Gripper Structure

Abstract

The present invention provides a gripper structure (1) including a screw body (10), a first nut (21), a second nut (22), a first drive module (30), a second drive module (35), a first clamp (41), and a second clamp (42). The screw body (10) extends along a first direction. The first nut (21) and the second nut (22) are fitted to either side of the screw body (10) and are bilaterally symmetrical to each other. The first drive module (30) is configured to drive and rotate the first nut (21) to allow the first nut (21) to pass through the centerline of the screw body (10). The second drive module (35) is configured to drive and rotate the second nut (22) to allow the second nut (22) to pass through the centerline of the screw body (10). The first clamp (41) and the second clamp (42) are connected to the first nut (21) and the second nut (22), respectively, and when the first drive module (30) drives the first nut (21) and / or the second drive module (35) drives the second nut (22), the first clamp (41) and the second clamp (42) are displaced relative to each other in a first direction and cooperate with each other to achieve a clamping operation.

Description

[Technical Field]

[0001] The present invention relates to a gripper structure, and more particularly to a long-stroke gripper structure that combines a single screw and two rotating nuts, allowing a clamp connected to the nuts to move over a full range without being restricted by the centerline, while avoiding torsional loss and improving support strength. [Background technology]

[0002] Robotic arms are automated control devices that mimic the functions of a human arm and can complete a variety of tasks. They are currently widely used in automated machinery. They are primarily used in industrial manufacturing, but are also applied in commercial agriculture, medical rescue, entertainment services, military security, and other fields. A robotic arm consists of a mechanical body, a controller, servo mechanisms, and sensors, and is programmed to perform specific operations according to task requirements. Devices attached to the end of a robotic arm that directly clamp objects are typically called grippers, end effectors, or robot hands. Their purpose is to replace human fingers and skillfully complete many complex tasks and manipulate various objects. However, different drive methods are often selected to construct gripper structures with different working strokes.

[0003] Taking the typical long-stroke gripper structure on the market as an example, it includes a left-handed screw and a right-handed screw, each with its own pulley. The motor rotates to drive a belt, which in turn drives the screws. As the screws on both sides rotate, nuts move the gripper bases on both sides to achieve the clamping operation. The screws on both sides are controlled by their respective motors, so the corresponding nuts and gripper bases are moved to complete the clamping operation. The gripper bases on both sides can only move within the length of their corresponding screws, limiting their stroke and preventing them from moving beyond the centerline.

[0004] Therefore, in order to solve the shortcomings of the prior art, it is necessary to provide a gripper structure that combines a single screw and two rotating nuts, allowing the clamp connected to the nuts to move over a full range without being restricted by the centerline, while avoiding torsional loss and improving support strength. Summary of the Invention [Problem to be solved by the invention]

[0005] The object of the present invention is to provide a gripper structure that combines a single screw and two rotating nuts, allowing the clamp connected to the nuts to move over a full range without being restricted by the centerline, while avoiding torsional loss and improving support strength.

[0006] Another object of the present invention is to provide a gripper structure. Two rotating nuts are connected to a drive module and mounted on a single long-stroke screw. When a drive module, such as a motor coupled with a belt, drives the corresponding nuts, the rotating nuts of the two drive modules can move freely on the single screw body, without being restricted by the centerline or synchronous displacement, to achieve clamping. On the other hand, when the drive module and nuts move simultaneously and connect to a clamp to perform clamping, stress is applied directly to the drive module, avoiding the problem of torsional loss due to the length of the screw body. Furthermore, the drive module is positioned on the single screw body via the rotating nuts, and the support position of the drive module is movable. When the rotating nuts drive the clamp to perform clamping, the force-receiving position of the drive module and the nuts becomes the support position, further improving the support strength of the drive module.

[0007] Another object of the present invention is to provide a gripper structure in which two drive modules are arranged on a single long-stroke screw body via rotating nuts, allowing them to move independently on the screw body without being restricted by the centerline. If the stroke length of the gripper structure needs to be increased, this can be achieved by adding an extension screw to one or both sides of the screw body without redesigning the gripper structure, thereby increasing the versatility of product applications. [Means for solving the problem]

[0008] To achieve the above object, the present invention provides a gripper structure including a screw body, a first nut, a second nut, a first drive module, a second drive module, a first clamp, and a second clamp. The screw body extends along a first direction. The first nut and the second nut are fitted to either side of the screw body, respectively, and are bilaterally symmetrical to each other. The first drive module is connected to the first nut and configured to drive and rotate the first nut, displacing it in the first direction relative to the screw body and allowing the first nut to pass through the centerline of the screw body. The second drive module is connected to the second nut and configured to drive and rotate the second nut, displacing it in the first direction relative to the screw body and allowing the second nut to pass through the centerline of the screw body. The first clamp and the second clamp are connected to the first nut and the second nut, respectively, and when the first drive module drives the first nut and / or the second drive module drives the second nut, the first clamp and the second clamp are displaced relative to each other in a first direction and cooperate with each other to achieve a clamping operation. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective structural view of a gripper structure according to a first preferred embodiment of the present invention; [Figure 2] FIG. 1 is a structural cross-sectional view of a gripper structure according to a first preferred embodiment of the present invention. [Figure 3] FIG. 1 is an internal structural view of a gripper structure according to a first preferred embodiment of the present invention. [Figure 4] 4A to 4C show examples of different relative displacements between the first clamp and the second clamp in a gripper structure according to a first preferred embodiment of the present invention. [Figure 5] FIG. 10 is a perspective structural view of a gripper structure according to a second preferred embodiment of the present invention; [Figure 6] FIG. 10 is a structural exploded view of a gripper structure according to a second preferred embodiment of the present invention. [Figure 7] FIG. 10 is a structural cross-sectional view of a gripper structure according to a second preferred embodiment of the present invention. [Figure 8] 10 is a schematic diagram showing a state in which an extension plate is connected to a main body fixing plate via a connecting member. FIG. [Figure 9A] FIG. [Figure 9B] FIG. [Figure 10A] FIG. 2 is a schematic diagram showing the screw body and extension screw disassembled. [Figure 10B] FIG. 10 is a schematic diagram showing a state in which the screw body and the extension screw are connected. [Figure 11] FIG. 2 is a structural cross-sectional view of the screw body and the extension screw. [Figure 12] FIG. 10 is another structural cross-sectional view of the screw body and the extension screw. [Figure 13] FIG. 10 is a perspective view of the connecting portion of the extension screw. [Figure 14] FIG. 10 is a front view of the connecting portion of the extension screw. [Figure 15] FIG. 2 is an exploded view of the structure of a screw body and an extension screw connected by a connecting member. [Figure 16] FIG. 2 is a structural cross-sectional view of a screw body and an extension screw connected by a connecting member. [Figure 17] FIG. 10 is an exploded structural view of a screw body and an extension screw connected by another connecting member. [Figure 18] FIG. 10 is a structural cross-sectional view of a screw body and an extension screw connected by another connecting member. DETAILED DESCRIPTION OF THE INVENTION

[0010] Several exemplary embodiments illustrating the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention may be modified in various ways in different embodiments without departing from the scope of the present invention, and that the description and drawings are intended to be illustrative in nature and not limiting. For example, in the following description of the present disclosure, when a first feature is described as being located on or above a second feature, this includes embodiments in which the located first feature is in direct contact with the second feature, and also includes embodiments in which an additional feature is located between the first feature and the second feature, thereby preventing the first feature from being in direct contact with the second feature. Furthermore, duplicate reference numerals and / or symbols may be used in different embodiments of the present disclosure. These duplicate reference numerals and / or symbols are used for the sake of brevity and clarity and are not intended to limit the relationship between each embodiment and / or the external structure. Spatial terms, such as "left," "right," and similar terms, may be used to simply describe the relationship of a component or feature to another component or feature in the drawings. In addition to the orientation shown in the drawings, spatial terms are used to include different orientations of the device during use or operation. The device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatial terms used should be interpreted accordingly. Furthermore, when a component is referred to as being "connected" or "coupled" to another component, it may be directly connected or coupled to the other component, or intervening components may be present. While the broad range of numerical ranges and parameters in the present disclosure are approximations, the specific examples describe numerical values ​​as precisely as possible. Furthermore, while terms such as "first" and "second" may be used to describe different components in the claims, it should be understood that these components should not be limited by these terms and that the components described in the embodiments may be represented by different component symbols. These terms are used to distinguish between different components.For example, a first element could be termed a second element, and similarly, a second element could be termed a first element, without departing from the scope of the embodiments. As used herein, the term "and / or" includes any and all combinations of one or more listed items.

[0011] 1 to 3. In this embodiment, the present invention provides a gripper structure 1 including a screw body 10, a first nut 21, a second nut 22, a first drive module 30, a second drive module 35, a first clamp 41, and a second clamp 42. The screw body 10 extends along a first direction (i.e., the X-axis direction). The first nut 21 and the second nut 22 are rotating nuts, fitted onto both sides of the screw body 10, respectively, and bilaterally symmetrical to each other. When the first nut 21 or the second nut 22 is driven by the first drive module 30 or the second drive module 35, respectively, to rotate relative to the screw body 10, the first nut 21 or the second nut 22 is displaced relative to the screw body 10 due to the action of the external body thread 11 of the screw body 10. In this embodiment, the first drive module 30 is connected to the first nut 21 and is configured to drive the first nut 21 to rotate and displace the first nut 21 in a first direction (i.e., the X-axis direction) relative to the screw body 10, allowing the first nut 21 to pass through the center line M of the screw body 10. The second drive module 35 is connected to the second nut 22 and is configured to drive the second nut 22 to rotate and displace the second nut 22 in the first direction (i.e., the X-axis direction) relative to the screw body 10, allowing the second nut 22 to pass through the center line M of the screw body 10. A first clamp 41 and a second clamp 42 are connected to the first nut 21 and the second nut 22, respectively. In this embodiment, the first nut 21 and the second nut 22 are driven by the first drive module 30 and the second drive module 35, respectively, and can move on the screw body 10. When the first drive module 35 drives the first nut 21 and / or the second drive module 35 drives the second nut 22, the first clamp 41 and the second clamp 42 both generate relative displacement in the first direction (i.e., the X-axis direction) and can cooperate with each other to achieve clamping operation.

[0012] In this embodiment, when the gripper structure 1 performs a clamping operation, the first nut 21 and the first clamp 41 can be driven only by the first driving module 30, or the second nut 22 and the second clamp 42 can be driven only by the second driving module 35. The first driving module 30 and the second driving module 35 can be simultaneously activated. The displacement of the first clamp 41 relative to the second clamp 42 is not limited to symmetrical displacement or synchronous displacement. The first clamp 41 driven by the first driving module 30 and the first nut 21, and the second clamp 42 driven by the second driving module 35 and the second nut 22, can move to the left and right of the center line M, respectively, as shown in FIG. 4A, and can form different distances from the center line M. The first clamp 41 driven by the first drive module 30 and the first nut 21 and the second clamp 42 driven by the second drive module 35 and the second nut 22 can simultaneously move to the right of the center line M (as shown in FIG. 4B ) or to the left of the center line M (as shown in FIG. 4C ). In other words, by combining a single screw body 10 with two rotating nuts, the first nut 21 and the second nut 22, the first clamp 41 connected to the first nut 21 or the second clamp 42 connected to the second nut 22 can move across the entire area of ​​the screw body 10 without being restricted by the center line M, which can avoid torsional loss and increase supporting strength.

[0013] In this embodiment, the gripper structure 1 further includes a body fixing plate 50. For example, two body fixing plates 50 parallel to each other in the front and rear direction may be connected to form a fixed frame, or a single body fixing plate 50 may be used as the fixed frame. In the description of the embodiment, only one body fixing plate 50 is illustrated, but the present invention is not limited to this. The screw body 10 is fixedly disposed on the body fixing plate 50. In the present invention, the method of disposing the screw body 10 on the body fixing plate 50 is not limited. In addition, in this embodiment, the gripper structure 1 further includes a linear rail 60, a first slider 61, and a second slider 62. The linear rail 60 may be composed of, for example, two linear rails 60 parallel to each other in the front and rear direction, or each of the linear rails 60 may be used independently. In the description of the embodiment, only one linear rail 60 is illustrated, but the present invention is not limited to this. In this embodiment, the linear rails 60 are disposed on the body fixing plate 50 along the first direction (i.e., the X-axis direction), spatially correspond to the screw body 10, and are arranged parallel to each other. In this embodiment, the first slider 61 and the second slider 62 are each disposed across a pair of linear rails 60. The first clamp 41 is connected to the first nut 21 via the first slider 61, and the first nut 21, the first slider 61, and the first clamp 41 can be smoothly displaced in a first direction (i.e., the X-axis direction) relative to the screw body 10 and the linear rail 60. The second clamp 42 is connected to the second nut 22 via the second slider 62, and the second nut 22, the second slider 62, and the second clamp 42 can be smoothly displaced in the first direction (i.e., the X-axis direction) relative to the screw body 10 and the linear rail 60.

[0014] In this embodiment, the first drive module 30 includes a motor 31, a belt 32, and a pulley 33. The pulley 33 is concentrically connected to the first nut 21. The motor 31 rotationally drives the pulley 33 and the first nut 21 via the belt 32. The first nut 21 can drive the first clamp 41 to displace it in a first direction (i.e., the X-axis direction) relative to the screw body 10. In addition, in this embodiment, the second drive module 35 includes a motor 36, a belt 37, and a pulley 38. The pulley 38 is concentrically connected to the second nut 22. The motor 36 rotationally drives the pulley 38 and the second nut 22 via the belt 37. The second nut 22 can drive the second clamp 42 to displace it in a first direction (i.e., the X-axis direction) relative to the screw body 10. Of course, the manner in which the first driving module 30 drives the first nut 21 and the manner in which the second driving module 35 drives the second nut 22 are not limited to the types of motors 31, 36, belts 32, 37, and pulleys 33, 38, and can be adjusted according to actual requirements.

[0015] In this embodiment, two rotating nuts, the first nut 21 and the second nut 22, are connected to the first drive module 30 and the second drive module 35, respectively, and are fitted onto a single long-stroke screw body 10 and actuated by the body external thread 11. When the first drive module 30 rotates the corresponding first nut 21 and / or the second drive module 35 rotates the corresponding second nut 22, the rotatable first nut 21 and / or second nut 22 can move freely on the screw body 10 without being restricted by the center line M or synchronous displacement, thereby completing the clamping operation. Meanwhile, the first drive module 30 and the first nut 21 move simultaneously, and the second drive module 35 and the second nut 22 move simultaneously. When the first nut 21 and the second nut 22 are connected to the first clamp 41 and the second clamp 42, respectively, and clamping is performed, force can be applied directly to the first drive module 30 and the second drive module 35, avoiding the problem of torsional loss due to the length of the screw. In addition, the first drive module 30 is disposed on the single screw body 10 via the rotatable first nut 21, and the second drive module 35 is disposed on the single screw body 10 via the rotatable second nut 22, and the support positions of the first drive module 30 and the second drive module 35 are both movable. When the rotatable first nut 21 drives the first clamp 41 and the rotatable second nut 22 drives the second clamp 42 to perform clamping work, the force-receiving positions of the first drive module 30 and the first nut 21 and the force-receiving positions of the second drive module 35 and the second nut 22 become support positions, thereby further increasing the support strength of the first drive module 30 and the second drive module 35.

[0016] Please refer to FIGS. 5 to 7. FIGS. 5 to 7 show a gripper structure 1a according to a second preferred embodiment of the present invention. In this embodiment, the gripper structure 1a is similar to the gripper structure 1 shown in FIGS. 1 to 3, and the same reference numerals denote the same components, structures, and functions. In this embodiment, the gripper structure 1a further includes an extension plate 70, an extension screw 80, and an extension rail 63 for increasing the stroke length of the gripper structure 1a. The extension plate 70 is detachably connected to the side end 51 of the main body fixing plate 50 via a connecting member 71 in a first direction (i.e., the X-axis direction). When viewed from the first direction (i.e., the X-axis direction), the connecting member 71 does not exceed the overlapping range of the extension plate 70 and the main body fixing plate 50 along the first direction. The main body fixing plate 50 and the extension plate 70 are fixed with a parallel lock, preventing vertical stacking and locking in the Y-axis or Z-axis directions, and preventing an increase in the overall plate thickness. The extension screw 80 and the extension rail 63 may be supported by the extension plate 70.

[0017] 5 to 8, 9A, and 9B. In this embodiment, the connecting member 71 connecting the main body fixing plate 50 and the extension plate 70 further includes a first locking member 711, a second locking member 712, and a limiting member 713. The first locking member 711 and the second locking member 712 are, for example, two concentrically arranged screws, and an operating end 714 of the first locking member 711 and an operating end 715 of the second locking member 712 face each other. The limiting member 713 is disposed between the first locking member 711 and the second locking member 712 and limits the axial distance between the first locking member 711 and the second locking member 712, allowing the first locking member 711 and the second locking member 712 to rotate about their axis but preventing them from separating from each other. In this embodiment, the extension plate 70 and the main body fixing plate 50 are connected to form a window 52, ​​and the operating end 714 of the first locking member 711 and the operating end 715 of the second locking member 712 are exposed through the window 52. This allows the user to operate the first locking member 711 and the second locking member 712 through the window 52 to connect the main body fixing plate 50 and the extension plate 70. In this embodiment, the first locking member 711 and the second locking member 712 are two screws with the same rotation direction or two screws with opposite rotation directions. Of course, in other embodiments, the main body fixing plate 50 and the extension plate 70 can be fixed in parallel using other connecting members. The present invention is not limited to this, and further description will be omitted here.

[0018] 5 to 8, 10A, and 10B. In this embodiment, the extension screw 80 is disposed on the extension plate 70. The extension screw 80 is detachably connected to the extension end 12 of the screw body 10a, and the extension screw 80 and the screw body 10a are concentrically arranged in a first direction (i.e., the X-axis direction). In this embodiment, the screw body 10a has a main body external thread 11, and the extension screw 80 has an extended external thread 81, and an end point E1 of the main body external thread 11 is continuously connected to a start point S1 of the extended external thread 81.

[0019] 5 to 14. In this embodiment, the extension screw 80 includes a connecting portion 82 and a support portion 85 located at opposite ends. The connecting portion 82 is detachably connected to the extension end 12 of the screw body 10a so that the end point E1 of the main body external thread 11 is continuously connected to the start point S1 of the extended external thread 81. The other end of the extension screw 80 is fixed to and supported by the extension plate 70 via the support portion 85. The screw body 10a has a front connecting screw hole 13 located at the extension end 12, and the connecting portion 82 has a connecting external thread 83 corresponding to the front connecting screw hole 13. In this embodiment, the internal thread of the front connecting screw hole 13 and the connecting external thread 83 have the same thread pitch D, and the connecting portion 82 has a connecting length L1, which is N times the thread pitch D, where N is an integer and N≧1. The start point S1 of the extended external thread 81 has an extended screw tip angle A1. In this embodiment, the starting point S2 of the connecting external thread 83 has a connecting thread head angle A2, and the extended thread head angle A1 is equal to the connecting thread head angle A2, so that the end point E1 of the main body external thread 11 is continuously connected to the starting point S1 of the extended external thread 81.

[0020] In this embodiment, the connecting portion 82 further includes a positioning portion 84 disposed between the connecting outer thread 83 and the extension outer thread 81. The screw body 10a includes a front positioning opening 14 that spatially corresponds to the positioning portion 84, and the front connecting screw hole 13 communicates with the outside through the front positioning opening 14. Aligning the front positioning opening 14 with the positioning portion 84 improves the connection efficiency between the extension screw 80 and the screw body 10a. In other embodiments, as shown in FIG. 14, the positioning portion 84 and the front positioning opening 14 may be omitted. By designing the connection length L2 of the connecting portion 82 of the extension screw 80a to be N times the thread pitch D, the end point E1 of the main body outer thread 11 is continuously connected to the start point S1 of the extension outer thread 81.

[0021] The method of connecting the extension screw 80 and the screw body 10a is not limited to the above method. See FIGS. 7, 15, and 16. The screw body 10a and the extension screw 80a may be connected via a connecting member 90. In this embodiment, the screw body 10a has a front connecting screw hole 13 arranged at the extension end 12. The extension screw 80b includes rear connecting screw holes 87 and support portions 85 (see FIG. 7) arranged at opposite ends of the extension screw 80b. The support portions 85 are connected to the extension plate 70, and the front connecting screw hole 13 and the rear connecting screw hole 87 are engaged with opposite ends of the connecting member 90, thereby connecting the extension screw 80b to the extension end 12 of the screw body 10a. In this embodiment, the connecting member 90 includes a positioning body 91, a front connecting screw 92, and a rear connecting screw 93. The front connecting screw 92 and the rear connecting screw 93 are disposed on opposite ends of the positioning body 91 and are configured to engage with the front connecting screw hole 13 and the rear connecting screw hole 87, respectively. Furthermore, in this embodiment, the screw body 10a has a front positioning opening 14 that spatially corresponds to the positioning body 91, and the front connecting screw hole 13 communicates with the outside through the front positioning opening 14. The extension screw 80b has a rear positioning opening 86 that spatially corresponds to the positioning body 91, and the rear connecting screw hole 87 communicates with the outside through the rear positioning opening 86. In this embodiment, the sum T2 of the lengths of the front positioning opening 14 and the rear positioning opening 86 is greater than the length T1 of the positioning body 91 and less than the length T3 of the connecting member 90. This allows the connecting member 90 to be accurately connected to the extension screw 80 and the screw body 10a, and as shown in FIG. 10B, the end point E1 of the body outer thread 11 is continuously connected to the start point S1 of the extension outer thread 81. As shown in FIG. 15, in this embodiment, the rotation direction of the front connecting screw 92 is the same as the rotation direction of the body outer thread 11 but is opposite to the rotation direction of the rear connecting screw 93. As shown in FIG. 17, in another embodiment, the rotation direction of the front connecting screw 92' of the connecting member 90' is opposite to the rotation direction of the body outer thread 11 and also opposite to the rotation direction of the rear connecting screw 93.In other embodiments, the rotation directions of the connecting external screw 83, the front connecting screws 92, 92', the rear connecting screw 93, and the corresponding front connecting screw holes 13 and rear connecting screw holes 87 can be adjusted according to actual requirements and are not limited to the rotation directions of the main body external screw 11 and the extension external screw 81. Of course, the extension plate 70, the extension screw 80, and the extension rail 63 may be arranged on one side or both sides and are not limited to a symmetrical arrangement.

[0022] As can be seen from the above, the first drive module 30 and the second drive module 35 of the present invention are arranged on the single long-stroke screw body 10a and the extension screws 80, 80a, and 80b via the rotatable first nut 21 and the rotatable second nut 22, respectively, and can move freely along the screw body 10a and the extension screws 80, 80a, and 80b without being limited by the centerline M. If the stroke length of the gripper structure 1a needs to be increased, the stroke length can be increased by adding extension screws 80, 80a, and 80b on one and / or both sides of the screw body 10a without redesigning the gripper structure 1a, thereby enhancing the versatility of product applications. Of course, the length of the screw body 10a and the number, type, and length of the extension screws 80, 80a, and 80b can be adjusted according to actual requirements. However, the present invention is not limited thereto.

[0023] As described above, the present invention provides a gripper structure that combines a single screw with two rotating nuts, allowing the clamps connected to the nuts to move over a full range without being restricted by the centerline, while avoiding torsional loss and improving support strength. The two rotating nuts are each connected to a drive module and mounted on a single long-stroke screw. When a drive module, such as a motor coupled with a belt, drives the corresponding nuts, the rotating nuts of the two drive modules can move freely on the single screw body, achieving clamping without being restricted by the centerline or synchronous displacement. On the other hand, when the drive module and nuts move simultaneously and are connected to the clamps to perform clamping, force can be applied directly to the drive module, avoiding the problem of torsional loss due to the length of the screw body. Furthermore, the drive module is positioned on the single screw body via the rotating nuts, allowing the support position of the drive module to be movable. When the rotating nuts drive the clamps to perform clamping, the force-receiving positions of the drive module and the nuts become support positions, further improving the support strength of the drive module. The two drive modules are each located on a single long-stroke screw body via a rotating nut, allowing them to move independently on the screw body without being restricted by the centerline.If the stroke length of the gripper structure needs to be increased, this can be achieved by adding an extension screw to one or both sides of the screw body without redesigning the gripper structure, helping to increase the versatility of product applications.

[0024] The present invention may be modified or changed in various ways by those skilled in the art, and such modifications or changes do not depart from what is protected by the appended claims. [Explanation of symbols]

[0025] 1, 1a: Gripper structure 10, 10a: Screw body 11: Body external screw 12: Extension end 13: Front connecting screw hole 14: Front positioning opening 21: First Nut 22: Second nut 30: First drive module 31: Motor 32: Belt 33: Pulley 35: Second drive module 36: Motor 37: Belt 38: Pulley 41: First clamp 42: Second clamp 50: Main body fixing plate 51: Side edge 52: Window 60: Linear rail 61: First slider 62: Second slider 63: Extension rail 70: Extension board 71: Connection member 711: First locking member 712: Second locking member 713: Restriction member 714, 715: Operation end 80, 80a, 80b: Extension screw 81:Extension external screw 82:Connection part 83: Connecting external screw 84: Positioning part 85: Support part 86: Rear positioning opening 87: Rear connecting screw hole 90, 90': connecting member 91: Positioning body 92, 92': Front connecting screw 93: Rear connecting screw A1: Extended screw tip angle A2: Connecting screw head angle D: Thread pitch E1: End point L1, L2: Connection length M: Center line S1, S2: Starting point T1, T2, T3: Length X, Y, Z: Axes

Claims

1. A gripper structure including a screw body, a first nut, a second nut, a first drive module, a second drive module, a first clamp, and a second clamp, The screw body extends along a first direction, the first nut and the second nut are fitted onto both sides of the screw body, respectively, and are bilaterally symmetrical to each other; the first drive module is connected to the first nut and configured to drive the first nut to rotate and displace in the first direction relative to the screw body, allowing the first nut to pass through a centerline of the screw body; the second drive module is connected to the second nut and configured to drive the second nut to rotate and displace in the first direction relative to the screw body, allowing the second nut to pass through a centerline of the screw body; the first clamp and the second clamp are connected to the first nut and the second nut, respectively, and when the first drive module drives the first nut and / or the second drive module drives the second nut, the first clamp and the second clamp are displaced relatively in the first direction and cooperate with each other to achieve a clamping operation; Gripper structure.

2. 2. The gripper structure of claim 1, wherein the first drive module includes a motor, a belt, and a pulley, the pulley being concentrically connected to the first nut, and the motor rotationally drives the pulley and the first nut via the belt, thereby causing the first nut to drive the first clamp to displace in the first direction relative to the screw body.

3. 2. The gripper structure of claim 1, wherein the second drive module includes a motor, a belt, and a pulley, the pulley being concentrically connected to the second nut, and the motor rotationally drives the pulley and the second nut via the belt, thereby causing the second nut to drive the second clamp to displace in the first direction relative to the screw body.

4. The gripper structure according to claim 1 , further comprising a body fixing plate, the screw body being fixedly disposed on the body fixing plate.

5. The screw body fixing plate further includes a linear rail, a first slider, and a second slider, and the linear rail is disposed on the body fixing plate along the first direction and spatially corresponds to the screw body; the first clamp is connected to the first nut via the first slider, so that the first nut, the first slider, and the first clamp are displaced in the first direction relative to the screw body and the linear rail; the second clamp is connected to the second nut via the second slider, and the second nut, the second slider, and the second clamp are displaced in the first direction relative to the screw body and the linear rail. The gripper structure according to claim 4 .

6. The device further includes an extension plate detachably connected to a side end of the main body fixing plate via a connecting member in the first direction, the connecting member includes a first locking member, a second locking member, and a limiting member, the first locking member and the second locking member are concentrically arranged, an operating end of the first locking member and an operating end of the second locking member face each other, the limiting member is arranged between the first locking member and the second locking member, and limits the axial distance between the first locking member and the second locking member; the extension plate and the main body fixing plate are connected to form a window, and the operation end of the first locking member and the operation end of the second locking member are exposed through the window; The gripper structure according to claim 5 .

7. The gripper structure of claim 6 , further comprising an extension rail disposed on the extension plate and connected to one end of the linear rail.

8. The extension plate further includes an extension screw disposed on the extension plate, the extension screw being detachably connected to the extension end of the screw body, and the extension screw and the screw body being concentrically disposed in the first direction; the screw body has a body external thread, the extension screw has an extension external thread, and the end point of the body external thread is continuously connected to the start point of the extension external thread; The extension screw includes a connecting portion and a supporting portion located at opposite ends, respectively, the connecting portion being detachably connected to the extension end of the screw body, and the supporting portion being fixed to the extension plate. The gripper structure of claim 6.

9. 9. The gripper structure according to claim 8, wherein the connecting portion further includes a positioning portion and a connecting outer screw, the positioning portion being disposed between the connecting outer screw and the extended outer screw, the screw body including a front connecting screw hole and a front positioning opening spatially corresponding to the positioning portion, and the front connecting screw hole communicating with the outside through the front positioning opening.

10. 10. The gripper structure according to claim 9, wherein the screw body has the front connecting screw hole arranged at the extension end, the extension screw includes rear connecting screw holes and the support portion arranged at opposite ends, the support portion being connected to the extension plate, and the front connecting screw hole and the rear connecting screw hole are engaged with opposite ends of a connecting member, respectively, thereby connecting the extension screw to the extension end of the screw body.

11. the connecting member includes a positioning body, a front connecting screw, and a rear connecting screw, the front connecting screw and the rear connecting screw being disposed at opposite ends of the positioning body, respectively, and configured to engage with the front connecting screw hole and the rear connecting screw hole; The screw body has a front positioning opening that spatially corresponds to the positioning body, and the front connecting screw hole communicates with the outside through the front positioning opening; the extension screw has a rear positioning opening that spatially corresponds to the positioning body, and the rear connecting screw hole communicates with the outside through the rear positioning opening; The gripper structure of claim 10.

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