A high-performance rotary electric claw head module based on a gear and rack multi-stage transmission structure

Abstract

The utility model discloses a kind of high-performance rotary electric claw head module based on gear rack multistage transmission structure, including slide base main body, double-sided rack driving part, slide base outer gear ring, and two groups of sliding clamp block and double gear, slide base outer gear ring is connected in the lower part of slide base main body, and both form synchronous rotation structure;Double-sided rack driving part lower portion is slidably connected in slide base outer gear ring, can be vertically lifted.Lifting, the driving rack of driving part will drive corresponding double gear to rotate, and then drive the sliding rack of sliding clamp block, realize the relative or opposite movement of two sliding clamp blocks along horizontal direction, while overall can rotate with slide base outer gear ring.Compared with prior art, the utility model overall is modular structure, with two power connection ends, can be flexibly and conveniently connected with electric claw power drive module, realize opening and closing and the function of rotation, and transmission efficiency is high, positioning accuracy is high, shorter double-sided rack driving part lifting, can obtain the larger opening and closing stroke of sliding clamp block.

Description

Technical Field

[0001] This utility model belongs to the field of electric gripper technology, and in particular relates to a high-performance rotary electric gripper head module based on a gear and rack multi-stage transmission structure. Background Technology

[0002] The rotary gripper can rotate while gripping the workpiece, and the angle of gripping the workpiece can be adjusted to meet the needs of workstation posture adjustment. When the workpiece is a cover-shaped part, the rotary gripper can also drive the workpiece to rotate to achieve the function of tightening or unscrewing the cover.

[0003] In the prior art, Chinese Patent Publication No. CN223532475U discloses a novel rotary electric gripper, including a clamping part, a driving part, and an intermediate transmission part. The clamping part includes a clamping base, a first gripper, and a second gripper, which are movably connected to both sides of the clamping base. The intermediate transmission part includes a worm, a worm wheel, and a driving gear. The intermediate transmission part can drive the first gripper and the second gripper to move axially along the clamping base. The driving part includes a driving motor and a motor base. The driving motor is installed inside the motor base, and the worm is sleeved on the output shaft of the driving motor. The output shaft of the driving motor can drive the worm to rotate.

[0004] The shortcomings of existing technologies lie in the fact that the intermediate transmission part of existing rotary electric grippers includes a worm gear transmission structure. The worm gear structure has several technical drawbacks when used in rotary electric grippers: Firstly, it has low transmission efficiency, high meshing and sliding friction, and frequent start-stop cycles lead to high energy consumption, severe heat generation, and accelerated component wear. Secondly, it has slow response, poor positioning accuracy, and the viscous effect causes start-stop lag and crawling, making it difficult to adapt to high-speed and precision requirements.

[0005] Therefore, it is necessary to provide a new high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure to solve the above-mentioned technical problems. Summary of the Invention

[0006] (a) Technical problems to be solved Based on this, the present invention provides a high-performance rotary electric gripper head module based on a gear and rack multi-stage transmission structure to solve the technical problems of low transmission efficiency, slow response, and low transmission accuracy of existing rotary electric gripper head structures.

[0007] (II) Technical Solution To solve the above-mentioned technical problems, this utility model proposes a high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure, comprising: a slide body, a double-sided rack drive, an external gear ring of the slide, a first sliding clamp and a second sliding clamp respectively slidably connected to the slide body, and a first double gear and a second double gear respectively rotatably connected to the slide body; the external gear ring of the slide is connected to the lower part of the slide body, and the two form a synchronous rotation structure; the first sliding clamp and the second sliding clamp are parallel and spaced apart; a first sliding rack is formed at the bottom of the first sliding clamp, and a second sliding rack is formed at the bottom of the second sliding clamp; the upper part of the double-sided rack drive... The first and second drive racks are formed on the sides respectively. The first double gear is located below the first sliding block, and its two ends mesh with the first drive rack and the first sliding rack respectively. The second double gear is located below the second sliding block, and its two ends mesh with the second drive rack and the second sliding rack respectively. The lower part of the double-sided rack drive is a connecting section, which is slidably connected to the outer gear ring of the slide block. The double-sided rack drive can drive the first and second double gears to rotate simultaneously when it moves vertically, thereby driving the first and second sliding blocks to move laterally in opposite directions or relative to each other.

[0008] Preferably, the high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure further includes a pin, the upper and lower parts of which are inserted into the slide body and the slide outer gear ring, respectively, to form the synchronous rotation structure.

[0009] Preferably, the upper part of the slide body is provided with a recessed first sliding groove and a second sliding groove, the first sliding clamp is disposed in the first sliding groove and is slidably connected to the first sliding groove; the second sliding clamp is disposed in the second sliding groove and is slidably connected to the second sliding groove; the high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure further includes a first limiting post and a second limiting post for limiting the relative lateral movement of the first sliding clamp and the second sliding clamp; the lower part of the first limiting post is fixed to the slide body and the upper part extends into the first sliding groove; the lower part of the second limiting post is fixed to the slide body and the upper part extends into the second sliding groove.

[0010] Preferably, the first double gear includes: a first double gear body and a first gear shaft that passes through and is rotatably connected to the first double gear body. The first double gear body includes a first small gear ring, a first cylindrical body, and a first large gear ring that are coaxially and fixedly connected in sequence. The number of teeth on the first small gear ring is less than the number of teeth on the first large gear ring. The first small gear ring meshes with a first drive rack, and the first large gear ring meshes with a first sliding rack. The second double gear includes: a second double gear body and a second gear shaft that passes through and is rotatably connected to the second double gear body. The second double gear body includes a second small gear ring, a second cylindrical body, and a second large gear ring that are coaxially and fixedly connected in sequence. The number of teeth on the second small gear ring is less than the number of teeth on the second large gear ring. The second small gear ring meshes with a second drive rack, and the second large gear ring meshes with a second sliding rack. The second double gear has the same structure as the first double gear.

[0011] Preferably, the slide body is rectangular in shape, and the length direction of the slide body is consistent with the opening and closing direction of the first sliding clamp and the second sliding clamp. The two side walls in the width direction of the slide body are the front wall and the rear wall, respectively. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure further includes a front limiting plate and a rear limiting plate. A first wheel axle limiting groove is formed inside the slide body, and a first double-tooth receiving groove is also provided on the slide body, penetrating the front wall and communicating with the first wheel axle limiting groove. The front limiting plate is fixed to the slide body and covers the opening of the first double-tooth receiving groove. The first double gear is housed in the first double gear receiving groove. The bottom of the first axle limiting groove and the front limiting plate respectively limit the two ends of the first gear shaft. A second axle limiting groove is also formed in the slide body. The slide body is also provided with a second double gear receiving groove that penetrates the rear wall of the body and communicates with the second axle limiting groove. The rear limiting plate is fixed to the slide body and covers the opening of the second double gear receiving groove. The second double gear is housed in the second double gear receiving groove. The bottom of the second axle limiting groove and the rear limiting plate respectively limit the two ends of the second gear shaft.

[0012] Preferably, the front wall and rear wall of the slide body are provided with a recessed front limiting groove and a rear limiting groove, the front limiting plate is received in the front limiting groove, and the rear limiting plate is received in the rear limiting groove.

[0013] Preferably, both ends of the front limiting plate are fixed to the slide body by threaded connectors. A raised front limiting boss is provided at the middle end of the front limiting plate near the first gear shaft. A first supporting step is formed at the junction of the first gear shaft limiting groove and the first double gear receiving groove. A recessed first gear shaft receiving hole is provided on the front limiting boss. The first supporting step and the front limiting boss limit the two ends of the first double gear respectively. The bottom of the first gear shaft receiving hole and the bottom of the first gear shaft limiting groove limit the two ends of the first gear shaft respectively. The two ends of the rear limiting plate are fixed to the slide body by threaded connectors. A raised rear limiting boss is provided at the middle of the rear limiting plate near the second gear shaft. A second support step is formed at the junction of the second gear shaft limiting groove and the second double gear receiving groove. A recessed second gear shaft receiving hole is provided on the rear limiting boss. The second support step and the rear limiting boss limit the two ends of the second double gear respectively. The bottom of the second gear shaft receiving hole and the bottom of the second gear shaft limiting groove limit the two ends of the second gear shaft respectively.

[0014] Preferably, the high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure further includes an adapter plate disposed between the slide body and the slide outer gear ring, the adapter plate and the slide outer gear ring are fixedly connected by a threaded connector, the adapter plate and the slide body are fixedly connected by a threaded connector, and the middle part of the pin and the connecting section respectively penetrate the adapter plate.

[0015] Preferably, the high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure further includes a rotating bearing fixedly sleeved outside the connecting section and a sliding sleeve fixedly sleeved outside the rotating bearing. The sliding sleeve is rotatably connected to the connecting section through the rotating bearing, and the sliding sleeve is slidably connected to the inner hole of the outer gear ring of the slide block.

[0016] Preferably, the high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure further includes a first chuck and a second chuck; the first chuck includes a first connecting block and a first clamping block, the first connecting block is fixedly installed on the upper part of the first sliding clamping block, one side of the first clamping block is fixed to the first connecting block, and the other side of the first clamping block extends above the second sliding clamping block; the second chuck includes a second connecting block and a second clamping block, the second connecting block is fixedly installed on the upper part of the second sliding clamping block, one side of the second clamping block is fixed to the second connecting block, and the other side of the second clamping block extends above the first sliding clamping block; the side of the first clamping block near the second clamping block is a first clamping surface, the first clamping surface is a concave arc shape, and the first clamping surface is provided with a plurality of spaced-apart first clamping surface grooves; the side of the second clamping block near the first clamping block is a second clamping surface, the second clamping surface is a concave arc shape, and the second clamping surface is provided with a plurality of spaced-apart second clamping surface grooves.

[0017] (III) Beneficial Effects Compared with existing technologies, the high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure of this invention has the following advantages: This utility model discloses a high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure. The module is a self-contained and highly integrated modular structure, capable of opening, closing, and rotating. The intermediate drive structure driving the opening and closing of the first and second sliding grippers is a gear and rack structure, offering high transmission efficiency, fast response speed, and high positioning accuracy. Furthermore, the desired transmission ratio can be obtained by adjusting the number of teeth. A longer opening and closing stroke of the gripper can be achieved by raising and lowering the short double-sided rack drive component. This utility model also has two power input ends, allowing for flexible and convenient connection to electric gripper power drive modules and compatibility with various power structures. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional schematic diagram of the overall structure of this utility model; Figure 2 This is an exploded view of the present invention; Figure 3 This is a cross-sectional view of the present invention; Figure 4 For along Figure 3 Schematic diagram of the cross section of line AA; Figure 5 For along Figure 3 Schematic diagram of the cross section of the BB line.

[0020] Explanation of reference numerals in the attached figures: 1. Slide body; 2. Double-sided rack and pinion drive; 3. Slide outer gear ring; 4. First sliding clamp; 5. Second sliding clamp; 6. First double gear; 7. Second double gear; 8. Pin; 9. First limiting post; 10. Second limiting post; 11. Front limiting plate; 12. Rear limiting plate; 13. Adapter plate; 14. Rotary bearing; 15. Sliding sleeve; 16. First chuck; 17. Second chuck; 011. First sliding groove; 012. Second sliding groove; 013. Front wall of main body; 014. Rear wall of main body; 015. First wheel axle limiting groove; 016. First double tooth receiving groove; 017. Second wheel axle limiting groove; 018. Second double tooth receiving groove; 019. Front limiting groove; 020. Rear limiting groove; 021. First support step; 022. Second support step; 21. First drive rack; 22. Second drive rack; 23. Connecting section; 41. First sliding rack; 51. Second sliding rack; 61. First small gear ring; 62. First cylinder; 63. First large gear ring; 64. First gear shaft; 71. Second small gear ring; 72. Second cylinder; 73. Second large gear ring; 74. Second gear shaft; 111. Front limiting boss; 121. Rear end limiting boss; 161. First connecting block; 162. First clamping block; 171. Second connecting block; 172. Second clamping block; 1111, First wheel axle receiving hole; 1211, Second wheel axle receiving hole; 1621. First clamping surface; 1622. Groove of the first clamping surface; 1721. Second clamping surface; 1722. Groove of the second clamping surface. Detailed Implementation

[0021] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0022] The following is in conjunction with the appendix Figure 1-5 The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure of this utility model will be further described.

[0023] This utility model discloses a high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure, comprising: a slide body 1, a double-sided rack drive 2, a slide outer gear ring 3, a first sliding clamp 4 and a second sliding clamp 5 respectively slidably connected to the slide body 1, and a first double gear 6 and a second double gear 7 respectively rotatably connected to the slide body 1; the slide outer gear ring 3 is connected to the lower part of the slide body 1, and the two form a synchronous rotation structure; the first sliding clamp 4 and the second sliding clamp 5 are parallel and spaced apart; the bottom of the first sliding clamp 4 forms a first sliding rack 41, and the bottom of the second sliding clamp 5 forms a second sliding rack 51; the upper sides of the double-sided rack drive 2 are respectively formed with... The double-sided rack drive 2 is configured as a first driving rack 21 and a second driving rack 22. The first double gear 6 is located below the first sliding clamp 4, and its two ends mesh with the first driving rack 21 and the first sliding rack 41, respectively. The second double gear 7 is located below the second sliding clamp 5, and its two ends mesh with the second driving rack 22 and the second sliding rack 51, respectively. The lower part of the double-sided rack drive 2 is a connecting section 23, which is slidably connected to the outer gear ring 3 of the slide block. The double-sided rack drive 2 can drive the first double gear 6 and the second double gear 7 to rotate simultaneously when it moves vertically, thereby driving the first sliding clamp 4 and the second sliding clamp 5 to move laterally in opposite directions or relative to each other.

[0024] In this embodiment, the orientation references are "horizontal" and "vertical". Figure 3 Furthermore, this orientation is only used to clearly illustrate the structure of this utility model and should not be construed as a limitation on the structure of this utility model. When the direction of use of this utility model changes, the "horizontal" and "vertical" orientations change accordingly.

[0025] The high-performance rotary electric gripper head module based on a gear and rack multi-stage transmission structure of this utility model has a modular structure. When used with an electric gripper power drive module, it can be combined to form a complete electric gripper. The components and functions in this embodiment are described below.

[0026] The slide body 1 is used to provide a mounting base for other components and to form the required sliding and rotating connection structures.

[0027] The double-sided rack and pinion drive 2 is raised and lowered under the drive of the electric gripper power drive module, and can simultaneously drive the first double gear 6 and the second double gear 7 to rotate.

[0028] When the first sliding clamp 4 and the second sliding clamp 5 move laterally relative to or opposite to each other, they can clamp or release the workpiece. In specific implementations, the first sliding clamp 4 and the second sliding clamp 5 can be used directly as clamping fingers that contact the workpiece, or they can be used in combination with different clamping fingers.

[0029] The outer gear ring 3 of the slide provides a constraint for the connecting section 23, ensuring that the double-sided rack and pinion drive 2 moves along a predetermined trajectory. In addition, the outer surface of the outer gear ring 3 of the slide has a gear structure. Under the drive of the electric gripper power drive module, the outer gear ring 3 of the slide rotates, which can drive the slide body 1 and the components mounted on it to rotate as a whole. That is, it can adjust the angle of gripping the workpiece or drive the workpiece to rotate, so as to realize the function of tightening or unscrewing the cover.

[0030] In practice, the gear ratio of the two end gears in the first double gear 6 and the second double gear 7 can be flexibly adjusted as needed to obtain the required transmission ratio.

[0031] Compared with existing technologies, the high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure of this invention is a self-contained and highly integrated modular structure, capable of opening, closing, and rotating. The intermediate drive structure driving the opening and closing of the first sliding gripper 4 and the second sliding gripper 5 is a gear and rack structure, which offers high transmission efficiency, fast response speed, and high positioning accuracy. Furthermore, by adjusting the gear ratio, the desired transmission ratio can be obtained, and a larger opening and closing stroke of the gripper can be achieved with a shorter length of the double-sided rack drive component 2. This invention also has two power input ends (the connecting section 23 of the double-sided rack drive component 2 and the outer side gear of the slide external gear ring 3); it can be flexibly and conveniently connected to the electric gripper power drive module, and can be matched with various power structures, exhibiting strong compatibility.

[0032] According to a specific embodiment of this utility model, the high-performance rotary electric claw module based on a gear and rack multi-stage transmission structure also includes a pin 8. The upper and lower parts of the pin 8 are respectively inserted into the slide body 1 and the slide outer gear ring 3 to form a synchronous rotation structure.

[0033] In this embodiment, the pin 8 serves as both a vertical positioning component for the slide body 1 and the slide outer gear ring 3 to improve the vertical alignment accuracy of the slide body 1 and the slide outer gear ring 3, and a torque transmission component between the slide body 1 and the slide outer gear ring 3 to achieve synchronous rotation of the slide outer gear ring 3 and the slide body 1.

[0034] It should be noted that the external gear ring 3 of the slide and the slide body 1 can also be a synchronous rotation structure formed by fixing with threaded connectors, but the preferred structure is the pin 8 structure used in this embodiment, which can meet the usage requirements and does not require additional installation space for threaded components.

[0035] According to a specific embodiment of this utility model, the upper part of the slide body 1 is provided with a recessed first sliding groove 011 and a second sliding groove 012. The first sliding clamp 4 is disposed in the first sliding groove 011 and is slidably connected to the first sliding groove 011. The second sliding clamp 5 is disposed in the second sliding groove 012 and is slidably connected to the second sliding groove 012. The high-performance rotary electric gripper module based on the gear and rack multi-stage transmission structure also includes a first limiting post 9 and a second limiting post 10 for limiting the relative lateral movement of the first sliding clamp 4 and the second sliding clamp 5. The lower part of the first limiting post 9 is fixed to the slide body 1, and the upper part extends into the first sliding groove 011. The lower part of the second limiting post 10 is fixed to the slide body 1, and the upper part extends into the second sliding groove 012.

[0036] In this embodiment, the sliding groove is used to guide the sliding clamping block, and the first limiting post 9 and the second limiting post 10 are used to limit the closed stroke of the high-performance rotary electric gripper module based on the gear and rack multi-stage transmission structure, so as to avoid damaging the workpiece due to over-travel.

[0037] According to a specific embodiment of this utility model, the first double gear 6 includes: a first double gear body and a first gear shaft 64 that passes through the first double gear body and is rotatably connected to the first double gear body. The first double gear body includes a first small gear ring 61, a first cylindrical body 62 and a first large gear ring 63 that are coaxially and fixedly connected in sequence. The number of teeth of the first small gear ring 61 is less than the number of teeth of the first large gear ring 63. The first small gear ring 61 meshes with the first driving rack 21, and the first large gear ring 63 meshes with the first sliding rack 41. The second double gear 7 includes: a second double gear body and a second gear shaft 74 that passes through the second double gear body and is rotatably connected to the second double gear body. The second double gear body includes a second small gear ring 71, a second cylindrical body 72 and a second large gear ring 73 that are coaxially and fixedly connected in sequence. The number of teeth of the second small gear ring 71 is less than the number of teeth of the second large gear ring 73. The second small gear ring 71 meshes with the second driving rack 22, and the second large gear ring 73 meshes with the second sliding rack 51.

[0038] In this embodiment, the first double gear 6 and the second double gear 7 can have the same or similar structures. The structure and effects of the first double gear 6 and the second double gear 7 will be explained below using the first double gear 6 as an example. The main body of the first double gear is an integral structure comprising a first small gear ring 61 and a first large gear ring 63. Since the number of teeth on the first small gear ring 61 is less than the number of teeth on the first large gear ring 63, a larger transmission ratio can be obtained. This allows the double-sided rack and pinion drive 2 to move a smaller distance, thus driving the first sliding clamp 4 to move a larger stroke. Therefore, the overall length of the double-sided rack and pinion drive 2 can be shortened, which in turn shortens the overall vertical dimension of the high-performance rotary electric gripper module based on the gear and rack multi-stage transmission structure of this invention.

[0039] More specifically, the second double gear 7 has the same structure as the first double gear 6.

[0040] The second double gear 7 has the same structure as the first double gear 6, which can further reduce the processing cost and facilitate smooth transmission.

[0041] According to a specific embodiment of this utility model, the slide body 1 is rectangular in shape. The length direction of the slide body 1 is consistent with the opening and closing direction of the first sliding clamp 4 and the second sliding clamp 5. The two side walls in the width direction of the slide body 1 are the front wall 013 and the rear wall 014, respectively. The high-performance rotary electric gripper module based on the gear and rack multi-stage transmission structure also includes a front limiting plate 11 and a rear limiting plate 12. A first wheel axle limiting groove 015 is formed inside the slide body 1. The slide body 1 is also provided with a first double tooth receiving groove 016 that penetrates the front wall 013 and communicates with the first wheel axle limiting groove 015. The front limiting plate 11 is fixed to the slide body 1 and covers the first double tooth receiving groove. The first double gear 6 is housed in the slot 016. The bottom of the first gear shaft limiting slot 015 and the front limiting plate 11 limit both ends of the first gear shaft 64 respectively. A second gear shaft limiting slot 017 is also formed in the slide body 1. The slide body 1 is also provided with a second double gear receiving slot 018 that penetrates the rear wall 014 of the body and communicates with the second gear shaft limiting slot 017. The rear limiting plate 12 is fixed to the slide body 1 and covers the slot of the second double gear receiving slot 018. The second double gear 7 is housed in the second double gear receiving slot 018. The bottom of the second gear shaft limiting slot 017 and the rear limiting plate 12 limit both ends of the second gear shaft 74 respectively.

[0042] In this embodiment, the first gear shaft 64 is installed and its two ends are limited by the first wheel shaft limiting groove 015 and the front limiting plate 11, and the second gear shaft 74 is installed and its two ends are limited by the second wheel shaft limiting groove 017 and the rear limiting plate 12. This method has the advantages of simple and practical structure and convenient installation and disassembly.

[0043] Taking the assembly of the first double gear 6 as an example, the first gear shaft 64 and the first double gear 6 are aligned with the first gear shaft limiting groove 015 and installed. After the front limiting plate 11 is fastened, the front limiting plate 11 is fixed on the slide body 1 using the threaded connector, thus realizing the installation of the first double gear 6. Disassembly can be completed by reversing the operation.

[0044] According to a specific embodiment of the present invention, the front wall 013 and the rear wall 014 of the slide body 1 are provided with a recessed front limiting groove 019 and a rear limiting groove 020, the front limiting plate 11 is received in the front limiting groove 019, and the rear limiting plate 12 is received in the rear limiting groove 020.

[0045] In this embodiment, the front limiting plate 11 is accommodated by the front limiting groove 019 and the rear limiting plate 12 is accommodated by the rear limiting groove 020, which helps to ensure the flatness of the outer surface of the slide body 1 and makes the structure more compact.

[0046] According to a specific embodiment of this utility model, the two ends of the front limiting plate 11 are fixed to the slide body 1 by threaded connectors. A protruding front limiting boss 111 is provided at the middle of the front limiting plate 11 near the first gear shaft 64. A first supporting step 021 is formed at the junction of the first gear shaft limiting groove 015 and the first double gear receiving groove 016. A recessed first gear shaft receiving hole 1111 is provided on the front limiting boss 111. The first supporting step 021 and the front limiting boss 111 respectively limit the two ends of the first double gear 6. The bottom of the first gear shaft receiving hole 1111 and the bottom of the groove of the first gear shaft limiting groove 015 are respectively the first gear shaft. The two ends of the 64 are limited; the two ends of the rear limit plate 12 are fixed to the slide body 1 by threaded connectors. The middle part of the rear limit plate 12 near the end of the second gear shaft 74 is provided with a raised rear limit boss 121. The second gear shaft limit groove 017 and the second double gear receiving groove 018 form a second support step 022. The rear limit boss 121 is provided with a recessed second gear shaft receiving hole 1211. The second support step 022 and the rear limit boss 121 are respectively the two ends of the second double gear 7. The bottom of the second gear shaft receiving hole 1211 and the bottom of the second gear shaft limit groove 017 are respectively the two ends of the second gear shaft 74.

[0047] In this embodiment, the first supporting step 021 and the front limiting boss 111 limit the two ends of the first double gear 6, ensuring that the first double gear 6 is in a predetermined position. The bottom of the first wheel shaft receiving hole 1111 and the bottom of the first wheel shaft limiting groove 015 limit the two ends of the first gear shaft 64, ensuring that the first gear shaft 64 is in a predetermined position, thereby ensuring the positional accuracy of the first double gear 6. Furthermore, the front limiting plate 11 is detachably fixed to the slide body 1 through a threaded connector, which facilitates the quick assembly and disassembly of the first double gear 6. Similarly, the second support step 022 and the rear limiting boss 121 limit the two ends of the second double gear 7 respectively, ensuring that the second double gear 7 is in the predetermined position. The bottom of the second wheel shaft receiving hole 1211 and the bottom of the second wheel shaft limiting groove 017 limit the two ends of the second gear shaft 74 respectively, ensuring that the second gear shaft 74 is in the predetermined position, thereby ensuring the positional accuracy of the second double gear 7. Moreover, the rear limiting plate 12 can be detachably fixed to the slide body 1 through the threaded connector, which is conducive to the quick assembly and disassembly of the second double gear 7.

[0048] More specifically, both the front limiting plate 11 and the rear limiting plate 12 are elongated plates.

[0049] With this structure, both ends of the front limiting plate 11 and the rear limiting plate 12 have enough space to form threaded connection holes, ensuring the stability of the threaded connection with the slide body 1.

[0050] According to a specific embodiment of the present invention, the high-performance rotary electric claw head module based on the gear and rack multi-stage transmission structure further includes a transition plate 13 disposed between the slide body 1 and the slide outer gear ring 3. The transition plate 13 and the slide outer gear ring 3 are fixedly connected by threaded connectors, and the transition plate 13 and the slide body 1 are fixedly connected by threaded connectors. The middle part of the pin 8 and the connecting section 23 respectively penetrate the transition plate 13.

[0051] The simplest way to connect the slide body 1 and the slide outer gear ring 3 is to install and fix the slide body 1 and the slide outer gear ring 3 together by using connecting screws. However, there is not enough space for connecting screws at the position where the slide body 1 is directly opposite the slide outer gear ring 3.

[0052] In this embodiment, by adding the adapter plate 13, a stable connection between the slide body 1 and the slide outer gear ring 3 can be achieved through a simple structure, and it also has the advantage of easy disassembly. Specifically, during installation, first install the threaded connector from the top to fix the middle of the adapter plate 13 to the slide outer gear ring 3, and then install the threaded connector from the bottom to fix the edge of the adapter plate 13 to the slide body 1, thus achieving a fixed connection between the slide body 1 and the slide outer gear ring 3.

[0053] According to a specific embodiment of the present invention, the high-performance rotary electric gripper module based on the gear and rack multi-stage transmission structure further includes a rotating bearing 14 fixedly sleeved outside the connecting section 23 and a sliding sleeve 15 fixedly sleeved outside the rotating bearing 14. The sliding sleeve 15 is rotatably connected to the connecting section 23 through the rotating bearing 14, and at the same time, the sliding sleeve 15 is slidably connected to the inner hole of the outer gear ring 3 of the slide seat.

[0054] The added bearing in this embodiment improves rotational flexibility. The sliding sleeve 15 can be designed as a wear part to avoid direct contact and wear between the double-sided rack drive 2 and the outer gear ring 3 of the slide block, thus extending their service life. After long-term use, the sliding sleeve 15 can be replaced to ensure guiding accuracy. Moreover, the sliding sleeve 15 has a simple structure and low cost, which can reduce the overall cost of using this utility model.

[0055] According to a specific embodiment of this utility model, the high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure further includes a first chuck 16 and a second chuck 17; the first chuck 16 includes a first connecting block 161 and a first clamping block 162, the first connecting block 161 is fixedly installed on the upper part of the first sliding clamping block 4, one side of the first clamping block 162 is fixed to the first connecting block 161, and the other side of the first clamping block 162 extends above the second sliding clamping block 5; the second chuck 17 includes a second connecting block 171 and a second clamping block 172, the second connecting block 171 is fixedly installed on the upper part of the second sliding clamping block 5. One side of the second clamping block 172 is fixed to the second connecting block 171, and the other side of the second clamping block 172 extends above the first sliding clamping block 4; the side of the first clamping block 162 near the second clamping block 172 is the first clamping surface 1621, which is a concave arc shape, and a plurality of spaced first clamping surface grooves 1622 are provided on the first clamping surface 1621; the side of the second clamping block 172 near the first clamping block 162 is the second clamping surface 1721, which is a concave arc shape, and a plurality of spaced second clamping surface grooves 1722 are provided on the second clamping surface 1721.

[0056] In this embodiment, the first clamping surface 1621 and the second clamping surface 1721 cooperate to fix and clamp a cylindrical or dome-shaped workpiece. The first clamping surface groove 1622 and the second clamping surface groove 1722 are used to increase friction, which is beneficial to achieve stable clamping.

[0057] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components; and they can also refer to a "transmission connection," that is, a power connection through various suitable methods such as belt drive, gear drive, or sprocket drive. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

Claims

1. A high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure, characterized in that, include: The slide block comprises a main body, a double-sided rack and pinion drive, an external gear ring, a first sliding clamp and a second sliding clamp respectively slidably connected to the main body, and a first double gear and a second double gear respectively rotatably connected to the main body; the external gear ring is connected to the lower part of the main body, and the two form a synchronous rotation structure; the first and second sliding clamps are parallel and spaced apart; a first sliding rack is formed at the bottom of the first sliding clamp, and a second sliding rack is formed at the bottom of the second sliding clamp; a first driving rack and a second driving rack are formed on the upper two sides of the double-sided rack and pinion drive, respectively. The first double gear is located below the first sliding clamp, and its two ends mesh with the first driving rack and the first sliding rack, respectively; the second double gear is located below the second sliding clamp, and its two ends mesh with the second driving rack and the second sliding rack, respectively; the lower part of the double-sided rack drive is a connecting section, which is slidably connected to the outer gear ring of the slide block; the double-sided rack drive can simultaneously drive the first double gear and the second double gear to rotate when it moves vertically, thereby driving the first sliding clamp and the second sliding clamp to move laterally in opposite directions or relative to each other.

2. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure according to claim 1, characterized in that, The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure also includes a pin, the upper and lower parts of which are inserted into the slide body and the slide outer gear ring, respectively, to form the synchronous rotation structure.

3. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure according to claim 2, characterized in that, The upper part of the slide body is provided with a recessed first sliding groove and a second sliding groove. The first sliding clamp is disposed in the first sliding groove and is slidably connected to the first sliding groove. The second sliding clamp is disposed in the second sliding groove and is slidably connected to the second sliding groove. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure also includes a first limiting post and a second limiting post for limiting the relative lateral movement of the first sliding clamp and the second sliding clamp. The lower part of the first limiting post is fixed to the slide body, and the upper part extends into the first sliding groove. The lower part of the second limiting post is fixed to the slide body, and the upper part extends into the second sliding groove.

4. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure according to claim 3, characterized in that, The first double gear includes: a first double gear body and a first gear shaft that passes through and is rotatably connected to the first double gear body. The first double gear body includes a first small gear ring, a first cylindrical body, and a first large gear ring that are coaxially and fixedly connected in sequence. The number of teeth on the first small gear ring is less than the number of teeth on the first large gear ring. The first small gear ring meshes with a first drive rack, and the first large gear ring meshes with a first sliding rack. The second double gear includes: a second double gear body and a second gear shaft that passes through and is rotatably connected to the second double gear body. The second double gear body includes a second small gear ring, a second cylindrical body, and a second large gear ring that are coaxially and fixedly connected in sequence. The number of teeth on the second small gear ring is less than the number of teeth on the second large gear ring. The second small gear ring meshes with a second drive rack, and the second large gear ring meshes with a second sliding rack. The second double gear has the same structure as the first double gear.

5. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure according to claim 4, characterized in that, The slide body is rectangular in shape, and its length direction is aligned with the opening and closing directions of the first and second sliding clamps. The two side walls along the width direction of the slide body are the front wall and the rear wall, respectively. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure also includes a front limiting plate and a rear limiting plate. A first wheel axle limiting groove is formed within the slide body, and a first double-tooth receiving groove is also provided on the slide body, penetrating the front wall and communicating with the first wheel axle limiting groove. The front limiting plate is fixed to the slide body and covers the opening of the first double-tooth receiving groove. The first double gear is housed in the first double gear receiving groove. The bottom of the first axle limiting groove and the front limiting plate respectively limit the two ends of the first gear shaft. A second axle limiting groove is also formed in the slide body. The slide body is also provided with a second double gear receiving groove that penetrates the rear wall of the body and communicates with the second axle limiting groove. The rear limiting plate is fixed to the slide body and covers the opening of the second double gear receiving groove. The second double gear is housed in the second double gear receiving groove. The bottom of the second axle limiting groove and the rear limiting plate respectively limit the two ends of the second gear shaft.

6. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure according to claim 5, characterized in that, The front and rear walls of the slide block body are provided with recessed front and rear limiting grooves, the front limiting plate is received in the front limiting groove, and the rear limiting plate is received in the rear limiting groove.

7. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure according to claim 6, characterized in that, The two ends of the front limiting plate are fixed to the slide body by threaded connectors. A protruding front limiting boss is provided at the middle end of the front limiting plate near the first gear shaft. The first wheel shaft limiting groove and the first double gear receiving groove form a first support step. The front limiting boss is provided with a recessed first wheel shaft receiving hole. The first support step and the front limiting boss are respectively the two ends of the first double gear. The bottom of the first wheel shaft receiving hole and the bottom of the first wheel shaft limiting groove are respectively the two ends of the first gear shaft. Both ends of the rear limiting plate are fixed to the slide body by threaded connectors. A raised rear limiting boss is provided at the middle end of the rear limiting plate near the second gear shaft. A second support step is formed at the junction of the second wheel shaft limiting groove and the second double gear receiving groove. A recessed second wheel shaft receiving hole is provided on the rear limiting boss. The second support step and the rear limiting boss limit the two ends of the second double gear respectively. The bottom of the second wheel shaft receiving hole and the bottom of the second wheel shaft limiting groove limit the two ends of the second gear shaft respectively.

8. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure according to claim 7, characterized in that, The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure also includes an adapter plate disposed between the slide body and the slide outer gear ring. The adapter plate and the slide outer gear ring are fixedly connected by threaded connectors, and the adapter plate and the slide body are fixedly connected by threaded connectors. The middle part of the pin and the connecting section respectively penetrate the adapter plate.

9. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure according to claim 8, characterized in that, The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure further includes a rotating bearing fixedly sleeved outside the connecting section and a sliding sleeve fixedly sleeved outside the rotating bearing. The sliding sleeve is rotatably connected to the connecting section through the rotating bearing, and the sliding sleeve is slidably connected to the inner hole of the outer gear ring of the slide block.

10. The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure according to claim 8, characterized in that, The high-performance rotary electric gripper module based on a gear and rack multi-stage transmission structure further includes a first chuck and a second chuck. The first chuck includes a first connecting block and a first clamping block. The first connecting block is fixedly installed on the upper part of the first sliding clamping block. One side of the first clamping block is fixed to the first connecting block, and the other side of the first clamping block extends above the second sliding clamping block. The second chuck includes a second connecting block and a second clamping block. The second connecting block is fixedly installed on the upper part of the second sliding clamping block. One side of the second clamping block is fixed to the second connecting block, and the other side of the second clamping block extends above the first sliding clamping block. The side of the first clamping block near the second clamping block is a first clamping surface, which is a concave arc shape, and has multiple spaced-apart first clamping surface grooves. The side of the second clamping block near the first clamping block is a second clamping surface, which is a concave arc shape, and has multiple spaced-apart second clamping surface grooves.

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