head assembly is connected with the jaw block assembly; the linear motion transmission assembly is connected with the push-pull head assembly, and the rotary motion transmission assembly is connected with the claw block supporting seat; the clamping drive motor is connected with the linear motion transmission assembly, and the rotary drive motor is connected with the rotary motion transmission assembly. And a first position sensor capable of moving up and down for adjustment is arranged beside the Y-shaped clamping jaw mechanism on the box body. Compared with a pneumatic rotary clamping jaw, the rotary clamping module has the advantages of being good in stability, high in positioning precision, wide in force control range, low in energy consumption, high in response speed, long in service life and the like.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a low-backlash Y-type rotary gripping module. Background Technology

[0002] In automated equipment (such as robotic arms and automated production lines), pneumatic rotary grippers are widely used as end effectors to perform operations such as gripping, angle adjustment, and handling of workpieces. Pneumatic rotary grippers use compressed air as power to achieve rotational motion and complete the task of gripping or grasping workpieces. Their core features are simple structure, low cost, and fast response.

[0003] However, pneumatic rotary grippers also have some shortcomings in use: (1) Limited control accuracy. Reliance on air pressure stability: The accuracy of the pneumatic system is affected by air pressure fluctuations. Insufficient or fluctuating air pressure will lead to inconsistent clamping force or rotation angle, making it difficult to achieve high-precision positioning (such as micron level); No closed-loop feedback: Most pneumatic grippers lack position or force feedback sensors, which cannot correct errors in real time, resulting in low repeatability (usually ±0.1mm~±1mm). (2) Insufficient flexibility. Limited clamping force adjustment: Although the air pressure can be adjusted by a pressure reducing valve, the clamping force range is narrow, making it difficult to adapt to the flexible needs of fragile or high-hardness workpieces. (3) Energy consumption and efficiency issues. Continuous air consumption: Maintaining the clamping state requires continuous air supply, resulting in high energy consumption (especially in mass production); Limited response speed: Compared with servo electric grippers, the action speed of the pneumatic system is affected by the length of the air pipe and the valve response, and may lag during high-speed cycles. (4) Short lifespan. Under frequent operation, the cylinder piston seal ring is prone to aging and needs to be replaced regularly (especially in high temperature or high humidity environments). (5) Functional limitations. Fixed rotation angle: Most pneumatic rotary grippers have a fixed rotation angle (such as 90°, 180°) and cannot be programmed arbitrarily like motors; No power failure protection: When the air supply is cut off, the gripper may lose its clamping force, causing the workpiece to fall off (in some scenarios, an additional mechanical locking device is required). (6) Noise problem. The exhaust noise is relatively large, especially when operating at high speed, which may not meet the requirements of some quiet environments. Utility Model Content

[0004] The purpose of this invention is to provide a low-backlash Y-type rotary gripping module to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A low-backlash Y-type rotary gripping module includes a housing, a Y-type gripper mechanism, a linear motion transmission assembly, a rotary motion transmission assembly, a gripping drive motor, and a rotary drive motor. The Y-type gripper mechanism includes a gripper block support, a gripper block assembly, and a push-pull head assembly. The gripper block support is rotatably connected to one end of the housing, the gripper block assembly is rotatably connected to the gripper block support, and one end of the push-pull head assembly is connected to the gripper block assembly, which is used to push or pull the gripper block assembly to open or close it. The linear motion transmission assembly and the rotary motion transmission assembly are installed inside the housing, with the linear motion transmission assembly connected to the push-pull head assembly and the rotary motion transmission assembly connected to the gripper block support. The gripping drive motor and the rotary drive motor are installed at the other end of the housing, with the gripping drive motor connected to the linear motion transmission assembly and the rotary drive motor connected to the rotary motion transmission assembly. A first position sensor, adjustable up and down, is provided on the side of the Y-type gripper mechanism on the housing. This first position sensor is used to detect whether the Y-type gripper mechanism is in a rotational reference position.

[0007] In some embodiments, the first position sensor is a slotted sensor; the side wall of the claw block support is provided with a first detection element adapted to the first position sensor.

[0008] In at least one embodiment, a sensor cover plate is fixedly connected to one end of the housing, and at least two mounting holes are longitudinally spaced on the sensor cover plate; the first position sensor is provided with at least two connecting ears, each connecting ear is provided with an oblong hole that matches the mounting hole, and an adjusting screw that is threadedly connected to the mounting hole passes through the oblong hole.

[0009] Compared with the prior art, this utility model achieves at least the following beneficial effects:

[0010] (1) A clamping drive motor and a rotary drive motor are used to drive the linear motion transmission component and the rotary motion transmission component respectively, thereby driving the Y-shaped gripper mechanism to perform opening and closing and rotational movements. Compared with the existing pneumatically driven grippers, the motor-driven grippers have better stability. The motor-driven type can achieve micron-level high-precision positioning through encoder closed-loop control, ensuring consistent clamping force or rotation angle during each operation. The clamping force of the motor-driven grippers can be directly programmed to control the clamping force, with a wide force control range. The clamping force can be adjusted in real time during the gripping process without the need for an air source, avoiding the instability of force control caused by air pressure fluctuations, and is suitable for gripping fragile parts. When, you can first lightly touch and then gradually increase the clamping force to a stable threshold; the motor drive only needs to maintain the holding torque when in the clamping position, the current is very small, the energy consumption is low, and the response speed is fast and there are few influencing factors; the motor drive mostly adopts sealed bearings and grease for long-term maintenance design, with low wear rate and long service life; the motor drive can be programmed arbitrarily through PLC, etc., and the motor can be combined with mechanical brakes and other structures to prevent the gripper from loosening; the motor drive has relatively low noise; (2) by setting a first position sensor that can be moved up and down on the side of the Y-type gripper mechanism, it is used to detect whether the Y-type gripper mechanism is in the rotation reference position, with high repeatability. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of this application;

[0012] Figure 2 This is an exploded view of Embodiment 1 of this application;

[0013] Figure 3 This is a schematic diagram of the connection structure of the Y-type gripper mechanism, linear motion transmission component, and rotary motion transmission component in Embodiment 1 of this application.

[0014] Figure 4 This is a schematic diagram of the connection structure of the first position sensor in Embodiment 1 of this application;

[0015] Figure 5 This is a schematic diagram of the structure of Embodiment 2 of this application.

[0016] The diagram is labeled as follows: 1. Housing; 11. Sensor cover; 111. Mounting hole; 12. Strip opening; 2. Y-type gripper mechanism; 21. Grip support; 211. Mounting slot; 212. Guide slot; 213. Boss; 22. Grip assembly; 221. Grip; 23. Push-pull head assembly; 231. Connector; 2311. Fixed shaft; 232. Connecting rod; 3. Linear motion transmission assembly; 31. Nut; 4. Rotary motion transmission assembly; 41. Drive wheel; 42. 1. Driven wheel; 43. Synchronous belt; 5. Clamping drive motor; 6. Rotation drive motor; 7. Fixing pin; 8. First position sensor; 81. Connecting ear; 811. Waist-shaped hole; 9. First detection piece; 10. Second position sensor; 20. First ball bearing; 30. Second ball bearing; 40. First connecting plate; 401. First U-shaped hole; 50. Second connecting plate; 501. Second U-shaped hole; 60. Third connecting plate; 601. Third U-shaped hole; 70. Mounting slot. Detailed Implementation

[0017] The present invention will now be described in detail with reference to exemplary embodiments shown in the accompanying drawings. However, it should be understood that the present application may be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided herein to make the disclosure of this application more complete and to fully convey the concept of the present application to those skilled in the art.

[0018] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "several" or "more than" means two or more, unless otherwise explicitly specified. In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or it can include contact between the first and second features through another feature between them. Moreover, "above," "over," and "on top" of a second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0019] Example 1:

[0020] like Figures 1-4 As shown, the low backlash Y-type rotary gripping module provided in this application includes a housing 1, a Y-type gripper mechanism 2, a linear motion transmission assembly 3, a rotary motion transmission assembly 4, a gripping drive motor 5, and a rotary drive motor 6.

[0021] The Y-type gripper mechanism 2 includes a gripper block support 21, a gripper block assembly 22, and a push-pull head assembly 23. The gripper block support 21 is rotatably connected to one end of the housing, the gripper block assembly 22 is rotatably connected to the gripper block support 21, and one end of the push-pull head assembly 23 is connected to the gripper block assembly 22. It is used to push or pull the gripper block assembly 22 to open or close the gripper block assembly 22.

[0022] Linear motion transmission component 3 and rotary motion transmission component 4 are installed inside housing 1. Linear motion transmission component 3 is connected to push-pull head component 23, and rotary motion transmission component 4 is connected to claw block support base 21. Gripping drive motor 5 and rotary drive motor 6 are installed at the other end of housing 1. Gripping drive motor 5 and rotary drive motor 6 can be servo motors. Gripping drive motor 5 is connected to linear motion transmission component 3, and rotary drive motor 6 is connected to rotary motion transmission component 4. Gripping drive motor 5 drives linear motion transmission component 3, thereby driving Y-shaped gripper mechanism 2 to open and close. Rotary drive motor 6 drives rotary motion transmission component 4, thereby driving Y-shaped gripper mechanism 2 to rotate.

[0023] A first position sensor 8, which can be moved up and down and is adjustable, is provided on the side of the Y-shaped gripper mechanism 2 on the housing 1. The first position sensor 8 is used to detect whether the Y-shaped gripper mechanism 2 is in the rotation reference position. By setting the first position sensor 8, it is ensured that the Y-shaped gripper mechanism 2 can accurately return to the rotation reference position after the work is completed, and the rotation accuracy of the Y-shaped gripper mechanism 2 is guaranteed; moreover, the first position sensor 8 can be moved up and down to make fine adjustments according to the reference position required for the rotation movement of the Y-shaped gripper mechanism 2, thereby changing the installation position of the first position sensor 8.

[0024] When this utility model is in use, the Y-shaped gripper mechanism 2 clamps the workpiece, and the linear motion transmission component 3 drives the push-pull head component 23 to move linearly. When the push-pull head component 23 moves forward, it pushes the claw block component 22 forward, and the claw block component 22 rotates to achieve the opening action. When the push-pull head component 23 moves backward, it pulls the claw block component 22 backward, and the claw block component 22 rotates to achieve the closing action. This invention employs a gripping drive motor 5 and a rotary drive motor 6 to drive the linear motion transmission component 3 and the rotary motion transmission component 4 respectively, thereby driving the Y-shaped gripper mechanism 2 to perform opening and closing and rotational movements. Compared with existing pneumatically driven grippers, the motor-driven gripper offers better stability. The motor-driven gripper can achieve micron-level high-precision positioning through encoder closed-loop control, ensuring consistent gripping force or rotation angle during each operation. The gripping force can be directly programmed and controlled, offering a wide force control range. The gripping force can be adjusted in real time during gripping, eliminating the need for an air source and avoiding force control instability caused by air pressure fluctuations. When gripping fragile parts, a light touch can be applied first, gradually increasing the gripping force to a stable threshold. The motor-driven gripper only needs to maintain the holding torque at the gripping position, resulting in minimal current and low energy consumption, along with fast response and fewer influencing factors. The motor-driven gripper often uses sealed bearings and grease for long-term maintenance, resulting in low wear and long lifespan. The motor-driven gripper can be arbitrarily programmed via PLC, and the motor can be combined with mechanical brakes to prevent the gripper from releasing. The motor-driven gripper also exhibits relatively low noise. In addition, by setting a first position sensor 8 that can be moved up and down and adjusted on the side of the Y-shaped gripper mechanism 2, it can be ensured that the Y-shaped gripper mechanism 2 can be accurately restored to the rotation reference position with high repeatability.

[0025] Optionally, the first position sensor 8 is a slot-shaped sensor; the side wall of the claw block support 21 is provided with a first detection element 9 adapted to the first position sensor 8. The first detection element 9 can be a headless set screw. The first detection element 9 can act as a block, blocking the light path when it rotates with the claw block support 21 through the slot of the first position sensor 8, thus allowing it to be detected and a position signal to be fed back. A sensor cover plate 11 is fixedly connected to one end of the housing 1. The sensor cover plate 11 has at least two mounting holes 111 spaced longitudinally on it; the first position sensor 8 is provided with at least two connecting ears 81. Each connecting ear 81 has an oblong hole 811 that matches the mounting hole 111. An adjusting screw (not shown in the figure) is threaded through the oblong hole 811 and connected to the mounting hole 111. Loosening the adjusting screw allows the first position sensor 8 to be moved up and down for fine adjustment. After moving it to the appropriate position, tightening the adjusting screw fixes the first position sensor 8 to the sensor cover plate 11.

[0026] Optionally, the linear motion transmission assembly 3 includes a lead screw and a nut 31. The lead screw (not shown in the figure) is connected to the output shaft of the gripping drive motor 5, and the nut 31 is sleeved on the lead screw, with a bearing inside the nut 31. The push-pull head assembly 23 includes a connector 231 and a connecting rod 232. The connector 231 is connected to the claw block assembly 22, and one end of the connecting rod 232 is fixedly connected to the connector 231, while the other end is rotatably connected to the nut 31. Therefore, the connecting rod 232 can rotate around the central axis of the nut 31, allowing the push-pull head assembly 23 to rotate freely.

[0027] Specifically, the claw block assembly 22 includes two claw blocks 221, which are symmetrically arranged and rotatably mounted on the claw block support 21 via a fixing pin 7. The two claw blocks 221 are respectively provided with a first connecting plate 40 and a second connecting plate 50, which are arranged parallel to each other vertically. The first connecting plate 40 and the second connecting plate 50 are respectively provided with a first U-shaped hole 401 and a second U-shaped hole 501, which are arranged vertically corresponding to each other. The connector 231 is U-shaped, and a fixing shaft 2311 is fixedly connected between its inner sidewalls. The fixing shaft 2311 passes through the first U-shaped hole 401 and the second U-shaped hole 501 in sequence. When the clamping drive motor 5 drives the lead screw to rotate, the nut 31 can move linearly along the lead screw axis. The nut 31 drives the push-pull head assembly 23 to move linearly through the connecting rod 232. When the push-pull head assembly 23 moves forward, the fixed shaft 2311 pushes the first connecting plate 40 and the second connecting plate 50 to move forward. The two claw blocks 221 rotate around the fixed pin 7 to achieve the opening action. When the push-pull head assembly 23 moves backward, the fixed shaft 2311 pulls the first connecting plate 40 and the second connecting plate 50 to move backward. The two claw blocks 221 rotate around the fixed pin 7 to achieve the closing action, thereby clamping the workpiece.

[0028] It should be noted that the two claw blocks 221 can synchronously grip the workpiece within their angular travel range with extremely low backlash. The claw blocks 221 act as lever arms, and the fixed pin 7 acts as the lever shaft, employing the lever principle to increase the gripping force. The Y-type gripper mechanism 2 has a self-centering characteristic. When gripping tubular workpieces, the workpiece enters the V-groove formed between the claw blocks 221. Regardless of changes in the workpiece diameter or shape within a certain range, the contact points on both sides of the V-groove provide stable support for the tubular workpiece. The workpiece's axis automatically aligns with the symmetrical center line of the V-groove, ensuring a unique positioning datum. Errors can be automatically compensated through geometric relationships, achieving automatic centering and higher repeatability. Furthermore, the rotary motion transmission assembly 4 can drive the claw block support 21 and claw blocks 221 to rotate at any angle, exhibiting high concentricity and repeatability. When gripping workpieces with uninterrupted high-frequency oscillation, it demonstrates greater wear resistance and rigidity.

[0029] Optionally, the claw block support 21 is provided with a mounting slot 211 and a guide slot 212; one end of the claw block 221 extends into the mounting slot 211 and is rotatably connected to the fixing pin 7, and the upper and lower end faces of the claw block 221 are in sliding contact with the two side walls of the mounting slot 211 respectively; the connector 231 is slidably connected to the guide slot 212. By setting the mounting slot 211, the positional accuracy of each claw block 221 can be ensured, and by setting the guide slot 212, the connector 231 can be guided, ensuring the linear motion accuracy of the push-pull head assembly 23.

[0030] Optionally, a strip-shaped opening 12 is provided on the housing 1 above the nut 31. A second position sensor 10 is installed on the top of the strip-shaped opening 12. The second position sensor 10 is a slot-shaped sensor, which is used to detect whether the nut 31 is in the axial reference position. This ensures that the nut 31 can be accurately restored to the axial reference position after the Y-type gripper mechanism 2 has finished working, so that the Y-type gripper mechanism 2 returns to its initial action state and ensures the gripping accuracy of the Y-type gripper mechanism 2. A second detection element (not shown in the figure) is provided on the top of the nut 31, which passes through the strip-shaped opening 12 and is adapted to the second position sensor 10. The second detection element can be a headless set screw.

[0031] Optionally, the rotary motion transmission assembly 4 includes a driving wheel 41, a driven wheel 42, and a synchronous belt 43. The driving wheel 41 is connected to the output shaft of the rotary drive motor 6. The driven wheel 42 is connected to the driving wheel 41 via the synchronous belt 43. The driven wheel 42 is sleeved on the outside of the push-pull head assembly 23, and a first ball bearing 20 and a second ball bearing 30 are respectively sleeved on both ends of the driven wheel 42. The outer rings of the first ball bearing 20 and the second ball bearing 30 are installed inside the housing 1. One end of the driven wheel 42 is fixedly connected to the boss 213 provided at the end of the claw block support seat 21. The rotary drive motor 6 drives the driving wheel 41 to rotate, and the driving wheel 41 drives the driven wheel 42 to rotate via the synchronous belt 43. The driven wheel 42 drives the claw block support seat 21 and the claw block assembly 22 to rotate, thereby enabling the rotational adjustment of the clamping angle of the claw block assembly 22 with high concentricity.

[0032] Example 2:

[0033] like Figure 5As shown, the difference between this embodiment and Embodiment 1 is that the Y-shaped gripper mechanism 2 includes three gripper blocks 221. The three gripper blocks 221 are symmetrically distributed at 120 degrees and each is rotatably mounted on the gripper block support 21 via a fixing pin 7. The three gripper blocks 221 are respectively provided with a first connecting plate 40, a second connecting plate 50, and a third connecting plate 60. The first connecting plate 40, the second connecting plate 50, and the third connecting plate 60 are symmetrically distributed at 120 degrees. The first connecting plate 40, the second connecting plate 50, and the third connecting plate 60 are respectively provided with a first U-shaped hole 401 and a second U-shaped hole. 501 and the third U-shaped hole 601; the connector 231 is provided with three mounting grooves 70, which are radially distributed with the center of the connector 231 as the reference, and the included angle between adjacent mounting grooves 70 is 120 degrees. A fixed shaft 2311 is fixedly connected between the inner sidewalls of the three mounting grooves 70. The first connecting plate 40, the second connecting plate 50 and the third connecting plate 60 extend into the three mounting grooves 70 respectively, and the fixed shaft 2311 in the three mounting grooves 70 passes through the first U-shaped hole 401, the second U-shaped hole 501 and the third U-shaped hole 601 respectively. Similarly, when the clamping drive motor 5 drives the lead screw to rotate, the nut 31 can move linearly along the lead screw axis. The nut 31 drives the push-pull head assembly 23 to move linearly through the connecting rod 232. When the push-pull head assembly 23 moves forward, the fixed shaft 2311 pushes the first connecting plate 40, the second connecting plate 50 and the third connecting plate 60 to move forward. The three claw blocks 221 rotate around the fixed pin 7 to achieve the opening action. When the push-pull head assembly 23 moves backward, the fixed shaft 2311 pulls the first connecting plate 40, the second connecting plate 50 and the third connecting plate 60 to move backward. The three claw blocks 221 rotate around the fixed pin 7 to achieve the closing action. The three claw blocks 221 can synchronously clamp the workpiece within the angular stroke.

[0034] It should be understood that all the above embodiments are exemplary and not restrictive. Any modifications, equivalent changes and alterations made by those skilled in the art to the specific embodiments described above under the concept of this utility model shall still fall within the scope of the technical solution of this utility model.

Claims

1. A low-backlash Y-type rotary gripping module, characterized in that: It includes a housing, a Y-shaped gripper mechanism, a linear motion transmission assembly, a rotary motion transmission assembly, a gripping drive motor, and a rotary drive motor; The Y-shaped gripper mechanism includes a gripper block support, a gripper block assembly, and a push-pull head assembly. The gripper block support is rotatably connected to one end of the housing. The gripper block assembly is rotatably connected to the gripper block support. One end of the push-pull head assembly is connected to the gripper block assembly and is used to push or pull the gripper block assembly to open or close the gripper block assembly. The linear motion transmission assembly and the rotary motion transmission assembly are installed inside the housing, with the linear motion transmission assembly connected to the push-pull head assembly and the rotary motion transmission assembly connected to the claw block support. The clamping drive motor and the rotary drive motor are installed at the other end of the housing, and the clamping drive motor is connected to the linear motion transmission assembly, and the rotary drive motor is connected to the rotary motion transmission assembly. The housing is provided with a first position sensor that can be moved up and down and is located next to the Y-shaped gripper mechanism. The first position sensor is used to detect whether the Y-shaped gripper mechanism is in the rotation reference position.

2. The low-backlash Y-type rotary gripping module according to claim 1, characterized in that: The first position sensor is a slot-shaped sensor; the side wall of the claw block support is provided with a first detection element adapted to the first position sensor.

3. The low-backlash Y-type rotary gripping module according to claim 2, characterized in that: A sensor cover plate is fixedly connected to one end of the housing. At least two mounting holes are longitudinally spaced on the sensor cover plate. The first position sensor is provided with at least two connecting ears. Each connecting ear is provided with an oblong hole that matches the mounting hole. An adjusting screw that is threadedly connected to the mounting hole passes through the oblong hole.

4. The low-backlash Y-type rotary gripping module according to claim 1, characterized in that: The linear motion transmission assembly includes a lead screw and a nut. The lead screw is connected to the output shaft of the clamping drive motor, and the nut is sleeved on the lead screw. A bearing is provided inside the nut.

5. The low-backlash Y-type rotary gripping module according to claim 4, characterized in that: The push-pull head assembly includes a connector and a connecting rod. The connector is connected to the claw block assembly. One end of the connecting rod is fixedly connected to the connector, and the other end is rotatably connected to the nut.

6. The low-backlash Y-type rotary gripping module according to claim 5, characterized in that: The claw block assembly includes two claw blocks, which are symmetrically arranged and rotatably mounted on the claw block support seat via a fixing pin. The two claw blocks are respectively provided with a first connecting plate and a second connecting plate, which are arranged parallel to each other vertically. The first connecting plate and the second connecting plate are respectively provided with a first U-shaped hole and a second U-shaped hole, which are arranged vertically corresponding to each other. The connector is U-shaped, and a fixing shaft is fixedly connected between its inner sidewalls. The fixing shaft passes through the first U-shaped hole and the second U-shaped hole in sequence.

7. The low-backlash Y-type rotary gripping module according to claim 5, characterized in that: The Y-shaped gripper mechanism includes three gripper blocks, which are symmetrically distributed at 120 degrees and rotatably mounted on a gripper block support seat via a fixing pin. Each of the three gripper blocks has a first connecting plate, a second connecting plate, and a third connecting plate, which are symmetrically distributed at 120 degrees. Each of the first, second, and third connecting plates has a first U-shaped hole, a second U-shaped hole, and a third U-shaped hole, respectively. The connector head has three mounting grooves, which are radially distributed around the center of the connector head, with an included angle of 120 degrees between adjacent mounting grooves. A fixing shaft is fixedly connected between the inner walls of each of the three mounting grooves. The first, second, and third connecting plates extend movably into the three mounting grooves, and the fixing shafts within the three mounting grooves pass through the first U-shaped hole, the second U-shaped hole, and the third U-shaped hole, respectively.

8. The low-backlash Y-type rotary gripping module according to claim 6 or 7, characterized in that: The claw block support base is provided with an installation through groove and a guide groove; one end of the claw block extends into the installation through groove and is rotatably connected to the fixing pin, and the upper and lower end faces of the claw block are respectively in sliding contact with the two side walls of the installation through groove; the connector is slidably connected to the guide groove.

9. The low-backlash Y-type rotary gripping module according to claim 4, characterized in that: The housing has a strip-shaped opening above the nut, and a second position sensor is installed at the top of the strip-shaped opening. The second position sensor is a slot-shaped sensor, which is used to detect whether the nut is in an axial reference position. The top of the nut has a second detection element that passes through the strip-shaped opening and is adapted to the second position sensor.

10. The low-backlash Y-type rotary gripping module according to claim 1, characterized in that: The rotary motion transmission assembly includes a driving wheel, a driven wheel, and a synchronous belt. The driving wheel is connected to the output shaft of the rotary drive motor. The driven wheel is connected to the driving wheel via a synchronous belt. The driven wheel is sleeved on the outside of the push-pull head assembly, and a first ball bearing and a second ball bearing are respectively sleeved on both ends of the driven wheel. The outer rings of the first ball bearing and the second ball bearing are mounted on the housing. One end of the driven wheel is fixedly connected to a boss provided at the end of the claw block support seat.

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