Electrodynamic clamping jaw

Abstract

An electric dual-acting clamp jaw includes a motor, a ball screw, a pneumatic assembly, a transmission clamp jaw, and a switching element. The ball screw is driven by the motor to move a nut disposed on the ball screw back and forth along a first direction. The pneumatic assembly is disposed along the first direction corresponding to the ball screw. The pneumatic assembly includes a sealed chamber, a piston, and a piston rod. The piston is accommodated in the sealed chamber. The piston rod penetrates the piston. The piston is moved back and forth along the first direction by the pneumatic pressure. The transmission clamp jaw is connected to the piston rod. The switching element is assembled between the nut and the piston rod. The switching element is detachably connected to the nut. When the switching element is connected to the nut, the piston rod is driven by the nut to open and close the transmission clamp jaw. When the switching element is detached, the transmission clamp jaw is driven by the piston to open and close.

Description

Technical Field

[0001] This case relates to a mechanical gripper, particularly an electrically powered dual-energy gripper, which allows for easy switching of power sources through simple operation. Background Technology

[0002] Mechanical grippers replace manual labor for repetitive tasks, improving production efficiency and reducing human error risks. Various types of mechanical grippers have emerged, most commonly categorized by power source as pneumatic and electric grippers. Each has its advantages and disadvantages. Pneumatic grippers offer lower cost, a wider gripping range, stronger gripping force, and faster response time compared to electric grippers. Their disadvantages include complex air circuitry, uncontrollable speed, and lower actuation precision. Conversely, the advantages and disadvantages of electric grippers largely complement those of pneumatic grippers. For example, electric grippers allow for speed adjustment. For products requiring precise assembly, a buffer speed can be set to reduce the impact of the mechanical gripper on the product, improving yield.

[0003] On the other hand, capacity utilization is a crucial indicator of factory production. Product suppliers have realized that grippers powered by a single energy source will be idle when energy is unavailable, leading to a decline in capacity utilization. From a market perspective, the demand for customized products is increasing. If production lines can respond quickly to small-batch, diverse product demands, capacity utilization can be improved. Therefore, the electric dual-power gripper has proven effective. The electric dual-power gripper combines the advantages of motor drive and pneumatic actuation.

[0004] Currently, some electric dual-energy grippers on the market require the grippers themselves to be replaced when switching power sources. The weight, size, and shape of the grippers make handling and disassembly a cumbersome and time-consuming process. This significantly diminishes the original advantage of electric dual-energy grippers in switching power sources and makes it difficult to effectively connect to the next process. Furthermore, some electric dual-energy grippers exhibit poor overall structural stability after switching to different power sources, affecting product yield.

[0005] In view of this, it is necessary to provide an electrically powered dual-energy gripper to address the deficiencies of the current technology. Utility Model Content

[0006] The purpose of this invention is to provide an electrically driven dual-powered gripper that integrates motor-driven and pneumatically driven gripper opening and closing. When one power source is unavailable, it can switch to the other power source to maintain normal gripper operation, thereby improving production capacity utilization.

[0007] Another objective of this project is to provide an electrically driven dual-power gripper that can be selectively driven by a motor or pneumatic pressure, depending on requirements. The power source can be switched via a simple operation. The operation method eliminates the need for cumbersome workpiece replacement procedures, thereby improving production efficiency.

[0008] Another objective of this invention is to provide an electrically dual-powered gripper that can maintain the stability of the sorting structure and improve product yield after the power source is switched to motor drive or pneumatic actuation.

[0009] Another objective of this invention is to provide an electrically powered dual-energy gripper that allows for quick replacement of the transmission gripper to meet product requirements. This technology is illustrated using linkage-type and wedge-type grippers.

[0010] To achieve the aforementioned objectives, this invention provides an electrically powered dual-energy gripper comprising a motor, a ball screw, a pneumatic assembly, a transmission gripper, and a switching element. The ball screw is driven by the motor, causing a nut fitted onto the ball screw to reciprocate along a first direction. The pneumatic assembly is correspondingly arranged with the ball screw along the first direction. The pneumatic assembly includes a sealed chamber, a piston, and a piston rod. The piston is housed in the sealed chamber and reciprocates along the first direction under pneumatic pressure. The piston rod passes through the piston, and the piston rod is correspondingly arranged with the ball screw along the first direction. The piston rod includes a first end and a second end opposite to each other. The nut is connected to or driven by the first end. The transmission gripper is connected to the second end of the piston rod. The switching element is assembled between the nut and the first end of the piston rod. The switching element and the nut are detachably connected. When the switching element is connected to the nut, the reciprocating movement of the nut along the first direction drives the piston rod to open and close the transmission gripper. When the switching element is disconnected from the nut, the reciprocating movement of the piston along the first direction drives the transmission gripper to open and close.

[0011] In one embodiment, the motor and the ball screw are not coaxially configured, and the ball screw is driven by a transmission element connected between the motor and the ball screw.

[0012] In one embodiment, the motor and the ball screw are coaxially configured.

[0013] In one embodiment, the switching element includes a first through hole. A ball screw passes through the first through hole in a first direction, and the first through hole is concentric with the nut.

[0014] In one embodiment, the piston rod further includes a sleeve portion disposed at a first end of the piston rod. A ball screw is correspondingly sleeved on the sleeve portion along a first direction.

[0015] In one embodiment, the switching element includes a recessed portion that abuts against the sleeve portion of the piston rod in a first direction.

[0016] In one embodiment, an outer circumferential wall of the sleeve portion of the piston rod is fitted with an inner circumferential wall of the groove portion of the switching element.

[0017] In one embodiment, the switching element includes at least one pin. The at least one pin detachably secures the switching element to the nut along a second direction. The second direction is perpendicular to the first direction.

[0018] In one embodiment, the motor outputs a first power. The pneumatic assembly outputs a second power. At least one of the first power and the second power is output.

[0019] In one embodiment, when the first power and the second power are output simultaneously, the first power is greater than the second power.

[0020] In one embodiment, the piston rod reciprocates along a first direction, causing the transmission gripper to open and close along a second direction. The second direction is perpendicular to the first direction.

[0021] In one embodiment, the transmission gripper includes a linkage structure.

[0022] In one embodiment, the transmission gripper includes a wedge-shaped structure. Attached Figure Description

[0023] Figure 1A This is a schematic diagram of the structure of the electrically dual-kinetic-energy gripper in the first embodiment of this case;

[0024] Figure 1B This is a schematic diagram showing the electrically dual-kinetic gripper of the first embodiment of this case in an unfolded state driven by a motor;

[0025] Figure 1C This is a schematic diagram illustrating that the electrically dual-kinetic gripper of the first embodiment of this case is driven by a motor to be in a closed state;

[0026] Figure 2A This is a schematic diagram illustrating how the electrically powered dual-kinetic grippers of the first embodiment of this case are pushed by air pressure to unfold.

[0027] Figure 2B This is a schematic diagram illustrating how the electrically powered dual-kinetic grippers of the first embodiment of this case are pushed by air pressure to form a closed state;

[0028] Figure 3 This is a schematic diagram of the switching element of the electrical dual-energy gripper in this case;

[0029] Figure 4 This is a schematic diagram of the piston rod and piston of the electrically powered dual-energy gripper in this case;

[0030] Figure 5A This is a schematic diagram of the structure of the electrically dual-kinetic-energy gripper in the second embodiment of this case;

[0031] Figure 5B This is a schematic diagram illustrating that the electrically dual-kinetic gripper of the second embodiment of this case is driven by a motor to be in an unfolded state;

[0032] Figure 5C This is a schematic diagram illustrating that the electrically driven dual-kinetic gripper of the second embodiment of this case is brought into a closed state by being driven by a motor.

[0033] [Symbol Explanation]

[0034] 1, 1a: Electrically powered dual-kinetic energy gripper

[0035] 20: Motor

[0036] 30: Ball screw

[0037] 31: Nut

[0038] 32: Transmission components

[0039] 40: Pneumatic assembly

[0040] 41: Sealed chamber

[0041] 42: Piston

[0042] 43: Piston rod

[0043] 431: First end

[0044] 432: Second end

[0045] 433: Sleeve section

[0046] 44, 45: Stomata

[0047] 50: Transmission gripper

[0048] 51: Linkage structure

[0049] 52: Wedge-shaped structure

[0050] 60: Switching element

[0051] 61: First through hole

[0052] 62: Groove portion

[0053] 63: Pin

[0054] OC: Outer circumferential wall

[0055] IC: Inner circumferential wall

[0056] P1: Primary Power

[0057] P2: Secondary power

[0058] X, Z: Direction Detailed Implementation

[0059] Some typical embodiments embodying the features and advantages of this invention will be described in detail in the following description. It should be understood that this invention can have various variations in different forms, all of which do not depart from the scope of this invention, and the descriptions and drawings herein are for illustrative purposes only and not intended to limit this invention. For example, if the following description of a first feature being disposed on or above a second feature indicates that it includes embodiments where the first and second features are in direct contact, as well as embodiments where additional features may be disposed between the first and second features, so that the first and second features may not be in direct contact. In addition to the orientations shown in the drawings, spatially related terms are used to cover different orientations of the device in use or operation. The device may also be otherwise positioned (e.g., rotated 90 degrees or located in other orientations), and the descriptions of the spatially related terms used will be interpreted accordingly. Furthermore, when a component is referred to as being "connected to" or "coupled to" another component, it may be directly connected to or coupled to the other component, or there may be intervening components. Furthermore, it is understood that although terms such as "first," "second," "inner," "outer," "upper," "lower," "left," and "right" may be used in the claims to describe different components, these components should not be limited by these terms. In the embodiments, the corresponding components are represented by different component symbols. These terms are used to distinguish different components. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component, without departing from the scope of the embodiments.

[0060] Please refer to Figure 1A and Figure 1B . Figure 1A This is a schematic diagram of the structure of the electric dual-kinetic energy gripper in the first embodiment of this case. Figure 1BThis is a schematic diagram illustrating the unfolded state of the electrically powered dual-energy gripper according to the first embodiment of this invention, driven by a motor. This invention provides an electrically powered dual-energy gripper 1 including a motor 20, a ball screw 30, a pneumatic assembly 40, a transmission gripper 50, and a switching element 60. The ball screw 30 is driven by the motor 20, causing a nut 31 fitted onto the ball screw 30 to reciprocate along a first direction Z. In some embodiments, the first direction Z is, for example, the axial direction of the ball screw 30, or the up-down direction as shown in the diagram. The pneumatic assembly 40 is correspondingly arranged with the ball screw 30 along the first direction Z, for example, connected and assembled in the first direction Z. The pneumatic assembly 40 includes a sealed chamber 41, a piston 42, a piston rod 43, and two air holes 44 and 45. The piston 42 is housed in the sealed chamber 41 and is pushed by air pressure to reciprocate along the first direction Z. The air pressure source comes from controlling the intake or exhaust of air through the two air holes 44 and 45, causing pressure changes in the sealed chamber 41, which in turn pushes the piston 42 to reciprocate along the first direction Z. A piston rod 43 passes through a piston 42 along a first direction Z and reciprocates synchronously with the piston along the first direction Z. The piston rod 43 and the ball screw 30 are correspondingly arranged along the first direction Z. The piston rod 43 includes a first end 431 and a second end 432. The first end 431 and the second end 432 are opposite ends along the first direction Z. A nut 31 is connected to or driven by the first end 431, for example, by pushing or pulling. A transmission jaw 50 is connected to the second end 432 of the piston rod 43. A switching element 60 is assembled between the nut 31 and the first end 431 of the piston rod 43. The switching element 60 and the nut 31 are detachably connected. When the switching element 60 is connected to the nut 31, the reciprocating movement of the nut 31 drives the transmission jaw 50 to open and close. When the switching element 60 is disconnected from the nut 31, the reciprocating movement of the piston 42 drives the transmission jaw 50 to open and close. In this embodiment, the switching element 60 is tightly fitted with the piston rod 43, and the switching element 60 and the nut 31 are detachably connected. Please refer to [the previous text] again. Figure 1B If the motor 20 is chosen to drive the opening and closing of the transmission gripper 50, the switching element 60 and the nut 31 must first be securely fastened together. The motor 20 drives the ball screw 30 to rotate, causing the nut 31 to move downwards along the first direction Z, generating a first force P1. The fastened nut 31 and the switching element 60 are considered as one unit, pushing the piston rod 43 and piston 42 downwards. The transmission gripper 50 unfolds outwards under the downward pressure driven by the first force P1. Please refer to... Figure 1C . Figure 1CThis is a schematic diagram illustrating how the electrically driven dual-kinetic gripper of the first embodiment of this case is closed by a motor. If the motor 20 is rotated in the reverse direction, the motor 20 drives the ball screw 30 to rotate, causing the nut 31 to move upward along the first direction Z, generating a reverse first force P1. This causes the transmission gripper 50 to close inward due to the upward pulling force of the first force P1. That is, the electrically driven dual-kinetic gripper 1 completes one opening and closing gripping action by electrically driving the component mechanism. Please refer to... Figure 2A . Figure 2A This is a schematic diagram illustrating how the electrically driven dual-energy gripper of the first embodiment of this case is deployed under pneumatic pressure. If the pneumatic assembly 40 is chosen to drive the transmission gripper 50 to open and close, the connection between the switching element 60 and the nut 31 must first be disconnected, i.e., the switching element 60 and the nut 31 must be separated. Gas is introduced into the sealed chamber 41 through the operation of the air holes 44 and 45, pushing the piston 42 downward along the first direction Z. The second force P2 generated by the aforementioned operation causes the transmission gripper 50 to be pushed downwards and deployed outwards. Please refer to... Figure 2B . Figure 2B This is a schematic diagram illustrating how the electrically driven dual-energy gripper of the first embodiment of this case is closed by air pressure. To move the piston 42 upwards, the air pressure direction can be changed simply by operating the air holes 44 and 45, for example, generating a reverse second force P2 to pull the transmission gripper 50 inwards. That is, the electrically driven dual-energy gripper 1 completes one opening and closing gripping action by air pressure. It should be emphasized that the piston 42 and piston rod 43 are tightly fitted. Whether driven by the motor 20 or pushed by the piston 42, the piston rod 43 will move up and down synchronously with the piston 42. That is, the parts of the switching element 60 along the first direction Z, including the piston 42, piston rod 43, and transmission gripper 50, are all assembled as a single unit. The foregoing description shows that this technology can achieve power source switching simply by switching the switching element 60. The tight fit between the piston 42 and piston rod 43 improves the stability of the gripping structure and increases product yield.

[0061] Please refer to again Figure 1A and Figure 1B The motor 20 and the ball screw 30 are non-coaxial, and the ball screw 30 is driven by a transmission element 32. In this embodiment, the transmission element 32 is a belt, but it is not limited to this; for example, it can be a chain. The transmission element 32 connects the motor 20 and the ball screw 30. The kinetic energy of the motor 20 is indirectly transferred to the ball screw 30 through the transmission element 32, replacing the wear between the motor 20 and the ball screw 30. By replacing the belt, maintenance efficiency is improved and maintenance costs are reduced, further increasing production capacity utilization.

[0062] In other embodiments, the motor 20 and the ball screw 30 are coaxially configured, and the motor 20 directly drives the ball screw 30 (not shown). Directly driving the ball screw 30 with the motor 20 reduces energy transmission loss and improves control accuracy, thereby further improving product yield.

[0063] Please refer to Figure 3 and Figure 4 . Figure 3 This is a schematic diagram of the switching element of the electrical dual-energy gripper in this case. Figure 4 This is a schematic diagram of the piston rod and piston of the electrically powered dual-energy gripper in this case. The switching element 60 includes a first through hole 61. The ball screw 30 passes through the first through hole 61 along the first direction Z. In this embodiment, the first through hole 61 and the nut 31 are concentrically arranged along the first direction Z.

[0064] Please refer to again Figure 1B and Figure 4 The piston rod 43 also includes a sleeve portion 433. The sleeve portion 433 is disposed at the first end 431, and the ball screw 30 is correspondingly sleeved on the sleeve portion 433 along the first direction Z. In this embodiment, after the ball screw 30 passes through the first through hole 61 of the switching element 60, a portion of the ball screw 30 is sleeved on the sleeve portion 433 of the piston rod 43. The depth of the sleeve portion 433 allows the piston rod 43 to move upward within a certain distance without colliding with the ball screw 30 located above. By the ball screw 30 passing through the first through hole 61 and being sleeved on the sleeve portion 433, a reserved space is provided for the reciprocating movement of the piston rod 43 to prevent the piston rod 43 from colliding with the ball screw 30. This improves the stability of the electric dual-energy gripper 1 during operation.

[0065] Please refer to Figure 3 and Figure 4 The switching element 60 includes a recessed portion 62. The recessed portion 62 abuts against the sleeve portion 433 of the piston rod 43 in the first direction Z. In this embodiment, whether driven by the motor 20 or pushed by the piston 42, the connection between the nut 31 and the first end 431 of the piston rod 43, or the movement of the nut 31 by the first end 431 (e.g., pushing or pulling), is indirectly achieved through the switching element 60. Especially when using pneumatic actuation, pneumatic actuation has the characteristic of being difficult to control speed. By having the recessed portion 62 of the switching element 60 abut against the sleeve portion 433, the damage caused by the direct impact of the piston rod 43 on the nut 31 is reduced, maintenance costs are reduced, and production capacity utilization is improved.

[0066] Please refer to Figure 3 and Figure 4The outer circumferential wall OC of the sleeve portion 433 of the piston rod 43 is coupled with the inner circumferential wall IC of the groove portion 62 of the switching element 60. In this embodiment, the radial movement of the piston rod 43 is restricted by the coupling of the outer circumferential wall OC of the sleeve portion 433 of the piston rod 43 and the inner circumferential wall IC of the groove portion 62 of the switching element 60, thereby further improving the stability of the electric dual-kinetic gripper structure and increasing product yield.

[0067] Please refer to Figure 1B , Figure 1C , Figure 3 and Figure 4 The switching element 60 includes at least one pin 63. The at least one pin 63 detachably secures the switching element 60 to the nut 31 along a second direction X. The second direction X is perpendicular to the first direction Z. In some embodiments, the second direction X is, for example, the radial direction of the ball screw 30. In this embodiment, the fastening connection of the switching element 60 and the nut 31 by the pin 63 is a preliminary operation for switching the power source. For customized production needs resulting in small and diverse product processing requirements, simple and quick power source switching is a key design feature for improving capacity utilization.

[0068] Please refer to Figure 1B , Figure 1C , Figure 2A and Figure 2B Motor 20 outputs a first power P1. Pneumatic assembly 40 outputs a second power P2. At least one of the first power P1 and the second power P2 must be output to drive the transmission gripper 50.

[0069] Please refer to Figure 1B , Figure 1C , Figure 2A and Figure 2B In some embodiments, if the first power P1 and the second power P2 are output simultaneously, in this embodiment, considering the characteristics of different power sources and for safety or other engineering considerations, it is recommended that the first power P1 be greater than the second power P2. In practice, the motor 20 drive can precisely control the moving speed of the nut 31. Pneumatic actuation cannot precisely control the moving speed of the piston 42. In emergency situations, the motor 20 drive can immediately mitigate the impact force generated by pneumatic actuation, reducing equipment damage and improving production capacity utilization.

[0070] Please refer to Figure 1A , Figure 1B , Figure 1C , Figure 2A and Figure 2BThe piston rod 43 reciprocates along the first direction Z, causing the transmission gripper 50 to open and close along the second direction X. The second direction X is perpendicular to the first direction Z. It should be noted that although the opening and closing direction of the transmission gripper 50 and the fastening connection direction of at least one pin 63 are both along the second direction X, there are still many variations if the second direction X is defined as the radial direction of the piston rod 43. In this embodiment, the piston rod 43 moves up and down, causing the transmission gripper 50 to open and close left and right, which simplifies power transmission and reduces energy loss.

[0071] Please refer to Figure 1A , Figure 1B , Figure 1C , Figure 2A and Figure 2B These figures correspond to the first embodiment of this invention. The transmission gripper 50 includes a linkage structure 51. The linkage structure 51 is connected to the second end 432 of the piston rod 43. In this embodiment, the second end 432 of the piston rod 43 is connected to the transmission gripper 50. The transmission gripper 50 is designed with a linkage structure 51, and the opening and closing method of the transmission gripper 50 is as described above.

[0072] Please refer to Figure 5A , Figure 5B and Figure 5C These figures correspond to the second embodiment of this case. Figure 5A This is a schematic diagram of the structure of the electrical dual-kinetic energy gripper in the second embodiment of this case. Figure 5B This is a schematic diagram illustrating that the electrically driven dual-kinetic gripper of the second embodiment of this case is in an unfolded state driven by a motor. Figure 5C This is a schematic diagram illustrating how the electrically dual-kinetic grippers of the second embodiment of this case are driven by a motor to reach a closed state. In this embodiment, the electrically dual-kinetic grippers 1a and... Figure 1A The electrically dual-kinetic gripper 1 shown in the first embodiment is similar, and the same component reference numerals in the figures represent the same components, structures, and functions. The difference between this second embodiment and the first embodiment is that the transmission gripper 50 of the electrically dual-kinetic gripper 1a includes a wedge-shaped structure 52. The wedge-shaped structure 52 is connected to the second end 432 of the piston rod 43. This embodiment is applicable to the aforementioned... Figure 3 , Figure 4 The structures of the switching element 60 and piston rod 43 described herein have been explained in detail previously and will not be repeated here.

[0073] It is important to emphasize that the transmission gripper 50 in this design features a modular design, allowing for the selection of either a linkage structure 51 or a wedge structure 52 depending on the characteristics of the object to be gripped. However, this is not a limitation. The transmission gripper 50 in this design can be arbitrarily replaced with either a linkage structure 51 or a wedge structure 52 as needed, without requiring the replacement of the upper electrical dual-power structure, thus further reducing the cost of changing to a suitable linkage structure 51 or wedge structure 52. This simplifies operation and further improves production capacity utilization.

[0074] In summary, this invention provides an electrically driven dual-energy gripper that integrates motor-driven and pneumatically actuated opening and closing. A simple switching element allows for switching of electrical energy. When one power source is unavailable, switching to the other maintains the normal operation of the electrically driven dual-energy gripper, thereby improving capacity utilization. Motor-driven or pneumatically actuated operation can also be selected as needed. This invention indirectly transmits the motor's kinetic energy to the ball screw via a belt, replacing the wear between the motor and the ball screw. Replacing the belt improves maintenance efficiency and reduces maintenance costs. In other embodiments, direct motor-driven ball screw not only reduces kinetic energy transmission loss but also improves control accuracy. The ball screw passing through the first through-hole of the switching element and the sleeve portion fitted onto the piston rod provide ample space for piston rod movement, preventing the piston rod from colliding with the ball screw and improving the stability of the electrically driven dual-energy gripper during operation. By abutting the grooved portion and sleeve portion of the switching element, damage caused by direct impact of the piston rod on the nut is reduced, thus lowering maintenance costs and improving capacity utilization. The outer circumferential wall of the piston rod sleeve portion and the inner circumferential wall of the grooved portion of the switching element interact, restricting the radial movement of the piston rod and further enhancing the stability of the electric dual-power gripper structure. The switching element and nut are secured with pins, making power source switching quick and easy, further improving capacity utilization. Under normal use, at least one of the first and second power sources is output. In special cases, when both the first and second power sources are output simultaneously, the first power source is greater than the second, mitigating the impact force generated by pneumatic thrust, reducing equipment damage, and improving capacity utilization. The modular design of the transmission grippers allows for selection of either a linkage-type or wedge-type structure depending on the characteristics of the object being gripped, facilitating easy modular replacement and improving capacity utilization.

[0075] This case may be modified in various ways by those skilled in the art, but none of them shall fall outside the scope of protection sought by the claims.

Claims

1. An electrically powered dual-kinetic-energy gripper, characterized in that, include: One motor; A ball screw, driven by the motor, causes a nut fitted on the ball screw to reciprocate along a first direction; A pneumatic assembly, disposed corresponding to the ball screw along the first direction, and comprising: A sealed chamber; A piston, housed in the sealed chamber, and reciprocated along the first direction by air pressure; and A piston rod passes through the piston, and the piston rod and the ball screw are arranged correspondingly along the first direction. The piston rod includes a first end and a second end opposite to each other. The nut is connected to the first end or driven by the first end. A transmission gripper is connected to the second end of the piston rod; and A switching element is assembled between the nut and the first end of the piston rod, and the switching element and the nut are detachably connected. When the switching element is connected to the nut, the nut reciprocates along the first direction to drive the piston rod to open and close the transmission jaws. When the switching element is disconnected from the nut, the piston reciprocates along the first direction to drive the transmission jaws to open and close.

2. The electrically powered dual-kinetic gripper as described in claim 1, characterized in that, The motor and the ball screw are not coaxial, and the ball screw is driven by a transmission element connected between the motor and the ball screw.

3. The electrically powered dual-kinetic-energy gripper as described in claim 1, characterized in that, The motor and the ball screw are coaxially configured.

4. The electrically powered dual-kinetic-energy gripper as described in claim 1, characterized in that, The switching element includes a first through hole, through which the ball screw passes in the first direction, and the first through hole is concentrically arranged with the nut.

5. The electrically powered dual-kinetic-energy gripper as described in claim 4, characterized in that, The piston rod also includes a sleeve portion disposed at the first end, and the sleeve portion is correspondingly fitted with the ball screw along the first direction.

6. The electrically powered dual-kinetic-energy gripper as described in claim 5, characterized in that, The switching element includes a recessed portion that abuts against the sleeve portion of the piston rod in the first direction.

7. The electrically powered dual-kinetic-energy gripper as described in claim 6, characterized in that, The outer circumferential wall of the sleeve portion of the piston rod is matched with the inner circumferential wall of the groove portion of the switching element.

8. The electrically powered dual-kinetic gripper as described in claim 1, characterized in that, The switching element includes at least one pin that detachably secures the switching element to the nut along a second direction, wherein the second direction is perpendicular to the first direction.

9. The electrically powered dual-kinetic-energy gripper as described in claim 1, characterized in that, The motor outputs a first power, the pneumatic assembly outputs a second power, and at least one of the first power and the second power is output.

10. The electrically powered dual-kinetic-energy gripper as described in claim 9, characterized in that, When the first power and the second power are output simultaneously, the first power is greater than the second power.

11. The electrically powered dual-kinetic-energy gripper as described in claim 1, characterized in that, The piston rod reciprocates along the first direction, causing the transmission gripper to open and close along a second direction, wherein the second direction is perpendicular to the first direction.

12. The electrically powered dual-kinetic-energy gripper as described in claim 11, characterized in that, The transmission gripper includes a linkage structure.

13. The electrically powered dual-kinetic-energy gripper as described in claim 12, characterized in that, The transmission gripper includes a wedge-shaped structure.

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