CN113910280A

CN113910280A - Electric clamping jaw device

Info

Publication number: CN113910280A
Application number: CN202111523797.XA
Authority: CN
Inventors: 江德智; 谢雄敦; 温志庆
Original assignee: Ji Hua Laboratory
Current assignee: Ji Hua Laboratory
Priority date: 2021-12-14
Filing date: 2021-12-14
Publication date: 2022-01-11
Anticipated expiration: 2041-12-14
Also published as: CN113910280B

Abstract

The invention belongs to the technical field of robots, and particularly relates to an electric clamping jaw device, which comprises: a base frame; the internal gear set comprises an external gear and an internal gear, the reference circle diameter of the external gear is twice that of the internal gear, the external gear is meshed with the internal gear, and the external gear is fixedly arranged on the base frame; the first end of the output connecting piece is fixed at the center of the internal gear, and the second end of the output connecting piece is provided with a positioning column; the guide rail comprises a linear guide groove, and the two positioning columns are slidably arranged in the linear guide groove in a penetrating manner; the two clamping jaw execution parts are respectively connected with the two positioning columns; and the driving assembly is used for driving the two hypocycloid gear sets and enabling the centers of the two internal gears to synchronously rotate around the centers of the corresponding external gears, so that the opening and closing actions of the clamping jaws are realized, and the singular point of the movement of the connecting rod mechanism of the conventional electric clamping jaw is eliminated.

Description

Electric clamping jaw device

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an electric clamping jaw device.

Background

In the household electrical appliance manufacturing industry, the grabbing of electronic components is one of the key processes of circuit board production, at present, the work of a plug-in unit of a large-size component is mainly completed by manual operation, the existing clamping jaw device of the automatic picking robot for the large component mainly comprises an electric clamping jaw, a general electric clamping jaw mainly realizes the clamping action of the component by a link mechanism, and due to the existence of the link mechanism, a part of the clamping jaws have certain singular points, so that the picking efficiency of the large component is influenced.

Accordingly, the prior art is in need of improvement and development.

Disclosure of Invention

An object of the application is to provide an electronic clamping jaw device, singular point and simple structure that can eliminate current electronic clamping jaw existence.

In order to achieve the purpose, the invention adopts the following technical scheme: a motorized jaw apparatus, comprising:

a base frame;

the internal gear set comprises an external gear and an internal gear, the reference circle diameter of the external gear is twice that of the internal gear, and the external gear is meshed with the internal gear; the outer gear is fixedly arranged on the base frame, the inner gear can rotate around the center of the inner gear, and the center of the inner gear can rotate around the center of the outer gear;

a drive assembly for driving the two hypocycloidal gear sets and causing the centers of the two inner gears to rotate synchronously about the centers of the corresponding outer gears;

the first ends of the two output connecting pieces are respectively fixedly connected with the centers of the two inner gears; a positioning column is arranged at the second end of the output connecting piece;

the guide rail comprises a linear guide groove, a central axis of the linear guide groove in the length direction is vertically intersected with central axes of the two outer gears, the two positioning columns are slidably arranged in the linear guide groove in a penetrating mode, and the two positioning columns move in the linear guide groove in the opposite direction;

and the two clamping jaw executing parts are respectively connected with the two positioning columns.

The application provides an electronic clamping jaw device passes through drive assembly drives two hypocycloid gear train, and makes two the center of internal gear is around corresponding the center synchronous revolution of external gear, two output connectors fixes respectively two the internal gear center, thereby work as two the center of internal gear is around corresponding when the center of external gear is pivoted, two the internal gear can the rotation, because the reference circle diameter of external gear does the twice of the reference circle diameter of internal gear has guaranteed two the reference column is in all the time reciprocating motion is to be done in the straight line guide slot, and two the reference column is in reverse movement in the straight line guide slot has realized the action of opening and shutting of electronic clamping jaw device, and the singular point that current electronic clamping jaw exists can be eliminated to this structure.

Furthermore, the two hypocycloid gear sets are arranged in a centrosymmetric manner, and the driving assembly is used for driving the centers of the two inner gears to synchronously rotate around the centers of the corresponding outer gears in the same direction.

Further, the driving assembly comprises a motor, a second gear and two third gears, the motor is used for driving the second gear to rotate, the second gear is meshed with the two third gears, and the two third gears are respectively used for driving the centers of the two inner gears to rotate around the center of the corresponding outer gear.

This application is through setting up gear and gear engagement, guarantees that transmission efficiency is high, compact structure.

Furthermore, the two hypocycloid gear sets are arranged in an axisymmetrical manner, and the driving assembly is used for driving the centers of the two inner gears to synchronously and reversely rotate around the center of the corresponding outer gear.

Furthermore, the driving assembly comprises a motor, two second gears and two third gears, the motor is used for driving one of the second gears to rotate, the two second gears are meshed with each other, the two second gears are respectively meshed with the two third gears, and the two third gears are respectively used for driving the centers of the two internal gears to rotate around the centers of the corresponding external gears.

Further, the hypocycloid gear set includes a weight that is rotatable around the center of the outer gear in synchronization with the inner gear, and a distance between a total center of mass of the weight and the inner gear and a central axis of the outer gear is smaller than a distance between a center of mass of the inner gear itself and the central axis of the outer gear.

This application can reduce the vibration that the internal gear motion brought through setting up the balancing piece.

Further, the distance between the total center of mass of the balance weight and the inner gear and the central axis of the outer gear is zero.

Furthermore, the hypocycloid gear set further comprises an input connecting piece, the input connecting piece is used for connecting the balance block and the inner gear, and the driving assembly is used for driving the input connecting piece to rotate so as to drive the center of the inner gear to rotate around the center of the outer gear; the balance weight and the inner gear are respectively arranged on two sides of the rotation center of the input connecting piece.

Further, the clamping jaw executing part comprises a sliding seat connected with the guide rail in a sliding manner and a clamping finger part fixedly connected with the sliding seat; the clamping finger part is used for clamping an object to be grabbed; the positioning column is connected with the sliding seat.

Furthermore, one side of the sliding seat facing the guide rail is provided with a groove, the guide rail is provided with a guide part matched with the groove, and the groove is sleeved on the guide part in a sliding manner.

This application sets up the recess through the slide towards one side of guide rail and with the guide part of recess looks adaptation, inject the slide on the guide rail, make the slide can't take place the rotation when sliding to avoid leading to the unable reliable tight article of clamp because the slide is rotatory.

From the above, the electric clamping jaw device of the invention is provided with two hypocycloid gear sets, a driving component, two output connecting pieces, a positioning column and a guide rail, the two hypocycloid gear sets are driven by the driving component, the two inner gears synchronously rotate around the centers of the corresponding outer gears, the first ends of the two output connecting pieces are respectively fixedly connected with the centers of the two inner gears, the second ends of the output connecting pieces are respectively provided with positioning columns which are slidably arranged in the guide rails in a penetrating way, since the reference circle diameter of the outer gear of the hypocycloid gear set is set to be twice the reference circle diameter of the inner gear, the positioning columns of the internal gear can reciprocate in the guide rail, and the two positioning columns move reversely, and the opening and closing action of the clamping jaw execution part is realized, and the structure can eliminate the singular point of the connecting rod mechanism of the existing electric clamping jaw.

Drawings

Fig. 1 is a schematic overall structural diagram of an electric clamping jaw device provided in an embodiment of the present application.

Fig. 2 is a schematic structural view of a hypocycloid gear set of an electric clamping jaw device according to an embodiment of the present application.

Fig. 3 is a schematic view of a same-direction rotation structure of a hypocycloid gear set of an electric clamping jaw device according to an embodiment of the present application.

Fig. 4 is a schematic view of a reverse rotation structure of a hypocycloid gear set of an electric clamping jaw device provided in an embodiment of the present application.

Fig. 5 is a schematic structural diagram of one of the driving assemblies of the electric clamping jaw device provided in the embodiment of the present application.

Fig. 6 is a schematic structural diagram of an input connector of an electric clamping jaw device according to an embodiment of the present application.

Fig. 7 is a schematic structural view of a jaw actuator of an electric jaw apparatus according to an embodiment of the present application.

Description of reference numerals: 1. a drive assembly; 100. a motor; 101. a first gear; 102. a second gear; 103. a third gear; 104. a fourth gear; 2. a hypocycloid gear set; 211. an outer gear; 212. an internal gear; 213. a counterbalance; 214. an output connector; 216. an input connector; 3. a positioning column; 4. a guide rail; 411. a linear guide groove; 412. a guide portion; 5. a clamping jaw executing part; 510. a slide base; 512. a finger grip portion; 6. a base frame.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

As shown in fig. 1 and 2, the present invention provides an electric chuck jaw device, including:

a base frame 6;

two hypocycloid gear sets 2, each hypocycloid gear set 2 comprises an outer gear 211 and an inner gear 212, the reference circle diameter of the outer gear 211 is twice that of the inner gear 212, and the outer gear 211 is meshed with the inner gear 212; the outer gear 211 is fixedly arranged on the base frame 6, the inner gear 212 can rotate around the center of the inner gear 212, and the center of the inner gear 212 can rotate around the center of the outer gear 211;

a driving assembly 1, wherein the driving assembly 1 is used for driving the two hypocycloid gear sets 2 and enabling the centers of the two inner gears 212 to synchronously rotate around the centers of the corresponding outer gears 211;

two output connectors 214, wherein first ends of the two output connectors 214 are respectively fixedly connected with the centers of the two inner gears 212; a second end of the output connecting piece 214 is provided with a positioning column 3;

the guide rail 4 comprises a linear guide slot 411, the central axis of the linear guide slot 411 in the length direction is vertically intersected with the central axis of the two external gears 211, the two positioning columns 3 are slidably arranged in the linear guide slot 411 in a penetrating mode, and the two positioning columns 3 move in the linear guide slot 411 in the opposite direction;

two clamping jaw execution parts 5, two clamping jaw execution parts 5 are connected with two reference column 3 respectively.

In practical application, when the driving assembly 1 drives the two hypocycloid gear sets 2 to rotate, the centers of the two inner gears 212 rotate synchronously around the center of the corresponding outer gear 211, and at this time, the first end of the output connector 214 is fixed at the center of the inner gear 212, and when the center of the inner gear 212 rotates around the center of the corresponding outer gear 211, the output connector 214 is simultaneously driven; because the positioning column 3 at the second end (the side far away from the center of the internal gear 212) of the output connector 214 is slidably inserted into the linear guide slot 411, because the reference circle diameter of the external gear 211 is twice of the reference circle diameter of the internal gear 212, the two positioning columns 3 drive the two clamping jaw executing parts 5 to do reciprocating motion in the linear guide slot 411, and the two positioning columns 3 move in the linear guide slot 411 in the opposite direction (namely, the two clamping jaw executing parts 5 do opening and closing motions), thereby completing the object picking up of the electric clamping jaw device, because the internal gear 212 does eccentric circular motion (namely, hypocycloid motion) relative to the external gear 211, the singular point of the existing electric clamping jaw connecting rod mechanism can be eliminated.

For convenience of description, a centrosymmetric arrangement refers to one pattern rotated 180 ° about a point, and if it can coincide with another pattern, the two patterns are said to be symmetric about the center point.

In the first embodiment, the two hypocycloidal gear sets 2 are arranged in a central symmetry manner, and the driving assembly 1 is used for driving the centers of the two internal gears 212 to synchronously rotate around the center of the corresponding external gear 211 in the same direction.

In practical application, as shown in fig. 3, two hypocycloid gear sets 2 are symmetrically arranged with a point O as a central point, and when one hypocycloid gear set 2 rotates 180 ° around the point O, the other hypocycloid gear set 2 coincides with the other hypocycloid gear set 2, and the driving assembly 1 drives the two inner gears 212 to rotate around their centers and synchronously rotate in the same direction around the centers of the corresponding outer gears 211, thereby realizing the opening and closing action of the jaws.

Specifically, the driving assembly 1 includes a motor 100, a second gear 102, and two third gears 103, the motor 100 is configured to drive the second gear 102 to rotate, the second gear 102 is engaged with the two third gears 103, and the two third gears 103 are respectively configured to drive the centers of the two inner gears 212 to rotate around the center of the corresponding outer gear 211.

In some embodiments, as shown in fig. 5, the motor 100 drives the second gear 102 to rotate (not shown), the second gear 102 is engaged with the two third gears 103, and when the second gear 102 rotates, the two third gears 103 are driven to rotate synchronously and in the same direction, so that one motor can rotate to control the opening and closing of the electric jaws. Because the two third gears 103 are respectively used for driving the two internal gears 212 to rotate, the centers of the two internal gears 212 synchronously rotate around the center of the corresponding external gear 211 in the same direction, and at this time, the two positioning columns 3 reciprocate in the guide rail 4.

For convenience of description, the axial symmetry means that when a planar figure is folded along a straight line, the parts on both sides of the straight line can coincide with each other, and then the figure is called an axial symmetry figure, and the straight line is called a symmetry axis.

In the second embodiment, the two hypocycloidal gear sets 2 are arranged in an axisymmetric manner, and the driving assembly 1 is used for driving the centers of the two internal gears 212 to synchronously rotate around the center of the corresponding external gear 211 in opposite directions.

In practical application, as shown in fig. 4, the two hypocycloidal gear sets 2 are symmetrically arranged with the P straight line as a symmetry axis, so that one hypocycloidal gear set 2 is overlapped with the other hypocycloidal gear set 2 after being turned 180 ° around the P straight line, and the driving assembly 1 drives the two inner gears 212 to rotate around the centers thereof and synchronously and reversely rotate around the centers of the corresponding outer gears 211, thereby realizing the opening and closing actions of the jaws.

Specifically, the driving assembly 1 includes a motor 100, two second gears 102, and two third gears 103, where the motor 100 is configured to drive one of the second gears 102 to rotate, the two second gears 102 are engaged with each other, the two second gears 102 are respectively engaged with the two third gears 103, and the two third gears 103 are respectively configured to drive the centers of the two inner gears 212 to rotate around the center of the corresponding outer gear 211.

In some embodiments, the motor 100 drives one of the second gears 102 to rotate (not shown), the two second gears 102 are engaged with each other, when one of the second gears rotates, the other second gear simultaneously rotates in a reverse direction, the two second gears 102 are respectively engaged with the two third gears 103, and when the two second gears 102 rotate, the two third gears 103 are simultaneously driven to rotate synchronously and reversely. Because the two third gears 103 are respectively used for driving the two inner gears 212 to rotate, the centers of the two inner gears 212 synchronously and reversely rotate around the center of the corresponding outer gear 211, so that the opening and closing actions of the electric clamping jaw can be controlled by the rotation of one motor, and at the moment, the two positioning columns 3 do reciprocating motion in the guide rail 4.

Specifically, the hypocycloidal gear set 2 includes a weight 213, the weight 213 is rotatable around the center of the outer gear 211 in synchronization with the inner gear 212, and the distance between the total center of mass of the weight 213 and the inner gear 212 and the central axis of the outer gear 211 is smaller than the distance between the center of mass of the inner gear 212 itself and the central axis of the outer gear 211.

In practical applications, as shown in fig. 2, since the center of the inner gear 212 rotates around the center of the outer gear 211, the center of gravity of the inner gear 212 deviates from the central axis of the outer gear 211, and vibration is generated during movement, the weight 213 is disposed such that the distance between the total center of mass of the weight 213 and the inner gear 212 and the central axis of the outer gear 211 is smaller than the distance between the center of mass of the inner gear 212 itself and the central axis of the outer gear 211, thereby reducing vibration generated during movement of the inner gear 212.

In some preferred embodiments, the distance of the total center of mass of the weight 213 and the inner gear 212 from the central axis of the outer gear 211 is zero.

In a preferred embodiment, when the distance between the total center of mass of the balance weight 213 and the inner gear 212 and the central axis of the outer gear 211 is zero, the eccentricity or vibration generated when the inner gear 212 moves is minimal and negligible.

Specifically, the hypocycloid gear set 2 further comprises an input connector 216, the input connector 216 is used for connecting the balance weight 213 and the inner gear 212, and the driving assembly 1 is used for driving the input connector 216 to rotate so as to drive the center of the inner gear 212 to rotate around the center of the outer gear 211; the balance weight 213 and the inner gear 212 are respectively disposed on both sides of the rotational center of the input connector 216.

In practical applications, as shown in fig. 6, the balance weight 213 and the inner gear 212 are connected by the input connector 216, such that the center of mass of the inner gear 212 and the center of mass of the balance weight 213 are symmetrical, and the total center of mass of the two is at the center of the input connector 216. The two third gears 103 are respectively connected (e.g., connected by a connecting shaft) to the centers of the corresponding input connectors 216, and when the third gears 103 rotate, the third gears 103 simultaneously drive the inner gear 212 and the balance mass 213 to rotate through the input connectors 216, so that the eccentricity existing in the movement process can be further reduced.

In some preferred embodiments, the surface of the weight 213 is smooth, reducing friction with the inner gear 212 or the outer gear 211. The shape of the counterweight 213 may be regular or irregular, preferably arc-like.

Specifically, the clamping jaw executing part 5 comprises a sliding seat 510 connected with the guide rail 4 in a sliding way and a clamping finger part 512 fixedly connected with the sliding seat 510; the gripping fingers 512 are used to grip the item to be gripped; the positioning column 3 is connected with the sliding base 510.

In practical application, as shown in fig. 7, the slide base 510 of the clamping jaw executing portion 5 can slide on the guide rail 4, the positioning column 3 is connected with the slide base 510, the inner gear 212 drives the positioning column 3 to slide on the guide rail 4, the clamping finger portion 512 is fixedly connected to the slide base 510, the clamping finger portion 512 is used for clamping an object to be grabbed, and the two clamping finger portions 512 realize opening and closing actions along with the movement of the slide base 510. In some preferred embodiments, the jaw actuator 5 may be integrally formed, or may be assembled from a separate slide 510 and a separate finger grip 512, and this embodiment is preferably an integrally formed L-shaped jaw actuator, which is not limited to this.

Specifically, a groove is provided on a side of the sliding seat 510 facing the guide rail 4, a guide portion 412 adapted to the groove is provided on the guide rail 4, and the groove is slidably sleeved on the guide portion 412.

In practical applications, as shown in fig. 7, if the sliding base 510 is only fixed on the positioning column 3, when the positioning column 3 moves, the sliding base 510 rotates, and it is not possible to clamp the object, so that a groove is formed on a side of the sliding base 510 facing the guide rail 4, a guiding portion 412 adapted to the side of the guide rail 4 is provided, the groove of the sliding base 510 is slidably sleeved on the guiding portion 412, and the sliding base 510 can slide on the guiding portion 412.

To ensure that the carriage 510 can slide, the carriage 510 needs to be able to rotate relative to the output link 214 because the carriage 510 cannot rotate due to the restraining effect of the rail 4 on the carriage 510.

For example, the positioning column 3 is rotatably disposed on the second end of the output connector 214. At this time, the sliding base 510 and the positioning pillar 3 may be fixedly connected or rotatably connected (e.g., connected through a bearing).

In practical application, because the positioning column 3 is disposed on the guide rail 4 in a penetrating manner, when the internal gear 212 rotates, friction exists between the positioning column 3 and the guide rail 4, and therefore, the positioning column 3 is rotatably disposed at the second end of the output connector 214, so that friction between the positioning column 3 and the guide rail 4 is rolling friction, thereby reducing friction of the positioning column 3.

For another example, the positioning post 3 can be fixedly disposed on the second end of the output connector 214. At this time, the sliding base 510 is rotatably connected (e.g., connected by a bearing) with the positioning post 3.

In this embodiment, the motor 100 can drive the second gear 102 to rotate through a gear transmission mechanism, a chain transmission mechanism (for example, a driving sprocket is disposed on an output shaft of the motor 100, the second gear 102 is coaxially connected with a driven sprocket, and a chain is wound between the driving sprocket and the driven sprocket), a belt transmission mechanism (for example, a driving pulley is disposed on the output shaft of the motor 100, a driven pulley is coaxially connected with the second gear 102, and a belt is wound between the driving pulley and the driven pulley).

For example, in some embodiments, as shown in fig. 5, the driving assembly 1 further includes a first gear 101, the first gear 101 is disposed on the output shaft of the motor 100, and the first gear 101 is engaged with a second gear 102 (not shown).

When the two hypocycloid gear sets 2 work in a synchronous and equidirectional manner, in a specific application, the motor 100 drives the first gear 101 to rotate, the first gear 101 drives the second gear 102 to rotate, the second gear 102 drives the two third gears 103 to synchronously rotate in the same direction, and the third gears 103 simultaneously drive the inner gears 212 and the balance blocks 213 to rotate through the input connecting member 216, so that the centers of the two inner gears 212 synchronously rotate in the same direction around the center of the outer gear 211.

When the two hypocycloid gear sets 2 work in a synchronous and reverse rotation mode, in a specific application, the motor 100 drives the first gear 101 to rotate, the two second gears 102 are meshed with each other, the first gear 101 drives one of the second gears 102 to rotate, the two second gears 102 rotate in a synchronous and reverse rotation mode, the two second gears 102 are respectively meshed with the two third gears 103, so that the two third gears 103 rotate in a synchronous and reverse rotation mode, the two third gears 103 simultaneously drive the two inner gears 212 and the two balance weights 213 to rotate through the input connecting piece 216, and therefore the centers of the two inner gears 212 rotate in a synchronous and reverse rotation mode around the center of the corresponding outer gear 211.

For another example, in another embodiment, as shown in fig. 5, the driving assembly 1 further includes a first gear 101 and a fourth gear 104, the first gear 101 is disposed on the output shaft of the motor 100, the pitch circle diameter of the fourth gear 104 is larger than the pitch circle diameter of the first gear 101, the first gear 101 is engaged with the fourth gear 104, and the fourth gear 104 and the second gear 102 are disposed on the same rotating shaft. The reference circle diameter of the fourth gear 104 is larger than that of the first gear 101, and the first gear 101 is meshed with the fourth gear 104, so that under the condition that the output torque of the motor 100 is not changed, the clamping force of the electric clamping jaw device can be improved, the position error of the clamping jaw execution part 5 finally caused by the same position control error of the motor 100 is smaller, and the position control precision of the clamping jaw opening and closing action is improved.

For example, when the two hypocycloidal gear sets 2 operate in the same direction, in a specific application, the motor 100 drives the first gear 101 to rotate, the first gear 101 drives the fourth gear 104 to rotate, the fourth gear 104 drives the second gear 102 to rotate, the second gear 102 drives the two third gears 103 to rotate in the same direction, and the third gear 103 drives the inner gears 212 and the balance block 213 to rotate simultaneously through the input connector 216, so that the centers of the two inner gears 212 rotate in the same direction around the center of the corresponding outer gear 211.

For another example, when the two hypocycloidal gear sets 2 operate in synchronous reverse rotation, in a specific application, the motor 100 drives the first gear 101 to rotate, the first gear 101 drives the fourth gear 104 to rotate, the fourth gear 104 drives one of the second gears 102, the two second gears 102 are engaged with each other, the two second gears 102 rotate in synchronous reverse rotation, the two second gears 102 are respectively engaged with the two third gears 103, so that the two third gears 103 rotate in synchronous reverse rotation, and the two third gears 103 simultaneously drive the two inner gears 212 and the two balance weights 213 to rotate through the input connector 216, so that the centers of the two inner gears 212 rotate in synchronous reverse rotation around the center of the corresponding outer gear 211.

In the description herein, reference to the terms "in some preferred embodiments," "in other embodiments," "for example," "again for example," "first embodiment," or "second embodiment," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.

Claims

1. An electric jaw apparatus, comprising:

a base frame;

2. The electric clamping jaw device according to claim 1, wherein two hypocycloidal gear sets are arranged in central symmetry, and the driving assembly is used for driving the centers of two inner gears to synchronously rotate around the center of the corresponding outer gear in the same direction.

3. The motorized clamping jaw apparatus according to claim 2, wherein said driving assembly comprises a motor, a second gear and two third gears, said motor is used for driving said second gear to rotate, said second gear is meshed with said two third gears, and said two third gears are respectively used for driving the centers of said two inner gears to rotate around the center of the corresponding outer gear.

4. The electric clamping jaw device according to claim 1, wherein said two hypocycloidal gear sets are arranged axisymmetrically, and said driving assembly is configured to drive the centers of said two inner gears to synchronously rotate in opposite directions around the center of the corresponding outer gear.

5. The motorized clamping jaw apparatus according to claim 4, wherein said driving assembly comprises a motor, two second gears and two third gears, said motor is used for driving one of said second gears to rotate, said two second gears are meshed with each other, said two second gears are respectively meshed with said two third gears, and said two third gears are respectively used for driving the centers of said two inner gears to rotate around the center of the corresponding outer gear.

6. The electric clamping jaw apparatus according to claim 1, wherein said hypocycloidal gear set comprises a weight rotatable about the center of said outer gear in synchronism with said inner gear, and the distance of the total center of mass of said weight and said inner gear from the central axis of said outer gear is smaller than the distance of the center of mass of said inner gear itself from the central axis of said outer gear.

7. The powered jaw apparatus of claim 6, wherein a distance of a total center of mass of the weight and the inner gear from a center axis of the outer gear is zero.

8. The powered jaw apparatus of claim 6, wherein said hypocycloidal gear set further comprises an input connection for connecting said balance weight and said inner gear, said drive assembly for driving said input connection to rotate said inner gear about said outer gear center; the balance weight and the inner gear are respectively arranged on two sides of the rotation center of the input connecting piece.

9. The motorized clamp jaw apparatus of claim 1, wherein said clamp jaw actuation portion comprises a slide slidably connected to said guide rail and a finger portion fixedly connected to said slide; the clamping finger part is used for clamping an object to be grabbed; the positioning column is connected with the sliding seat.

10. The electric clamping jaw device according to claim 9, wherein a groove is formed in a side of the sliding base facing the guide rail, a guide portion matched with the groove is formed in the guide rail, and the groove is slidably sleeved on the guide portion.