A claw head and prime mover vertical type electric unlimited rotation clamp

Abstract

The application discloses a claw head and original motor vertical type electric unlimited rotation clamping claw, and belongs to the field of clamping claws.The claw head and original motor vertical type electric unlimited rotation clamping claw comprises a second original motor, a driving transmission assembly connected with the second original motor through a rotating vertical transmission assembly, a first original motor, a driven transmission assembly connected with the first original motor through a claw head vertical transmission assembly, and a rotating vertical transmission assembly.The innovative design of the claw head vertical transmission assembly vertically transmits the up-down movement of the first original motor to the front-back movement of the umbrella-shaped head push rod, realizes the opening and clamping of the sliding block, vertically transmits the movement of the first original motor to the umbrella-shaped head push rod, and makes the size along the claw head axis direction minimum, especially when the space along the claw head axis direction is very compact and a large clamping force is needed, the advantage of the application is very obvious, thereby realizing the opposite or opposite movement of the sliding block in the multi-finger claw head base, and realizing clamping and opening.

Description

Technical Field

[0001] This utility model belongs to the field of electric gripper technology. Specifically, it is a vertical electric infinitely rotating gripper with a gripper head and a prime mover. Background Technology

[0002] A prior art patent describes a rotary gripper, utility model application number 202111291241.2. Through the ingenious arrangement of the motor, slip ring, and control unit, the rotary gripper can not only hold the target part but also achieve infinite or quantitative rotation of the target part. The slip ring prevents the wires from tangling during operation. However, it has the following technical problems:

[0003] However, this utility model has a large dimension along the claw axis and an excessive axial movement range, making it unsuitable for operations in particularly confined spaces. Therefore, in the assembly of compact parts in aerospace and other applications, a new rotary gripper structure needs to be redesigned to meet new functional requirements. Insufficient spatial adaptability manifests as excessive axial movement range and excessive axial dimension, directly driving the development of new rotary gripper structures for specific scenarios.

[0004] The essence of excessive axial movement is that the gripper's extension, contraction, and displacement range along the gripper head axis is too wide, with the specific effects as follows:

[0005] Large axial movement amplitude usually stems from the design of the drive structure layout to achieve the gripping action of the claw, such as opening, closing, and grasping. Traditional structures need to reserve enough space for the movement of drive components in the axial direction, resulting in the claw occupying too much dynamic space along the axial direction during operation.

[0006] In a confined space, excessive axial movement can cause the gripper to collide or rub against the inner wall, adjacent parts, and other surrounding components, which not only affects the accurate positioning of the target part but may also damage the workpiece or the gripper itself.

[0007] In scenarios requiring more precise applications, the axial movement amplitude is difficult to control precisely, and excessive displacement can easily cause the target part to shift, reducing assembly or machining accuracy.

[0008] The existing technology has the following drawbacks:

[0009] Existing patented technologies use a direct connection between the motor and the claw, which results in an overall length that is too long along the claw axis. This is especially problematic in the field of aerospace assembly, where it is impossible to accommodate a motor, claw, and accessories on the same axis simultaneously when working in narrow spaces. Utility Model Content

[0010] This invention addresses the shortcomings of existing technologies by providing a vertically rotating electric gripper with a claw head and a prime mover.

[0011] To achieve the above objectives, the specific technical solution of this utility model is as follows:

[0012] This utility model discloses a vertical electric infinitely rotating gripper with a claw head and a prime mover, including a second prime mover, an active transmission component connected to the second prime mover via a rotational vertical transmission component, a first prime mover, a driven transmission component connected to the first prime mover via a claw head vertical transmission component, a multi-finger claw head base fixedly connected to the driven transmission component, an umbrella-shaped push rod with one end rotatably connected relative to the rotational vertical transmission component and the other end located in a cavity formed inside the multi-finger claw head base, the umbrella-shaped push rod including an umbrella-shaped head and a push rod, the rotational vertical transmission component being driven by the claw head vertical transmission component, a slider located in a through groove opened inside the multi-finger claw head base slidingly engaging with the umbrella-shaped push rod and moving towards and away from the umbrella-shaped push rod along the through groove, through holes opened at the center of both the driven transmission component and the multi-finger claw head base for the push rod to pass through, the umbrella-shaped push rod moving back and forth axially in the cavity inside the multi-finger claw head base under the drive of the first prime mover, and the driven transmission component driving the multi-finger claw head base to rotate under the drive of the second prime mover.

[0013] As a further improvement, the transmission method between the active transmission component and the driven transmission component of this utility model is gear transmission, synchronous belt transmission, chain transmission, or magnetic wheel transmission.

[0014] As a further improvement, the rotary vertical transmission assembly of this utility model includes a second bevel gear connected to the output end of the second prime mover, and a first bevel gear that is at a 90-degree angle to the second bevel gear and meshes with the second bevel gear.

[0015] As a further improvement, the claw head vertical transmission assembly of this utility model includes a slider pusher fixedly connected to the output end of the first prime mover, and an irregularly shaped coupling puller that mates with the slider pusher, forming a wedge-shaped slider structure. The irregularly shaped coupling puller is provided with a wedge-shaped slider, and the wedge-shaped slider and the wedge-shaped groove opened below the slider pusher mate with each other. The wedge-shaped slider slides back and forth in the wedge-shaped groove. A snap-fit ​​groove is provided below the irregularly shaped coupling puller, and a first bearing is snapped in the snap-fit ​​groove. The first bearing is used to connect one end of the push rod.

[0016] As a further improvement, the rotary vertical transmission assembly, active transmission assembly, claw vertical transmission assembly and driven transmission assembly of this utility model are all located inside the base plate, and the front of the base plate is covered by a front cover plate. The front cover plate and the base plate form the housing, and the front cover plate has an opening for part of the multi-finger claw base to pass through.

[0017] As a further improvement, when the transmission method between the active transmission component and the driven transmission component is a synchronous belt transmission, the active transmission component includes a connecting rod, a second transmission gear sleeved and fixed to the outer ring surface of the connecting rod, and a second bearing snapped into the inner side of the housing. The inner ring of the second bearing is connected to both ends of the connecting rod, the first bevel gear sleeved and fixed to the outer ring of the connecting rod, and the outer rings of the two second bearings snapped into the inner side of the housing.

[0018] As a further improvement, the driven transmission assembly of this utility model includes a fourth bearing, a first transmission gear fixed to the outer ring of the fourth bearing and meshing with the second transmission gear, and a third bearing; the fourth bearing is fixedly connected to one end of the multi-finger claw base, and the inner ring of the third bearing is engaged with the outer ring of the fourth bearing and / or engaged with the stepped surface at the bottom of the multi-finger claw base; the third bearing is one of two bearings disposed on both sides of the second transmission gear or any one of the two sides of the second transmission gear.

[0019] As a further improvement, the umbrella-shaped head push rod of this utility model includes an umbrella-shaped head and a push rod disposed below the umbrella-shaped head. The umbrella-shaped head includes a guide head with the same number of sliders and a T-shaped cross-section. A T-shaped guide groove corresponding to the T-shaped guide head is provided below the slider. The push rod is a multi-step structure with the diameter decreasing from large to small starting from the umbrella-shaped head. The diameter of the step surface near the umbrella-shaped head is larger than the through hole at the bottom of the multi-finger head base for limiting.

[0020] As a further improvement, the multi-finger claw head base of this utility model includes at least two through slots passing through the center of the central axis and along the radial direction. The through slots are evenly distributed on a plane perpendicular to the push rod. The through slots are all connected at the central through hole to form an integral cavity. The through slots have a T-shaped cross-section and correspond to the slider with the same T-shaped cross-section. The slider is located in the through slot and moves back and forth along the through slot in a centripetal or centrifugal direction under the push of the guide slide head of the umbrella-shaped head push rod. The highest point of the through slot is 1-100mm higher than the thickness of the guide slide head in the axial direction, so that the umbrella-shaped head moves back and forth in the axial direction in the integral cavity. The multi-finger claw head base is connected to the end face of the fourth bearing through a stepped surface at its bottom that is smaller than the diameter of the multi-finger claw head base.

[0021] As a further improvement, the upper surface of the multi-finger head base of this utility model is further provided with a first groove for installing and configuring a baffle. The baffle contacts the entire plane of the upper surface of the umbrella-shaped head push rod to limit the umbrella-shaped head push rod and prevent the guide slide head from disengaging from the guide groove on the slider. The through groove is 2 through grooves with an included angle of 180 degrees, or 3 through grooves with an included angle of 120 degrees, or 4 through grooves with an included angle of 90 degrees, or 5 through grooves with an included angle of 72 degrees, or 6 through grooves with an included angle of 60 degrees. The first prime mover is any one of a hydraulic push rod, pneumatic push rod, electromagnetic push rod, ball screw, T-type screw, or explosion-proof screw motor. The second prime mover is any one of a rotary cylinder, rotary hydraulic cylinder, DD motor, integrated reducer, or explosion-proof motor.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] In modern mechanical design, especially in the field of precision clamping equipment, there is often an irreconcilable contradiction between the size control of the jaw structure and the clamping performance. It is necessary to meet the operational requirements within confined spaces while ensuring sufficient clamping force. This invention fundamentally solves this industry pain point through the coordinated design of the rotary vertical transmission component and the jaw vertical transmission component.

[0024] The core innovation of this invention lies in the precise conversion of motion: the reciprocating motion output by the first prime mover is converted into rotational kinetic energy perpendicular to the original direction of motion through the mechanical coupling of the rotary vertical transmission component; subsequently, the claw-head vertical transmission component further converts the rotational kinetic energy into the forward and backward linear motion of the umbrella-shaped push rod. The prime mover and transmission components can be stacked vertically, rather than extending along the axial direction.

[0025] Through the innovative design of the vertical transmission assembly, the vertical motion of the claw head is vertically transmitted from the first prime mover to the forward and backward motion of the umbrella-shaped head push rod, realizing the opening and clamping of the slider. This allows the motion of the first prime mover to be vertically transmitted to the umbrella-shaped head push rod, minimizing the dimensions along the claw head axis. This is particularly advantageous when the space along the claw head axis is very compact and a large clamping force is required. This enables the sliders within the multi-finger claw head base to move in opposite directions, achieving clamping and opening. Compared to schemes where the motor axis and claw head axis are parallel, the vertical transmission structure of this invention significantly reduces the overall size along the claw head axis. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the device of this utility model;

[0027] Figure 2 This is an exploded schematic diagram of the device of this utility model;

[0028] Figure 3 This is a schematic diagram of the structure of the base plate of the rotating vertical transmission component, the active transmission component, the claw vertical transmission component, and the driven transmission component of the present invention.

[0029] Figure 4 This is a schematic diagram of the multi-finger claw head base and driven transmission assembly of the present invention.

[0030] Figure 5 This is a schematic diagram of the structure of the multi-finger claw head base, umbrella-shaped head push rod, and slider of the device of this utility model;

[0031] Figure 6 This is a schematic diagram of the vertical transmission assembly of the claw head in the device of this utility model.

[0032] In the diagram: 110 is the multi-finger claw head base, 120 is the slider, 130 is the umbrella-shaped head, 140 is the baffle, 150 is the push rod, 160 is the through groove, 170 is the guide slide head, 180 is the guide slide groove, 210 is the first bearing, 220 is the irregular coupling pull head, 230 is the slider push head, 240 is the third bearing, 250 is the wedge-shaped slide head, 260 is the wedge-shaped groove, 270 is the fourth bearing, 310 is the first bevel gear, 320 is the second bevel gear, 330 is the adjusting seat, 340 is the stop head, 350 is the second bearing, 400 is the connecting rod, 410 is the second transmission wheel, 420 is the transmission timing belt, 430 is the first transmission wheel, 510 is the first prime mover, 520 is the second prime mover, 600 is the housing, 610 is the base plate, 620 is the front cover plate, 710 is the first groove, and 720 is the stepped surface. Detailed Implementation

[0033] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments:

[0034] Figure 1 This is a schematic diagram of the overall structure of the device of this utility model; Figure 2 This is an exploded schematic diagram of the device of this utility model;

[0035] Figure 3 This is a schematic diagram of the structure of the base plate 610 of the rotating vertical transmission component, the active transmission component, the claw vertical transmission component, and the driven transmission component of the present invention. Figure 4 This is a schematic diagram of the structure of the multi-finger claw base 110 and the driven transmission assembly of the present invention; Figure 5 This is a schematic diagram of the structure of the multi-finger claw head base 110, umbrella-shaped head push rod, and slider 120 of the device of this utility model; Figure 6 This is a schematic diagram of the vertical transmission assembly of the claw head in the device of this utility model.

[0036] This utility model discloses a vertically mounted electric infinitely rotating gripper, comprising a second prime mover 520, an active transmission assembly connected to the second prime mover 520 via a vertically rotating transmission assembly, a first prime mover 510, a driven transmission assembly connected to the first prime mover 510 via a gripper vertical transmission assembly, a multi-finger gripper base 110 fixedly connected to the driven transmission assembly, and an umbrella-shaped push rod with one end rotatably connected relative to the vertically rotating transmission assembly and the other end located within a cavity formed inside the multi-finger gripper base 110. The umbrella-shaped push rod includes an umbrella-shaped head 130 and a push rod 150. The vertically rotating transmission assembly is perpendicular to the gripper head. The transmission assembly is connected to the multi-finger claw base 110. The slider 120, which slides and moves along the through groove 160 inside the multi-finger claw base 110, is slidably engaged with the umbrella-shaped head push rod and moves closer to and further away from the push rod 150 in the umbrella-shaped head push rod. The driven transmission assembly and the center of the multi-finger claw base 110 both have through holes for the push rod 150 to pass through. Under the drive of the first prime mover 510, the umbrella-shaped head push rod moves back and forth axially in the cavity inside the multi-finger claw base 110 through the claw vertical transmission assembly. Under the drive of the second prime mover 520, the driven transmission assembly drives the multi-finger claw base 110 to rotate through the rotation vertical transmission assembly.

[0037] The transmission method between the active transmission component and the driven transmission component is gear transmission, synchronous belt 420 transmission, chain transmission, or magnetic wheel transmission. In this embodiment, synchronous belt 420 transmission is used.

[0038] The rotary vertical transmission assembly includes a second bevel gear 320 connected to the output end of the second prime mover 520, and a first bevel gear 310 that is at a 90-degree angle to and meshes with the second bevel gear 320.

[0039] The claw head vertical transmission assembly includes a slider pusher 230 fixedly connected to the output end of the first prime mover 510, and an irregularly shaped coupling puller 220 mating with the slider pusher 230, forming a wedge-shaped slider 120 structure. The irregularly shaped coupling puller 220 is provided with a wedge-shaped slider 250, and the wedge-shaped slider 250 is mated with a wedge-shaped groove 260 opened below the slider pusher 230. The wedge-shaped slider 250 slides back and forth in the wedge-shaped groove 260. A snap-fit ​​groove is provided below the irregularly shaped coupling puller 220, and a first bearing 210 is snapped in the snap-fit ​​groove. The first bearing 210 is used to connect one end of the push rod 150. The outer ring of the first bearing 210 is snapped in the snap-fit ​​groove, and the inner ring is fixedly connected to the push rod 150 of the umbrella-shaped head pusher.

[0040] The rotary vertical transmission assembly, the active transmission assembly, the claw vertical transmission assembly, and the driven transmission assembly are all located inside the base plate 610, and the front cover plate 620 covers the front of the base plate 610. The front cover plate 620 and the base plate 610 together form the housing 600. The front cover plate 620 has an opening for part of the multi-finger claw base 110 to pass through.

[0041] The active transmission assembly includes a connecting rod 400, a second transmission gear sleeved and fixed to the outer ring surface of the connecting rod 400, and a second bearing 350 snapped into the inner side of the housing 600. The inner ring of the second bearing 350 is connected to both ends of the connecting rod 400. A first bevel gear 310 is sleeved and fixed to the outer ring of the connecting rod 400, and the outer rings of the two second bearings 350 are snapped into the inner side of the housing 600 for fixation.

[0042] An adjusting seat 330 is also fixed inside the housing 600. The adjusting seat 330 has an opening at the top for the second bevel gear 320 to pass through, and its side vertical plate is used to fix the outer ring of the second bearing 350 located at one end of the connecting rod 400 inside the housing 600. A stop 340, also located inside the housing 600, cooperates with the adjusting seat 330 and is used to fix the outer ring of the second bearing 350 located at the other end of the connecting rod 400.

[0043] The driven transmission assembly includes a fourth bearing 270, a first transmission gear fixed to the outer ring of the fourth bearing 270 and meshing with the second transmission gear, and a third bearing 240. The fourth bearing 270 is fixedly connected to one end of the multi-finger claw base 110. There are two third bearings 240. The inner ring of the third bearing 240 near the claw perpendicular to the transmission assembly is engaged with the outer ring of the fourth bearing 270. The third bearing 240 near the multi-finger claw base 110 is engaged with the outer ring of the fourth bearing 270 or with the stepped surface 720 of the multi-finger claw base 110. This is the state when there are two third bearings 240. The third bearing 240 can also be a single bearing, which can be one of the two on both sides of the second transmission gear or any one of the two sides of the second transmission gear. At the bottom of the multi-finger claw base 110, near the prime mover, there is a stepped surface 720 with a gradually decreasing diameter. The bottommost stepped surface 720 forms a protrusion that fits into the through hole of the fourth bearing 270. The outer ring of the third bearing 240 is snapped into the housing 600 for fixation. The inner ring can rotate relative to the outer ring. The inner ring is fixed to the fourth bearing 270 or the multi-finger claw base 110 and rotates together with the second transmission wheel 410 and the multi-finger claw base 110.

[0044] The umbrella-shaped push rod includes an umbrella-shaped head 130 and a push rod 150 disposed below the umbrella-shaped head 130. The umbrella-shaped head 130 includes guide heads 170 with the same number as the sliders 120 and a T-shaped cross-section. The sliders 120 are provided with T-shaped guide grooves 180 corresponding to the T-shaped guide heads 170 below them. The push rod 150 has a multi-step structure with the diameter decreasing from large to small starting from the umbrella-shaped head 130. The diameter of the step surface 720 near the umbrella-shaped head 130 is larger than the size of the through hole at the bottom of the multi-finger claw base 110 to limit the distance and amplitude of the umbrella-shaped push rod moving within the cavity of the multi-finger claw base 110, so as to prevent the sliders 120 from disengaging from the umbrella-shaped head 130.

[0045] The multi-finger claw base 110 includes at least two through slots 160 passing through the center of the central axis and along the radial direction. In this embodiment, there are three through slots 160. The through slots 160 are evenly distributed on a plane perpendicular to the push rod 150. The through slots 160 are connected at the central through hole to form an integral cavity. The through slots 160 have a T-shaped cross-section and correspond to the slider 120, which also has a T-shaped cross-section. The slider 120 is located in the through slot 160 and moves back and forth along the through slot 160 under the push of the guide slide head 170 of the umbrella-shaped head push rod, either centrifugally or centrifugally. The highest point of the through slot 160 is 1-100 mm higher than the axial thickness of the guide slide head 170, so that the umbrella-shaped head 130 moves back and forth along the axial direction in the integral cavity. The multi-finger claw base 110 is connected to the end face of the fourth bearing 270 through a stepped surface 720 at its bottom that is smaller than the diameter of the multi-finger claw base 110.

[0046] The upper surface of the multi-finger base 110 is also provided with a first groove 710 for mounting and configuring a baffle 140. The baffle 140 contacts the entire plane of the upper surface of the umbrella-shaped head push rod to limit the umbrella-shaped head push rod and prevent the guide slide head 170 from disengaging from the guide groove 180 on the slider 120. This utility model has three through slots 160, and the included angle between the three through slots 160 is 120 degrees. The through slot 160 can also be two, with an included angle of 180 degrees between each through slot 160; or four, with an included angle of 90 degrees between each through slot 160; or five, with an included angle of 72 degrees between each through slot 160; or six, with an included angle of 60 degrees between each through slot 160. The first prime mover 510 is any one of a hydraulic push rod 150, a pneumatic push rod 150, an electromagnetic push rod 150, a ball screw, a T-type screw, or an explosion-proof screw motor. The second prime mover 520 is any one of a rotary cylinder, a rotary hydraulic cylinder, a DD motor, a gear reducer, or an explosion-proof motor.

[0047] During operation, the second prime mover 520 drives the second bevel gear 320 to rotate, which in turn drives the first bevel gear 310 to rotate, thereby driving the second transmission wheel 410 mounted on the connecting rod 400 to rotate. This, in turn, causes the first transmission wheel 430, meshing with the second transmission wheel 410, to rotate, driving the multi-finger claw base 110, which is also fixedly connected to the fourth bearing 270, to rotate. Additionally, the first prime mover 510 drives the slider pusher 230 to move downwards, thereby driving the heterogeneous coupling pull head with a wedge-shaped slider 250, which engages with the wedge-shaped groove 260, to move towards the baffle 140. Through the push rod 150, the umbrella-shaped head 130 is pushed towards the baffle 140, driving the slider 120, which engages with the T-shaped guide slider 170 and includes a T-shaped guide groove 180, to perform centrifugal motion within the through groove 160, moving away from the center of the multi-finger claw base 110, thus opening the claw. This is another operational function. The operating mode is as follows: the first prime mover 510 drives the slider push head 230 to move upward, thereby driving the heterogeneous coupling pull head with wedge-shaped slider head 250, which is engaged with the wedge-shaped groove 260, to move towards the slider push head 230. The push rod 150 drives the umbrella-shaped head 130 to push towards the slider push head 230, driving the slider 120, which is engaged with the T-shaped guide slider head 170 and includes the T-shaped guide groove 180, to move centripetally in the through groove 160, close to the center of the multi-finger claw head base 110, and to close the claw head.

[0048] The above examples are merely specific embodiments of this utility model. Obviously, this utility model is not limited to the above embodiments and can have many variations. All variations that can be directly derived or conceived by those skilled in the art from the content disclosed in this utility model should be considered within the protection scope of this utility model.

Claims

1. A vertically aligned, electrically operated, infinitely rotating gripper with a claw head and a prime mover, characterized in that, The system includes a second prime mover, an active transmission assembly connected to the second prime mover via a rotary vertical transmission assembly, a first prime mover, a driven transmission assembly connected to the first prime mover via a claw head vertical transmission assembly, a multi-finger claw head base fixedly connected to the driven transmission assembly, and an umbrella-shaped push rod with one end rotatably connected relative to the rotary vertical transmission assembly and the other end located in a cavity formed inside the multi-finger claw head base. The umbrella-shaped push rod includes an umbrella-shaped head and a push rod. The rotary vertical transmission assembly is connected to the claw head vertical transmission assembly. A slider located in a through groove opened inside the multi-finger claw head base slides and engages with the umbrella-shaped push rod, moving closer to and away from the umbrella-shaped push rod along the through groove. Both the driven transmission assembly and the multi-finger claw head base have through holes at their centers for the push rod to pass through. The umbrella-shaped push rod moves back and forth axially within the cavity inside the multi-finger claw head base under the drive of the first prime mover. The driven transmission assembly drives the multi-finger claw head base to rotate under the drive of the second prime mover.

2. The vertical electric infinite rotation gripper with claw head and prime mover as described in claim 1, characterized in that, The transmission method between the active transmission component and the driven transmission component is gear transmission, synchronous belt transmission, chain transmission, or magnetic wheel transmission.

3. The vertical electric infinite rotation gripper with claw head and prime mover as described in claim 1, characterized in that, The rotary vertical transmission assembly includes a second bevel gear connected to the output end of the second prime mover, and a first bevel gear that is at a 90-degree angle to the second bevel gear and meshes with the second bevel gear.

4. The vertical electric infinitely rotating gripper with claw head and prime mover according to claim 1, 2, or 3, characterized in that, The claw-head vertical transmission assembly includes a slider pusher fixedly connected to the output end of the first prime mover, and a non-circular coupling puller that mates with the slider pusher, forming a wedge-shaped slider structure. The non-circular coupling puller is provided with a wedge-shaped slide head, which mates with a wedge-shaped groove opened below the slider pusher. The wedge-shaped slide head slides back and forth in the wedge-shaped groove. A snap-fit ​​groove is provided below the non-circular coupling puller, and a first bearing is snapped into the snap-fit ​​groove. The first bearing is used to connect one end of the push rod.

5. The vertical electric infinite rotation gripper with claw head and prime mover according to claim 4, characterized in that, The rotary vertical transmission assembly, the active transmission assembly, the claw vertical transmission assembly, and the driven transmission assembly are all located inside the base plate, and a front cover plate covers the front of the base plate. The front cover plate and the base plate together form the housing, and an opening is provided on the front cover plate for part of the multi-finger claw base to pass through.

6. The vertical electric infinite rotation gripper with claw head and prime mover according to claim 3, characterized in that, When the transmission method between the active transmission component and the driven transmission component is synchronous belt transmission, the active transmission component includes a connecting rod, a second transmission gear sleeved and fixed to the outer ring surface of the connecting rod, and a second bearing snapped into the inner side of the housing. The inner ring of the second bearing is connected to both ends of the connecting rod. The first bevel gear sleeved and fixed to the outer ring of the connecting rod, and the outer rings of the two second bearings snapped into the inner side of the housing.

7. The vertical electric infinite rotation gripper with claw head and prime mover according to claim 6, characterized in that, The driven transmission assembly includes a fourth bearing, a first transmission gear fixed to the outer ring of the fourth bearing and meshing with the second transmission gear, and a third bearing; the fourth bearing is fixedly connected to one end of the multi-finger claw base, and the inner ring of the third bearing is engaged with the outer ring of the fourth bearing and / or engaged with the stepped surface at the bottom of the multi-finger claw base; the third bearing can be one of two bearings located on both sides of the second transmission gear or any one of the two sides of the second transmission gear.

8. The vertical electric infinite rotation gripper with jaw and prime mover as described in claim 1, 2, 3, 5, 6, or 7, characterized in that, The umbrella-shaped head push rod includes an umbrella-shaped head and a push rod disposed below the umbrella-shaped head. The umbrella-shaped head includes a guide head with the same number of sliders and a T-shaped cross-section. The slider is provided with a T-shaped guide groove corresponding to the T-shaped guide head below it. The push rod is a multi-step structure with the diameter decreasing from near the umbrella-shaped head. The diameter of the step surface near the umbrella-shaped head is larger than the through hole at the bottom of the multi-finger claw head base for limiting.

9. The vertical electric infinite rotation gripper with jaw and prime mover as described in claim 8, characterized in that, The multi-finger claw head base includes at least two through slots passing through the center of the central axis and along the radial direction. The through slots are evenly distributed on a plane perpendicular to the push rod. The through slots are connected at the central through hole to form an integral cavity. The through slots have a T-shaped cross-section, corresponding to the slider with the same T-shaped cross-section. The slider is located in the through slot and moves back and forth along the through slot in a centripetal or centrifugal motion under the push of the guide slide head of the umbrella-shaped head push rod. The highest point of the through slot is 1-100mm higher than the thickness of the guide slide head in the axial direction, so that the umbrella-shaped head moves back and forth in the axial direction within the integral cavity. The multi-finger claw head base is connected to the end face of the fourth bearing through a stepped surface at its bottom that is smaller than the diameter of the multi-finger claw head base.

10. The vertical electric infinite rotation gripper with claw head and prime mover according to claim 9, characterized in that, The upper surface of the multi-finger head base is also provided with a first groove for installing and configuring a baffle. The baffle contacts the entire plane of the upper surface of the umbrella-shaped head push rod to limit the umbrella-shaped head push rod and prevent the guide head from disengaging from the guide groove on the slider. The through groove is two through grooves with an included angle of 180 degrees, or three through grooves with an included angle of 120 degrees, or four through grooves with an included angle of 90 degrees, or five through grooves with an included angle of 72 degrees, or six through grooves with an included angle of 60 degrees. The first prime mover is any one of a hydraulic push rod, pneumatic push rod, electromagnetic push rod, ball screw, T-type screw, or explosion-proof screw motor. The second prime mover is any one of a rotary cylinder, rotary hydraulic cylinder, DD motor, integrated reducer, or explosion-proof motor.

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