Low back gap clamp-on module

Abstract

The utility model discloses a kind of low back gap clamping modules, it is related to mechanical automation field.It includes box, clamping jaw mechanism and clamping jaw drive motor;Clamping jaw mechanism includes claw block assembly, swing arm assembly and top head assembly, it includes and side-by-side setting and can be mobile towards and away from first claw block and second claw block, swing arm assembly includes first swing arm and second swing arm, and first swing arm and second swing arm are connected with first claw block and second claw block respectively, top head assembly is slidably arranged in box, and with first swing arm and second swing arm movably connected;The output end of clamping jaw drive motor is connected with ball screw, the working end of ball screw is inserted into box, and ball screw is equipped with ball nut, ball nut is fixedly connected with top head assembly.The utility model uses electric drive mode, makes clamping module clamping force torque stable, adopts ball screw transmission mode, can reduce wear rate, improve transmission accuracy and efficiency.

Description

Technical Field

[0001] This utility model relates to the field of mechanical automation, and in particular to a low backlash gripping module. Background Technology

[0002] The gripping module is a functional component in automated equipment used to grasp, fix, transport, or position workpieces, and is a key part of the actuator. The working accuracy of the gripping module directly determines its suitability for high-precision applications such as precision assembly and handling of small parts.

[0003] Currently, gripping modules typically employ pneumatic or electric drive. Pneumatic gripping modules suffer from poor control precision due to the inherent characteristics of pneumatic systems. Specifically, the compressibility of air makes precise position control difficult, resulting in lower repeatability compared to electric gripping modules. Furthermore, air pressure fluctuations affect the stability of the gripping force, hindering the achievement of high-precision force-controlled grasping actions. Electric gripping modules on the market generally use a common threaded screw (such as a T-screw) transmission structure. The output of the electric actuator converts rotational motion into linear motion via a screw-nut pair, driving the swing arm mechanism to open and close the grippers. However, this approach has the following drawbacks:

[0004] (1) Easy wear leads to short service life. The transmission of ordinary threaded screws relies on the sliding friction between the screw and the nut thread surface. The contact mode between the two is surface contact, with a high coefficient of friction. During transmission, large adhesive wear and abrasive wear will be generated between the thread surfaces. As the service life increases, the thread surface wear becomes severe, resulting in a short service life and requiring frequent adjustment or replacement.

[0005] (2) The transmission accuracy and efficiency are low. When assembling the screw and nut of a common threaded screw, a certain gap must be reserved to compensate for machining errors and thermal expansion. This gap will directly lead to reverse free travel. When the screw reverses, the nut will not follow the movement immediately, but will only start after the threaded surfaces are fully engaged. Free travel will seriously affect the positioning accuracy and repeatability. The transmission of a common threaded screw relies on the sliding friction between the screw and the nut threaded surfaces. The friction coefficient is high, and a large amount of the input torque is consumed in frictional heat, resulting in low transmission efficiency. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide a low backlash clamping module, which adopts an electric drive to stabilize the clamping force and torque of the clamping module, and adopts a ball screw transmission to reduce the wear rate and improve the transmission accuracy and efficiency.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] A low-backlash gripping module includes a housing, a gripper mechanism, and a gripper drive motor. The gripper mechanism includes a gripper block assembly, a swing arm assembly, and a top head assembly. The gripper block assembly is located at the front end of the housing and includes a first gripper block and a second gripper block arranged side-by-side and movable towards and away from each other. The swing arm assembly includes a first swing arm and a second swing arm, which are pivotally mounted inside the housing and connected to the first gripper block and the second gripper block, respectively. The top head assembly is slidably disposed inside the housing and movably connected to the first swing arm and the second swing arm. The top head assembly is used to simultaneously drive the first swing arm and the second swing arm. The first and second swing arms swing within the housing, respectively driving the first and second claw blocks to move. The gripper drive motor is installed at the rear end of the housing, and its output end is connected to a ball screw. The working end of the ball screw extends into the housing, and a ball nut is fitted on the ball screw. The ball nut is fixedly connected to the top assembly. An clearance opening is provided on the housing above the ball nut. A slotted sensor is installed above the clearance opening. A sensing component that extends upward through the clearance opening is installed on the ball nut. The sensing component matches the detection slot of the slotted sensor.

[0009] In some embodiments, the gripper drive motor is a hollow shaft motor, which includes a housing, a front cover, a rear cover, a stator assembly, a rotor assembly, and a hollow output shaft. The front cover and the rear cover are respectively installed at the front and rear ends of the housing. The stator assembly and the rotor assembly are disposed inside the housing, and the stator assembly is coaxially sleeved around the rotor assembly. The hollow output shaft is coaxially fixedly connected to the rotor assembly, and both ends of the hollow output shaft are supported by bearings in the bearing seats provided in the front cover and the rear cover. The center of the hollow output shaft is provided with an axially penetrating through hole, and the inner wall of the through hole is provided with a keyway. The connecting end of the ball screw is coaxially inserted into the through hole and connected to the through hole by a key.

[0010] Compared with the prior art, this utility model achieves at least the following beneficial effects:

[0011] The gripper drive motor drives the ball screw to rotate around its axis. The rotational motion of the ball screw forcibly transforms the helical motion of the balls into the pure linear motion of the ball nut. The ball nut drives the mandrel assembly to move linearly in the front-to-back direction within the housing. The mandrel assembly pushes forward or pulls backward the first and second swing arms, achieving synchronous swinging motion of the first and second swing arms. The swinging of the first and second swing arms can respectively drive the first and second jaw blocks to move, realizing the clamping and releasing of the workpiece. The use of a gripper drive motor ensures stable thrust torque of the mandrel assembly. The transmission structure of ball screws and ball nuts uses balls as the intermediate transmission medium to transform the friction between the screw and nut into rolling friction between the balls and the raceway. The contact method is point contact. Compared with the sliding friction between the threaded surfaces of ordinary threaded screws and nuts in existing technologies, the friction coefficient is lower, the precision is higher, and the transmission efficiency is higher. Moreover, the surface hardness of the helical raceway of ball screws and ball nuts is much higher than that of ordinary threaded screws, which can effectively resist the indentation and wear during ball rolling, reduce the wear rate, and greatly extend the service life. It is suitable for use in high-precision automated production scenarios. Attached Figure Description

[0012] One or more embodiments of the present invention will now be described by way of example only with reference to the accompanying drawings, in which:

[0013] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of this application;

[0014] Figure 2 This is an exploded view of Embodiment 1 of this application;

[0015] Figure 3 This is a schematic diagram of the connection structure between the gripper mechanism, the ball nut, and the housing in Embodiment 1 of this application.

[0016] Figure 4 This is a schematic diagram of the gripper mechanism in Embodiment 1 of this application;

[0017] Figure 5 This is a schematic diagram of the structure of Embodiment 2 of this application.

[0018] The diagram is labeled as follows: 1. Housing; 11. Clearance opening; 12. Mounting slot; 13. Cavity; 131. Transverse cavity; 132. Longitudinal cavity; 2. Gripper mechanism; 21. Gripper block assembly; 211. First gripper block; 2111. First connecting hole; 212. Second gripper block; 2121. Second connecting hole; 213. Sliding part; 214. Clamping part; 2141. Mounting through hole; 2142. Positioning slot; 2143. Mounting blind hole; 22. Swing arm assembly; 221. First swing arm; 221a. First fork part; 221b. First connector; 22 2. Second swing arm; 222a. Second shift fork; 222b. Second connector; 23. Top assembly; 231. Slide; 232. First connecting plate; 233. Second connecting plate; 234. Fixed shaft; 3. Gripper drive motor; 31. Housing; 32. Front cover; 33. Rear cover; 34. Hollow output shaft; 341. Through hole; 4. Ball screw; 41. Ball nut; 411. Sensing component; 5. Slotted sensor; 6. Gripper block base; 61. Slide groove; 62. First connecting groove; 63. Second connecting groove; 7. Bearing pin; 8. Connecting seat. Detailed Implementation

[0019] The present invention will now be described in detail with reference to exemplary embodiments shown in the accompanying drawings. However, it should be understood that the present application may be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided herein to make the disclosure of this application more complete and to fully convey the concept of the present application to those skilled in the art.

[0020] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "several" or "more than" means two or more, unless otherwise explicitly specified. In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or it can include contact between the first and second features through another feature between them. Moreover, "above," "over," and "on top" of a second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0021] Example 1

[0022] like Figures 1-4 As shown, the low backlash gripping module of Embodiment 1 includes a housing 1, a gripper mechanism 2, and a gripper drive motor 3.

[0023] The gripper mechanism 2 includes a gripper block assembly 21, a swing arm assembly 22, and a top assembly 23. The gripper block assembly 21 is located at the front end of the housing 1 and includes a first gripper block 211 and a second gripper block 212 arranged side by side and movable towards and away from each other. The swing arm assembly 22 includes a first swing arm 221 and a second swing arm 222, which are pivotally mounted inside the housing 1 and connected to the first gripper block 211 and the second gripper block 212, respectively. The top assembly 23 is slidably disposed inside the housing 1 and is movably connected to the first swing arm 221 and the second swing arm 222. The top assembly 23 is used to simultaneously drive the first swing arm 221 and the second swing arm 222 to swing within the housing 1. When the first swing arm 221 and the second swing arm 222 swing, they respectively drive the first gripper block 211 and the second gripper block 212 to move. Motor 3 is installed at the rear end of housing 1, and the output end of the gripper drive motor 3 is connected to ball screw 4. The working end of ball screw 4 extends into housing 1, and ball nut 41 is sleeved on ball screw 4. Ball nut 41 is fixedly connected to top assembly 23. Ball screw 4 and ball nut 41 are heat treated, and the material hardness value ranges from HRC58 to 62. The surface hardness of the spiral raceway of ball screw 4 and ball nut 41 is high, which can effectively resist the indentation and wear when the ball rolls, avoid the failure of the raceway such as pitting and peeling, reduce the wear rate from the root, and extend the service life. Housing 1 is provided with clearance opening 11 above ball nut 41. A slotted sensor 5 is installed above clearance opening 11. A sensing component 411 that extends upward through clearance opening 11 is installed on ball nut 41. The sensing component 411 matches the detection slot of slotted sensor 5.

[0024] Optionally, the gripper drive motor 3 is a hollow shaft motor, which includes a housing 31, a front cover 32, a rear cover 33, a stator assembly, a rotor assembly, and a hollow output shaft 34. The front cover 32 and the rear cover 33 are respectively installed at the front and rear ends of the housing 31. The stator assembly and the rotor assembly are located inside the housing 31, and the stator assembly is coaxially sleeved around the rotor assembly. The hollow output shaft 34 is coaxially fixedly connected to the rotor assembly, and both ends of the hollow output shaft 34 are supported by bearings in the bearing seats provided in the front cover 32 and the rear cover 33. The center of the hollow output shaft 34 is provided with an axially penetrating through hole 341, and the inner wall of the through hole 341 is provided with a keyway. The connecting end of the ball screw 4 is coaxially inserted into the through hole 341 and connected to the through hole 341 by a key. When current is applied to the stator assembly of the gripper drive motor 3, a rotating magnetic field is generated. Under the action of the rotating magnetic field, the rotor assembly (including permanent magnets) generates electromagnetic torque, which drives the rotor assembly to rotate around the axis of the gripper drive motor 3. The rotor assembly drives the hollow output shaft 34 and the ball screw 4 to rotate. The ball screw 4 converts its rotational motion into the linear motion of the ball nut 41. The ball nut 41 drives the top assembly 23 to move linearly in the front-back direction within the housing 1. The top assembly 23 pushes forward or pulls backward the first swing arm 221 and the second swing arm 222. When the top assembly 23 pushes the first swing arm 221 and the second swing arm 222 forward, the first swing arm 221 and the second swing arm 222 simultaneously swing outward in an open posture, and the first swing arm 221 and the second swing arm 222 respectively drive the first claw block 211 and the second claw block 212 to move, realizing the opposite movement of the first claw block 211 and the second claw block 212; conversely, when the top assembly 23 pulls the first swing arm 221 and the second swing arm 222 backward, the first swing arm 221 and the second swing arm 222 simultaneously swing inward in a closed posture, realizing the opposite movement of the first claw block 211 and the second claw block 212.

[0025] The top of the housing 1 is provided with a mounting groove 12, and the clearance opening 11 is located at the bottom of the mounting groove 12. The slot sensor 5 is installed on the top of the mounting groove 12 and is connected to the motor driver of the gripper drive motor 3. The sensing component 411 moves linearly along the clearance opening 11 with the ball nut 41. When the sensing component 411 moves into the detection groove of the slot sensor 5, it blocks the light beam. The slot sensor 5 detects the signal change and outputs an electrical signal to detect the sensing component 411. The installation position of the slot sensor 5 can be adjusted according to the position where the ball nut 41 needs to stop (set as the origin position). Thus, when the ball nut 41 moves to the origin position, the slot sensor 5 outputs an electrical signal to the motor driver of the gripper drive motor 3. The motor driver controls the gripper drive motor 3 to stop working to ensure gripping accuracy.

[0026] The front end of the housing 1 is fixedly connected to a claw block base 6. The front end of the claw block base 6 is provided with a sliding groove 61. The first claw block 211 and the second claw block 212 are slidably connected to the sliding groove 61.

[0027] Furthermore, the rear ends of the first claw block 211 and the second claw block 212 are respectively provided with a first connecting hole 2111 and a second connecting hole 2121, and the rear ends of the claw block base 6 are respectively provided with a first connecting groove 62 and a second connecting groove 63 corresponding to the first connecting hole 2111 and the second connecting hole 2121; the first swing arm 221 and the second swing arm 222 are both V-shaped, and the bent portions of the first swing arm 221 and the second swing arm 222 are rotatably connected to the housing 1. One end of the first swing arm 221 is provided with a first fork portion 221a, and the other end is provided with... The first connector 221b passes through the first connecting groove 62 and is inserted into the first connecting hole 2111. One end of the second swing arm 222 is provided with a second fork 222a, and the other end is provided with a second connector 222b. The second connector 222b passes through the second connecting groove 63 and is inserted into the second connecting hole 2121. The fork of the first fork 221a is parallel to the fork of the second fork 222a above it, and both the fork of the first fork 221a and the fork of the second fork 222a are movably connected to the top assembly 23.

[0028] Furthermore, the housing 1 is provided with a cross-shaped cavity 13, which includes a transverse cavity 131 and a longitudinal cavity 132; the top assembly 23 includes a slide 231, a first connecting plate 232, a second connecting plate 233 and a fixed shaft 234. The slide 231 is slidably disposed in the longitudinal cavity 132 and is fixedly connected to the ball nut 41. The first connecting plate 232 and the second connecting plate 233 are vertically fixedly connected to the slide 231, and the first connecting plate 232 and the second connecting plate 233 are parallel. The fixed shaft 234 is fixedly connected between the first connecting plate 232 and the second connecting plate 233; the fork of the first shift fork 221a and the fork of the second shift fork 222a are both sleeved on the fixed shaft 234. Bearings are installed at the bent parts of the first swing arm 221 and the bent parts of the second swing arm 222. The inner ring of the bearing is provided with a bearing pin 7. The two ends of the bearing pin 7 are fixedly connected to the top and bottom of the transverse cavity 131, respectively, so that the first swing arm 221 and the second swing arm 222 can swing around the axes of the two bearing pins 7 respectively.

[0029] Furthermore, both the first claw block 211 and the second claw block 212 include a sliding part 213 and a clamping part 214. The sliding part 213 is slidably connected to the slide groove 61, and the clamping part 214 is integrally connected to the sliding part 213. The clamping part 214 is provided with a plurality of mounting through holes 2141 penetrating the side walls on both sides. The mounting through holes 2141 are used to install the clamp, and the clamp can be installed on the side of the clamping part 214.

[0030] A connecting seat 8 is fixedly connected between the rear end of the housing 1 and the gripper drive motor 3. The connecting seat 8 has a cylindrical hole in the middle for the ball screw 4 to pass through.

[0031] In use, the gripper drive motor 3 drives the ball screw 4 to rotate around its axis, causing the helical raceway on the ball screw 4 to rotate accordingly. A large number of balls filling the space between the helical raceway of the ball screw 4 and the helical raceway of the ball nut 41 circulate and roll. The rotational constraint of the ball nut 41 forces the helical motion path of the balls into a purely linear motion of the ball nut 41. The ball nut 41 drives the mandrel assembly 23 to move linearly in the front-back direction within the housing 1. The mandrel assembly 23 pushes forward or pulls backward the first swing arm 221 and the second swing arm 222, achieving synchronous swinging motion of the first swing arm 221 and the second swing arm 222. The swinging of the first swing arm 221 and the second swing arm 222 can respectively drive the first jaw block 211 and the second jaw block 212 to move, achieving opposite or opposite movement of the first jaw block 211 and the second jaw block 212, thereby clamping and releasing the workpiece. The gripper drive motor 3 drives the mandrel... The thrust torque of component 23 is stable. It adopts a transmission structure of ball screw 4 and ball nut 41. By using the balls as the intermediate transmission medium, the friction between the screw and the nut is converted into rolling friction between the balls and the raceway. The contact method is point contact. Compared with the sliding friction method between the threaded surface of the ordinary threaded screw and the nut in the prior art, the friction coefficient is lower and the precision is higher. It is suitable for use in high-precision automated production scenarios. Moreover, the surface hardness of the helical raceway of ball screw 4 and ball nut 41 is much higher than that of ordinary threaded screws. It can effectively resist the indentation and wear when the balls roll, reduce the wear rate, and greatly extend the service life. When the sensing component 411 on the ball nut 41 moves into the detection slot of the slotted sensor 5, the ball nut 41 returns to the set origin position. The slotted sensor 5 outputs an electrical signal to the motor driver of the gripper drive motor 3. The motor driver controls the gripper drive motor 3 to stop working, improving the working accuracy of the gripping module.

[0032] Example 2

[0033] like Figure 5 As shown, the difference between this embodiment and Embodiment 1 is that: both the first claw block 211 and the second claw block 212 include a sliding part 213 and a clamping part 214. The sliding part 213 is slidably connected to the sliding groove 61, and the clamping part 214 is integrally connected to the sliding part 213. The front end of the clamping part 214 is provided with a positioning groove 2142 and several mounting blind holes 2143. The positioning groove 2142 is located between two adjacent mounting blind holes 2143. The mounting blind holes 2143 are used to install the fixture, so that the fixture can be installed at the front end of the clamping part 214. The positioning groove 2142 is used to assist in positioning when installing the fixture to ensure the installation accuracy of the fixture.

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

Claims

1. A low back-gap clamp-in-module, characterized by: It includes a housing (1), a gripper mechanism (2), and a gripper drive motor (3); The gripper mechanism (2) includes a gripper block assembly (21), a swing arm assembly (22), and a top assembly (23). The gripper block assembly (21) is located at the front end of the housing (1) and includes a first gripper block (211) and a second gripper block (212) arranged side by side and movable towards and away from each other. The swing arm assembly (22) includes a first swing arm (221) and a second swing arm (222). The first swing arm (221) and the second swing arm (222) are pivotally mounted inside the housing (1), and the first swing arm (221) and the second swing arm (222) are... The swing arm (222) is connected to the first claw block (211) and the second claw block (212) respectively. The top head assembly (23) is slidably disposed in the housing (1) and is movably connected to the first swing arm (221) and the second swing arm (222). The top head assembly (23) is used to simultaneously drive the first swing arm (221) and the second swing arm (222) to swing in the housing (1). When the first swing arm (221) and the second swing arm (222) swing, they are used to drive the first claw block (211) and the second claw block (212) to move respectively. The gripper drive motor (3) is installed at the rear end of the housing (1), and the output end of the gripper drive motor (3) is connected to a ball screw (4). The working end of the ball screw (4) extends into the housing (1), and a ball nut (41) is sleeved on the ball screw (4). The ball nut (41) is fixedly connected to the top assembly (23). The housing (1) has an clearance opening (11) above the ball nut (41). A slotted sensor (5) is installed above the clearance opening (11). A sensing component (411) that extends upward through the clearance opening (11) is installed on the ball nut (41). The sensing component (411) matches the detection slot of the slotted sensor (5).

2. The low back-gap clamp-in-module of claim 1, wherein: The gripper drive motor (3) is a hollow shaft motor, which includes a housing (31), a front cover (32), a rear cover (33), a stator assembly, a rotor assembly, and a hollow output shaft (34). The front cover (32) and the rear cover (33) are respectively installed at the front and rear ends of the housing (31). The stator assembly and the rotor assembly are located inside the housing (31), and the stator assembly is coaxially sleeved around the rotor assembly. The hollow output shaft (34) is coaxially fixedly connected to the rotor assembly, and both ends of the hollow output shaft (34) are supported by bearings in the bearing seats provided by the front cover (32) and the rear cover (33). The center of the hollow output shaft (34) is provided with an axially penetrating through hole (341), and the inner wall of the through hole (341) is provided with a keyway. The connecting end of the ball screw (4) is coaxially inserted into the through hole (341) and connected to the through hole (341) by a key.

3. The low back-gap clamp-in-module of claim 1, wherein: The top of the housing (1) is provided with a mounting groove (12), the clearance opening (11) is located at the bottom of the mounting groove (12), and the groove-shaped sensor (5) is installed on the top of the mounting groove (12).

4. The low backlash gripping module according to claim 1, characterized in that: The front end of the housing (1) is fixedly connected to a claw block base (6), and the front end of the claw block base (6) is provided with a sliding groove (61). The first claw block (211) and the second claw block (212) are slidably connected on the sliding groove (61).

5. The low backlash gripping module according to claim 4, characterized in that: The rear ends of the first claw block (211) and the second claw block (212) are respectively provided with a first connecting hole (2111) and a second connecting hole (2121). The rear end of the claw block base (6) is respectively provided with a first connecting groove (62) and a second connecting groove (63) corresponding to the first connecting hole (2111) and the second connecting hole (2121). The first swing arm (221) and the second swing arm (222) are both V-shaped, and the bent parts of the first swing arm (221) and the bent parts of the second swing arm (222) are rotatably connected in the housing (1). One end of the first swing arm (221) is provided with a first fork part (221a), and the other end is provided with a first fork part (221a). A connector (221b) is provided, which passes through the first connecting groove (62) and is inserted into the first connecting hole (2111). One end of the second swing arm (222) is provided with a second fork (222a), and the other end is provided with a second connector (222b). The second connector (222b) passes through the second connecting groove (63) and is inserted into the second connecting hole (2121). The fork of the first fork (221a) is parallel to the fork of the second fork (222a), and the forks of the first fork (221a) and the second fork (222a) are movably connected to the top assembly (23).

6. The low backlash gripping module according to claim 5, characterized in that: The housing (1) has a cross-shaped cavity (13) inside, which includes a transverse cavity (131) and a longitudinal cavity (132). The top assembly (23) includes a slide (231), a first connecting plate (232), a second connecting plate (233), and a fixed shaft (234). The slide (231) is slidably disposed in the longitudinal cavity (132) and fixedly connected to the ball nut (41). The first connecting plate (232) and the second connecting plate (233) are vertically fixedly connected to the slide (231) and are parallel to each other. The fixed shaft (234) is fixedly connected between the first connecting plate (232) and the second connecting plate (233). The fork of the first shift fork (221a) and the fork of the second shift fork (222a) are both sleeved on the fixed shaft (234).

7. The low backlash gripping module according to claim 6, characterized in that: Bearings are installed on the bent portions of the first swing arm (221) and the second swing arm (222). The inner ring of the bearing is provided with a bearing pin (7), and the two ends of the bearing pin (7) are fixedly connected to the top and bottom of the transverse cavity (131) respectively.

8. The low backlash gripping module according to claim 5, characterized in that: The first claw block (211) and the second claw block (212) both include a sliding part (213) and a clamping part (214). The sliding part (213) is slidably connected to the slide groove (61). The clamping part (214) is integrally connected to the sliding part (213), and the clamping part (214) is provided with a plurality of mounting through holes (2141) penetrating the two side walls. The mounting through holes (2141) are used to install the clamp.

9. The low backlash gripping module according to claim 5, characterized in that: The first claw block (211) and the second claw block (212) both include a sliding part (213) and a clamping part (214). The sliding part (213) is slidably connected to the sliding groove (61). The clamping part (214) is integrally connected to the sliding part (213). The front end of the clamping part (214) is provided with a positioning groove (2142) and a plurality of mounting blind holes (2143). The positioning groove (2142) is located between two adjacent mounting blind holes (2143). The mounting blind holes (2143) are used to install the clamp.

10. The low backlash gripping module according to claim 1, characterized in that: A connecting seat (8) is fixedly connected between the rear end of the housing (1) and the gripper drive motor (3). The connecting seat (8) has a cylindrical hole in the middle for the ball screw (4) to pass through.

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