Self-locking and modular electric gripper

Abstract

The application discloses a self-locking and modular electric clamp jaw, and fills up the blank of the electric clamp jaw. In the compact clamp jaw shell space and without the brake, the worm and gear transmission pair is used to realize the clamp jaw mechanical self-locking and the relatively large speed reduction ratio. Meanwhile, the output shaft of the motor is adjusted to the parallel and coaxial position with the worm shaft through the multiple spur gears and bevel gears transmission pair. Most of the driving structure parts of the electric clamp jaw are wrapped in the clamp jaw shell. The modular design of the application has two types of clamp jaw heads, one is the parallel two-finger type, and the other is the three-finger rotating type. The clamp jaw head can be quickly replaced by only disassembling and assembling the screws.

Description

Technical Field

[0001] This utility model belongs to the field of electric grippers, specifically a novel electric gripper with mechanical self-locking and quick-change gripper heads. Mechanical automation refers to the process by which machines or devices automatically operate or control themselves according to predetermined programs or instructions without human intervention. Mechanical automation is the process by which machines or devices achieve automated control through mechanical means. Mechanical automation is inseparable from robots, and the end effector of a robot often needs to be equipped with a gripper for holding and transporting objects. Robot grippers achieve simple grasping actions through electric or pneumatic drives to grab materials and perform related tasks. Among robot grippers, electric grippers are widely used in various working conditions. As an alternative to pneumatic grippers, electric grippers, due to their elimination of compressed air handling systems and automated motion control, are often used in applications requiring higher precision and greater complexity. In the field of electric grippers, the two-finger parallel gripper is the most commonly used electric gripper for robots. Its structure is relatively simple, its size is small, its cost is low, and its performance is stable and reliable; therefore, the two-finger parallel electric gripper is used very frequently. Background Technology

[0002] Currently, the main performance indicators for evaluating a robot's electric gripper are gripping force, weight, size, and whether it can self-lock. A high-performance electric gripper often has a large gripping force, light weight, small size, and can mechanically self-lock. Mechanical self-locking can effectively prevent safety accidents caused by sudden drops of objects due to accidental power failure of the electric gripper.

[0003] Currently, commercially available electric grippers typically employ a combination of planetary gear reducers and electromagnetic brakes. Planetary gear reducers can achieve a large reduction ratio, converting the high-speed motion of the motor into low-speed, high-torque motion. Since planetary gear reducers lack mechanical self-locking characteristics, an electromagnetic brake is usually connected to the motor rotor to achieve this. However, the electromagnetic brake requires continuous power during long-term operation, increasing the gripper's power consumption. Furthermore, electromagnetic brakes are sensitive to environmental conditions; prolonged use and accumulation of dust in their gaps can cause malfunctions. Because electromagnetic brakes are controlled by circuits and programs, strong and frequent electromagnetic interference can easily disrupt the control circuitry and program, leading to malfunctions and safety accidents. Therefore, in certain special environments and under extremely high safety requirements, an electromagnetically resistant and reliable electric gripper is essential.

[0004] Meanwhile, electric grippers that aim for smaller dimensions typically do not employ worm gear transmission structures. Although worm gear transmission structures can achieve a large reduction ratio and mechanical self-locking, another characteristic of worm gear transmission structures is that their input and output shafts are not on the same axis or in the same plane. If the motor directly connected to the worm gear transmission pair is relatively long, the motor will occupy an excessive amount of space in the plane perpendicular to the worm gear shaft. This results in a relatively large external size for the electric gripper, making it impossible for the electric gripper to operate in some confined spaces. Summary of the Invention

[0005] The technical problem to be solved by this utility model is to provide a new type of electric gripper that addresses the shortcomings of the existing technology. This electric gripper adopts a worm gear transmission structure to achieve high output torque and mechanical self-locking characteristics. By using a combination of bevel gears and multiple spur gears, the axial direction of the motor is adjusted to be parallel to and close to coaxial with the worm gear. This achieves both high output torque and mechanical self-locking characteristics of the electric gripper, as well as a small size and low power consumption.

[0006] The specific technical solution of this invention is as follows:

[0007] 1. An electric gripper, characterized in that it comprises:

[0008] Upper support plate;

[0009] An intermediate support plate, which is fixed to the upper support plate and located below the upper support plate;

[0010] A motor mounting plate, which is fixed to the intermediate support plate and located below the intermediate support plate;

[0011] The first side plate and the second side plate are respectively fixed to the two sides of the intermediate support plate by a plurality of screws;

[0012] A worm gear shaft, the middle part and the lower end of which are rotatably disposed on the upper support plate and the middle support plate respectively, and passing through the upper support plate;

[0013] A worm gear, which is fixed to the worm gear shaft and coaxially arranged with the worm gear shaft, and located below the upper support plate and inside the middle support plate;

[0014] An output gear is fixed to the top of the worm gear shaft and located above the upper support plate.

[0015] The worm has two ends rotatably mounted on the first side plate and the second side plate, respectively; and the worm and the worm wheel form a worm gear transmission pair.

[0016] Two-finger gripper head, the two-finger gripper head is fixed to the upper support plate by screws and is located above the upper support plate;

[0017] The three-finger gripper head is used to replace the two-finger gripper head. When the two-finger gripper head is removed and the three-finger gripper head is installed, the three-finger gripper head is fixed to the upper support plate by screws and is located above the upper support plate.

[0018] A large bevel gear and a small bevel gear are provided, wherein the large bevel gear is fixed to the worm gear and is coaxially arranged with the worm gear; the small bevel gear is rotatably arranged on the motor mounting plate and located above the motor mounting plate, and the large bevel gear and the small bevel gear form a bevel gear transmission pair;

[0019] The third spur gear is fixed to the small bevel gear and located below the small bevel gear, and the third spur gear is coaxially arranged with the small bevel gear;

[0020] The second gear fixing bracket is fixed to the motor mounting plate and is located above the motor mounting plate;

[0021] The second spur gear is rotatably mounted on the second gear holder and is arranged parallel to the third spur gear, forming a gear transmission pair with the third spur gear;

[0022] An electric motor, which is fixed to the motor mounting plate and located below the motor mounting plate;

[0023] The first spur gear is fixed to the output shaft of the motor and forms a gear transmission pair with the second spur gear;

[0024] The outer casing is fixed to the upper support plate and located below the upper support plate.

[0025] 2. The electric gripper described above, characterized in that: the motor drives the second spur gear to rotate via the first spur gear; the second spur gear drives the third spur gear to rotate; the third spur gear drives the worm gear to rotate via the meshing transmission of the small bevel gear and the large bevel gear; the worm gear drives the output gear to rotate via the worm gear and worm wheel transmission pair; the output gear drives the two-finger gripper head, or the three-finger gripper head, to perform clamping or opening actions.

[0026] 3. The electric gripper described above, characterized in that the large bevel gear and the worm are coaxially arranged, and the worm wheel and the worm wheel shaft are coaxially arranged.

[0027] 4. The electric gripper described above, characterized in that the first spur gear and the worm gear are parallel and tend to be coaxial in position.

[0028] 5. The electric gripper described above, characterized in that the first side plate and the second side plate can be adjusted to fix their positions on the intermediate support plate, thereby adjusting the installation center distance between the worm gear and the worm.

[0029] 6. The electric gripper described above, characterized in that the second spur gear is supported on the second gear mounting bracket by at least one bearing, the second gear mounting bracket is fixed to the motor mounting plate by screws, and the mounting position of the second spur gear is adjusted by adjusting the relative position of the second gear mounting bracket fixed to the motor mounting plate.

[0030] 7. The electric gripper described above, characterized in that the outer shell and the upper support plate form a closed cavity, which encloses the motor, and the side of the outer shell is provided with an aviation plug for gripping and an LED light.

[0031] 8. The two-finger gripper head is characterized by: a first slider and a first gripper housing; there are two first sliders, which are respectively distributed in parallel and symmetrically on the first gripper housing, and the first sliders are slidably disposed on the first gripper housing; the bottom of the first slider is provided with a rack feature, and when the two-finger gripper head is installed on the upper support plate, the two first sliders can respectively mesh with the output gear for transmission; when the output gear rotates, it drives the two first sliders to move in parallel relative to each other.

[0032] 9. The two-finger gripper head is further characterized by: a gripper limiting pin, the gripper limiting pin being disposed above the upper support plate, a long groove feature being provided on the lower plane of the first slider, the head of the gripper limiting pin being inserted into the long groove feature of the first slider, the first slider sliding parallel to the gripper limiting pin, and the gripper limiting pin restricting the parallel sliding stroke of the first slider.

[0033] 10. The three-finger gripper head is characterized by: a second gripper shaft and a second gripper housing; there are a total of three second gripper shafts, which are evenly distributed on the second gripper housing, and the second gripper shafts are rotatably disposed on the second gripper housing, with a gear feature in the middle of the second gripper shaft; when the three-finger gripper head replaces the two-finger gripper head and is mounted on the upper support plate, the lower end of the second gripper shaft is rotatably disposed on the upper support plate, and the gear features of the second gripper shaft mesh with the output gear simultaneously; when the output gear rotates, it drives the second gripper shaft to rotate in the same direction. Attached Figure Description

[0034] Figure 1 This is a perspective view of an electric gripper according to one embodiment of the present disclosure.

[0035] Figure 2 This is a perspective view of an electric gripper with a three-finger gripper head according to one embodiment of the present disclosure.

[0036] Figure 3 This is a perspective view of an electric gripper with a two-finger gripper head according to one embodiment of the present disclosure.

[0037] Figure 4 This is a front view schematic diagram of an electric gripper with a two-finger gripper head according to one embodiment of the present disclosure.

[0038] Figure 5 yes Figure 4 A cross-sectional view along section line AA.

[0039] Figure 6 yes Figure 5 A cross-sectional view along section line DD.

[0040] Figure 7 yes Figure 5 A sectional view along section line BB.

[0041] Figure 8 yes Figure 5 A sectional view along section line CC.

[0042] Figure 9 This is a cross-sectional view of a three-finger gripper head according to one embodiment of the present disclosure.

[0043] Reference numerals: 400 - Electric gripper; 100 - Two-finger gripper head; 200 - Three-finger gripper head; 300 - Housing; 101 - Finger tip plate; 102 - First slider; 103 - First gripper housing; 201 - Second gripper housing; 202 - Second gripper bearing; 203 - Second gripper shaft; 204 - Swing rod; 301 - Gripper limit pin; 302 - Worm gear bearing; 303 - Worm gear; 304 - First spur gear; 305 - Aviation connector; 306 - Motor; 307 - Housing Base plate; 308-LED light; 309-Housing shell; 310-Motor mounting plate; 311-Intermediate support plate; 312-Worm gear; 313-Upper support plate; 314-Worm gear seal ring; 315-Output gear; 316-Worm gear shaft; 317-Worm gear bearing; 318-Second side plate; 319-Small bevel gear; 320-Lower bevel gear bearing; 321-Upper bevel gear bearing; 322-Third spur gear; 323-First side plate; 324-Large bevel gear; 325-Side plate fixing screw; 326-Second spur gear; 327-Second gear fixing bracket; 328-Gear fixing bracket fixing screw; Detailed Implementation

[0044] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be 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.

[0045] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to 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 utility model.

[0046] 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 at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0047] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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 communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0048] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0049] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0050] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0051] like Figures 1 to 9 As shown, an electric gripper 400 according to one embodiment of this utility model is used to be installed at the end of a robot to grasp materials or workpieces. The electric gripper 400 has a modular design and two gripper heads for grasping different objects. When the two-finger gripper head 100 is installed on the top of the electric gripper 400, the electric gripper 400 can grasp objects in parallel. When the two-finger gripper head 100 is removed and replaced with the three-finger gripper head 200, the object can be grasped in the center. It is often used to grasp cylindrical objects, such as cylindrical bottles or bottle caps. By rotating the robot's end joint, it can achieve the operation requirements such as unscrewing bottle caps or rotating to scan barcodes on the side of bottles.

[0052] The structures of the two gripper heads are described below.

[0053] like Figure 1 and Figure 5As shown, the two-finger gripper head 100 mainly includes: a fingertip plate 101, a first slider 102, and a first gripper housing 103; there are two first sliders 102, which are distributed parallel and symmetrically on the first gripper housing 103 respectively, and the first sliders 102 are slidably disposed on the first gripper housing 103; the bottom of the first slider 102 is provided with a rack feature, and when the two-finger gripper head 100 is installed on the top of the electric gripper 400, the two first sliders 102 can respectively mesh with the output gear 315 for transmission; when the output gear 315 rotates, it drives the two first sliders 102 to move parallel to each other, thereby realizing the clamping and releasing of objects by the fingertip plate 101. The gripper limiting pin 301 is located above the upper support plate 313. A long groove is provided on the lower surface of the first slider 102. The head of the gripper limiting pin 301 is inserted into the long groove of the first slider 102. The first slider 102 slides parallel to the gripper limiting pin 301, and the gripper limiting pin 301 restricts the parallel sliding stroke of the first slider 102.

[0054] like Figure 1 and Figure 9 As shown, the three-finger gripper head 200 is characterized by: a second gripper shaft 203, a second gripper housing 201, a second gripper bearing 202, and a swing rod 204; there are three second gripper shafts 203, which are evenly distributed on the second gripper housing 201. The second gripper shafts 203 are rotatably mounted on the second gripper housing 201 via the second gripper bearings 202, and each second gripper shaft 203 has a gear feature in the middle; when the three-finger gripper head 200 replaces the two-finger gripper head 100 and is installed on the top of the electric gripper 400. At the same time, the second gripper shaft 203 is rotatably mounted on the upper support plate 313 via the second gripper bearing 202. The gear features of the second gripper shaft 203 mesh with the output gear 315 simultaneously. When the output gear 315 rotates, it drives the second gripper shaft 203 to rotate in the same direction. The top of the second gripper shaft 203 is fitted with a swing rod 204 and fixed to the swing rod 204 with screws. The top of the swing rod 204 is made of flexible material, which can provide a relatively large friction force and contact area when gripping objects.

[0055] like Figure 5 and Figure 6As shown below, the method by which motor 306 transmits torque to output gear 315 through the transmission structure is explained in detail. A first spur gear 304 is fixed on the output shaft of motor 306. Motor 306 is fixedly mounted on motor mounting plate 310 by screws. Motor mounting plate 310 is fixed to the bottom of intermediate support plate 311 by screws. The first spur gear 304 and the second spur gear 326 form a gear transmission pair. The second spur gear 326 is rotatably supported on the second gear fixing bracket 327. The second gear fixing bracket 327 is fixed to motor mounting plate 310 by gear fixing bracket fixing screws 328. The third spur gear 322 and the second spur gear 326 form a gear transmission pair and are fitted on the small bevel gear 319. The small bevel gear 319 and the third spur gear 322 are fixedly connected. The small bevel gear 319 is supported on motor mounting plate 310 by bevel gear lower bearing 320 and bevel gear upper bearing 321. The small bevel gear 319 can rotate relative to motor mounting plate 310. The third spur gear 322 is fitted on the shaft of the second spur gear 326.

[0056] Based on the above structure, when the output shaft of the motor 306 rotates, the small bevel gear 319 rotates simultaneously.

[0057] Furthermore, such as Figures 1 to 9 As shown, the large bevel gear 324 is fixedly connected to the worm 312; the large bevel gear 324 and the worm 312 are coaxially arranged and form a bevel gear transmission pair with the small bevel gear 319; the two ends of the worm 312 are rotatably supported on the first side plate 323 and the second side plate 318 respectively by two worm bearings 317, and the first side plate 323 and the second side plate 318 are fixedly connected to the two sides of the intermediate support plate 311 by multiple side plate fixing screws 325; the worm 312 and the worm wheel 303 form a worm wheel-worm transmission pair, and the worm wheel 303 is coaxially arranged on the worm wheel shaft 316. It is fixedly connected to the worm gear shaft 316, which is rotatably supported on the intermediate support plate 311 and the upper support plate 313 by two worm gear bearings 302. A circular hole is provided in the middle of the intermediate support plate 311 and the upper support plate 313 for installing the worm gear bearings 302. A worm gear seal ring 314 is installed in the middle circular hole of the upper support plate 313. The worm gear shaft 316 passes through the worm gear seal ring 314 and the circular hole of the upper support plate 313. The upper end of the worm gear shaft 316 is fixedly connected to the output gear 315, which is coaxially arranged with the worm gear shaft 316.

[0058] Based on the above structure, the small bevel gear 319 rotates to drive the large bevel gear 324 to rotate, the large bevel gear 324 drives the worm gear 312 to rotate, the worm gear 312 drives the worm wheel 303 and the output gear 315 to rotate, and the output gear 315 drives the two-finger gripper head 100 and / or the three-finger gripper head 200 to achieve clamping or opening actions.

[0059] In addition, such as Figure 5As shown, the housing 309 is fixed to the underside of the upper support plate 313 by screws. The housing 309 has an opening on its underside. The housing bottom plate 307 is fixed to the underside of the housing 309 by screws and closes the opening on the underside of the housing 309. Furthermore, an LED light 308 and an aviation plug 305 are mounted on the side of the housing 309.

[0060] The advantages of adopting the above solution are: the outer shell 309, the outer shell base plate 307, and the upper support plate 313 form a closed cavity, which encloses the drive part of the electric gripper 400 inside the closed cavity, so that the electric gripper 400 has a high IP protection level and facilitates the replacement of different gripper heads; due to the worm gear transmission pair, the electric gripper 400 can achieve mechanical self-locking characteristics, and the motor can output relatively high torque through the reduction characteristics of the above structure; the axial direction of the motor is parallel to and tends to be coaxial with the axial direction of the output gear 315, so that the electric gripper 400 has a small external volume.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A self-locking and modular electric gripper, characterized in that, include: Upper support plate; An intermediate support plate, which is fixed to the upper support plate and located below the upper support plate; and a motor mounting plate, which is fixed to the intermediate support plate and located below the intermediate support plate. The first side plate and the second side plate are respectively fixed to the two sides of the intermediate support plate by a plurality of screws; A worm gear shaft, the middle part and the lower end of which are rotatably disposed on the upper support plate and the middle support plate respectively, and passing through the upper support plate; A worm gear, which is fixed to the worm gear shaft and coaxially arranged with the worm gear shaft, and located below the upper support plate and inside the middle support plate; An output gear is fixed to the top of the worm gear shaft and located above the upper support plate. The worm has two ends rotatably mounted on the first side plate and the second side plate, respectively; and the worm and the worm wheel form a worm gear transmission pair. Two-finger gripper head, the two-finger gripper head is fixed to the upper support plate by screws and is located above the upper support plate; The three-finger gripper head is used to replace the two-finger gripper head. When the two-finger gripper head is removed and the three-finger gripper head is installed, the three-finger gripper head is fixed to the upper support plate by screws and is located above the upper support plate. A large bevel gear and a small bevel gear are provided, wherein the large bevel gear is fixed to the worm gear and is coaxially arranged with the worm gear; the small bevel gear is rotatably arranged on the motor mounting plate and located above the motor mounting plate, and the large bevel gear and the small bevel gear form a bevel gear transmission pair; The third spur gear is fixed to the small bevel gear and located below the small bevel gear, and the third spur gear is coaxially arranged with the small bevel gear; The second gear fixing bracket is fixed to the motor mounting plate and is located above the motor mounting plate; The second spur gear is rotatably mounted on the second gear holder and is arranged parallel to the third spur gear, forming a gear transmission pair with the third spur gear; An electric motor, which is fixed to the motor mounting plate and located below the motor mounting plate; The first spur gear is fixed to the output shaft of the motor and forms a gear transmission pair with the second spur gear; The outer casing is fixed to the upper support plate and located below the upper support plate.

2. The self-locking and modular electric gripper according to claim 1, characterized in that, The motor drives the second spur gear to rotate via the first spur gear; the second spur gear drives the third spur gear to rotate; the third spur gear drives the worm gear to rotate via the meshing transmission of the small bevel gear and the large bevel gear; the worm gear drives the output gear to rotate via the worm gear and worm wheel transmission pair; the output gear drives the two-finger gripper head, or the three-finger gripper head, to perform clamping or opening actions.

3. The self-locking and modular electric gripper according to claim 1, characterized in that, The large bevel gear and the worm are coaxially arranged, and the worm wheel and the worm wheel shaft are coaxially arranged.

4. The self-locking and modular electric gripper according to claim 1, characterized in that, The first spur gear and the worm gear are parallel and tend to be coaxial in position.

5. A self-locking and modular electric gripper according to claim 1, characterized in that, The mounting center distance between the worm gear and the worm can be adjusted by adjusting the position of the first side plate and the second side plate fixed on the intermediate support plate.

6. The self-locking and modular electric gripper according to claim 1, characterized in that, The second spur gear is supported on the second gear mounting bracket by at least one bearing. The second gear mounting bracket is fixed to the motor mounting plate by screws. The mounting position of the second spur gear can be adjusted by adjusting the relative position of the second gear mounting bracket fixed to the motor mounting plate.

7. A self-locking and modular electric gripper according to claim 1, characterized in that, The outer shell and the upper support plate form a closed cavity that encloses the motor. The side of the outer shell is provided with an aviation plug for grippers and an LED light.

8. The self-locking and modular electric gripper according to claim 1, characterized in that, The two-finger gripper head is characterized by: a first slider and a first gripper housing; there are two first sliders, which are distributed parallel and symmetrically on the first gripper housing respectively, and the first sliders are slidably disposed on the first gripper housing; the bottom of the first slider is provided with a rack feature, and when the two-finger gripper head is installed on the upper support plate, the two first sliders can respectively mesh with the output gear for transmission; when the output gear rotates, it drives the two first sliders to move relative to each other in parallel.

9. The self-locking and modular electric gripper according to claim 8, characterized in that, The two-finger gripper head also includes a gripper limiting pin, which is disposed above the upper support plate. A long groove is provided on the lower surface of the first slider. The head of the gripper limiting pin is inserted into the long groove of the first slider. The first slider slides parallel to the gripper limiting pin, and the gripper limiting pin restricts the parallel sliding stroke of the first slider.

10. The self-locking and modular electric gripper according to claim 1, characterized in that, The three-finger gripper head is characterized by: a second gripper shaft and a second gripper housing; there are a total of three second gripper shafts, which are evenly distributed on the second gripper housing, and the second gripper shafts are rotatably mounted on the second gripper housing, with a gear feature in the middle of the second gripper shaft; when the three-finger gripper head replaces the two-finger gripper head and is mounted on the upper support plate, the lower end of the second gripper shaft is rotatably mounted on the upper support plate, and the gear features of the second gripper shaft simultaneously mesh with the output gear; when the output gear rotates, it drives the second gripper shaft to rotate in the same direction.

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