Electric gripper and robot

Abstract

The utility model belongs to product clamping technical field discloses electrically operated clamping jaw and robot. Electrically operated clamping jaw includes casing, a plurality of fingers, transmission rod, drive shaft, sealing element and drive element, a plurality of fingers are spaced apart distribution around the circumference of casing, and one side of finger is used for clamping product, and the other side is provided with connecting rod subassembly, transmission rod is connected with a plurality of connecting rod subassembly, drive shaft is connected with transmission rod to drive transmission rod rotation to drive a plurality of connecting rod subassembly activities, and then drive a plurality of fingers clamping or releasing product, sealing element is fixedly arranged in transmission rod and is sealed with drive shaft and is attached, drive element is connected with drive shaft to drive drive shaft rotation. Therefore when electrically operated clamping jaw is applied in humid or dusty environment, moisture or dust can not invade between drive shaft and transmission rod, ensure that drive shaft and transmission rod can stable transmission, can ensure that finger accurately complete the action of clamping or releasing, effectively improve the stability and reliability of electrically operated clamping jaw.

Description

Technical Field

[0001] This utility model relates to the field of product clamping technology, and in particular to electric grippers and robots. Background Technology

[0002] As a core component of robot end effectors, grippers are widely used in assembly, sorting, and handling operations. The stability of their gripping directly depends on whether the transmission mechanism can transmit power stably. Therefore, the composition and layout of the transmission mechanism directly affect the stability and reliability of the grippers during use.

[0003] In existing technologies, grippers generally use a motor to drive a drive shaft to rotate, and then use a linkage mechanism (such as a four-bar or five-bar linkage) to convert the rotational motion into linear or oscillating motion of the gripper fingers. The connection between the drive shaft and one end of the transmission rod usually relies on a mechanical clearance fit and is protected by an external rubber ring. The other end of the transmission rod is connected to the gripper fingers via a hinge, forming a motion transmission link.

[0004] However, as the drive shaft and transmission rod rotate, gaps can easily form between the rubber ring and the drive shaft and transmission rod. When the gripper is used in a humid or dusty environment, water molecules and dust can easily penetrate between the drive shaft and transmission rod through the gaps. This causes the drive shaft to have to overcome increased resistance to drive the transmission rod, resulting in slow gripper movement, unstable gripping force, and even jamming or transmission rod breakage. Consequently, the gripper cannot complete precise gripping or release actions, resulting in poor stability and reliability of the gripper. Utility Model Content

[0005] The purpose of this invention is to provide an electric gripper and robot to solve the problem that in the prior art, when grippers are used in humid or dusty environments, water molecules and dust can easily enter between the drive shaft and the transmission rod, affecting the transmission and causing the gripper fingers to be unable to complete precise gripping and releasing actions, resulting in poor stability and reliability of the gripper.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] In a first aspect, this application provides an electric gripper, which includes:

[0008] chassis;

[0009] Multiple gripping fingers are circumferentially spaced around the housing. One side of each gripping finger is used to grip the product, and the other side is provided with a connecting rod assembly. The connecting rod assembly includes a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod. The first connecting rod is rotatably connected to the housing. The second connecting rod is rotatably connected to one end of the first connecting rod. One end of the third connecting rod is rotatably connected to the second connecting rod, and the other end is connected to the gripping finger. One end of the fourth connecting rod is rotatably connected to the third connecting rod, and the other end is rotatably connected to the housing.

[0010] A transmission rod, connected to multiple first connecting rods;

[0011] A drive shaft is connected to the transmission rod to drive the transmission rod to rotate, thereby driving the plurality of first links to rotate, and then driving the plurality of gripper fingers to grip or release the product through the link assembly;

[0012] A sealing element is fixedly disposed on the transmission rod and sealed to the drive shaft;

[0013] A drive unit, connected to the drive shaft to drive the drive shaft to rotate.

[0014] Optionally, a pressure sensor is provided at the connection between the linkage assembly and the gripper finger.

[0015] Optionally, an elastic locking element is provided at the rotatable connection between the first link and the second link, the elastic locking element being used to limit the opening and closing angle of the first link and the second link.

[0016] Optionally, the transmission rod is a worm gear, and a worm wheel that meshes with the worm gear is provided at one end of the first connecting rod near the transmission rod.

[0017] Optionally, a pad is provided on the side of the gripper away from the linkage assembly, and a plurality of blind holes are spaced apart on the side of the pad away from the gripper to generate pneumatic damping during product gripping.

[0018] Optionally, the diameter of the blind hole decreases in the direction close to the gripper finger.

[0019] Optionally, the driving component is a hollow rotary motor, which is sleeved on the driving shaft to drive the driving shaft to rotate.

[0020] Optionally, the sealing element is a sealing sleeve, which is fixedly disposed on the transmission rod. The end of the sealing sleeve near the drive shaft has a sealing ring platform. Both the sealing ring platform and the end face of the drive shaft are provided with sealing labyrinth grooves that interlock and cooperate with each other. The labyrinth grooves are filled with grease.

[0021] Optionally, the electric gripper further includes:

[0022] A base is fitted over the drive shaft and the seal. A first sealing ring is provided between the base and the seal, and a second sealing ring is provided between the base and the drive shaft.

[0023] Secondly, this application provides a robot, which includes:

[0024] robotic arm;

[0025] The electric gripper as described in any one of the first aspects is disposed on the robotic arm.

[0026] The beneficial effects of this utility model are:

[0027] Firstly, by setting a seal that fits snugly against the drive shaft, the connection between the transmission rod and the drive shaft is sealed within the sealing sleeve. When the drive unit rotates the drive shaft, the drive shaft drives the transmission rod and the seal to rotate synchronously. The transmission rod then drives multiple grippers to perform gripping or releasing actions via the linkage assembly. Therefore, when the electric gripper is used in a humid or dusty environment, the seal and drive shaft maintain a tight seal, and the seal rotates synchronously with the drive shaft. This ensures a good sealing effect between the drive shaft and the seal during rotation, preventing gaps from forming between them due to the rotation of the drive shaft. This prevents external water molecules or dust from penetrating between the drive shaft and the transmission rod, ensuring stable transmission between them. This, in turn, ensures that the grippers accurately complete gripping or releasing actions, effectively improving the stability and reliability of the electric gripper.

[0028] Secondly, when in use, the robot can grip or release products in humid and dusty environments using its electric gripper. Water molecules or dust in the environment are unlikely to penetrate into the electric gripper and affect its gripping and releasing actions, thus enabling the robot to be used in complex environments and effectively improving its application scenarios and adaptability. Attached Figure Description

[0029] Figure 1 This is a partial cross-sectional structural diagram of the electric gripper in an embodiment of this utility model;

[0030] Figure 2 This is an exploded structural diagram of the drive shaft, transmission rod, and base of the electric gripper in this embodiment of the utility model.

[0031] Figure 3 This is a schematic diagram of the drive shaft of the electric gripper in an embodiment of this utility model;

[0032] Figure 4 This is a schematic diagram of the worm and worm wheel structure of the electric gripper in this utility model embodiment;

[0033] Figure 5 This is a partial enlarged cross-sectional view of the electric gripper in an embodiment of this utility model;

[0034] Figure 6 This is a schematic diagram of the gripping fingers and padding layer of the electric gripper in an embodiment of this utility model;

[0035] Figure 7 This is a schematic diagram of the pad layer of the electric gripper in an embodiment of this utility model;

[0036] Figure 8 This is a cross-sectional view of the pad layer of the electric gripper in an embodiment of this utility model.

[0037] In the picture:

[0038] 1. Housing; 11. Drain hole; 2. Clip finger; 21. Pad layer; 22. Blind hole; 3. Transmission rod; 31. Worm gear; 4. Drive shaft; 5. Seal; 51. Sealing ring platform; 52. Sealing labyrinth groove; 6. Drive component; 7. Linkage assembly; 71. First link; 72. Second link; 73. Third link; 74. Fourth link; 75. Locking spring; 76. Pressure sensor; 8. Unlocking mechanism; 81. First protrusion; 82. Second protrusion; 83. Connecting rod; 84. Insertion cavity; 9. Base; 91. First sealing ring; 92. Second sealing ring; 93. First bearing; 94. Second bearing. Detailed Implementation

[0039] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0040] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0041] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the 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" the 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.

[0042] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0043] like Figures 1 to 8 As shown, this utility model provides an electric gripper and a robot.

[0044] Reference Figures 1 to 4 The electric gripper includes a housing 1, multiple gripping fingers 2, a transmission rod 3, a drive shaft 4, a seal 5, and a drive component 6. The multiple gripping fingers 2 are circumferentially spaced around the housing 1. One side of each gripping finger 2 is used to grip the product, and the other side is provided with a linkage assembly 7. The linkage assembly 7 includes a first link 71, a second link 72, a third link 73, and a fourth link 74. The first link 71 is rotatably connected to the housing 1. The second link 72 is rotatably connected to one end of the first link 71. One end of the third link 73 is rotatably connected to the second link 72, and the other end is connected to the gripping finger 2. One end of the fourth link 74 is rotatably connected to the third link 73, and the other end is rotatably connected to the housing 1.

[0045] The transmission rod 3 is connected to multiple first connecting rods 71; the drive shaft 4 is connected to the transmission rod 3 to drive the multiple first connecting rods 71 ​​to rotate by driving the transmission rod 3 to rotate, and then drive multiple gripping fingers 2 to grip or release the product through the connecting rod assembly 7; the seal 5 is fixedly installed on the transmission rod 3 and sealed to the drive shaft 4; the drive component 6 is connected to the drive shaft 4 to drive the drive shaft 4 to rotate.

[0046] By setting the seal 5 to cooperate with the drive shaft 4 to form a sealed fit, the connection between the transmission rod 3 and the drive shaft 4 is sealed within the sealing sleeve. When the drive component 6 drives the drive shaft 4 to rotate, the drive shaft 4 drives the transmission rod 3 and the seal 5 to rotate synchronously. The transmission rod 3 then drives multiple gripper fingers 2 to perform gripping or releasing actions through the connecting rod assembly 7. Therefore, when the electric gripper is used in a humid or dusty environment, the seal 5 and the drive shaft 4 are sealed together, and the seal 5 rotates synchronously with the drive shaft 4. This ensures that the drive shaft 4 and the seal 5 maintain a good sealing effect during rotation, and no gaps are generated between them due to the rotation of the drive shaft 4. This prevents external water molecules or dust from penetrating between the drive shaft 4 and the transmission rod 3, ensuring stable transmission between the drive shaft 4 and the transmission rod 3. This, in turn, ensures that the gripper fingers 2 accurately complete the gripping or releasing actions, effectively improving the stability and reliability of the electric gripper.

[0047] Optionally, the transmission rod 3 is rotatably connected inside the housing 1 and is a worm gear. A fan-shaped worm wheel 31 meshing with the worm gear is provided at the end of the first connecting rod 71 near the transmission rod 3. Only one transmission rod 3 is provided, while two clamping fingers 2 can be arranged opposite each other. Two sets of connecting rod assemblies 7 are correspondingly provided with two worm wheels 31 that simultaneously mesh with one worm gear. The transmission rod 3 can also be connected to multiple connecting rod assemblies 7 via a gear set; the specific design can be tailored to the actual installation space.

[0048] The end of the first link 71 furthest from the worm gear 31 is hinged to the second link 72 to achieve rotation. To achieve adaptive gripping and resetting, an elastic locking element 75 is provided at the rotational connection between the first link 71 and the second link 72. The elastic locking element 75 is used to limit the opening and closing angle of the first link 71 and the second link 72. The elastic locking element 75 can be a torsion spring or other elastic structures, specifically designed according to the connection structure between the first link 71 and the second link 72, which is not limited in this application. In other preferred embodiments of this application, the elastic locking element 75 can also be provided between the second link 72 and the third link 73, the function of which is to limit the motion configuration of the five-bar linkage to a virtual quadrilateral structure. The third link 73 is hinged to the end of the second link 72 furthest from the first link 71, and a pressure sensor 76 is provided at the connection between the link assembly 7 and the gripper finger 2. That is, the pressure sensor 76 is integrated at the connection between the third link 73 and the gripper finger 2 to accurately detect the gripping force applied by the gripper finger 2. Two fourth links 74 can be arranged opposite each other, located on the left and right sides of the third link 73 respectively, so that the link assembly 7 is a five-link structure.

[0049] The drive shaft 4 is located below the transmission rod 3 and can be arranged coaxially with the worm gear to further reduce the radial space occupied. The drive shaft 4 is connected to the drive component 6, which can be a servo motor or an electric cylinder, etc. It can be connected to the drive shaft 4 through a reduction gearbox or other transmission structures. In this embodiment, to further reduce the space occupied, the drive component 6 is a hollow rotary motor, which can be sleeved on the drive shaft 4 so that the rotor of the drive component 6 is connected to the drive shaft to drive the drive shaft to rotate.

[0050] The top of the drive shaft 4 is connected to the worm gear. An unlocking mechanism 8 is provided at the connection point between the two. The unlocking mechanism 8 can move within a first angle range, allowing the drive shaft 4 to rotate freely within the first angle range. The first angle range can be 30°, 60°, or 90°, or other degrees. The specific design can be based on the impact required for actual unlocking.

[0051] The self-locking mechanism formed by the meshing of the worm gear 31 and the worm can lock the rotation of the linkage assembly 7. When the linkage assembly 7 needs to be reversed, the drive member 6 drives the drive shaft 4 to reverse. At this time, the drive shaft 4 will first rotate relative to the worm within a first angle range, causing the unlocking mechanism 8 to rotate at the first angle and generate an impact. This impact can drive the worm to rotate, thereby releasing the self-locking between the worm and the worm gear 31, allowing the linkage assembly 7 to reverse smoothly. Therefore, during use, the electric gripper uses the self-locking of the worm and the worm gear 31 to achieve locking. When unlocking, the drive shaft 4 can rotate freely relative to the worm within a first angle range, thereby driving the unlocking mechanism 8 to generate an impact. The inertia generated by this impact can drive the worm to rotate and release the self-locking. Thus, the electric gripper does not need to set up an electromagnetic locking mechanism, and there is no need to reserve space for the corresponding structure. This effectively reduces the overall size and weight of the drive device, making the electric gripper smaller and more convenient for application in confined spaces. At the same time, the weight of the electric gripper is also lighter, which is beneficial to improving the load capacity and movement flexibility of the electric gripper, thereby effectively improving the application performance of the robot containing the electric gripper.

[0052] Optionally, the unlocking mechanism 8 includes a first protrusion 81 and a second protrusion 82, one of which is fixedly mounted on the worm gear and the other is fixedly mounted on the drive shaft 4. The first protrusion 81 and the second protrusion 82 are distributed circumferentially along the drive shaft 4 so that when the drive shaft 4 reverses within the first angle range, it can drive the second protrusion 82 to impact the first protrusion 81.

[0053] Specifically, a first protrusion 81 and a second protrusion 82 are respectively formed at the connection between the worm and the drive shaft 4, taking the first protrusion 81 on the worm and the second protrusion 82 on the drive shaft 4 as an example. The first protrusion 81 and the second protrusion 82 are distributed axially at intervals of a first angle, so that when the drive shaft 4 reverses, the second protrusion 82 will first rotate within the first angle range, and after rotating beyond the first angle, it will collide with the first protrusion 81 to generate an impact. In order to improve the impact resistance of the overall structure, multiple first protrusions 81 can be distributed at intervals, and a second protrusion 82 is provided between two adjacent first protrusions 81.

[0054] To improve the impact effect, the contact surfaces of the first protrusion 81 and the second protrusion 82 are perpendicular to the rotation direction of the drive shaft 3. This ensures that the force generated when the first protrusion 81 and the second protrusion 82 impact each other is perpendicular to the radial direction of the drive shaft 4, thereby effectively increasing the torque and maximizing the impact force to drive the transmission rod 3 to rotate. Furthermore, the second protrusion 82 is inclined towards the side of the first protrusion 81. When the second protrusion 82 collides with the first protrusion 81, the inclined surface of the second protrusion 82 will first contact the first protrusion 81. As the second protrusion 82 rotates, the inclined surface gradually presses against the first protrusion 81 to generate impact, thus avoiding the possibility of surface contact and excessive noise during the collision.

[0055] Optionally, either the worm gear or the drive shaft 4 is provided with a connecting rod 83, a first protrusion 81 is provided on the connecting rod 83, and the other is provided with a insertion cavity 84 for the connecting rod 83 to be inserted, and a second protrusion 82 is provided on the cavity wall of the insertion cavity 84.

[0056] Specifically, taking the first protrusion 81 as an example, the connecting rod 83 is set on the worm and is coaxial with the worm. The two can be fixed together by welding. In this embodiment, in order to improve the connection strength between the connecting rod 83 and the worm, the connecting rod 83 and the worm are integrated into one structure.

[0057] The upper end face of the drive shaft 4 is recessed to form a insertion cavity 84, and a second protrusion 82 is provided on the cavity wall of the insertion cavity 84. The depth of the insertion cavity 84 can be adapted to the depth of the connecting rod 83, that is, the connecting rod 83 can be completely inserted into the insertion cavity 84, so as to further save axial space and reduce the axial dimension of the drive device. It should be understood that the insertion cavity 84 can also be opened at the lower end of the connecting rod 83. In this case, the upper end of the drive shaft 4 is inserted into the insertion cavity 84, and the second protrusion 82 is provided on the end face or side wall of the drive shaft 4, while the first protrusion 81 protrudes from the cavity wall of the insertion cavity 84.

[0058] In another embodiment, the connecting rod 83 is mounted on the drive shaft 4, and the two are integrated. A insertion cavity 84 is opened at the lower end of the worm gear, and the second protrusion 82 is mounted on the cavity wall of the insertion cavity 84, which can also realize the corresponding unlocking action. The specific positions of the connecting rod 83, the first protrusion 81 and the second protrusion 82 can be designed according to the actual processing difficulty, and are not limited to the situation in the example above.

[0059] To improve the impact effect of the first protrusion 81 and the second protrusion 82, grease is filled into the insertion groove. When the drive shaft 4 is idling, the second protrusion 82 can agitate the grease, which can provide a lubrication effect. This not only reduces the noise intensity generated when the two collide, but also helps to extend the service life. As the drive component 6 continues to operate, the temperature will rise, and the air pressure in the insertion cavity 84 will increase. The viscosity of the grease will decrease and the fluidity will increase. When the transmission rod 3 and the drive shaft 4 rotate synchronously, the grease can penetrate between the seal 5 and the drive shaft 3 under the action of centrifugal force, thereby forming active lubrication and further improving the effect of dynamic sealing.

[0060] Reference Figure 5 Optionally, the seal 5 is a sealing sleeve, which is fixedly installed on the transmission rod 3. The end of the sealing sleeve near the drive shaft 4 has a sealing ring platform 51, which is sealed and fitted to the end face of the drive shaft 4.

[0061] Specifically, the sealing sleeve is located at the end of the worm gear near the drive shaft 4. The two can be threaded together for fixation, or fixed together by bolting, bonding, welding, or snap-fitting. The end of the sealing sleeve near the drive shaft 4 has a sealing ring platform 51. The end face of the sealing ring platform 51 fits against the upper end face of the drive shaft 4, forming a sealed sliding fit between the two end faces. For example, there is a groove and a protrusion interlocking structure between the end faces. In this embodiment, the end face of the sealing ring platform 51 and the end face of the drive shaft 4 have a sealing labyrinth groove 52 that interlocks with each other. The sealing labyrinth groove 52 is filled with grease or other structures to improve the lubrication effect.

[0062] By setting a sealing sleeve, when the drive shaft 4 rotates, the sealing labyrinth groove 52 makes the drive shaft 4 and the sealing sleeve form a sealed sliding fit. Moreover, when the drive shaft 4 rotates relative to the worm, it will also rotate relative to the sealing sleeve. This causes the grease and other structures in the sealing labyrinth groove 52 to diffuse radially under the action of centrifugal force, thereby sealing the gap between the drive shaft 4 and the sealing sleeve, further improving the sealing effect and reducing the possibility of foreign objects entering the drive device.

[0063] Optionally, the drive unit also includes a base 9. The base 9 is sleeved on the outside of the drive shaft 4 and the seal 5. A first sealing ring 91 is provided between the base 9 and the seal 5, and a second sealing ring 92 is provided between the base 9 and the drive shaft 4.

[0064] Specifically, the base 9 rotates with the sealing sleeve via the first bearing 93 and is rotatably connected to the drive shaft 4 via the second bearing 94. A first sealing groove is formed in the base 9 near the upper end of the seal 5, and a first sealing ring 91 is disposed in the first sealing groove. A second sealing groove is formed in the base 9 near the upper end of the drive shaft 4, and a second sealing ring 92 is disposed in the second sealing groove. Both the first sealing ring 91 and the second sealing ring 92 can be X-shaped, with a double-lip structure in all four directions, and the recessed parts are filled with grease. This ensures that the side of the first sealing ring 91 that contacts the seal 5 maintains a seal without hindering the rotation of the seal 5 with the worm gear. Similarly, the side of the second sealing ring 92 that contacts the drive shaft 4 maintains a seal without hindering the rotation of the drive shaft 4. It should be understood that the first sealing ring 91 and the second sealing ring 92 can also be other shapes, such as O-rings or skeleton oil seals, etc., and can be designed according to the actual protection level requirements, damping magnitude, and service life requirements.

[0065] Optionally, the second sealing ring 92 is located at one end of the drive shaft 4 near the sealing sleeve, and grease can penetrate the second sealing ring 92 to seal the gap between the second sealing ring 92 and the drive shaft 4.

[0066] Specifically, the second sealing ring 92 is positioned close to the upper end face of the drive shaft 4, allowing the grease in the sealing labyrinth groove 52 to overflow under centrifugal force and come into contact with the second sealing ring 92. This improves the lubrication effect between the second sealing ring 92 and the drive shaft 4, and also seals the gap between the second sealing ring 92 and the drive shaft 4, thereby further improving the dynamic sealing effect.

[0067] Reference Figures 6 to 8 Optionally, a pad 21 is provided on the side of the clip finger 2 away from the connecting rod assembly 7.

[0068] Specifically, the clamping side of the gripper finger 2 is planar, and a pad 21 is provided on the clamping side. The pad 21 has the ability to deform at one end, allowing it to deform according to the shape of the product when clamping it, thus enabling it to clamp products of different shapes and sizes. The pad 21 can be made of TUP (thermoplastic polyurethane elastomer) material, achieving a balance between the coefficient of friction and impact resistance. The pad 21 is detachably installed on the clamping side of the gripper finger 2, for example, by Velcro or bolt fixation, so that pads 21 of different hardness can be replaced to clamp different products, allowing for more precise control of the clamping effect.

[0069] Optionally, the pad 21 has a plurality of blind holes 22 spaced apart on the side away from the clamping finger 2 to generate pneumatic damping during product clamping.

[0070] Specifically, the surface of the pad 21 is arrayed with multiple blind holes 22, forming a honeycomb structure. During product clamping, the product makes full contact with the surface of the pad 21, compressing it and simultaneously sealing some of the blind holes 22. As the pad 21 is compressed, the air inside the blind holes 22 is also compressed, creating a pneumatic damping effect that reduces vibration and impact during clamping, ensuring the product is not damaged. Furthermore, the diameter of the blind holes 22 decreases towards the gripper finger 2, making the inner walls of the blind holes 22 inclined. Therefore, as the pad 21 is continuously compressed during clamping, the reaction force generated by the pad 21 increases slowly and steadily in the thickness direction, which facilitates precise control of the clamping force of the electric gripper, further improving clamping accuracy.

[0071] Optionally, the housing 1 has a drain hole 11 (see reference). Figure 5 Specifically, at least one drain hole 11 is provided in the part of the housing 1 that can be immersed in water, so that after the electric gripper is immersed in water for a short time, the water inside the housing 1 can be discharged through the drain hole 11. The location and number of drain holes 11 can be designed according to the actual shape and size of the housing 1, and this utility model does not limit them.

[0072] The robot includes a robotic arm and the aforementioned electrically powered gripper. The electrically powered gripper is mounted on the robotic arm.

[0073] When in use, the robot can grip or release products in humid and dusty environments using its electric gripper. Water molecules or dust in the environment are unlikely to penetrate into the electric gripper and affect its gripping and releasing actions, thus enabling the robot to be used in complex environments and effectively improving its application scenarios and adaptability.

[0074] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An electric gripper, characterized in that, include: Casing (1); Multiple gripper fingers (2) are distributed circumferentially around the housing (1). Each gripper finger (2) has one side for gripping the product and the other side is provided with a connecting rod assembly (7). The connecting rod assembly (7) includes a first connecting rod (71), a second connecting rod (72), a third connecting rod (73), and a fourth connecting rod (74). The first connecting rod (71) is rotatably connected to the housing (1). The second connecting rod (72) is rotatably connected to one end of the first connecting rod (71). One end of the third connecting rod (73) is rotatably connected to the second connecting rod (72), and the other end is connected to the gripper finger (2). One end of the fourth connecting rod (74) is rotatably connected to the third connecting rod (73), and the other end is rotatably connected to the housing (1). The transmission rod (3) is connected to a plurality of the first connecting rods (71); A drive shaft (4) is connected to the transmission rod (3) to drive the transmission rod (3) to rotate, thereby driving the plurality of first connecting rods (71) to rotate, and then driving the plurality of gripping fingers (2) to grip or release the product through the connecting rod assembly (7); A sealing element (5) is fixedly installed on the transmission rod (3) and sealed to the drive shaft (4); A drive unit (6) is connected to the drive shaft (4) to drive the drive shaft (4) to rotate.

2. The electric gripper according to claim 1, characterized in that, A pressure sensor (76) is provided at the connection between the connecting rod assembly (7) and the gripper (2).

3. The electric gripper according to claim 1, characterized in that, An elastic locking member (75) is provided at the rotatable connection between the first link (71) and the second link (72), and the elastic locking member (75) is used to limit the opening and closing angle of the first link (71) and the second link (72).

4. The electric gripper according to claim 1, characterized in that, The transmission rod (3) is a worm gear, and the first connecting rod (71) is provided with a worm wheel (31) that meshes with the worm gear at one end near the transmission rod (3).

5. The electric gripper according to any one of claims 1 to 4, characterized in that, A pad (21) is provided on the side of the clamping finger (2) away from the connecting rod assembly (7), and a plurality of blind holes (22) are distributed at intervals on the side of the pad (21) away from the clamping finger (2) to generate pneumatic damping during product clamping.

6. The electric gripper according to claim 5, characterized in that, The diameter of the blind hole (22) decreases in the direction close to the finger (2).

7. The electric gripper according to any one of claims 1 to 4, characterized in that, The driving component (6) is a hollow rotary motor, which is sleeved on the driving shaft (4) to drive the driving shaft (4) to rotate.

8. The electric gripper according to any one of claims 1 to 4, characterized in that, The sealing element (5) is a sealing sleeve, which is fixedly installed on the transmission rod (3). The end of the sealing sleeve near the drive shaft (4) has a sealing ring platform (51). The end faces of the sealing ring platform (51) and the drive shaft (4) are provided with sealing labyrinth grooves (52) that are mutually inserted and matched. The sealing labyrinth grooves (52) are filled with grease.

9. The electric gripper according to claim 8, characterized in that, The electric gripper also includes: A base (9) is sleeved on the drive shaft (4) and the seal (5). A first sealing ring (91) is provided between the base (9) and the seal (5), and a second sealing ring (92) is provided between the base (9) and the drive shaft (4).

10. A robot, characterized in that, include: robotic arm; The electric gripper as described in any one of claims 1 to 9 is disposed on the robotic arm.

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